diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..3db1fb10d08e0990d00aac46d0341582275e9f4a --- /dev/null +++ b/README.md @@ -0,0 +1,194 @@ +--- +pretty_name: CROSS navigation debug — Stretch head survey and graph attachment +language: + - en +tags: + - robotics + - navigation + - vggt + - rgb-d + - odometry + - debugging +--- + +# CROSS navigation debug + +A self-contained recording of a supervised Stretch navigation run on **2026-10-26 (Asia/Singapore)**, +targeting phone-map keyframe **1012**, including the exact VGGT inputs and outputs. + +**Observed failure:** during a left/down head survey, localization remained committed, but the local +Stretch adapter's measured-depth check rejected every nearby connection to the reference map graph. +The adapter then stopped with `no global route; navigation ended`. +This dataset does **not** establish a bug in native CROSS or its learned BEV head. It includes those +outputs, the adapter and the depth evidence so their interaction can be investigated. + +| Item | Included | +|---|---| +| Run | `stretch_cross_nav_live_20261026_goal1012_02` | +| Actual navigation | 114.44 s; 7.88 m odometry distance; goal not reached | +| Final camera XY distance to goal | 5.56 m | +| Sensor recording | 680 synchronized RGB + aligned depth frames, intrinsics, odometry, camera/base TF, timestamped head joints | +| Published processing records | 381, with 380 actual VGGT inference passes | +| VGGT inputs | 429 unique lossless tensors, referenced 2,662 times across the input groups | +| BEV replay | 380 original occupancy/observability/uncertainty image sets | +| Numeric outputs | VGGT predictions, raw navigation heads, consumed camera BEV, base BEV and native planner memory | +| Reference map | Record3D `2026-10-22--15-48-58`, including native map and its image/descriptor store | +| Additional evidence | Measured obstacles, footprint snapshots, routes, retrieval results, control commands, robot status, transport timings, resolved configs and shutdown audit | +| Source | Native CROSS commit `4781371e6f4db4241be0a0df7c238436680ee268`, local adapter, relay, inspector, replay viewer and relevant tests | + +The recording uses RGB and external odometry for CROSS. Measured robot depth is used separately by +the adapter's execution/attachment checks. There is no separate raw IMU stream in this case. +The phone map and robot odometry are estimates, not ground truth. + +## Start with the failure frames + +Indices below are **capture frame indices**, not reference-map keyframe IDs or robot source-frame IDs. +Robot source-frame ID is capture index + 1 in this run. + +| Frame | Capture-relative time | Observation | +|---|---:|---| +| 639 | 159.88 s | Stationary head survey starts after a learned-path footprint veto | +| 661 | 165.35 s | Front/down view accepted as settled; left/down target begins | +| 675 | 168.89 s | Still localized; seven graph attachments survive the depth check | +| 677 | 169.39 s | Still localized; zero attachments survive; exact obstacle evidence saved | +| 679 | 169.89 s | Final observation; localized, nearest map keyframe 1057 about 0.183 m away, zero attachments | + +The attachment radius is 0.75 m. Empty attachments are produced by the local adapter before its +execution gate stops navigation. `tools/analyze_attachment.py` rechecks the recorded depth veto +without loading a model or executing robot commands. Whether the returns are physical obstacles, +robot self observations, depth noise or accumulated old returns remains to be diagnosed. + +The earlier multi-second camera lag did **not** recur in this case. Estimated source age at PC +receipt was 83 ms median / 131 ms p95. The source-age estimate is a lower bound based on a recent +robot status sample, not a subtraction of wall clocks across computers. + +VGGT's seven input views at failure frame 677: + +![Frame 677 VGGT input group](previews/00000677/input_views.jpg) + +Raw head output, consumed camera BEV, and reprojected robot-base BEV at the same frame: + +![Frame 677 BEV stages](previews/00000677/bev_stages.png) + +Additional input/depth/BEV previews are in [`previews/`](previews). +Small reports are directly browsable in [`reports/`](reports/stretch_cross_nav_live_20261026_goal1012_02). + +## Download and inspect + +```bash +hf download jizhuochen/CROSS_nav_debug --repo-type dataset --local-dir CROSS_nav_debug +cd CROSS_nav_debug +python tools/unpack.py --output extracted +``` + +The unpacker verifies every archive's SHA-256, validates the individual run/map members and extracts +into a new directory, including CROSS's validated relative package alias. Approximately 3.5 GB is +downloaded; allow another 3.5 GB for extraction. +Use a Python environment with `numpy` and `opencv-python` for the viewer/inspector. The full recorded +environment is in `environment/pip_freeze.txt`; it is a version record, not a portable installer. + +Replay the recorded RGB, map/route, and BEV with zoom/rotation and layer controls: + +```bash +python code/lite3_ROS/scripts/view_stretch_cross_nav_live_run.py \ + --run extracted/runs/stretch_cross_nav_live_20261026_goal1012_02 --port 8088 +``` + +Open and click **Replay recording**. This viewer opens no robot connection, +loads no model and cannot arm navigation. + +Export exact model input tensors, an input contact sheet, predicted depth and the BEV stages: + +```bash +python code/lite3_ROS/scripts/inspect_stretch_vggt_debug.py \ + --debug extracted/runs/stretch_cross_nav_live_20261026_goal1012_02/vggt_debug \ + --frame 677 --output inspection_677 + +python tools/analyze_attachment.py --extracted extracted --frame 677 +``` + +## Data layout + +The nine archives are independent download units; the VGGT numeric frames are split into three +shards of at most about 700 MiB. Extract **all** archives to obtain the complete case. + +```text +archives/ + run_core.tar.gz # run/query map, replay BEVs, logs, footprint evidence, configs + capture.tar # exact recorded JPEG RGB and uint16 PNG depth, raw observations + vggt_metadata.tar.gz # run provenance, frame index, planner config, writer status + vggt_views.tar # lossless content-addressed VGGT input tensors + vggt_frames_000.tar # per-frame manifest + numeric outputs (three shards) + vggt_frames_001.tar + vggt_frames_002.tar + reference_map.tar # original phone map and complete .store sidecar + CROSS_source.tar.gz # frozen native source, with upstream license +code/ # local adapter/relay/replay/inspection source and tests +environment/ # versions, GPU information, source provenance +reports/ # directly browsable diagnostic logs and summaries +previews/ # selected VGGT input groups, depth and BEV stages +manifest.json # archive/member sizes, SHA-256 hashes, extraction paths +SHA256SUMS # checksums for every published file other than this checksum file +tools/ # verified extraction and offline attachment diagnosis +``` + +Extraction creates `runs//`, `maps/record3d_mapping_20261022_154858/` and `source/CROSS/`. + +### VGGT archive schema + +`vggt_debug/frames//frame.json` describes each call and references arrays in the +same directory's `arrays.npz`. Each actual call records its view order/roles, reference IDs where +available, and links to `vggt_debug/views/.npz`. + +These are the exact RGB CHW floating-point tensors **after CROSS preprocessing**. References may +be retrieved map/session keyframes or an accepted anchor; they are not necessarily adjacent video +frames. Repeated inputs are deduplicated without JPEG recompression or clipping resize overshoot. +One processing record has zero model passes and is not assigned another frame's predictions. + +Outputs include the model's camera poses/intrinsics, depth/confidence, covisibility and scale +fields where returned; raw occupancy/observability/uncertainty heads and gravity/metric fields; +the actual BEV consumed by navigation; base-frame reprojection; and planner world-map accumulators +and configuration. The source includes `load_debug_frame` and `load_debug_view` to restore the +manifest/NPZ structure without pickle. + +### Geometry and timing + +Saved RGB and aligned depth are 480 pixels wide by 640 high after the relay's 90-degree clockwise +rotation. Intrinsics and the optical transform were rotated consistently. Depth PNG values are +uint16 millimetres. `camera_pose` is `T_odom_camera`, `base_pose_matrix` is `T_odom_base`, and +`camera_in_base` is `T_base_camera`. All three are homogeneous 4x4 transforms. +Camera/base TF and head joints are associated with the source image timestamp. Head pan/tilt +changes therefore use the measured image-time extrinsic, not the requested head target. + +The reference map has its own coordinate system; use the saved map alignment/display transforms +rather than assuming its axes match robot odometry. Source sensor stamps use the robot clock; +receipt timestamps use the PC clock. `capture/transport.jsonl`, `robot_status.jsonl` and +`network.jsonl` retain the measurements needed to distinguish those stages. + +## Reproduction scope and provenance + +Native CROSS source was unchanged. The local adapter adds route attachment, remaining-route cost, +head surveying, measured-depth/footprint vetoes and command freshness checks. These policies and +the final execution gate are included in `code/lite3_ROS/`; the robot-side lease and head action +handoff are included in `code/stretch_ai/`. The Git HEAD of the adapter alone is insufficient: +its relevant local source was uncommitted and is included directly. + +The configured maximum base speeds were 0.10 m/s and 0.25 rad/s, source evidence expired after +1.2 s, and the execution footprint was 0.46 m wide. This case does not validate completion of all +six survey views or arrival at the goal. + +The recorded model outputs can be inspected entirely offline. Re-running a model needs the native +CROSS environment and the pretrained files from +[Jamie-nus/VGGT-Omega-CROSS](https://huggingface.co/Jamie-nus/VGGT-Omega-CROSS). +Their repository revision and individual SHA-256 hashes are in +`reports/stretch_cross_nav_live_20261026_goal1012_02/vggt_provenance.json`. +The checkpoint weights are not duplicated in this dataset. + +Arrays, RGB/depth images and native image/descriptor stores are byte-identical to the source recording. +Sharing copies of text metadata/source have session credentials, local absolute paths and private +interface addresses removed or replaced with portable/documentation values. Numerical transforms, +timestamps, commands and predictions are preserved. Three model paths inside the query map's config +were also made portable; every numerical map column was verified byte-identical. The original and +shared map-container hashes are recorded in `environment/map_metadata_sanitization.json`. +Source files retain their upstream licenses; +no additional recording license is asserted here. diff --git a/SHA256SUMS b/SHA256SUMS new file mode 100644 index 0000000000000000000000000000000000000000..423874fdc69af5c5f7976cdaf2766672d2c05633 --- /dev/null +++ b/SHA256SUMS @@ -0,0 +1,98 @@ +e97427af55a3cb4e014152ed6a512e5827ba5cd84daf38b0aafe25ce77a2917e README.md +c3dd418506684ae4b05b49daeeb6456509d1542621911e0029fa6c420d75c64b archives/CROSS_source.tar.gz +de8a67ce4a2f83967e3115038c128c270568475139b2bc5ae12f067e92db0417 archives/capture.tar +3876fa21325aea0a41dba3f647a8645815ed9f431c3e3e399e8a3f3d47768200 archives/reference_map.tar +afbd7f8dd07e62358316abd6d6fe8535376c28ddca90dbb1fa3dc363e79c551e archives/run_core.tar.gz +a53a2227a4b83fb50fd1bcec93130898312c19501c76ea848cf8b0528638b8c8 archives/vggt_frames_000.tar 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0000000000000000000000000000000000000000..f3bf2e7c012800aa667e564f800b27ee45ca40ee --- /dev/null +++ b/code/lite3_ROS/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2023 DeepRoboticsLab + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/code/lite3_ROS/scripts/capture_stretch_cross.py b/code/lite3_ROS/scripts/capture_stretch_cross.py new file mode 100644 index 0000000000000000000000000000000000000000..ebf27014a8d24f7db7af9ff24141f47f0b9f5a9f --- /dev/null +++ b/code/lite3_ROS/scripts/capture_stretch_cross.py @@ -0,0 +1,131 @@ +#!/usr/bin/env python3 +"""Record timestamped Stretch observations through an unarmed temporary relay. + +Only SUB sockets are opened on the PC. No arm, mode, joint or velocity requests are sent. +Place a STOP file in the output directory or use Ctrl+C to finish and close our relay. +""" +import argparse +import json +from pathlib import Path +import signal +import sys +import time +from types import SimpleNamespace + +import numpy as np + + +def json_value(value): + if isinstance(value, np.ndarray): + return value.tolist() + if isinstance(value, np.generic): + return value.item() + raise TypeError(f'Cannot serialize {type(value).__name__}') + + +def atomic_json(path, data): + temporary = path.with_suffix('.json.tmp') + temporary.write_text(json.dumps(data, indent=2, allow_nan=False, default=json_value) + '\n') + temporary.replace(path) + + +def main(): + import zmq + + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument('--robot-ip', default='192.0.2.2') + parser.add_argument('--stretch-root', type=Path, default=Path('/workspace/stretch_ai')) + parser.add_argument('--output', type=Path, required=True) + parser.add_argument('--fps', type=float, default=4.) + args = parser.parse_args() + output = args.output.resolve() + output.mkdir(parents=True, exist_ok=False) + for name in ('rgb', 'depth'): + (output / name).mkdir() + sys.path.insert(0, str(args.stretch_root / 'scripts')) + from depth_nav_live import RobotRelayProcess + + options = SimpleNamespace(robot_ip=args.robot_ip, ssh_user='hello-robot', container=None, + world_frame='odom', plan_hz=args.fps, + relay_max_frame_age=.8, command_ttl=.3) + relay = RobotRelayProcess(options, output) + context = zmq.Context() + observations = context.socket(zmq.SUB) + observations.setsockopt(zmq.SUBSCRIBE, b'') + observations.setsockopt(zmq.CONFLATE, 1) + observations.setsockopt(zmq.LINGER, 0) + observations.connect(f'tcp://{args.robot_ip}:4511') + states = context.socket(zmq.SUB) + states.setsockopt(zmq.SUBSCRIBE, b'') + states.setsockopt(zmq.CONFLATE, 1) + states.setsockopt(zmq.LINGER, 0) + states.connect(f'tcp://{args.robot_ip}:4513') + stopped = False + + def stop(*_): + nonlocal stopped + stopped = True + + signal.signal(signal.SIGTERM, stop) + signal.signal(signal.SIGINT, stop) + state = {'status': 'starting', 'frames': 0, 'world_frame': 'odom', + 'robot_ip': args.robot_ip, 'robot_commands_sent': 0, 'armed': False} + started, last_frame, first_stamp = time.monotonic(), -1, None + error = None + atomic_json(output / 'capture.json', state) + try: + relay.start() + state.update(status='recording', relay_directory=relay.directory, container=relay.container) + with (output / 'observations.jsonl').open('w', buffering=1) as log: + while not stopped and not (output / 'STOP').exists(): + if relay.process is not None and relay.process.poll() is not None: + raise RuntimeError('Our temporary observation relay exited; inspect robot_relay.log') + if states.poll(0): + robot = states.recv_pyobj() + if robot.get('armed'): + raise RuntimeError('Relay unexpectedly armed; passive capture aborted') + state['robot_status'] = {key: robot.get(key) for key in + ('healthy', 'armed', 'reason', 'capture_error', 'base_pose', 'sensor_age')} + if not observations.poll(250): + state['elapsed_s'] = time.monotonic() - started + atomic_json(output / 'capture.json', state) + continue + packet = observations.recv_pyobj() + if packet['frame_id'] <= last_frame: + continue + if packet['world_frame'] != 'odom': + raise ValueError('Capture requires continuous odom TF') + last_frame = packet['frame_id'] + index = state['frames'] + stem = f'{index:08d}' + (output / 'rgb' / f'{stem}.jpg').write_bytes(np.asarray(packet['rgb_jpg'], np.uint8).tobytes()) + (output / 'depth' / f'{stem}.png').write_bytes(np.asarray(packet['depth_png'], np.uint8).tobytes()) + row = {key: value.tolist() if isinstance(value, np.ndarray) else value + for key, value in packet.items() if key not in ('rgb_jpg', 'depth_png')} + first_stamp = row['sensor_stamp'] if first_stamp is None else first_stamp + row.update(frame_idx=index, relative_time_s=row['sensor_stamp'] - first_stamp, + received_monotonic=time.monotonic(), received_unix_s=time.time()) + log.write(json.dumps(row, allow_nan=False, default=json_value) + '\n') + atomic_json(output / 'latest.json', row) + state.update(frames=index + 1, latest_frame=index, duration_s=row['relative_time_s'], + elapsed_s=time.monotonic() - started) + atomic_json(output / 'capture.json', state) + if index % 20 == 0: + print(f"Recorded {index + 1} RGB-D/TF observations; {row['relative_time_s']:.1f}s; passive", flush=True) + except BaseException as exc: + error = str(exc) + state.update(status='failed', error=error) + raise + finally: + relay.close() + observations.close() + states.close() + context.term() + if error is None: + state['status'] = 'completed' + state['elapsed_s'] = time.monotonic() - started + atomic_json(output / 'capture.json', state) + + +if __name__ == '__main__': + main() diff --git a/code/lite3_ROS/scripts/inspect_stretch_vggt_debug.py b/code/lite3_ROS/scripts/inspect_stretch_vggt_debug.py new file mode 100644 index 0000000000000000000000000000000000000000..a91f1064c6ee1114567cfc980df236703aa279b7 --- /dev/null +++ b/code/lite3_ROS/scripts/inspect_stretch_vggt_debug.py @@ -0,0 +1,98 @@ +#!/usr/bin/env python3 +"""Export one saved VGGT input group, depth views and BEV stages without a GPU.""" + +import argparse +import json +import math +import sys +from pathlib import Path + +import cv2 +import numpy as np + +ROOT = Path(__file__).resolve().parents[1] +sys.path.insert(0, str(ROOT)) +from web_console.stretch_vggt_debug import load_debug_frame, load_debug_view, write_npz # noqa: E402 + + +def sheet(images, labels, *, width=256, height=342, columns=4): + columns = min(columns, len(images)) + rows = math.ceil(len(images) / columns) + canvas = np.full((rows * (height + 48), columns * width, 3), 24, np.uint8) + for index, (image, label) in enumerate(zip(images, labels)): + y, x = divmod(index, columns) + y, x = y * (height + 48), x * width + h, w = image.shape[:2] + scale = min(width / w, height / h) + resized = cv2.resize(image, (max(1, round(w * scale)), max(1, round(h * scale)))) + ox, oy = x + (width - resized.shape[1]) // 2, y + 42 + (height - resized.shape[0]) // 2 + canvas[oy:oy + resized.shape[0], ox:ox + resized.shape[1]] = resized + cv2.putText(canvas, label[:42], (x + 6, y + 24), cv2.FONT_HERSHEY_SIMPLEX, .43, (235, 235, 235), 1) + return canvas + + +def probability_image(array): + p = np.clip(np.nan_to_num(np.asarray(array, float), nan=.5), 0, 1) + return np.stack((np.full_like(p, 80), 200 * (1 - p) + 35, 210 * p + 25), -1).astype(np.uint8) + + +def export_frame(directory, number, output, pass_index=0): + data = load_debug_frame(directory, number) + if not data['passes']: + raise ValueError('No VGGT inference occurred on this frame; choose a frame with passes in index.jsonl') + call = data['passes'][pass_index] + views = call['views'] + inputs = [load_debug_view(directory, view['asset']) for view in views] + images = [(np.clip(image.transpose(1, 2, 0), 0, 1) * 255).round().astype(np.uint8)[..., ::-1] + for image in inputs] + labels = [f"{view['index']} {view['role']}" + + (f" kf {view['reference'].get('id', view['reference'].get('keyframe_id'))}" + if 'reference' in view else '') for view in views] + output = Path(output) + output.mkdir(parents=True, exist_ok=True) + cv2.imwrite(str(output / 'input_views.jpg'), sheet(images, labels)) + write_npz(output / 'model_inputs.npz', {'images': np.stack(inputs)}) + prediction = call.get('prediction', {}) + depth = prediction.get('depth') + if depth is not None and len(depth): + colored = [] + for view in depth: + finite = view[np.isfinite(view) & (view > 0)] + upper = np.percentile(finite, 98) if len(finite) else 1. + scaled = np.clip(np.nan_to_num(view / max(upper, 1e-9)), 0, 1) + colored.append(cv2.applyColorMap((255 * scaled).astype(np.uint8), cv2.COLORMAP_TURBO)) + cv2.imwrite(str(output / 'predicted_depth.jpg'), sheet(colored, labels[:len(colored)])) + out = data.get('outputs', {}) + head = call.get('head_calls', []) + stages = [('raw head: camera BEV', head[0]['outputs'] if head else None), + ('consumed: camera BEV', out.get('consumed_bev')), + ('robot base BEV', out.get('body_grid'))] + tiles, names = [], [] + for stage, value in stages: + if not value: + continue + for key, alias in (('prob', 'prob'), ('observability', 'obs'), ('uncertainty', 'err')): + if value.get(key, value.get(alias)) is not None: + layer = value.get(key, value.get(alias)) + tiles.append(probability_image(1 - layer if key == 'observability' else layer)) + names.append(f'{stage}: {key}') + if tiles: + cv2.imwrite(str(output / 'bev_stages.png'), sheet(tiles, names, width=300, height=300, columns=3)) + metadata = json.loads((Path(directory) / 'frames' / f'{number:08d}' / 'frame.json').read_text()) + (output / 'manifest.json').write_text(json.dumps(metadata, indent=2) + '\n') + return {'capture_frame': number, 'pass_index': pass_index, 'views': len(views), 'output': str(output.resolve())} + + +def main(): + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument('--debug', type=Path, required=True) + parser.add_argument('--frame', type=int, required=True) + parser.add_argument('--pass-index', type=int, default=0) + parser.add_argument('--output', type=Path) + args = parser.parse_args() + output = args.output or args.debug / 'inspection' / f'{args.frame:08d}' + print(json.dumps(export_frame(args.debug, args.frame, output, args.pass_index), indent=2)) + + +if __name__ == '__main__': + main() diff --git a/code/lite3_ROS/scripts/live_stretch_cross_nav.py b/code/lite3_ROS/scripts/live_stretch_cross_nav.py new file mode 100644 index 0000000000000000000000000000000000000000..4d9611a91540b9af35b1ab17124b0c99d33f24b6 --- /dev/null +++ b/code/lite3_ROS/scripts/live_stretch_cross_nav.py @@ -0,0 +1,936 @@ +#!/usr/bin/env python3 +"""Live native CROSS navigation with explicit browser handoff and expiring control. + +Starts in passive teleop mode. Only Start navigation may switch mode/arm the +robot. Stop/failure ends this run and closes its temporary robot relay. +""" +import argparse +from http.server import BaseHTTPRequestHandler, ThreadingHTTPServer +import json +import math +import os +import pickle +from pathlib import Path +import secrets +import signal +import sys +import threading +import time +from types import SimpleNamespace +import uuid +from urllib.parse import parse_qs, urlsplit + +import cv2 +import numpy as np +import zmq + +ROOT = Path(__file__).resolve().parents[1] +sys.path.insert(0, str(ROOT)) +from web_console.cross_run import RunArtifacts, matrix +from web_console.stretch_nav_control import (PlanWait, attachment_clear, + competing_controllers, depth_obstacles, depth_veto, + execution_gate, remaining_path, wrap) +from web_console.stretch_nav_geometry import body_to_world, world_to_body +from web_console.stretch_nav_footprint import command_footprint_report, depth_support +from web_console.stretch_nav_learned import learned_png, reproject_bev +from web_console.stretch_nav_report import SavedRoute, clean_json, positions, save_json +from web_console.stretch_nav_replay import ReplayService, save_bev_frame +from web_console.stretch_nav_recovery import (CorrectionRecovery, CornerObserver, MeasuredObstacleMemory, camera_in_base, + clear_goal_cache, rectangle_path_clear, route_subgoal) +from web_console.stretch_nav_survey import HeadSurvey +from web_console.stretch_vggt_debug import VggtDebugRecorder, model_provenance, planner_snapshot +from web_console.stretch_transport import camera_transport_diagnostics + + +def warmup_native_navigation(): + """Compile native grid searches before opening any robot transport.""" + try: + import numba + except ImportError as exc: + raise RuntimeError('Live navigation requires CROSS nav dependencies: install CROSS[nav] in this environment') from exc + from cross_nav.plan import _dijkstra + from cross_nav.policy.bev_policy import _astar, astar + + search = _astar() + if not hasattr(search, 'signatures') or not hasattr(_dijkstra, 'signatures'): + raise RuntimeError('Live navigation requires CROSS nav dependencies: install CROSS[nav] in this environment') + started = time.perf_counter() + ok = np.ones((8, 8), dtype=bool) + cost = np.ones((8, 8), dtype=np.float64) + astar(ok, cost, [4, 4], [4, 6]) + _dijkstra(ok, 4, 4, cost, False, True) + return {'numba_version': numba.__version__, 'warmup_s': time.perf_counter() - started, + 'astar_signatures': [str(value) for value in search.signatures], + 'dijkstra_signatures': [str(value) for value in _dijkstra.signatures]} + + +class LiveState: + def __init__(self, args): + self.args = args + self.lock = threading.RLock() + self.done = threading.Event() + self.token = secrets.token_urlsafe(24) + self.session = uuid.uuid4().hex + self.packet = self.plan = self.robot = None + self.plan_epoch = 0 + self.observation_requested = False + self.observation_reason = '' + self.last_control = {} + self.robot_received = self.heartbeat = -math.inf + self.phase, self.reason = 'teleop', 'Loading models; teleop remains in control' + self.commanded = 0. + self.motion_commands = 0 + self.relay_ever_requested = False + self.processed = 0 + self.conflicts = [] + self.images = {} + self.last_json = {} + self.replay = ReplayService(args.output) + self.events = (args.output / 'events.jsonl').open('a', buffering=1) + + def event(self, kind, **data): + with self.lock: + self.events.write(json.dumps(clean_json({'type': kind, 'time_unix': time.time(), **data})) + '\n') + + def finish(self, reason): + with self.lock: + self.phase, self.reason = 'stopped', reason + self.done.set() + self.event('stop', reason=reason) + + def gate(self): + if self.phase == 'stopped': + return 'session ended' + if self.conflicts: + return 'Close competing base controller: ' + ', '.join(f"{c['client']} (PID {c['pid']})" for c in self.conflicts) + return execution_gate(self.plan, self.robot, now=time.monotonic(), + robot_received=self.robot_received, heartbeat=self.heartbeat, state='preparing', + max_plan_age=self.args.max_plan_age) + + def snapshot(self): + with self.lock: + return clean_json({'phase': self.phase, 'reason': self.reason, + 'ready': self.phase == 'teleop' and not self.gate(), 'gate': self.gate(), + 'goal_keyframe': self.args.goal, 'processed': self.processed, + 'robot': self.robot, 'motion_commands': self.motion_commands, + 'frame': self.last_json, 'control': self.last_control, 'token': self.token, + 'capture_frame': self.packet['frame_idx'] if self.packet is not None else None, + 'v_max': self.args.max_v, 'w_max': self.args.max_w, + 'max_plan_age_s': self.args.max_plan_age, 'competing_controllers': self.conflicts, + 'replay_available': self.phase == 'stopped' and (self.args.output / 'final_status.json').is_file()}) + + +class Handler(BaseHTTPRequestHandler): + def log_message(self, *_): + pass + + def send(self, code, body, mime='application/json'): + body = body if isinstance(body, bytes) else json.dumps(clean_json(body), allow_nan=False).encode() + self.send_response(code) + self.send_header('Content-Type', mime) + self.send_header('Content-Length', str(len(body))) + self.send_header('Cache-Control', 'no-store') + self.send_header('X-Content-Type-Options', 'nosniff') + self.send_header('Content-Security-Policy', "default-src 'self'; script-src 'self' 'unsafe-eval'; style-src 'self' 'unsafe-inline'; img-src 'self' data: blob:; connect-src 'self'; worker-src 'self' blob:; frame-ancestors 'none'") + self.end_headers() + try: + self.wfile.write(body) + except (BrokenPipeError, ConnectionResetError): + pass + + def do_GET(self): + state = self.server.state + path = self.path.split('?', 1)[0] + assets = {'/': ('cross_nav_live.html', 'text/html; charset=utf-8'), + '/cross_nav_live.js': ('cross_nav_live.js', 'text/javascript'), + '/cross_nav.css': ('cross_nav.css', 'text/css'), + '/vendor/plotly.min.js': ('vendor/plotly.min.js', 'text/javascript')} + try: + if path in assets: + file, mime = assets[path] + return self.send(200, (ROOT / 'web_console/static' / file).read_bytes(), mime) + if path == '/api/status': + return self.send(200, state.snapshot()) + if path == '/api/map': + return self.send(200, state.map_data) + if path.startswith('/api/replay/'): + if state.phase != 'stopped': + return self.send(409, {'error': 'Replay becomes available after the run ends'}) + query = parse_qs(urlsplit(self.path).query) + key = query.get('run', [None])[0] + if path == '/api/replay/runs': + return self.send(200, {'runs': state.replay.listing(), 'current_run': state.replay.current.name}) + archive = state.replay.get(key) + if path == '/api/replay/manifest': + return self.send(200, archive.manifest()) + if path == '/api/replay/map': + return self.send(200, json.loads((archive.root / 'map.json').read_text())) + if path == '/api/replay/frame': + result = archive.frame(int(query.get('index', ['0'])[0])) + result['token'] = state.token + return self.send(200, result) + if path in ('/api/replay/rgb', '/api/replay/bev'): + number = int(query['frame'][0]) + layer = query.get('layer', [None])[0] if path.endswith('/bev') else None + if path.endswith('/bev') and layer is None: + raise ValueError('BEV layer required') + return self.send(200, archive.image(number, layer), 'image/png' if layer else 'image/jpeg') + return self.send(404, {'error': 'Unknown replay action'}) + with state.lock: + if path == '/api/rgb.jpg' and state.packet is not None: + data = np.asarray(state.packet['rgb_jpg'], np.uint8).tobytes() + return self.send(200, data, 'image/jpeg') + if path.startswith('/api/bev/') and path.split('/')[-1] in state.images: + return self.send(200, state.images[path.split('/')[-1]], 'image/png') + return self.send(404, {'error': 'Data not available yet'}) + except (OSError, ValueError, KeyError, IndexError) as exc: + self.send(404, {'error': str(exc)}) + + def do_POST(self): + state = self.server.state + expected = f'http://127.0.0.1:{self.server.server_port}' + if self.headers.get('X-Session') != state.token or self.headers.get('Origin') not in (None, expected): + return self.send(403, {'error': 'Invalid viewer session or origin'}) + with state.lock: + if self.path == '/api/heartbeat': + state.heartbeat = time.monotonic() + return self.send(200, {'ok': True}) + if self.path == '/api/start': + if state.phase != 'teleop': + return self.send(409, {'error': 'A run can be started once; Stop ends the session'}) + reason = state.gate() + if reason: + return self.send(409, {'error': reason}) + state.phase, state.reason = 'preparing', 'Browser requested navigation handoff' + state.event('start_requested', goal=state.args.goal) + return self.send(202, {'phase': state.phase}) + if self.path == '/api/stop': + state.finish('Stopped by operator; temporary relay will close') + return self.send(200, {'phase': 'stopped'}) + return self.send(404, {'error': 'Unknown action'}) + + +def capture_loop(state, relay): + context = zmq.Context() + sub = context.socket(zmq.SUB) + sub.setsockopt(zmq.SUBSCRIBE, b'') + sub.setsockopt(zmq.CONFLATE, 1) + sub.setsockopt(zmq.LINGER, 0) + sub.connect(f'tcp://{state.args.robot_ip}:4511') + root = state.args.output / 'capture' + for name in ('rgb', 'depth'): + (root / name).mkdir(parents=True, exist_ok=True) + first, last, count, previous_received = None, -1, 0, None + try: + with (root / 'observations.jsonl').open('a', buffering=1) as log, \ + (root / 'transport.jsonl').open('a', buffering=1) as timing_log: + while not state.done.is_set(): + if relay.process.poll() is not None: + raise RuntimeError('Owned robot relay exited') + if not sub.poll(200): + continue + recv_started = time.monotonic() + payload = sub.recv() + recv_finished = time.monotonic() + packet = pickle.loads(payload) + received = time.monotonic() + with state.lock: + timing = camera_transport_diagnostics(packet, state.robot, state.robot_received, received) + timing.update(wire_bytes=len(payload), recv_call_s=recv_finished - recv_started, + deserialize_s=received - recv_finished, + receive_gap_s=received - previous_received if previous_received is not None else None) + previous_received = received + if packet['world_frame'] != 'odom': + raise ValueError('Continuous odom frame required') + if packet['frame_id'] <= last: + continue + last = packet['frame_id'] + first = packet['sensor_stamp'] if first is None else first + row = {k: v for k, v in packet.items() if k not in ('rgb_jpg', 'depth_png')} + row['camera_in_base'] = camera_in_base(packet['camera_pose'], packet['base_pose_matrix']) + for stamp_name in ('camera_tf_stamp', 'base_tf_stamp'): + if stamp_name in packet and abs(packet[stamp_name] - packet['sensor_stamp']) > .025: + raise ValueError('Camera/base TF is not synchronized to its image') + row.update(frame_idx=count, relative_time_s=packet['sensor_stamp'] - first, + received_monotonic=received, received_unix_s=time.time(), transport=timing) + write_started = time.monotonic() + stem = f'{count:08d}' + (root / 'rgb' / f'{stem}.jpg').write_bytes(np.asarray(packet['rgb_jpg'], np.uint8).tobytes()) + (root / 'depth' / f'{stem}.png').write_bytes(np.asarray(packet['depth_png'], np.uint8).tobytes()) + log.write(json.dumps(clean_json(row), allow_nan=False) + '\n') + save_json(root / 'latest.json', row) + with state.lock: + state.packet = {**packet, **row} + phase, commands = state.phase, state.motion_commands + count += 1 + save_json(root / 'capture.json', {'status': 'recording', 'frames': count, + 'phase': phase, 'nonzero_motion_commands': commands, 'world_frame': 'odom'}) + timing_log.write(json.dumps(clean_json({'frame_idx': count - 1, + 'frame_id': packet['frame_id'], 'received_unix_s': row['received_unix_s'], + **timing, 'record_and_publish_s': time.monotonic() - write_started, + 'capture_metrics': packet.get('capture_metrics')}), allow_nan=False) + '\n') + except BaseException as exc: + state.finish('Capture error: ' + str(exc)) + state.event('capture_error', error=str(exc)) + finally: + save_json(root / 'capture.json', {'status': 'completed', 'frames': count, + 'nonzero_motion_commands': state.motion_commands, 'world_frame': 'odom'}) + sub.close() + context.term() + + +def control_loop(state): + """Independent 20 Hz owner of the robot-local lease. Never waits for inference.""" + from cross_nav.policy.robot import pure_pursuit + + context = zmq.Context() + status = context.socket(zmq.SUB) + status.setsockopt(zmq.SUBSCRIBE, b'') + status.setsockopt(zmq.CONFLATE, 1) + status.setsockopt(zmq.LINGER, 0) + status.connect(f'tcp://{state.args.robot_ip}:4513') + commands = context.socket(zmq.PUSH) + commands.setsockopt(zmq.SNDHWM, 1) + commands.setsockopt(zmq.IMMEDIATE, 1) + commands.setsockopt(zmq.LINGER, 0) + commands.connect(f'tcp://{state.args.robot_ip}:4512') + mode = context.socket(zmq.PUB) + mode.setsockopt(zmq.LINGER, 0) + mode.connect(f'tcp://{state.args.robot_ip}:4402') + sequence, previous, last_tick, next_mode, prepare_started = 0, None, time.monotonic(), 0., None + plan_wait = PlanWait(timeout=state.args.plan_hold_seconds) + next_scan = 0. + scan_started, scan_angle, scan_previous = None, 0., None + scan_origin = None + control_epoch = 0 + veto_since, progress_origin, progress_at = None, None, None + + def send(command): + try: + commands.send_json(command, flags=zmq.NOBLOCK) + except zmq.Again: + return False + return True + + try: + with (state.args.output / 'commands.jsonl').open('a', buffering=1) as log, \ + (state.args.output / 'robot_status.jsonl').open('a', buffering=1) as robot_log: + while not state.done.is_set(): + now = time.monotonic() + if now >= next_scan: + with state.lock: + state.conflicts = competing_controllers() + next_scan = now + 1. + if status.poll(0): + robot = status.recv_pyobj() + robot_log.write(json.dumps(clean_json({'received_unix': time.time(), + 'received_monotonic': time.monotonic(), **robot})) + '\n') + with state.lock: + state.robot, state.robot_received = robot, time.monotonic() + with state.lock: + robot, robot_at, plan, phase, heartbeat = (state.robot, state.robot_received, + state.plan, state.phase, state.heartbeat) + epoch = state.plan_epoch + if epoch != control_epoch: + scan_started, scan_angle, scan_origin, scan_previous = None, 0., None, None + veto_since, progress_origin, progress_at = None, None, None + control_epoch = epoch + # Process scanning, deserialization or waiting for the GIL can + # take time. Gate this snapshot using the current clock. + now = time.monotonic() + v, w = 0., 0. + head_target = None + footprint_report = None + requested_velocity = [0., 0.] + depth_blocked = learned_blocked = False + queued = None + reason = 'Teleop owns control; no arm/mode/velocity requests' + if phase in ('preparing', 'active'): + if state.conflicts: + state.finish('Competing base controller detected; navigation ended') + break + gate = execution_gate(plan, robot, now=now, robot_received=robot_at, + heartbeat=heartbeat, state=phase, max_plan_age=state.args.max_plan_age) + if gate == 'goal reached': + state.finish('Goal keyframe reached (camera XY within 0.4 m; heading not enforced)') + break + recovering = gate == 'map correction recovery' and now < plan.get('recovery_deadline', 0.) + holding = phase == 'active' and robot is not None and (recovering or plan_wait.holds(gate, now)) + if gate and not holding: + state.finish(gate + '; navigation ended') + break + if robot.get('armed') and robot.get('session') != state.session: + raise RuntimeError('Relay is owned by another session') + if phase == 'active' and not robot.get('armed'): + raise RuntimeError('Navigation lease lost; no automatic re-arm') + if holding: + # Renew only zero velocity using fresh camera evidence. An old + # path never receives extra execution time during this hold. + sequence += 1 + queued = send({'type': 'velocity', 'session': state.session, 'seq': sequence, + 'frame_id': robot['frame_id'], 'ttl': .3, 'v': 0., 'w': 0.}) + reason = 'Holding at zero: ' + gate + previous = np.asarray(robot['base_pose'], float).copy() + elif phase == 'preparing': + prepare_started = prepare_started or now + if now - prepare_started > 15.: + raise RuntimeError('Navigation mode/lease preparation timed out') + if robot.get('control_mode') != 'navigation': + if now >= next_mode: + mode.send_pyobj({'control_mode': 'navigation', 'step': int(robot['bridge_step']) + 1}) + next_mode = now + 1. + reason = 'Switching base to navigation mode; joints unchanged' + elif not robot.get('healthy'): + reason = 'Waiting for healthy robot TF and camera' + elif not robot.get('armed'): + state.relay_ever_requested = True + send({'type': 'arm', 'session': state.session}) + reason = 'Arming expiring robot-local velocity lease' + else: + with state.lock: + state.phase = 'active' + reason = 'Navigation active' + else: + pose = np.asarray(robot['base_pose'], float) + if previous is not None: + dt = now - last_tick + if np.linalg.norm(pose[:2] - previous[:2]) > .2 + .2 * dt or abs(wrap(pose[2] - previous[2])) > .3 + .4 * dt: + raise RuntimeError('Odom discontinuity') + if not robot.get('armed'): + raise RuntimeError('Navigation lease lost; no automatic re-arm') + path = remaining_path(plan['path_odom'], pose) + head_target = plan.get('head_target') + if plan.get('observation_hold'): + v, w = 0., float(np.clip(plan.get('scan_w', 0.), + -min(.15, state.args.max_w), min(.15, state.args.max_w))) + reason = ('Head survey: ' + (plan.get('survey_label') or 'observing') + if plan.get('stationary_survey') else 'Corner observation: ' + plan.get('corner_phase', 'look')) + elif plan.get('planner_status') == 2: + _, w = pure_pursuit(path, v_max=state.args.max_v, w_max=min(.15, state.args.max_w)) + v, reason = 0., 'Guarded native no-route scan' + else: + v, w = pure_pursuit(path, v_max=state.args.max_v * plan.get('speed_scale', 1.), + w_max=state.args.max_w, lookahead=plan.get('lookahead', .4)) + reason = 'Following CROSS local plan' + v *= min(1., max(0., plan['goal_distance'] - .4) / .6) + if progress_origin is None or np.linalg.norm(pose[:2] - progress_origin) > .05: + progress_origin, progress_at = pose[:2].copy(), now + if plan.get('observation_hold'): + progress_at = now + # Scan budgets follow physical odometry and do not reset + # merely because the planner briefly changes status. + scanning = plan.get('observation_hold') or plan.get('planner_status') == 2 + if scan_origin is not None and np.linalg.norm(pose[:2] - scan_origin) > .2: + scan_started, scan_angle, scan_origin = None, 0., None + if scanning: + if scan_started is None: + scan_started, scan_origin = now, pose[:2].copy() + if scan_previous is not None: + scan_angle += abs(wrap(pose[2] - scan_previous)) + if now - scan_started > 90. or scan_angle > np.deg2rad(100): + raise RuntimeError('Observation recovery exhausted without forward progress') + scan_previous = pose[2] + requested_velocity = [float(v), float(w)] + depth_blocked = depth_veto(plan['depth_obstacles'], pose, v, w) + if plan.get('footprint_grid') is not None: + footprint_report = command_footprint_report( + plan['footprint_grid'], plan['planning_base'], pose, v, w) + learned_blocked = not footprint_report['clear'] + if (depth_blocked or learned_blocked) and abs(v) + abs(w) > 1e-8: + v, w = 0., 0. + reason = ('Measured-depth veto' if depth_blocked else 'Learned-footprint veto') + ': obstacle in command footprint' + veto_since = now if veto_since is None else veto_since + else: + veto_since = None + if not plan.get('observation_hold') and ( + (veto_since is not None and now - veto_since > 1.) or now - progress_at > 10. + ): + with state.lock: + state.observation_requested = True + state.observation_reason = ('measured depth' if depth_blocked else + 'learned footprint' if learned_blocked else 'no odometry progress') + sequence += 1 + with state.lock: + # A correction can arrive after this thread took its + # snapshot. Never send its now-invalid path command. + if epoch != state.plan_epoch or state.done.is_set(): + v, w, head_target = 0., 0., None + reason = 'Holding at zero: route generation changed' + command = {'type': 'velocity', 'session': state.session, 'seq': sequence, + 'frame_id': plan['frame_id'], 'ttl': .3, 'v': float(v), 'w': float(w)} + if head_target is not None: + command['head_target'] = head_target + queued = send(command) + if queued: + with state.lock: + state.motion_commands += int(abs(v) + abs(w) > 1e-8) + # Relay-published velocity, rather than a queued + # PC request, drives the native bump expectation. + state.commanded += max(0., robot.get('v', 0.)) * min(.1, now - last_tick) + previous = pose.copy() + last_tick = now + with state.lock: + if not state.done.is_set(): + state.reason = reason + control = {'phase': phase, 'reason': reason, 'v': float(v), 'w': float(w), + 'time_unix': time.time(), 'sequence': sequence, + 'plan_frame_id': plan.get('frame_id') if plan else None, + 'plan_capture_frame': plan.get('capture_frame') if plan else None, 'command_queued': queued, + 'plan_input_age_s': now - plan['input_received'] if plan else None, + 'plan_build_age_s': now - plan.get('published', now) if plan else None, + 'robot_state_age_s': now - robot_at, 'max_plan_age_s': state.args.max_plan_age, + 'holding_for_plan': phase == 'active' and reason.startswith('Holding'), + 'plan_epoch': epoch, 'relay_sequence': robot.get('accepted_sequence') if robot else None, + 'head_target': head_target, + 'requested_velocity': requested_velocity, 'requested_pose': robot.get('base_pose') if robot else None, + 'depth_blocked': depth_blocked, 'learned_blocked': learned_blocked, + 'footprint': footprint_report, + 'relay_reason': robot.get('reason') if robot else None, + 'relay_velocity': [robot.get('v'), robot.get('w')] if robot else None, + 'nonzero_motion_commands': state.motion_commands} + log.write(json.dumps(clean_json(control), allow_nan=False) + '\n') + with state.lock: + state.last_control = clean_json(control) + save_json(state.args.output / 'control.json', control) + state.done.wait(.05) + except BaseException as exc: + state.finish('Control error: ' + str(exc)) + state.event('control_error', error=str(exc)) + finally: + if state.relay_ever_requested: + for _ in range(3): + send({'type': 'stop', 'session': state.session}) + time.sleep(.03) + final_control = {'phase': state.phase, 'reason': state.reason, 'v': 0., 'w': 0., + 'time_unix': time.time(), 'sequence': sequence, 'stop_requested': state.relay_ever_requested, + 'nonzero_motion_commands': state.motion_commands} + save_json(state.args.output / 'control.json', final_control) + with (state.args.output / 'commands.jsonl').open('a') as log: + log.write(json.dumps(final_control) + '\n') + for socket in (status, commands, mode): + socket.close() + context.term() + + +def run_mapping(state): + from cross.core.config import load_config + from cross.core.types import Camera + from cross.pipeline import add_session_args, finish_session_args, mode_config_files, session_factory + from cross_nav.policy.bev_policy import BEVPlannerPolicy, Episode + + args = state.args + while state.packet is None and not state.done.wait(.1): + pass + if state.done.is_set(): + return + with state.lock: + initial = state.packet + rgb = cv2.imdecode(np.asarray(initial['rgb_jpg'], np.uint8), cv2.IMREAD_COLOR) + camera_config = Camera(K=np.asarray(initial['camera_K']), frame_width=rgb.shape[1], frame_height=rgb.shape[0]) + parser = argparse.ArgumentParser() + add_session_args(parser) + options = parser.parse_args(['--mode', 'mono', '--odometry', 'external', '--mono-estimator', 'ff']) + finish_session_args(options) + heads = args.cross_root / 'models/VGGT-Omega-CROSS/nav' + occupancy, visibility = heads / 'cross_nav_occupancy.pt', heads / 'cross_nav_observability.pt' + overrides = ['pose_est.ff.checkpoint=finetuned', 'pose_est.obs_max_interval_steps=1', + f'pose_est.ff.nav_bev_head={occupancy}', f'pose_est.ff.nav_bev_visibility={visibility}', + f'pose_est.ff.nav_bev_visibility_gravity={occupancy}', 'mapping.loop_closure.async_pgo=False'] + config = load_config(*mode_config_files('mono', 'external', 'ff'), sets=overrides) + artifacts = RunArtifacts(args.output / 'mapping', {'mode': 'mono', 'odometry': 'external', + 'dataset': str(args.output / 'capture'), 'loaded_map': str(args.map_run / 'map.pkl'), + 'goal_keyframe': args.goal, 'config_overrides': overrides, 'max_v': args.max_v, 'max_w': args.max_w, + 'max_plan_age_s': args.max_plan_age, 'plan_hold_seconds': args.plan_hold_seconds, + 'checkpoint_provenance': json.loads((heads / 'provenance.json').read_text())}) + session = debug_archive = None + mapping_error = None + try: + session = artifacts.wrap_factory(session_factory(options, camera_config, config))() + session.load_map(args.map_run / 'map.pkl') + pe = session.mapper.pose_est + if args.vggt_debug: + debug_archive = VggtDebugRecorder(args.vggt_debug_dir or args.output / 'vggt_debug', { + 'origin': 'live_recorded', 'cross_root': str(args.cross_root), + 'map_run': str(args.map_run), 'config_overrides': overrides, + 'resolved_config': json.loads((args.output / 'mapping/resolved_config.json').read_text()), + 'camera_catalog': clean_json(session.mapper.cameras), 'session_camera_id': session.mapper.cam_id, + 'checkpoint_provenance': artifacts.metadata['checkpoint_provenance'], + **model_provenance(args.cross_root), + }, on_error=lambda exc: state.finish('VGGT debug archive error: ' + str(exc))) + debug_archive.attach(pe) + route_planner = SavedRoute(args.map_run / 'map.pkl') + bev_config = json.loads((args.cross_root / 'cross_nav/configs/policy/bev_planner_vfin2.json').read_text()) + bev_config.update(backbone=str(args.cross_root / 'models/VGGT-Omega-CROSS/vggt_omega_cross_1b_512.pt'), + occupancy=str(occupancy), visibility=str(visibility), visibility_gravity=str(occupancy)) + # Match the 46 cm execution footprint. Never shrink inflation to invent + # clearance in a narrow passage; also check the oriented rectangle. + bev_config['planner']['radius'] = .23 + bev_config['map'].update(radius=.23, retry_radii=[]) + save_json(args.output / 'resolved_bev_config.json', bev_config) + if debug_archive: + save_json(debug_archive.root / 'planner_config.json', bev_config) + policy = BEVPlannerPolicy(bev_config, predictor=pe.backend.nav) + episode = Episode() + recovery, corners = CorrectionRecovery(), CornerObserver() + survey = HeadSurvey() + obstacle_memory = MeasuredObstacleMemory() + evidence_directory = args.output / 'footprint_evidence' + evidence_directory.mkdir() + last_evidence = -math.inf + neutral_mount, previous_goal = None, None + prior, last, streak, previous_alignment = None, -1, 0, None + trajectory, previous_expected = [], 0. + with (args.output / 'observations.jsonl').open('a', buffering=1) as log: + while not state.done.is_set(): + with state.lock: + raw = state.packet + phase, cumulative = state.phase, state.commanded + if raw is None or raw['frame_idx'] <= last: + state.done.wait(.03) + continue + index, camera, base = raw['frame_idx'], np.asarray(raw['camera_pose']), np.asarray(raw['base_pose_matrix']) + mount = camera_in_base(camera, base) + if neutral_mount is None: + neutral_mount = mount.copy() + rgb = cv2.cvtColor(cv2.imdecode(np.asarray(raw['rgb_jpg'], np.uint8), cv2.IMREAD_COLOR), cv2.COLOR_BGR2RGB) + pe.set_gravity(camera[:3, :3].T @ [0., 0., 1.]) + passes = pe._n_passes + started = time.monotonic() + if debug_archive: + debug_archive.begin_frame(raw) + session.process({'rgb': rgb, 'frame_idx': index, 'timestamp': raw['sensor_stamp'], + 'delta_pose': None if prior is None else np.linalg.inv(prior) @ camera}) + prior, last = camera, index + c0, best, weights = session.belief(matrix) + localized = bool(session.localized()) + streak = streak + 1 if localized else 0 + diagnostics = session.mapper.last_step_diagnostics + audit = [{'id': int(a['keyframe_id']), 'score': float(a['retrieval_score']), + 'verified': bool(a['verified']), 'loaded': bool(a['loaded'])} + for a in diagnostics.get('retrieval_audit', [])] + fresh = pe._n_passes != passes and pe.last_bev is not None + bev = pe.last_bev if fresh else None + grid = planner_debug = None + record = {'frame_idx': index, 'time_s': raw['relative_time_s'], 'localized': localized, + 'localized_streak': streak, 'weights': weights, 'retrieval': audit, + 'camera_display': None, 'global_route': [], 'local_path_display': [], + 'goal_keyframe': args.goal, 'route_ids': [], 'goal_distance': None, + 'planner_name': 'Waiting for committed map pose', 'n_views': 0, 'trajectory': trajectory[-1500:]} + plan = None if localized else {'input_received': raw['received_monotonic'], + 'localized': False, 'localized_streak': 0, 'goal_distance': 0.} + if bev is not None: + grid = reproject_bev(bev['prob'], bev['observability'], bev['uncertainty'], + bev['R_bev_from_cam'], camera, base, bev['res']) + images = {f'{layer}.png': learned_png(grid['prob'], grid['obs'], grid['err'], layer) + for layer in ('occupancy', 'visibility', 'uncertainty')} + save_bev_frame(args.output, int(index), images) + with state.lock: + state.images = images + record.update(n_views=bev['n_views'], scale_source=bev['scale_source'], + bev_size=bev['size'], bev_res=bev['res'], gravity_head_deg=bev['gravity_head_deg']) + if localized and bev is not None: + alignment = c0 @ np.linalg.inv(camera) + with state.lock: + active = state.phase == 'active' + was_pending = recovery.pending + correction = recovery.update(previous_alignment if active else None, alignment, base, time.monotonic()) + if correction['started']: + survey.cancel() + route_planner.reset_attachment() + clear_goal_cache(episode) + corners.reset() + previous_goal = None + with state.lock: + state.plan_epoch += 1 + state.plan = {'input_received': raw['received_monotonic'], 'localized': True, + 'localized_streak': streak, 'goal_distance': 0., 'recovery_pending': True, + 'recovery_deadline': correction['deadline']} + state.event('map_correction_recovery_started', frame_idx=index, + previous_alignment=previous_alignment, alignment=alignment, + base_pose_matrix=base, weights=weights, **correction) + if was_pending and not recovery.pending: + corners.restore_neutral(base, time.monotonic()) + state.event('map_correction_recovery_complete', frame_idx=index, **correction) + record.update(map_correction_at_base_m=correction['distance_m'], + map_correction_angle_deg=correction['rotation_deg'], correction_recovery=correction, + camera_in_base=mount, neutral_camera_in_base=neutral_mount) + previous_alignment = alignment + inverse_alignment = np.linalg.inv(alignment) + depth = cv2.imdecode(np.asarray(raw['depth_png'], np.uint8), cv2.IMREAD_UNCHANGED).astype(float) / 1000 + obstacles = depth_obstacles(depth, raw['camera_K'], camera) + obstacle_memory.observing(survey.active, raw['received_monotonic']) + obstacles = obstacle_memory.update(obstacles, raw['received_monotonic'], base[:2, 3]) + reference_camera = base @ neutral_mount + def can_attach(_keyframe_id, point_map): + point_odom = positions(inverse_alignment, [point_map])[0] + target_base_xy = base[:2, 3] + point_odom[:2] - reference_camera[:2, 3] + return attachment_clear(obstacles, raw['base_pose'], target_base_xy) + # Head panning must not move the virtual camera used for + # graph attachment or change camera->base goal conversion. + route = route_planner.route(alignment @ reference_camera, args.goal, can_attach=can_attach) + ids = route['ids'] + route_map = np.asarray(route['positions']).reshape(-1, 3) + goal_map = route_planner.matrices[args.goal][:3, 3] + goal_odom = positions(inverse_alignment, [goal_map])[0] + goal_distance = float(np.linalg.norm(goal_odom[:2] - reference_camera[:2, 3])) + route_odom = positions(inverse_alignment, route_map) + offset = reference_camera[:2, 3] - base[:2, 3] + hint = route_subgoal(route_odom[:, :2] - offset, base, goal_odom[:2] - offset) + with state.lock: + joint = state.robot.get('joint_positions', []) if state.robot else [] + image_head = raw.get('head_joints') + if image_head is not None and len(joint) >= 11: + joint = np.asarray(joint, float).copy() + joint[9:11] = image_head + elif active and (hint['corner'] is not None or corners.phase != 'cruise' or survey.active): + raise ValueError('Timestamped head joint feedback missing; refusing camera scan') + + def start_survey(reason): + if image_head is None: + raise ValueError('Timestamped head joint feedback missing; refusing camera survey') + if not survey.start(base, mount, neutral_mount, joint, time.monotonic(), reason): + return False + clear_goal_cache(episode) + corners.reset() + with state.lock: + state.plan_epoch += 1 + if state.plan is not None: + state.plan = {**state.plan, 'observation_hold': True, 'stationary_survey': True, + 'scan_w': 0., 'head_target': None, 'survey_label': survey.snapshot()['label']} + state.event('head_survey_started', frame_idx=index, reason=reason, + pass_number=survey.passes, targets=survey.targets) + return True + + observation = {'phase': 'cruise', 'target': hint['target'], 'hold': False, + 'head_target': None, 'scan_w': 0., 'speed_scale': 1., 'lookahead': .4} + if active and not recovery.pending: + with state.lock: + request_observation = state.observation_requested + request_reason = state.observation_reason + state.observation_requested = False + if request_observation: + start_survey(request_reason or 'stuck') + if survey.active: + count = len(survey.views) + observation = survey.update(base, mount, joint, index, time.monotonic()) + if len(survey.views) > count: + state.event('head_survey_view', pass_number=survey.passes, **survey.views[-1]) + if observation.get('survey_complete'): + clear_goal_cache(episode) + corners.reset() + state.event('head_survey_complete', frame_idx=index, pass_number=survey.passes) + else: + observation = corners.update(hint, base, mount, neutral_mount, joint, + {**grid, 'res': bev['res']}, time.monotonic()) + target_base = observation['target'] + if previous_goal is not None and np.linalg.norm(target_base - previous_goal) > .6: + clear_goal_cache(episode) + previous_goal = np.asarray(target_base).copy() + goal_body = world_to_body(target_base, base) + cat = {'prob': grid['prob'][None], 'obs': grid['obs'][None], 'err': grid['err'][None], + 'log_scale': np.array([bev['log_scale']]), 'odometry': np.array([bev['scale_source'] == 'anchors']), + 'up_head_deg': np.array([bev['gravity_head_deg']]), 'n_views': np.array([bev['n_views']])} + paths, debug = policy.plan_maps(cat, goal_body[None], [episode], + [{'ep': state.session, 'odom': raw['base_pose'], 'expect': max(0., cumulative - previous_expected)}], [True]) + planner_debug = debug[0] + previous_expected = cumulative + path = paths[0] + code = int(debug[0]['status']) + native_path, native_code = path.copy(), code + rectangle_clear = rectangle_path_clear(path, {**grid, 'res': bev['res']}) + if not rectangle_clear and not observation['hold']: + # Request observation rather than executing a route that + # clears a centre point but clips a rectangular corner. + code = 2 + side = 1. if goal_body[1] >= 0 else -1. + path = np.tile([0., side * .3], (len(path), 1)) + if active and not recovery.pending and code == 2 and not observation['hold']: + if start_survey('native no route' if rectangle_clear else 'learned path footprint'): + observation = survey.update(base, mount, joint, index, time.monotonic()) + if observation['hold']: + path = np.zeros_like(path) + with state.lock: + control = state.last_control + control_report = control.get('footprint') + footprint_diagnostics = depth_support(control_report, obstacles) if control_report else None + if footprint_diagnostics is not None: + footprint_diagnostics['command_capture_frame'] = control.get('plan_capture_frame') + for cell in footprint_diagnostics['cells'] + footprint_diagnostics.get('self_cells', []): + cell['display_body_xy'] = world_to_body(cell['world_xy'], base).tolist() + evidence = None + if active and (survey.active or control.get('learned_blocked') or control.get('depth_blocked')) and ( + time.monotonic() - last_evidence >= 1. + ): + last_evidence = time.monotonic() + evidence = f'footprint_evidence/{index:08d}.npz' + np.savez_compressed(args.output / evidence, **grid, res=bev['res'], + base=base, camera=camera, measured_obstacles_odom=obstacles, + native_path_body=native_path, native_planner_status=native_code) + path_odom = body_to_world(path, base) + path_odom_with_origin = np.vstack([base[:2, 3], path_odom]) + plan = {'input_received': raw['received_monotonic'], 'localized': True, + 'localized_streak': streak, 'frame_id': raw['frame_id'], + 'capture_frame': index, + 'route_ids': ids, 'path_odom': path_odom_with_origin, 'planner_status': code, + 'published': time.monotonic(), + 'goal_distance': goal_distance, 'arrived': goal_distance <= .4, + 'depth_obstacles': obstacles, 'recovery_pending': recovery.pending, + 'footprint_grid': {**grid, 'res': bev['res']}, 'planning_base': base, + 'recovery_deadline': correction['deadline'], 'epoch': state.plan_epoch, + 'observation_hold': observation['hold'], 'head_target': observation['head_target'], + 'stationary_survey': observation['phase'].startswith('survey'), + 'survey_label': observation.get('survey_label'), + 'corner_phase': observation['phase'], 'scan_w': observation['scan_w'], + 'scan_authorized': code == 2, 'speed_scale': observation['speed_scale'], + 'lookahead': observation['lookahead']} + camera_display = positions(state.display, [c0[:3, 3]])[0] + trajectory.append(camera_display.tolist()) + names = ['goal route', 'local waypoint', 'no route / scan', 'near goal', + 'remembered route', 'relaxed route', 'episode-map route'] + record.update(camera_display=camera_display, global_route=positions(state.display, route_map), + local_path_display=positions(state.display @ alignment, np.column_stack([path_odom, np.zeros(len(path_odom))])), + local_path_body=path, goal_body=goal_body, goal_distance=goal_distance, + route_ids=ids, route_cost_m=route.get('cost_m'), route_attachment=route.get('attachment'), + corner_observation=observation, rectangle_clear=rectangle_clear, + head_survey=survey.snapshot(), footprint_diagnostics=footprint_diagnostics, + footprint_evidence=evidence, native_local_path_body=native_path, + native_planner_status=native_code, + planner_name=names[code], blind_zone=bool(debug[0]['blind_zone']), + trajectory=trajectory[-1500:], native_map_camera=c0) + record['compute_s'] = time.monotonic() - started + record['input_age_at_publish_s'] = time.monotonic() - raw['received_monotonic'] + if debug_archive: + debug_archive.finish_frame( + observation={key: value for key, value in record.items() if key != 'trajectory'}, + consumed_bev=bev, body_grid=grid, planner_debug=planner_debug, + planner_state=planner_snapshot(episode) if planner_debug is not None else None) + record['vggt_debug_frame'] = f'frames/{index:08d}/frame.json' + with state.lock: + state.plan, state.last_json = plan, clean_json(record) + state.processed += 1 + save_json(args.output / 'latest_plan.json', record) + log.write(json.dumps(clean_json(record), allow_nan=False) + '\n') + if state.processed % 20 == 1: + print(json.dumps({'processed': state.processed, 'frame': index, 'localized': localized, + 'streak': streak, 'views': record['n_views'], 'phase': phase}), flush=True) + artifacts.metadata.update(nonzero_motion_commands=state.motion_commands, stop_reason=state.reason) + session.release() + artifacts.finish() + except BaseException as exc: + mapping_error = exc + state.finish('Mapping/planning error: ' + str(exc)) + artifacts.finish(exc) + raise + finally: + if debug_archive: + debug_archive.close(mapping_error) + + +def main(): + p = argparse.ArgumentParser(description=__doc__) + p.add_argument('--robot-ip', default='192.0.2.2') + p.add_argument('--cross-root', type=Path, default=Path('/workspace/CROSS')) + p.add_argument('--stretch-root', type=Path, default=Path('/workspace/stretch_ai')) + p.add_argument('--map-run', type=Path, required=True) + p.add_argument('--output', type=Path, required=True) + p.add_argument('--goal', type=int, default=1012) + p.add_argument('--port', type=int, default=8088) + p.add_argument('--max-v', type=float, default=.10) + p.add_argument('--max-w', type=float, default=.25) + p.add_argument('--max-plan-age', type=float, default=1.2) + p.add_argument('--plan-hold-seconds', type=float, default=3.) + p.add_argument('--vggt-debug', action=argparse.BooleanOptionalAction, default=True, + help='Save every VGGT input group and numeric output in a separate debug archive (default: enabled)') + p.add_argument('--vggt-debug-dir', type=Path, help='Debug archive directory; default: OUTPUT/vggt_debug') + args = p.parse_args() + if not 0 < args.max_v <= .10 or not 0 < args.max_w <= .25: + raise ValueError('Initial live test is limited to 0.10 m/s and 0.25 rad/s') + if not .4 <= args.max_plan_age <= 1.5 or not 0. <= args.plan_hold_seconds <= 5.: + raise ValueError('Plan evidence must expire within 0.4–1.5 s; zero-velocity hold at most 5 s') + args.output, args.map_run = args.output.resolve(), args.map_run.resolve() + if args.vggt_debug_dir is not None: + args.vggt_debug_dir = args.vggt_debug_dir.resolve() + args.cross_root, args.stretch_root = args.cross_root.resolve(), args.stretch_root.resolve() + required = [args.cross_root / 'cross_nav/configs/policy/bev_planner_vfin2.json', + args.cross_root / 'models/VGGT-Omega-CROSS/vggt_omega_cross_1b_512.pt', + args.cross_root / 'models/VGGT-Omega-CROSS/nav/cross_nav_occupancy.pt', + args.cross_root / 'models/VGGT-Omega-CROSS/nav/cross_nav_observability.pt'] + for file in required: + if not file.is_file(): + raise FileNotFoundError(f'Required navigation file is missing: {file}') + graph = json.loads((args.map_run / 'graph.json').read_text()) + nodes = [n for n in graph['nodes'] if not n['temporary']] + if args.goal not in {n['id'] for n in nodes}: + raise ValueError('Goal must be a permanent reference map keyframe') + sys.path[:0] = [str(args.cross_root), str(args.stretch_root / 'scripts')] + planner_runtime = warmup_native_navigation() + # Detect an occupied viewer port before creating a run or touching the robot. + server = ThreadingHTTPServer(('127.0.0.1', args.port), Handler) + try: + args.output.mkdir(parents=True, exist_ok=False) + state = LiveState(args) + except BaseException: + server.server_close() + raise + source = json.loads((args.map_run / 'run.json').read_text()) + state.display = np.asarray(source['T_display_from_map']) + state.map_data = {'nodes': [{'id': n['id'], 'position': positions(state.display, [np.asarray(n['pose'])[:3, 3]])[0].tolist()} + for n in nodes], 'goal': args.goal} + save_json(args.output / 'map.json', state.map_data) + save_json(args.output / 'planner_runtime.json', planner_runtime) + server.daemon_threads = True + server.state = state + threading.Thread(target=server.serve_forever, daemon=True).start() + print(f'Live CROSS handoff: http://127.0.0.1:{args.port} — passive until Start navigation', flush=True) + shutdown = threading.Event() + def interrupt(*_): + shutdown.set() + state.finish('Process interrupted by operator') + signal.signal(signal.SIGINT, interrupt) + signal.signal(signal.SIGTERM, interrupt) + from depth_nav_live import RobotRelayProcess + relay = RobotRelayProcess(SimpleNamespace(robot_ip=args.robot_ip, ssh_user='hello-robot', container=None, + world_frame='odom', plan_hz=4., relay_max_frame_age=args.max_plan_age, command_ttl=.3, + enable_head=True), args.output) + threads = [] + try: + relay.start() + for target in (capture_loop, control_loop): + t = threading.Thread(target=target, args=(state, relay) if target is capture_loop else (state,), daemon=True) + t.start() + threads.append(t) + os.chdir(args.cross_root) + run_mapping(state) + except BaseException as exc: + state.finish('Live pipeline error: ' + str(exc)) + state.event('pipeline_error', error=str(exc)) + import traceback + traceback.print_exc() + finally: + state.done.set() + for t in threads: + t.join(timeout=2.) + relay_closed = relay.close() + if relay_closed is False: + state.reason += '; robot relay shutdown could not be verified' + # This runner retains only the review UI after stopping. Do not retain + # the pipeline's model-reuse cache and several GB of GPU memory. + if 'cross.pipeline' in sys.modules: + cache = getattr(sys.modules['cross.pipeline'], '_MODEL_CACHE', None) + if cache is not None: + cache.clear() + import gc + gc.collect() + import torch + torch.cuda.empty_cache() + save_json(args.output / 'final_status.json', state.snapshot()) + print(f'Live session ended; relay shutdown verified={relay_closed is not False}. Viewer remains available.', flush=True) + # Retain the local review page after the run ends. A new run uses a new directory. + while not shutdown.wait(1.): + pass + server.shutdown() + server.server_close() + + +if __name__ == '__main__': + main() diff --git a/code/lite3_ROS/scripts/monitor_stretch_transport.py b/code/lite3_ROS/scripts/monitor_stretch_transport.py new file mode 100644 index 0000000000000000000000000000000000000000..52cfd19ae1f3563b727d64b15dca9cc20da8a5b6 --- /dev/null +++ b/code/lite3_ROS/scripts/monitor_stretch_transport.py @@ -0,0 +1,74 @@ +#!/usr/bin/env python3 +"""Read-only TCP, interface and host-load samples during a Stretch run.""" + +import argparse +import inspect +import json +import shlex +import subprocess +import time +from concurrent.futures import ThreadPoolExecutor +from pathlib import Path + + +def snapshot(): + import os + import subprocess + import time + from pathlib import Path + + result = {'unix_s': time.time(), 'monotonic_s': time.monotonic(), 'load': os.getloadavg()} + for name in ('net/dev', 'pressure/cpu', 'pressure/io', 'stat'): + try: + result[name] = Path('/proc', name).read_text() + except OSError as exc: + result[name] = str(exc) + # TCP memory and congestion statistics distinguish stale bytes already in + # the kernel from application-level ZMQ queues. No robot commands are sent. + for key, command in ( + ('tcp', ['ss', '-tinm', ('( sport >= :4401 and sport <= :4513 ) or ' + '( dport >= :4401 and dport <= :4513 )')]), + ('routes', ['ip', 'route']), + ('wireless', ['cat', '/proc/net/wireless']), + ): + try: + completed = subprocess.run(command, capture_output=True, text=True, timeout=2, check=False) + result[key] = completed.stdout or completed.stderr + except (OSError, subprocess.TimeoutExpired) as exc: + result[key] = str(exc) + return result + + +def main(): + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument('--robot-ip', default='192.0.2.2') + parser.add_argument('--output', type=Path, required=True) + parser.add_argument('--duration', type=float, default=900.) + parser.add_argument('--interval', type=float, default=1.) + args = parser.parse_args() + if args.duration <= 0 or args.interval < .5: + raise ValueError('Duration must be positive and interval at least 0.5 s') + remote_code = inspect.getsource(snapshot) + '\nimport json\nprint(json.dumps(snapshot()))\n' + ssh = ['ssh', '-o', 'BatchMode=yes', '-o', 'ConnectTimeout=2', + f'hello-robot@{args.robot_ip}', shlex.join(['python3', '-c', remote_code])] + + def remote(): + try: + completed = subprocess.run(ssh, capture_output=True, text=True, timeout=4, check=False) + return json.loads(completed.stdout) if completed.returncode == 0 else {'error': completed.stderr} + except (OSError, subprocess.TimeoutExpired, ValueError) as exc: + return {'error': str(exc)} + + args.output.parent.mkdir(parents=True, exist_ok=True) + started = time.monotonic() + with args.output.open('x', buffering=1) as log, ThreadPoolExecutor(max_workers=2) as pool: + while time.monotonic() - started < args.duration: + tick = time.monotonic() + local_future, remote_future = pool.submit(snapshot), pool.submit(remote) + log.write(json.dumps({'received_unix_s': time.time(), + 'pc': local_future.result(), 'robot': remote_future.result()}) + '\n') + time.sleep(max(0., args.interval - (time.monotonic() - tick))) + + +if __name__ == '__main__': + main() diff --git a/code/lite3_ROS/scripts/replay_stretch_cross_nav.py b/code/lite3_ROS/scripts/replay_stretch_cross_nav.py new file mode 100644 index 0000000000000000000000000000000000000000..1d4a72c84c05b98ae8af184c25631cc3c6bf1b93 --- /dev/null +++ b/code/lite3_ROS/scripts/replay_stretch_cross_nav.py @@ -0,0 +1,164 @@ +#!/usr/bin/env python3 +"""Replay saved Stretch RGB/odometry through native CROSS with its trained BEV heads. + +No robot/network/control interface is opened. The reference map is read-only. +""" +import argparse +import hashlib +import json +import os +from pathlib import Path +import sys +import time + +import cv2 +import numpy as np + +ROOT = Path(__file__).resolve().parents[1] +sys.path.insert(0, str(ROOT)) +from web_console.cross_run import RunArtifacts, matrix +from web_console.stretch_nav_learned import learned_png, reproject_bev +from web_console.stretch_nav_replay import save_bev_frame +from web_console.stretch_nav_report import clean_json, save_json +from web_console.stretch_vggt_debug import VggtDebugRecorder, model_provenance + + +def main(): + p = argparse.ArgumentParser(description=__doc__) + for name in ('capture', 'probe', 'map-run', 'output'): + p.add_argument('--' + name, type=Path, required=True) + p.add_argument('--cross-root', type=Path, default=Path('/workspace/CROSS')) + p.add_argument('--heads', type=Path) + p.add_argument('--archive-run', type=Path, help='Backfill missing playback BEVs in this stopped live run') + p.add_argument('--skip-numeric-bevs', action='store_true', help='Save playback images without extra numeric BEV copies') + p.add_argument('--vggt-debug', action='store_true', help='Archive recomputed VGGT input groups and numeric outputs') + p.add_argument('--vggt-debug-dir', type=Path, help='Debug directory; default: OUTPUT/vggt_debug') + args = p.parse_args() + capture, probe, map_run, output = [getattr(args, n).resolve() for n in ('capture', 'probe', 'map_run', 'output')] + debug_path = (args.vggt_debug_dir or output / 'vggt_debug').resolve() + cross_root = args.cross_root.resolve() + heads = (args.heads or cross_root / 'models/VGGT-Omega-CROSS/nav').resolve() + occupancy, visibility = heads / 'cross_nav_occupancy.pt', heads / 'cross_nav_observability.pt' + source_rows = json.loads((probe / 'observations.json').read_text()) + archive = args.archive_run.resolve() if args.archive_run else None + if archive is not None: + if capture != archive / 'capture': + raise ValueError('Playback archive must own the selected capture') + status = json.loads((archive / 'final_status.json').read_text()) + if status['phase'] != 'stopped': + raise ValueError('Playback backfill requires a stopped run') + raw = {r['frame_idx']: r for r in map(json.loads, (capture / 'observations.jsonl').read_text().splitlines())} + os.chdir(cross_root) + sys.path.insert(0, str(cross_root)) + from cross.core.config import load_config + from cross.core.types import Camera + from cross.pipeline import add_session_args, finish_session_args, mode_config_files, session_factory + first = raw[source_rows[0]['capture_frame']] + image = cv2.imread(str(capture / 'rgb' / f"{first['frame_idx']:08d}.jpg")) + h, w = image.shape[:2] + camera = Camera(K=np.asarray(first['camera_K']), frame_width=w, frame_height=h) + parser = argparse.ArgumentParser() + add_session_args(parser) + options = parser.parse_args(['--mode', 'mono', '--odometry', 'external', '--mono-estimator', 'ff']) + finish_session_args(options) + overrides = ['pose_est.ff.checkpoint=finetuned', 'pose_est.obs_max_interval_steps=1', + f'pose_est.ff.nav_bev_head={occupancy}', f'pose_est.ff.nav_bev_visibility={visibility}', + f'pose_est.ff.nav_bev_visibility_gravity={occupancy}'] + if archive is not None: + overrides = json.loads((archive / 'mapping/run.json').read_text())['config_overrides'] + config = load_config(*mode_config_files('mono', 'external', mono_estimator='ff'), sets=overrides) + artifacts = RunArtifacts(output, {'mode': 'mono', 'odometry': 'external', 'dataset': str(capture), + 'loaded_map': str(map_run / 'map.pkl'), 'source_probe': str(probe), 'robot_commands_sent': 0, + 'learned_bev_heads_available': True, 'config_overrides': overrides, + 'depth_used_for_inference': False, 'gravity_source': 'recorded odom camera TF', + 'checkpoint_provenance': json.loads((heads / 'provenance.json').read_text())}) + (output / 'bevs').mkdir() + session, prior, observed = None, None, [] + debug_archive = replay_error = None + try: + session = artifacts.wrap_factory(session_factory(options, camera, config))() + session.load_map(map_run / 'map.pkl') + estimator = session.mapper.pose_est + if args.vggt_debug: + debug_archive = VggtDebugRecorder(debug_path, { + 'origin': 'recomputed_from_capture', 'source_capture': str(capture), + 'source_probe': str(probe), 'config_overrides': overrides, + 'checkpoint_provenance': artifacts.metadata['checkpoint_provenance'], + 'resolved_config': json.loads((output / 'resolved_config.json').read_text()), + 'camera_catalog': clean_json(session.mapper.cameras), 'session_camera_id': session.mapper.cam_id, + **model_provenance(cross_root), + }) + debug_archive.attach(estimator) + for source in source_rows: + index = source['capture_frame'] + row = raw[index] + pose = np.asarray(row['camera_pose'], dtype=float) + rgb = cv2.cvtColor(cv2.imread(str(capture / 'rgb' / f'{index:08d}.jpg')), cv2.COLOR_BGR2RGB) + estimator.set_gravity(pose[:3, :3].T @ np.array([0., 0., 1.])) + passes = estimator._n_passes + started = time.perf_counter() + if debug_archive: + debug_archive.begin_frame(row) + session.process({'rgb': rgb, 'timestamp': row['sensor_stamp'], 'frame_idx': index, + 'delta_pose': None if prior is None else np.linalg.inv(prior) @ pose}) + prior = pose + c0, best, weights = session.belief(matrix) + diagnostic = session.mapper.last_step_diagnostics + audit = [{'keyframe_id': int(a['keyframe_id']), 'score': float(a['retrieval_score']), + 'verified': bool(a['verified']), 'loaded': bool(a['loaded'])} + for a in diagnostic.get('retrieval_audit', [])] + bev = estimator.last_bev if estimator._n_passes != passes else None + metadata = {k: v for k, v in (bev or {}).items() + if k not in ('prob', 'observability', 'uncertainty')} + grid = None + if bev is not None: + for key in ('prob', 'observability', 'uncertainty'): + array = np.asarray(bev[key], dtype=np.float32) + if array.shape != (400, 400) or not np.isfinite(array).all(): + raise ValueError(f'Invalid learned {key} on frame {index}') + if not args.skip_numeric_bevs: + np.savez_compressed(output / 'bevs' / f'{index:08d}.npz', + prob=bev['prob'], obs=bev['observability'], err=bev['uncertainty'], + R_bev_from_cam=bev['R_bev_from_cam'], up_cam=bev['up_cam']) + if archive is not None or debug_archive: + grid = reproject_bev(bev['prob'], bev['observability'], bev['uncertainty'], + bev['R_bev_from_cam'], pose, np.asarray(row['base_pose_matrix']), bev['res']) + if archive is not None: + images = {f'{name}.png': learned_png(grid['prob'], grid['obs'], grid['err'], name) + for name in ('occupancy', 'visibility', 'uncertainty')} + save_bev_frame(archive, int(index), images, source='reconstructed', only_missing=True) + record = {'capture_frame': index, 'timestamp': row['sensor_stamp'], + 'localized': bool(session.localized()), 'map_pose': c0, 'best_pose': best, + 'weights': weights, 'retrieval': audit, 'camera_pose_odom': pose, + 'base_pose_odom': row['base_pose'], 'bev_fresh': bev is not None, + 'bev': metadata, 'process_s': time.perf_counter() - started} + if debug_archive: + debug_archive.finish_frame(observation=record, consumed_bev=bev, body_grid=grid) + observed.append(record) + artifacts.records[-1].update(localized=record['localized'], retrieval_audit=audit) + save_json(output / 'observations.json', observed) + print(json.dumps({'processed':len(observed), 'total':len(source_rows), 'frame':index, + 'localized':record['localized'], 'fresh_bev':bev is not None, + 'scale_source':metadata.get('scale_source'), 'n_views':metadata.get('n_views'), + 'process_s':record['process_s']}), flush=True) + session.release() + artifacts.finish() + except BaseException as exc: + replay_error = exc + artifacts.finish(exc) + raise + finally: + if debug_archive: + debug_archive.close(replay_error) + summary = {'processed_frames': len(observed), 'localized_frames': sum(r['localized'] for r in observed), + 'fresh_bev_frames': sum(r['bev_fresh'] for r in observed), + 'distinct_verified_map_keyframes': sorted({a['keyframe_id'] for r in observed + for a in r['retrieval'] if a['loaded'] and a['verified']}), + 'robot_commands_sent': 0, 'ground_truth_available': False, + 'reference_map_sha256': hashlib.sha256((map_run / 'map.pkl').read_bytes()).hexdigest()} + save_json(output / 'result.json', summary) + print(json.dumps(summary), flush=True) + + +if __name__ == '__main__': + main() diff --git a/code/lite3_ROS/scripts/view_stretch_cross_nav_live_run.py b/code/lite3_ROS/scripts/view_stretch_cross_nav_live_run.py new file mode 100644 index 0000000000000000000000000000000000000000..f8b23491b3c9f0dd2b6150fc19cbe259bb6dd021 --- /dev/null +++ b/code/lite3_ROS/scripts/view_stretch_cross_nav_live_run.py @@ -0,0 +1,69 @@ +#!/usr/bin/env python3 +"""Review a stopped live run. Opens no robot transport or model and cannot arm.""" +import argparse +from http.server import ThreadingHTTPServer +import json +from pathlib import Path +import secrets +import sys +import threading + +import numpy as np + +ROOT = Path(__file__).resolve().parents[1] +sys.path.insert(0, str(ROOT)) +from scripts.live_stretch_cross_nav import Handler +from web_console.stretch_nav_replay import ReplayService + + +class Review: + def __init__(self, directory): + self.root = Path(directory).resolve() + self.replay = ReplayService(self.root) + snapshot = self.root / 'review.json' + if not snapshot.is_file(): + snapshot = self.root / 'final_status.json' + self.data = json.loads(snapshot.read_text()) + self.data.update(phase='stopped', ready=False, gate='Saved run; motion controls disabled', review=True, + replay_available=True) + self.phase = 'stopped' + self.token = secrets.token_urlsafe(24) + self.lock = threading.RLock() + self.map_data = json.loads((self.root / 'map.json').read_text()) + archive = self.replay.get() + self.images = {} + for name in ('occupancy', 'visibility', 'uncertainty'): + path = self.root / 'review_bev' / f'{name}.png' + if path.is_file(): + self.images[f'{name}.png'] = path.read_bytes() + elif archive.bev_ids: + self.images[f'{name}.png'] = archive.image(archive.bev_ids[-1], name) + self.packet = ({'rgb_jpg': np.frombuffer(archive.image(archive.raw_ids[-1]), np.uint8)} + if archive.raw_ids else None) + + def snapshot(self): + return {**self.data, 'token': self.token} + + def finish(self, _): + pass + + +def main(): + p = argparse.ArgumentParser(description=__doc__) + p.add_argument('--run', type=Path, required=True) + p.add_argument('--port', type=int, default=8088) + args = p.parse_args() + server = ThreadingHTTPServer(('127.0.0.1', args.port), Handler) + server.daemon_threads = True + server.state = Review(args.run) + print(f'Saved live-run review: http://127.0.0.1:{args.port} (motion disabled)', flush=True) + try: + server.serve_forever() + except KeyboardInterrupt: + pass + finally: + server.server_close() + + +if __name__ == '__main__': + main() diff --git a/code/lite3_ROS/tests/test_stretch_capture_format.py b/code/lite3_ROS/tests/test_stretch_capture_format.py new file mode 100644 index 0000000000000000000000000000000000000000..10c53d8150b18ca417eb260031aaf25785064dc6 --- /dev/null +++ b/code/lite3_ROS/tests/test_stretch_capture_format.py @@ -0,0 +1,15 @@ +import json + +import numpy as np + +from scripts.capture_stretch_cross import atomic_json + + +def test_nested_robot_status_and_numpy_scalars_serialize(tmp_path): + path = tmp_path / 'capture.json' + state = {'robot_status': {'base_pose': np.array([1., 2., .3]), 'armed': np.bool_(False)}, + 'frames': np.int64(7)} + atomic_json(path, state) + assert json.loads(path.read_text()) == { + 'robot_status': {'base_pose': [1., 2., .3], 'armed': False}, 'frames': 7} + assert not path.with_suffix('.json.tmp').exists() diff --git a/code/lite3_ROS/tests/test_stretch_nav_control.py b/code/lite3_ROS/tests/test_stretch_nav_control.py new file mode 100644 index 0000000000000000000000000000000000000000..515f03c87ef253e3347923f3081abdf05c5ad936 --- /dev/null +++ b/code/lite3_ROS/tests/test_stretch_nav_control.py @@ -0,0 +1,156 @@ +import numpy as np +import pytest + +from web_console.stretch_nav_control import ( + PlanWait, alignment_correction, attachment_clear, competing_controllers, depth_veto, execution_gate, remaining_path, +) + + +def planar_transform(angle=0., x=0., y=0.): + c, s = np.cos(angle), np.sin(angle) + return np.array([[c, -s, 0., x], [s, c, 0., y], [0., 0., 1., 0.], [0., 0., 0., 1.]]) + + +def test_small_map_rotation_about_distant_robot_does_not_look_like_position_jump(): + base = planar_transform(x=20., y=10.) + angle = np.deg2rad(2.3) + corrected = base @ planar_transform(angle) @ np.linalg.inv(base) + assert np.linalg.norm(corrected[:3, 3]) > .5 # The former origin-based check stopped here. + distance, rotation = alignment_correction(np.eye(4), corrected, base) + assert distance == pytest.approx(0., abs=1e-12) + assert rotation == pytest.approx(angle) + + +def test_map_correction_is_independent_of_odom_origin(): + previous = planar_transform(.3, 1., 2.) + current = planar_transform(.32, 1.1, 2.2) + base = planar_transform(.7, 12., 8.) + expected = alignment_correction(previous, current, base) + rebase = planar_transform(-.8, 100., -200.) + actual = alignment_correction(previous @ np.linalg.inv(rebase), current @ np.linalg.inv(rebase), rebase @ base) + np.testing.assert_allclose(actual, expected, atol=1e-12) + + +@pytest.mark.parametrize('translation,angle', [(.51, 0.), (0., np.deg2rad(26))]) +def test_real_map_pose_jump_still_exceeds_stop_limits(translation, angle): + base = planar_transform(x=20., y=10.) + corrected = planar_transform(x=translation) @ base @ planar_transform(angle) @ np.linalg.inv(base) + distance, rotation = alignment_correction(np.eye(4), corrected, base) + assert distance > .5 or rotation > np.deg2rad(25) + + +@pytest.mark.parametrize('bad', [np.full((4, 4), np.nan), np.eye(3)]) +def test_invalid_alignment_is_rejected(bad): + with pytest.raises(ValueError, match='Invalid map alignment'): + alignment_correction(np.eye(4), bad, np.eye(4)) + + +def valid_inputs(): + plan = {'input_received': 9.8, 'localized': True, 'localized_streak': 3, + 'route_ids': [1, 2], 'planner_status': 0, + 'goal_distance': 2., 'path_odom': [[0., 0.], [1., 0.]]} + robot = {'is_runstopped': False, 'is_homed': True, 'posture_ok': True, + 'healthy': True, 'latched': False} + return plan, robot + + +def test_teleop_never_passes_execution_gate(): + p, r = valid_inputs() + assert execution_gate(p, r, now=10., robot_received=9.9, heartbeat=9.9, state='teleop') + assert execution_gate(p, r, now=10., robot_received=9.9, heartbeat=9.9) == '' + + +@pytest.mark.parametrize('field,value', [('localized', False), ('localized_streak', 2), + ('input_received', 8.6), ('input_received', np.nan), + ('route_ids', []), ('planner_status', 2), ('path_odom', []), ('goal_distance', np.nan)]) +def test_bad_plan_blocks_commands(field, value): + p, r = valid_inputs() + p[field] = value + assert execution_gate(p, r, now=10., robot_received=9.9, heartbeat=9.9) + + +@pytest.mark.parametrize('verified_at', [None, 7., -np.inf]) +def test_committed_localization_can_bridge_map_match_gaps(verified_at): + p, r = valid_inputs() + # Accept both new plans with no verification clock and older recorded plans. + if verified_at is not None: + p['verified_at'] = verified_at + assert execution_gate(p, r, now=10., robot_received=9.9, heartbeat=9.9) == '' + # Only new sensor/plan evidence keeps execution alive during a longer gap. + p['input_received'] = 39.8 + assert execution_gate(p, r, now=40., robot_received=39.9, heartbeat=39.9) == '' + p['localized'] = False + assert execution_gate(p, r, now=40., robot_received=39.9, heartbeat=39.9) == ( + 'waiting for stable committed localization') + + +@pytest.mark.parametrize('field,value', [('is_runstopped', True), ('is_homed', False), + ('posture_ok', False), ('latched', True), ('healthy', False)]) +def test_unavailable_robot_blocks_commands(field, value): + p, r = valid_inputs() + r[field] = value + assert execution_gate(p, r, now=10., robot_received=9.9, heartbeat=9.9) + + +def test_stale_browser_and_status_block_commands(): + p, r = valid_inputs() + assert execution_gate(p, r, now=10., robot_received=9.9, heartbeat=7.) + assert execution_gate(p, r, now=10., robot_received=9., heartbeat=9.9) + + +def test_follow_path_drops_passed_prefix_and_rotates_into_current_base(): + result = remaining_path([[0., 0.], [0., 1.], [0., 2.]], [0., .6, np.pi / 2]) + np.testing.assert_allclose(result[:, 0], [0., .4, 1.4], atol=1e-8) + np.testing.assert_allclose(result[:, 1], 0., atol=1e-8) + + +def test_depth_guard_vetoes_swept_body_but_ignores_off_path_returns(): + obstacle = np.array([[.30, -.01], [.30, 0.], [.30, .01]]) + assert depth_veto(obstacle, [0., 0., 0.], .1, 0.) + assert not depth_veto(obstacle + [0., 1.], [0., 0., 0.], .1, 0.) + + +def test_attachment_rejects_measured_wall_between_base_and_nearby_keyframe(): + obstacle = np.array([[.35, -.01], [.35, 0.], [.35, .01]]) + assert not attachment_clear(obstacle, [0., 0., 0.], [.5, 0.]) + assert attachment_clear(obstacle, [0., 0., 0.], [-.5, 0.]) + + +def test_attachment_handles_sideways_connection_and_robot_self_mask(): + obstacle = np.array([[0., .35], [.01, .35], [-.01, .35], [0., 0.]]) + assert not attachment_clear(obstacle, [0., 0., np.pi / 2], [0., .5]) + assert attachment_clear(obstacle, [0., 0., np.pi / 2], [0., -.5]) + + +def test_relaxed_plan_limit_still_expires(): + p, r = valid_inputs() + p['input_received'] = 8.9 + assert execution_gate(p, r, now=10., robot_received=9.9, heartbeat=9.9) == '' + p['input_received'] = 8.7 + assert execution_gate(p, r, now=10., robot_received=9.9, heartbeat=9.9) + + +def test_plan_wait_recovers_transient_gaps_but_ends_sustained_gap(): + wait = PlanWait(timeout=3.) + assert wait.holds('sensor/plan evidence stale', 10.) + assert wait.holds('sensor/plan evidence stale', 12.9) + assert not wait.holds('sensor/plan evidence stale', 13.1) + assert not wait.holds('', 14.) + assert wait.since is None + assert wait.holds('sensor/plan evidence stale', 20.) + + +@pytest.mark.parametrize('reason', ['viewer heartbeat expired', + 'waiting for stable committed localization', 'robot state/camera/TF unavailable', 'robot stop latched']) +def test_plan_wait_never_treats_other_faults_as_transient(reason): + assert not PlanWait().holds(reason, 10.) + + +def test_known_teleop_process_detected_without_matching_our_live_adapter(tmp_path): + for pid, args in [(100, ['python', '/app/teleop.py', '--robot-ip', '192.0.2.1']), + (101, ['python', '/app/live_stretch_cross_nav.py']), + (102, ['bash', '-c', 'python teleop.py'])]: + directory = tmp_path / str(pid) + directory.mkdir() + (directory / 'cmdline').write_bytes(b'\0'.join(a.encode() for a in args)) + assert competing_controllers(tmp_path) == [{'pid': 100, 'client': 'teleop.py'}] diff --git a/code/lite3_ROS/tests/test_stretch_nav_geometry.py b/code/lite3_ROS/tests/test_stretch_nav_geometry.py new file mode 100644 index 0000000000000000000000000000000000000000..6c3a888eefcb5c4e20e3682085925e74a882d048 --- /dev/null +++ b/code/lite3_ROS/tests/test_stretch_nav_geometry.py @@ -0,0 +1,39 @@ +import numpy as np +import pytest + +from web_console.stretch_nav_geometry import body_to_world, measured_bev, world_to_body + + +def test_body_goal_transform_handles_yaw_and_offset(): + base = np.array([[0., -1, 0, 4], [1, 0, 0, 2], [0, 0, 1, 0], [0, 0, 0, 1]]) + points = np.array([[2., 1.], [0., -1.]]) + world = body_to_world(points, base) + np.testing.assert_allclose(world, [[3, 4], [5, 2]]) + np.testing.assert_allclose([world_to_body(p, base) for p in world], points, atol=1e-12) + + +def test_missing_depth_stays_unknown_instead_of_becoming_free(): + K = np.array([[40., 0, 30], [0, 40, 20], [0, 0, 1]]) + camera = np.array([[0., 0, 1, 0], [-1, 0, 0, 0], [0, -1, 0, 1], [0, 0, 0, 1]]) + result = measured_bev(np.zeros((40, 60)), K, camera, np.eye(4), size=80) + assert result['observed_cells'] == 0 + assert result['occupied_cells'] == 0 + assert (result['prob'] == .5).all() + + +def test_elevated_surface_blocks_without_marking_occluded_floor_free(): + K = np.array([[40., 0, 30], [0, 40, 20], [0, 0, 1]]) + camera = np.array([[0., 0, 1, 0], [-1, 0, 0, 0], [0, -1, 0, 1], [0, 0, 0, 1]]) + result = measured_bev(np.ones((40, 60)), K, camera, np.eye(4), size=100) + assert result['occupied_cells'] > 0 + # Ground 2m ahead would project into the wall, whose measured depth is 1m. + row, col = int(50 - 2 / .05), 50 + assert result['obs'][row, col] == 0 + assert result['prob'][row, col] == pytest.approx(.5) + + +def test_geometry_rejects_nonfinite_transforms(): + camera = np.eye(4) + camera[0, 3] = np.nan + with pytest.raises(ValueError, match='Nonfinite'): + measured_bev(np.ones((20, 20)), np.eye(3), camera, np.eye(4)) diff --git a/code/lite3_ROS/tests/test_stretch_nav_handoff.py b/code/lite3_ROS/tests/test_stretch_nav_handoff.py new file mode 100644 index 0000000000000000000000000000000000000000..0996b1e098e119087f1375d4946dd16ff8592335 --- /dev/null +++ b/code/lite3_ROS/tests/test_stretch_nav_handoff.py @@ -0,0 +1,410 @@ +"""Exercise command transport with fake sockets; these tests cannot reach hardware.""" +import importlib.util +from pathlib import Path +import sys +import threading +import time +from types import SimpleNamespace + +import numpy as np +import pytest + +def load_adapter(): + path = Path(__file__).resolve().parents[1] / 'scripts/live_stretch_cross_nav.py' + spec = importlib.util.spec_from_file_location('stretch_live_adapter', path) + module = importlib.util.module_from_spec(spec) + spec.loader.exec_module(module) + return module + + +class Socket: + def __init__(self): + self.sent = [] + + def setsockopt(self, *_): + pass + + def connect(self, *_): + pass + + def poll(self, *_): + return False + + def close(self): + pass + + def send_json(self, command, **_): + self.sent.append(command) + + def send_pyobj(self, command): + self.sent.append(command) + + +class Context: + def __init__(self): + self.sockets = [] + + def socket(self, *_): + result = Socket() + self.sockets.append(result) + return result + + def term(self): + pass + + +def setup(monkeypatch, tmp_path): + module = load_adapter() + context = Context() + monkeypatch.setattr(module.zmq, 'Context', lambda: context) + monkeypatch.setattr(module, 'competing_controllers', lambda: []) + monkeypatch.setitem(sys.modules, 'cross_nav.policy.robot', SimpleNamespace( + pure_pursuit=lambda *_a, **_k: (_ for _ in ()).throw(AssertionError('Must not follow a path')))) + args = SimpleNamespace(output=tmp_path, robot_ip='unreachable.invalid', goal=1012, max_v=.1, max_w=.25, max_plan_age=1.2, plan_hold_seconds=3.) + state = module.LiveState(args) + return module, state, context + + +def test_passive_loop_never_sends_arm_mode_stop_or_velocity(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + # Complete several real control ticks before ending the fake session. + timer = threading.Timer(.18, state.done.set) + timer.start() + module.control_loop(state) + timer.join() + assert len(context.sockets) == 3 + assert all(not socket.sent for socket in context.sockets) + assert state.motion_commands == 0 + + +def test_loss_of_localization_sends_stop_only(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + state.phase = 'active' + state.relay_ever_requested = True + state.heartbeat = state.robot_received = time.monotonic() + state.robot = {'is_runstopped': False, 'is_homed': True, 'posture_ok': True, + 'healthy': True, 'latched': False} + state.plan = {'input_received': time.monotonic(), 'goal_distance': 2., 'localized': False} + module.control_loop(state) + assert state.phase == 'stopped' + commands = [command for socket in context.sockets for command in socket.sent] + assert len(commands) == 3 + assert all(command['type'] == 'stop' for command in commands) + assert state.motion_commands == 0 + + +def test_browser_disconnect_stops_without_motion(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + state.phase = 'active' + state.relay_ever_requested = True + state.heartbeat = time.monotonic() - 3. + module.control_loop(state) + assert state.phase == 'stopped' + assert all(c['type'] == 'stop' for socket in context.sockets for c in socket.sent) + assert 'heartbeat' in state.reason + + +def test_brief_plan_gap_sends_zero_then_resumes_only_with_fresh_plan(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + monkeypatch.setitem(sys.modules, 'cross_nav.policy.robot', SimpleNamespace(pure_pursuit=lambda *_a, **_k: (.08, 0.))) + state.phase = 'active' + state.relay_ever_requested = True + now = time.monotonic() + state.heartbeat = state.robot_received = now + state.robot = {'is_runstopped': False, 'is_homed': True, 'posture_ok': True, 'healthy': True, + 'latched': False, 'armed': True, 'session': state.session, 'frame_id': 1, 'base_pose': [0., 0., 0.]} + state.plan = {'input_received': now - 1.3, 'goal_distance': 2., 'localized': True, + 'localized_streak': 3, 'route_ids': [1, 2], + 'planner_status': 0, 'path_odom': [[0., 0.], [1., 0.]], 'frame_id': 1, + 'depth_obstacles': np.empty((0, 2))} + fresh = threading.Timer(.075, lambda: state.plan.update(input_received=time.monotonic())) + end = threading.Timer(.23, lambda: state.finish('End simulated run')) + fresh.start() + end.start() + module.control_loop(state) + fresh.join() + end.join() + commands = [c for socket in context.sockets for c in socket.sent if c['type'] == 'velocity'] + assert commands[0]['v'] == commands[0]['w'] == 0. + assert any(c['v'] > 0 for c in commands) + assert all(c['ttl'] == .3 for c in commands) + import json + assert json.loads((tmp_path / 'control.json').read_text())['v'] == 0. + + +@pytest.mark.parametrize('has_old_verification_clock', [False, True]) +def test_map_match_gap_continues_fresh_local_plan(monkeypatch, tmp_path, has_old_verification_clock): + module, state, context = setup(monkeypatch, tmp_path) + monkeypatch.setitem(sys.modules, 'cross_nav.policy.robot', SimpleNamespace(pure_pursuit=lambda *_a, **_k: (.08, 0.))) + state.phase = 'active' + state.relay_ever_requested = True + now = time.monotonic() + state.heartbeat = state.robot_received = now + state.robot = {'is_runstopped': False, 'is_homed': True, 'posture_ok': True, 'healthy': True, + 'latched': False, 'armed': True, 'session': state.session, 'frame_id': 1, 'base_pose': [0., 0., 0.]} + state.plan = {'input_received': now, 'goal_distance': 2., 'localized': True, + 'localized_streak': 3, 'route_ids': [1, 2], + 'planner_status': 0, 'path_odom': [[0., 0.], [1., 0.]], 'frame_id': 1, + 'depth_obstacles': np.empty((0, 2))} + if has_old_verification_clock: + state.plan['verified_at'] = now - 30. + end = threading.Timer(.18, lambda: state.finish('End simulated visual gap')) + end.start() + module.control_loop(state) + end.join() + commands = [c for socket in context.sockets for c in socket.sent] + velocity = [c for c in commands if c['type'] == 'velocity'] + assert velocity and all(c['v'] == .08 and c['w'] == 0. for c in velocity) + assert all(c['ttl'] == .3 for c in velocity) + assert [c['type'] for c in commands[-3:]] == ['stop', 'stop', 'stop'] + assert state.reason == 'End simulated visual gap' + + +def test_sustained_plan_gap_never_executes_stale_path(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + state.args.plan_hold_seconds = .08 + state.phase = 'active' + state.relay_ever_requested = True + now = time.monotonic() + state.heartbeat = state.robot_received = now + state.robot = {'is_runstopped': False, 'is_homed': True, 'posture_ok': True, 'healthy': True, + 'latched': False, 'armed': True, 'session': state.session, 'frame_id': 1, 'base_pose': [0., 0., 0.]} + state.plan = {'input_received': now - 1.3, 'goal_distance': 2.} + module.control_loop(state) + assert state.phase == 'stopped' + commands = [c for socket in context.sockets for c in socket.sent if c['type'] == 'velocity'] + assert commands and all(c['v'] == c['w'] == 0. for c in commands) + + +def test_competing_teleop_blocks_mode_switch_and_arm(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + monkeypatch.setattr(module, 'competing_controllers', lambda: [{'pid': 123, 'client': 'teleop.py'}]) + state.phase = 'preparing' + module.control_loop(state) + assert state.phase == 'stopped' + assert 'Competing' in state.reason + assert all(not socket.sent for socket in context.sockets) + + +def test_time_spent_scanning_controllers_counts_toward_plan_expiry(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + clock = [10.] + monkeypatch.setattr(module.time, 'monotonic', lambda: clock[0]) + def slow_scan(): + clock[0] = 13. + return [] + monkeypatch.setattr(module, 'competing_controllers', slow_scan) + state.phase = 'active' + state.relay_ever_requested = True + state.args.plan_hold_seconds = 0. + state.heartbeat = state.robot_received = 13. + state.robot = {'is_runstopped': False, 'is_homed': True, 'posture_ok': True, + 'healthy': True, 'latched': False} + state.plan = {'input_received': 10., 'goal_distance': 2., 'localized': True, + 'localized_streak': 3, 'route_ids': [1, 2], 'planner_status': 0, + 'path_odom': [[0., 0.], [1., 0.]]} + module.control_loop(state) + assert state.reason == 'sensor/plan evidence stale; navigation ended' + assert state.motion_commands == 0 + assert all(c['type'] == 'stop' for socket in context.sockets for c in socket.sent) + + +def test_planner_warmup_compiles_both_searches_without_robot_transport(monkeypatch): + module = load_adapter() + calls = [] + def dijkstra(*args): + calls.append('dijkstra') + dijkstra.signatures.append('compiled') + dijkstra.signatures = [] + search = SimpleNamespace(signatures=[]) + def astar(*args): + calls.append('astar') + search.signatures.append('compiled') + monkeypatch.setitem(sys.modules, 'numba', SimpleNamespace(__version__='test')) + monkeypatch.setitem(sys.modules, 'cross_nav.plan', SimpleNamespace(_dijkstra=dijkstra)) + monkeypatch.setitem(sys.modules, 'cross_nav.policy.bev_policy', SimpleNamespace(_astar=lambda: search, astar=astar)) + monkeypatch.setattr(module.zmq, 'Context', lambda: (_ for _ in ()).throw(AssertionError('No transport during warmup'))) + result = module.warmup_native_navigation() + assert calls == ['astar', 'dijkstra'] + assert result['astar_signatures'] == result['dijkstra_signatures'] == ['compiled'] + + +def test_unaccelerated_planner_is_rejected_before_handoff(monkeypatch): + module = load_adapter() + monkeypatch.setitem(sys.modules, 'numba', SimpleNamespace(__version__='test')) + monkeypatch.setitem(sys.modules, 'cross_nav.plan', SimpleNamespace(_dijkstra=lambda *_: None)) + monkeypatch.setitem(sys.modules, 'cross_nav.policy.bev_policy', + SimpleNamespace(_astar=lambda: (lambda *_: None), astar=lambda *_: None)) + with pytest.raises(RuntimeError, match='requires CROSS nav dependencies'): + module.warmup_native_navigation() + + +def active_plan(state): + now = time.monotonic() + state.phase, state.relay_ever_requested = 'active', True + state.heartbeat = state.robot_received = now + state.robot = {'is_runstopped': False, 'is_homed': True, 'posture_ok': True, 'healthy': True, + 'latched': False, 'armed': True, 'session': state.session, 'frame_id': 1, + 'base_pose': [0., 0., 0.], 'head_enabled': True} + state.plan = {'input_received': now, 'goal_distance': 2., 'localized': True, + 'localized_streak': 3, 'route_ids': [1, 2], 'planner_status': 0, + 'path_odom': [[0., 0.], [1., 0.]], 'frame_id': 1, + 'depth_obstacles': np.empty((0, 2))} + + +def test_correction_recovery_keeps_lease_at_zero_then_resumes(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + active_plan(state) + monkeypatch.setitem(sys.modules, 'cross_nav.policy.robot', SimpleNamespace(pure_pursuit=lambda *_a, **_k: (.08, 0.))) + state.plan.update(recovery_pending=True, recovery_deadline=time.monotonic() + 12.) + fresh = threading.Timer(.075, lambda: state.plan.update(recovery_pending=False)) + end = threading.Timer(.20, lambda: state.finish('End recovery simulation')) + fresh.start() + end.start() + module.control_loop(state) + fresh.join() + end.join() + commands = [c for socket in context.sockets for c in socket.sent if c['type'] == 'velocity'] + assert commands[0]['v'] == commands[0]['w'] == 0. + assert any(c['v'] > 0 for c in commands) + + +def test_brief_robot_status_gap_holds_zero_until_fresh_status_returns(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + active_plan(state) + state.robot_received = time.monotonic() - .4 + monkeypatch.setitem(sys.modules, 'cross_nav.policy.robot', SimpleNamespace(pure_pursuit=lambda *_a, **_k: (.08, 0.))) + def refresh(): + state.robot_received = time.monotonic() + state.plan['input_received'] = time.monotonic() + fresh = threading.Timer(.075, refresh) + end = threading.Timer(.20, lambda: state.finish('End status gap simulation')) + fresh.start() + end.start() + module.control_loop(state) + fresh.join() + end.join() + commands = [c for socket in context.sockets for c in socket.sent if c['type'] == 'velocity'] + assert commands[0]['v'] == commands[0]['w'] == 0. + assert any(c['v'] > 0 for c in commands) + + +def test_sustained_robot_status_gap_stops_without_executing_a_path(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + active_plan(state) + state.args.plan_hold_seconds = .08 + state.robot_received = time.monotonic() - .4 + module.control_loop(state) + assert state.phase == 'stopped' and 'robot status stale' in state.reason + commands = [c for socket in context.sockets for c in socket.sent if c['type'] == 'velocity'] + assert commands and all(c['v'] == c['w'] == 0. for c in commands) + + +def test_pose_correction_racing_control_snapshot_cannot_execute_old_route(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + active_plan(state) + def corrected(*_a, **_k): + state.plan_epoch += 1 + return .1, 0. + monkeypatch.setitem(sys.modules, 'cross_nav.policy.robot', SimpleNamespace(pure_pursuit=corrected)) + end = threading.Timer(.12, lambda: state.finish('End correction race')) + end.start() + module.control_loop(state) + end.join() + commands = [c for socket in context.sockets for c in socket.sent if c['type'] == 'velocity'] + assert commands and all(c['v'] == c['w'] == 0. for c in commands) + + +def test_corner_observation_sends_head_target_with_zero_base_translation(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + active_plan(state) + state.plan.update(observation_hold=True, head_target=[-1.2, -.4], scan_w=0., corner_phase='look') + end = threading.Timer(.12, lambda: state.finish('End head scan simulation')) + end.start() + module.control_loop(state) + end.join() + commands = [c for socket in context.sockets for c in socket.sent if c['type'] == 'velocity'] + assert commands and all(c['v'] == c['w'] == 0. and c['head_target'] == [-1.2, -.4] for c in commands) + + +def test_native_scan_is_rotation_only_even_if_pursuit_requests_translation(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + active_plan(state) + state.plan.update(planner_status=2, scan_authorized=True) + monkeypatch.setitem(sys.modules, 'cross_nav.policy.robot', SimpleNamespace(pure_pursuit=lambda *_a, **_k: (.08, .1))) + end = threading.Timer(.12, lambda: state.finish('End native scan simulation')) + end.start() + module.control_loop(state) + end.join() + commands = [c for socket in context.sockets for c in socket.sent if c['type'] == 'velocity'] + assert commands and all(c['v'] == 0. and c['w'] == .1 for c in commands) + + +def test_learned_veto_does_not_block_stationary_yaw_pitch_survey(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + active_plan(state) + monkeypatch.setattr(module, 'command_footprint_report', lambda *_a, **_k: { + 'clear': False, 'reason': 'learned occupancy', 'cells': [], 'blocking_cell_count': 1}) + state.plan.update(observation_hold=True, stationary_survey=True, head_target=[-.7, -1.05], + scan_w=0., corner_phase='survey', survey_label='right floor', + footprint_grid={'prob': np.ones((20, 20)), 'obs': np.ones((20, 20)), 'res': .05}, + planning_base=np.eye(4)) + end = threading.Timer(.12, lambda: state.finish('End yaw/pitch simulation')) + end.start() + module.control_loop(state) + end.join() + commands = [c for socket in context.sockets for c in socket.sent if c['type'] == 'velocity'] + assert commands and all(c['v'] == c['w'] == 0. and c['head_target'] == [-.7, -1.05] for c in commands) + assert state.last_control['learned_blocked'] + assert state.last_control['reason'] == 'Head survey: right floor' + + +def test_survey_transition_with_null_label_holds_then_accepts_fresh_head_target(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + active_plan(state) + # Mapping invalidates the driving plan before publishing its first survey + # view. The old plan contains an explicit null label and no head target. + state.plan.update(observation_hold=True, stationary_survey=True, head_target=None, + scan_w=0., survey_label=None) + ticks = [0] + + def tick(_seconds): + ticks[0] += 1 + if ticks[0] == 1: + state.plan = {**state.plan, 'survey_label': 'front floor', 'head_target': [-.05, -1.05]} + if ticks[0] >= 3: + state.done.set() + return state.done.is_set() + + monkeypatch.setattr(state.done, 'wait', tick) + module.control_loop(state) + commands = [c for socket in context.sockets for c in socket.sent if c['type'] == 'velocity'] + assert ticks[0] == 3 and state.phase == 'active' + assert commands and all(c['v'] == c['w'] == 0. for c in commands) + assert 'head_target' not in commands[0] + assert commands[-1]['head_target'] == [-.05, -1.05] + assert state.last_control['reason'] == 'Head survey: front floor' + + +def test_persistent_learned_veto_requests_observation_without_executing_path(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + active_plan(state) + monkeypatch.setitem(sys.modules, 'cross_nav.policy.robot', SimpleNamespace(pure_pursuit=lambda *_a, **_k: (.08, 0.))) + clock = [time.monotonic()] + monkeypatch.setattr(module.time, 'monotonic', lambda: clock[0]) + state.plan.update(footprint_grid={'prob': np.ones((20, 20)), 'obs': np.ones((20, 20)), 'res': .05}, + planning_base=np.eye(4)) + ticks = [0] + def tick(_seconds): + ticks[0] += 1 + clock[0] += .1 + state.heartbeat = state.robot_received = state.plan['input_received'] = clock[0] + if ticks[0] >= 15: + state.done.set() + return state.done.is_set() + monkeypatch.setattr(state.done, 'wait', tick) + module.control_loop(state) + commands = [c for socket in context.sockets for c in socket.sent if c['type'] == 'velocity'] + assert commands and all(c['v'] == c['w'] == 0. for c in commands) + assert state.observation_requested and state.observation_reason == 'learned footprint' + assert state.last_control['footprint']['blocking_cell_count'] > 0 diff --git a/code/lite3_ROS/tests/test_stretch_nav_learned.py b/code/lite3_ROS/tests/test_stretch_nav_learned.py new file mode 100644 index 0000000000000000000000000000000000000000..d4612a59148b74c254e8df74a255a9ae899a627c --- /dev/null +++ b/code/lite3_ROS/tests/test_stretch_nav_learned.py @@ -0,0 +1,55 @@ +import numpy as np +import pytest + +from web_console.stretch_nav_learned import reproject_bev + + +def camera_pose(yaw=0., x=0., y=0.): + c, s = np.cos(yaw), np.sin(yaw) + world_yaw = np.array([[c, -s, 0.], [s, c, 0.], [0., 0., 1.]]) + pose = np.eye(4) + # Level optical camera looks along base +X, optical right is base -Y. + pose[:3, :3] = world_yaw @ np.array([[0., 0., 1.], [-1., 0., 0.], [0., -1., 0.]]) + pose[:3, 3] = [x, y, .7] + return pose + + +R_BEV_CAMERA = np.array([[1., 0., 0.], [0., 0., 1.], [0., -1., 0.]]) + + +def test_camera_offset_moves_obstacle_into_base_grid(): + prob = np.zeros((64, 64), np.float32) + prob[30, 31] = .83 + result = reproject_bev(prob, np.ones_like(prob), prob / 2, + R_BEV_CAMERA, camera_pose(x=.2, y=.1), np.eye(4), .1) + assert result['prob'][28, 30] == pytest.approx(.83) + assert result['err'][28, 30] == pytest.approx(.415) + assert result['obs'][-1, -1] == 0. + assert result['prob'][-1, -1] == .5 + assert result['err'][-1, -1] == 1. + + +def test_camera_pan_rotates_grid_into_base_heading(): + prob = np.zeros((64, 64), np.float32) + prob[26, 31] = .72 + result = reproject_bev(prob, np.ones_like(prob), np.zeros_like(prob), + R_BEV_CAMERA, camera_pose(yaw=np.pi / 2), np.eye(4), .1) + assert result['prob'][32, 26] == pytest.approx(.72) + + +def test_base_and_camera_rotated_together_preserve_grid(): + rng = np.random.default_rng(123) + prob = rng.random((64, 64), dtype=np.float32) + base = np.eye(4) + base[:2, :2] = [[0., -1.], [1., 0.]] + result = reproject_bev(prob, np.ones_like(prob), np.zeros_like(prob), + R_BEV_CAMERA, camera_pose(yaw=np.pi / 2), base, .1) + np.testing.assert_allclose(result['prob'], prob) + + +def test_invalid_learned_transform_rejected(): + p = np.zeros((8, 8)) + bad = np.eye(4) + bad[0, 0] = np.nan + with pytest.raises(ValueError): + reproject_bev(p, p, p, R_BEV_CAMERA, bad, np.eye(4), .1) diff --git a/code/lite3_ROS/tests/test_stretch_nav_recovery.py b/code/lite3_ROS/tests/test_stretch_nav_recovery.py new file mode 100644 index 0000000000000000000000000000000000000000..8472c394a36fec083f24438f37ce8b019de3e474 --- /dev/null +++ b/code/lite3_ROS/tests/test_stretch_nav_recovery.py @@ -0,0 +1,222 @@ +"""Synthetic camera motion, map corrections and occluded corners; no hardware.""" + +from types import SimpleNamespace + +import numpy as np +import pytest + +from web_console.stretch_nav_control import alignment_correction +from web_console.stretch_nav_recovery import ( + CornerObserver, + CorrectionRecovery, + MeasuredObstacleMemory, + camera_in_base, + clear_goal_cache, + rectangle_command_clear, + rectangle_path_clear, + route_subgoal, +) + + +def transform(yaw=0.0, xy=(0.0, 0.0)): + c, s = np.cos(yaw), np.sin(yaw) + t = np.eye(4) + t[:2, :2] = [[c, -s], [s, c]] + t[:2, 3] = xy + return t + + +def mount(yaw=0.0): + # Both orientation and camera centre move about the head joint. + camera = np.eye(4) + camera[:3, :3] = [[0, 0, 1], [-1, 0, 0], [0, -1, 0]] + camera[:3, 3] = [0.1, 0.0, 0.7] + return transform(yaw) @ camera + + +def grid(): + return {"prob": np.zeros((200, 200)), "obs": np.ones((200, 200)), "res": 0.05} + + +def test_dynamic_head_extrinsic_does_not_create_a_map_correction(): + base = transform(0.4, (10.0, 7.0)) + alignment = transform(0.2, (3.0, -2.0)) + neutral = mount() + attached = [] + for pan in [0.0, -0.5, -1.3, 0.4]: + camera = base @ mount(pan) + cross_camera = alignment @ camera + recovered = cross_camera @ np.linalg.inv(camera) + np.testing.assert_allclose(camera_in_base(camera, base), mount(pan), atol=1e-12) + distance, angle = alignment_correction(alignment, recovered, base) + assert distance < 1e-10 and angle < 1e-7 + attached.append(recovered @ base @ neutral) + np.testing.assert_allclose(attached, np.tile(attached[0], (4, 1, 1)), atol=1e-12) + # A fixed extrinsic would falsely interpret the same pan as robot motion. + wrong = (alignment @ base @ mount(-1.3)) @ np.linalg.inv(base @ neutral) + assert alignment_correction(alignment, wrong, base)[1] > 1.0 + + +def test_large_correction_holds_and_automatically_recovers_after_fresh_samples(): + recovery = CorrectionRecovery() + corrected = transform(0.04, (1.05, 0.0)) + result = recovery.update(np.eye(4), corrected, np.eye(4), 10.0) + assert result["started"] and result["pending"] + for now in [10.3, 10.6]: + assert recovery.update(corrected, corrected, np.eye(4), now)["pending"] + assert not recovery.update(corrected, corrected, np.eye(4), 10.9)["pending"] + + +def test_repeated_position_flips_do_not_extend_recovery_indefinitely(): + recovery = CorrectionRecovery() + a, b = np.eye(4), transform(xy=(1.0, 0.0)) + recovery.update(a, b, a, 0.0) + for t in range(1, 13): + recovery.update(b if t % 2 else a, a if t % 2 else b, a, float(t)) + with pytest.raises(RuntimeError, match="did not settle"): + recovery.update(a, b, a, 12.1) + + +def test_goal_cache_reset_preserves_obstacle_memory_and_scale(): + world, bumps = object(), [np.array([1.0, 2.0])] + episode = SimpleNamespace( + world=world, bumps=bumps, log_scale=0.6, route=np.ones((3, 2)), route_age=3, no_route=4, side=-1.0, expect=0.1 + ) + clear_goal_cache(episode) + assert episode.route is None and episode.expect == 0 + assert episode.world is world and episode.bumps is bumps and episode.log_scale == 0.6 + + +def test_right_corner_subgoal_stays_before_the_bend(): + hint = route_subgoal([[0.25, 0.0], [0.6, 0.0], [1.0, 0.0], [1.0, -0.5], [1.0, -1.5]], np.eye(4), [1.0, -1.5]) + assert hint["corner"] is not None + assert hint["target"][0] < hint["corner"][0] + assert hint["target"][1] == pytest.approx(0.0) + assert hint["outgoing"][1] < 0 + + +def test_straight_route_uses_arc_length_not_a_distant_overlapping_node(): + hint = route_subgoal([[0.5, 0.0], [1.0, 0.0], [2.0, 0.0]], np.eye(4), [2.0, 0.0]) + assert hint["corner"] is None + np.testing.assert_allclose(hint["target"], [1.5, 0.0]) + + +def test_sideways_graph_attachment_is_not_mistaken_for_an_aisle_bend(): + # Independent synthetic trail resembling an off-centre mapping camera. + route = [[0.16, -0.48], [0.47, -0.66], [0.54, -0.78], [0.58, -0.91], [0.58, -1.04], [0.53, -1.48], [0.53, -2.0]] + hint = route_subgoal(route, np.eye(4), route[-1]) + assert hint["corner"] is not None and hint["corner"][1] < -0.7 + assert hint["outgoing"][1] < -0.9 + assert 0.0 < hint["target"][0] < 0.4 and hint["target"][1] == pytest.approx(0.0) + + +def test_depth_memory_survives_a_camera_pan_and_expires_in_odom(): + memory = MeasuredObstacleMemory(horizon=12.0) + obstacle = np.array([[0.3, 0.0], [0.3, 0.01], [0.3, -0.01]]) + memory.update(obstacle, 0.0, [0.0, 0.0]) + retained = memory.update(np.empty((0, 2)), 5.0, [0.0, 0.0]) + assert len(retained) >= 3 # Preserve enough returns for the hard veto. + assert len(memory.update(np.empty((0, 2)), 12.1, [0.0, 0.0])) == 0 + + +def test_look_and_return_require_settled_images_before_advance(): + observer = CornerObserver() + joint = np.zeros(11) + joint[10] = -0.4 + hint = {"target": np.zeros(2), "corner": np.array([0.3, 0.0]), "outgoing": np.array([0.0, -1.0])} + result = observer.update(hint, np.eye(4), mount(), mount(), joint, grid(), 0.0) + assert result["hold"] and result["phase"] == "look" and result["head_target"][0] < -1.0 + for i, pan in enumerate([-0.5, -1.0, -np.pi / 2, -np.pi / 2, -np.pi / 2]): + joint[9] = pan + result = observer.update(hint, np.eye(4), mount(pan), mount(), joint, grid(), i + 1.0) + assert result["hold"] + assert observer.phase == "return" + assert result["coverage"] == 1.0 + for i in range(3): + joint[9] = 0.0 + result = observer.update(hint, np.eye(4), mount(), mount(), joint, grid(), 6.0 + i) + assert observer.phase == "advance" + result = observer.update(hint, np.eye(4), mount(), mount(), joint, grid(), 9.0) + assert not result["hold"] and result["speed_scale"] == 0.5 + + +def test_scan_waits_for_head_limit_before_requesting_base_rotation(): + observer = CornerObserver() + joint = np.zeros(11) + joint[10] = -0.4 + hint = {"target": np.zeros(2), "corner": np.array([0.3, 0.0]), "outgoing": np.array([0.0, 1.0])} + result = observer.update(hint, np.eye(4), mount(), mount(), joint, grid(), 0.0) + assert result["head_target"][0] == 0.65 and result["scan_w"] == 0.0 + joint[9] = 0.65 + result = observer.update(hint, np.eye(4), mount(0.65), mount(), joint, grid(), 1.0) + assert result["scan_w"] == 0.15 and result["hold"] + + +def test_recovery_interrupted_pan_returns_to_neutral_before_translation(): + observer = CornerObserver() + observer.restore_neutral(np.eye(4), 10.0) + joint = np.zeros(11) + joint[9:11] = [-1.2, -0.4] + hint = {"target": np.array([1.0, 0.0]), "corner": None} + result = observer.update(hint, np.eye(4), mount(-1.2), mount(), joint, grid(), 10.5) + assert result["hold"] and result["phase"] == "return" + assert result["head_target"][0] == pytest.approx(0.0) + + +def test_blocked_approach_can_observe_before_reaching_the_waypoint(): + observer = CornerObserver() + joint = np.zeros(11) + joint[10] = -0.4 + hint = {"target": np.array([0.6, 0.0]), "corner": np.array([0.9, 0.0]), "outgoing": np.array([0.0, -1.0])} + result = observer.update(hint, np.eye(4), mount(), mount(), joint, grid(), 0.0) + assert result["phase"] == "approach" and not result["hold"] + result = observer.update(hint, np.eye(4), mount(), mount(), joint, grid(), 2.0, force_observation=True) + assert result["phase"] == "look" and result["hold"] + + +def test_unseen_branch_never_becomes_approved_after_a_head_scan(): + observer = CornerObserver() + joint = np.zeros(11) + joint[10] = -0.4 + hint = {"target": np.zeros(2), "corner": np.array([0.1, 0.0]), "outgoing": np.array([0.0, -1.0])} + unseen = grid() + unseen["obs"][:] = 0.0 + observer.update(hint, np.eye(4), mount(), mount(), joint, unseen, 0.0) + for i in range(3): + joint[9] = -np.pi / 2 + observer.update(hint, np.eye(4), mount(-np.pi / 2), mount(), joint, unseen, i + 1.0) + for i in range(2): + joint[9] = 0.0 + observer.update(hint, np.eye(4), mount(), mount(), joint, unseen, i + 4.0) + with pytest.raises(RuntimeError, match="remains occluded"): + observer.update(hint, np.eye(4), mount(), mount(), joint, unseen, 6.0) + + +def test_rectangle_rejects_obstacle_that_a_20cm_circle_would_miss(): + g = grid() + # Centreline x=.5, return at x=.5,y=.225 clips the 46 cm body. + g["prob"][int(100 - 0.5 / 0.05), int(100 - 0.225 / 0.05)] = 1.0 + assert not rectangle_path_clear([[0.5, 0.0], [1.0, 0.0]], g) + assert rectangle_path_clear([[0.5, 0.0], [1.0, 0.0]], grid()) + + +def test_pure_rotation_checks_sweeping_corners_of_the_body(): + g = grid() + # Outside the stationary body, within its corners' swept circle. + g["prob"][int(100 - 0.30 / 0.05), 100] = 1.0 + assert rectangle_command_clear(g, np.eye(4), np.zeros(3), 0.0, 0.0) + assert not rectangle_command_clear(g, np.eye(4), np.zeros(3), 0.0, 0.7) + + +def test_command_footprint_uses_planning_frame_after_base_motion(): + g = grid() + g["prob"][int(100 - 0.5 / 0.05), 100] = 1.0 + base = transform(np.pi / 2, (4.0, 2.0)) + assert rectangle_command_clear(g, base, [4.0, 2.0, np.pi / 2], 0.1, 0.0) + assert not rectangle_command_clear(g, base, [4.0, 2.25, np.pi / 2], 0.1, 0.0) + + +@pytest.mark.parametrize("bad", [np.eye(3), np.full((4, 4), np.nan), np.diag([2.0, 1.0, 1.0, 1.0])]) +def test_invalid_dynamic_extrinsic_rejected(bad): + with pytest.raises(ValueError): + camera_in_base(bad, np.eye(4)) diff --git a/code/lite3_ROS/tests/test_stretch_nav_replay.py b/code/lite3_ROS/tests/test_stretch_nav_replay.py new file mode 100644 index 0000000000000000000000000000000000000000..0ef9a26aa12114230f56e82819400c17722800f9 --- /dev/null +++ b/code/lite3_ROS/tests/test_stretch_nav_replay.py @@ -0,0 +1,250 @@ +"""Historical frames, asset confinement and HTTP replay use synthetic recordings.""" + +import http.client +import json +import threading +from http.server import ThreadingHTTPServer + +import cv2 +import numpy as np +import pytest + +from scripts.view_stretch_cross_nav_live_run import Handler, Review +from web_console.stretch_nav_replay import LAYERS, ReplayArchive, ReplayService, read_rows, save_bev_frame + + +def jsonl(path, rows): + path.parent.mkdir(parents=True, exist_ok=True) + path.write_text("".join(json.dumps(row) + "\n" for row in rows)) + + +@pytest.fixture +def recording(tmp_path): + root = tmp_path / "stretch_cross_nav_live_synthetic" + (root / "capture/rgb").mkdir(parents=True) + (root / "review_bev").mkdir() + status = {"phase": "stopped", "reason": "Goal reached", "goal_keyframe": 7, "frame": {"frame_idx": 30}} + for name in ("review.json", "final_status.json"): + (root / name).write_text(json.dumps(status)) + (root / "map.json").write_text(json.dumps({"nodes": [], "goal": 7})) + raw = [{"frame_idx": number, "relative_time_s": time, "received_unix_s": 100 + time, + "sensor_stamp": 900 + time, "head_joints": [time / 10, -0.4]} + for number, time in [(10, 0.0), (20, 2.0), (30, 5.0)]] + jsonl(root / "capture/observations.jsonl", raw) + (root / "capture/latest.json").write_text(json.dumps(raw[-1])) + for row in raw: + cv2.imwrite(str(root / f"capture/rgb/{row['frame_idx']:08d}.jpg"), + np.full((24, 32, 3), row["frame_idx"], np.uint8)) + plans = [{"frame_idx": number, "time_s": time, "localized": True, "bev_size": 16, "bev_res": 0.05, + "trajectory": [[1, 0, 0]] if number == 20 else [[1, 0, 0], [2, 0, 0]], + "global_route": [], "local_path_display": [], "goal_distance": 1.0} + for number, time in [(20, 2), (30, 5)]] + jsonl(root / "observations.jsonl", plans) + jsonl(root / "commands.jsonl", [ + {"time_unix": 100, "phase": "teleop", "reason": "Teleop"}, + {"time_unix": 101, "phase": "active", "reason": "Following path", "nonzero_motion_commands": 4}, + {"time_unix": 105.5, "phase": "stopped", "reason": "Goal reached"}, + ]) + jsonl(root / "robot_status.jsonl", [ + {"received_unix": 100, "head_action_state": "idle", "joint_positions": [0.0] * 11}, + {"received_unix": 104, "head_action_state": "moving", "joint_positions": [9.0] * 11}, + {"received_unix": 106, "head_action_state": "future", "joint_positions": [99.0] * 11}, + ]) + jsonl(root / "events.jsonl", [ + {"time_unix": 101, "type": "start_requested"}, + {"time_unix": 105.5, "type": "stop", "reason": "Goal reached"}, + {"time_unix": 200, "type": "stop", "reason": "Later review shutdown"}, + ]) + for frame in (20, 30): + images = {f"{layer}.png": cv2.imencode(".png", np.full((16, 16, 3), frame, np.uint8))[1].tobytes() + for layer in LAYERS} + save_bev_frame(root, frame, images, source="recorded" if frame == 30 else "reconstructed") + if frame == 30: + for name, data in images.items(): + (root / "review_bev" / name).write_bytes(data) + return root + + +def test_timeline_uses_recorded_time_and_preserves_bev_provenance(recording): + manifest = ReplayArchive(recording).manifest() + assert [row["time_s"] for row in manifest["frames"]] == [0, 2, 5] + assert manifest["recorded_bev_frames"] == manifest["reconstructed_bev_frames"] == 1 + assert manifest["start_index"] == 0 + assert len(manifest["events"]) == 2 # Later server shutdown is not part of the run. + + +def test_prefirst_frame_does_not_leak_future_map_bev_control_or_pose(recording): + frame = ReplayArchive(recording).frame(0) + assert frame["frame"]["trajectory"] == [] + assert frame["replay"]["bev_urls"] == {} and frame["replay"]["bev_frame"] is None + assert frame["recorded_phase"] == "teleop" + assert frame["robot"]["head_action_state"] == "idle" + assert frame["processed"] == 0 + + +def test_historical_map_and_image_time_head_pose_are_selected_without_future_state(recording): + archive = ReplayArchive(recording) + early, later = archive.frame(1), archive.frame(2) + assert len(early["frame"]["trajectory"]) == 1 and len(later["frame"]["trajectory"]) == 2 + assert early["replay"]["bev_frame"] == 20 and early["replay"]["bev_source"] == "reconstructed" + assert early["robot"]["joint_positions"][9:11] == [0.2, -0.4] + assert later["robot"]["head_action_state"] == "moving" + assert later["recorded_phase"] == "active" and later["phase"] == "stopped" + assert not later["ready"] and later["gate"] == "Replay; motion controls disabled" + assert early["motion_commands"] == 4 # PC receive time, not the offset sensor clock. + + +def test_sparse_legacy_bev_is_not_shown_before_its_saved_frame(recording): + import shutil + shutil.rmtree(recording / "replay") + archive = ReplayArchive(recording) + assert archive.frame(1)["replay"]["bev_frame"] is None + assert archive.frame(2)["replay"]["bev_frame"] == 30 + + +def test_rgb_and_bev_assets_remain_confined_to_their_recording(recording, tmp_path): + archive = ReplayArchive(recording) + outside = tmp_path / "private.jpg" + outside.write_bytes(b"private") + image = recording / "capture/rgb/00000020.jpg" + image.unlink() + image.symlink_to(outside) + with pytest.raises(ValueError, match="escaped"): + archive.image(20) + with pytest.raises(KeyError): + archive.image(999) + with pytest.raises(KeyError): + archive.image(20, "../../private") + with pytest.raises(KeyError): + archive.frame(-1) + + +def test_bev_symlink_escape_is_rejected_when_loading_archive(recording, tmp_path): + outside = tmp_path / "private.png" + outside.write_bytes(b"private") + image = recording / "replay/bev/00000020/occupancy.png" + image.unlink() + image.symlink_to(outside) + with pytest.raises(ValueError, match="escaped"): + ReplayArchive(recording) + + +def test_backfill_does_not_overwrite_original_recorded_images(recording): + original = (recording / "replay/bev/00000030/occupancy.png").read_bytes() + save_bev_frame(recording, 30, {f"{name}.png": b"replacement" for name in LAYERS}, + source="reconstructed", only_missing=True) + assert (recording / "replay/bev/00000030/occupancy.png").read_bytes() == original + assert ReplayArchive(recording).frame(2)["replay"]["bev_source"] == "recorded" + + +def test_partial_bev_without_commit_metadata_is_ignored(recording): + (recording / "replay/bev/00000020/meta.json").unlink() + assert ReplayArchive(recording).frame(1)["replay"]["bev_frame"] is None + + +def test_committed_backfill_invalidates_a_cached_manifest(recording): + service = ReplayService(recording) + assert service.get().manifest()["bev_frames"] == 2 + images = {f"{layer}.png": (recording / "review_bev" / f"{layer}.png").read_bytes() for layer in LAYERS} + save_bev_frame(recording, 10, images) + assert service.get().manifest()["bev_frames"] == 3 + assert service.get().frame(0)["replay"]["bev_frame"] == 10 + + +def test_failed_bev_write_never_commits_a_complete_frame(recording, monkeypatch): + from pathlib import Path + original = Path.write_bytes + def fail_on_visibility(path, data): + if path.name == "visibility.png.tmp": + raise OSError("Synthetic disk failure") + return original(path, data) + monkeypatch.setattr(Path, "write_bytes", fail_on_visibility) + with pytest.raises(OSError, match="Synthetic"): + save_bev_frame(recording, 10, {f"{layer}.png": b"image" for layer in LAYERS}) + assert not (recording / "replay/bev/00000010/meta.json").exists() + assert ReplayArchive(recording).frame(0)["replay"]["bev_frame"] is None + + +def test_incomplete_final_jsonl_row_is_tolerated_but_corruption_is_not(tmp_path): + path = tmp_path / "rows.jsonl" + path.write_text('{"frame":1}\n{"frame":') + assert read_rows(path) == [{"frame": 1}] + path.write_text('{"frame":\n{"frame":2}\n') + with pytest.raises(json.JSONDecodeError): + read_rows(path) + + +def test_run_selection_is_allowlisted_and_excludes_escaped_or_unfinished_runs(recording, tmp_path): + service = ReplayService(recording) + assert service.listing()[0]["id"] == recording.name + with pytest.raises(KeyError): + service.get("../private") + outside = tmp_path / "outside" + outside.mkdir() + (tmp_path / "stretch_cross_nav_live_escape").symlink_to(outside.parent) + assert len(service.listing()) == 1 + (recording / "final_status.json").write_text('{"phase":"active"}') + assert service.listing() == [] + with pytest.raises(ValueError, match="stopped"): + ReplayArchive(recording) + + +def test_saved_server_serves_replay_and_cannot_arm_motion(recording): + server = ThreadingHTTPServer(("127.0.0.1", 0), Handler) + server.daemon_threads = True + server.state = Review(recording) + thread = threading.Thread(target=server.serve_forever, daemon=True) + thread.start() + client = http.client.HTTPConnection("127.0.0.1", server.server_port) + try: + for url, status in [ + ("/api/replay/runs", 200), ("/api/replay/manifest", 200), + ("/api/replay/frame?index=1", 200), ("/api/replay/rgb?frame=20", 200), + ("/api/replay/bev?frame=20&layer=occupancy", 200), + ("/api/replay/bev?frame=20", 404), ("/api/replay/frame?index=-1", 404), + ("/api/replay/rgb?frame=../private", 404), ("/api/replay/map?run=../private", 404), + ]: + client.request("GET", url) + response = client.getresponse() + response.read() + assert response.status == status, url + client.request("POST", "/api/start", body="{}", headers={"X-Session": server.state.token, + "Origin": f"http://127.0.0.1:{server.server_port}"}) + response = client.getresponse() + response.read() + assert response.status == 409 and server.state.phase == "stopped" + finally: + client.close() + server.shutdown() + server.server_close() + thread.join(timeout=3) + + +def test_future_recording_reopens_without_a_manual_review_export(recording): + import shutil + (recording / "review.json").unlink() + shutil.rmtree(recording / "review_bev") + (recording / "capture/latest.json").unlink() + state = Review(recording) + assert state.snapshot()["phase"] == "stopped" + assert state.packet["rgb_jpg"].tobytes().startswith(b"\xff\xd8") + assert set(state.images) == {f"{name}.png" for name in LAYERS} + + +def test_replay_is_unavailable_during_live_navigation(recording): + server = ThreadingHTTPServer(("127.0.0.1", 0), Handler) + server.state = Review(recording) + server.state.phase = "active" + thread = threading.Thread(target=server.serve_forever, daemon=True) + thread.start() + client = http.client.HTTPConnection("127.0.0.1", server.server_port) + try: + client.request("GET", "/api/replay/manifest") + response = client.getresponse() + response.read() + assert response.status == 409 + finally: + client.close() + server.shutdown() + server.server_close() + thread.join(timeout=3) diff --git a/code/lite3_ROS/tests/test_stretch_nav_routing.py b/code/lite3_ROS/tests/test_stretch_nav_routing.py new file mode 100644 index 0000000000000000000000000000000000000000..635ade0002e845a0259fd3b91e5b76ceb15234df --- /dev/null +++ b/code/lite3_ROS/tests/test_stretch_nav_routing.py @@ -0,0 +1,162 @@ +"""Route attachment on synthetic graphs; no CROSS checkout, map or robot needed.""" +from types import SimpleNamespace + +import numpy as np +import pytest + +from web_console.stretch_nav_report import SavedRoute + + +def pose(x=0., y=0.): + result = np.eye(4) + result[:2, 3] = [x, y] + return result + + +class NativeGraph: + def __init__(self, edges): + self.edges = edges + self.reads = 0 + + def _get_neighbors(self, key): + return [b for a, b in self.edges if a == key] + + def _get_edge_cost(self, a, b): + self.reads += 1 + return self.edges[a, b] + + +class NativePlanning: + def __init__(self, owner, edges, plans): + self.owner = owner + self.planner = NativeGraph(edges) + self.plans = plans + self.goal = None + + def set_goal(self, *, goal_kf_id): + self.goal = goal_kf_id + + def plan_to_goal(self, *, algorithm): + assert algorithm == 'astar' + ids = self.plans[self.owner.current] + assert ids[-1] == self.goal + return {'detailed_path': ids, 'detail_level': 'backbone', + 'detailed_cost': sum(self.planner.edges[a, b] for a, b in zip(ids, ids[1:]))} + + +def route_fixture(short_cost=7.42, long_cost=33.88): + route = SavedRoute.__new__(SavedRoute) + route.matrices = {1: pose(.1916), 2: pose(.1951), 3: pose(-4.), 9: pose(4., 4.)} + route.permanent = {key: SimpleNamespace(id=key) for key in route.matrices} + route.current = 1 + # Two visits overlap spatially, but following recording order gives different + # costs to the same goal. Plans are fixed independently of the selection code. + edges = {(1, 3): 10., (3, 9): long_cost - 10., (2, 9): short_cost} + route.planning = NativePlanning(route, edges, {1: [1, 3, 9], 2: [2, 9], 3: [3, 9]}) + route.attachment_radius, route.switch_margin = .75, .25 + route._goal, route._cost_to_goal, route._previous_ids = None, {}, () + return route + + +def test_remaining_distance_beats_millimetres_of_nearest_frame_advantage(): + route = route_fixture() + result = route.route(pose(), 9) + assert result['attachment']['nearest_keyframe'] == 1 + assert result['ids'] == [2, 9] + assert result['cost_m'] == pytest.approx(7.42) + assert result['attachment']['total_m'] == pytest.approx(7.6151) + + +def test_repeated_nearest_visit_switches_do_not_reset_to_long_loop(): + route = route_fixture() + # Repeated visits flip the nearest keyframe while both remain local. + for x in [0., .193, .4, .193, 0.] * 20: + result = route.route(pose(x), 9) + assert result['ids'] == [2, 9] + assert result['cost_m'] < 8. + + +def test_valid_short_route_remains_candidate_as_another_visit_gets_closer(): + route = route_fixture() + route.matrices[1] = pose(.30) + route.matrices[2] = pose(-.56) + # A nearest+0.25 m filter used to drop frame 2 here and select the long loop. + for x in [0., .005, .01, 0.]: + result = route.route(pose(x), 9) + assert result['ids'] == [2, 9] + assert result['attachment']['distance_m'] < route.attachment_radius + + +def test_continuity_keeps_route_when_total_costs_differ_by_only_centimetres(): + route = route_fixture(short_cost=7.45, long_cost=10.01) + # Use independent direct edges of nearly equal cost. + route.planning.planner.edges = {(1, 9): 7.42, (2, 9): 7.45} + route.planning.plans[1] = [1, 9] + route._set_goal(9) + route._previous_ids = (2, 9) + result = route.route(pose(), 9) + assert result['start_keyframe'] == 2 + assert result['attachment']['selected_on_previous_route'] + + +def test_continuity_never_preserves_long_route_against_substantial_saving(): + route = route_fixture() + route._set_goal(9) + route._previous_ids = (1, 3, 9) + assert route.route(pose(), 9)['start_keyframe'] == 2 + + +def test_blocked_attachment_cannot_win_on_remaining_distance(): + route = route_fixture() + result = route.route(pose(), 9, can_attach=lambda key, _point: key != 2) + assert result['start_keyframe'] == 1 + assert result['attachment']['connection_check'] == 'measured_depth' + + +def test_no_clear_local_attachment_returns_no_route(): + result = route_fixture().route(pose(), 9, can_attach=lambda *_: False) + assert result['status'] == 'no_local_graph_attachment' + assert not result['ids'] + + +def test_distant_node_with_short_route_does_not_allow_teleporting_to_goal(): + result = route_fixture().route(pose(20.), 9) + assert result['status'] == 'no_local_graph_attachment' + assert not result['ids'] + + +def test_disconnected_nearest_node_does_not_hide_connected_local_start(): + route = route_fixture() + del route.planning.planner.edges[1, 3] + assert route.route(pose(), 9)['ids'] == [2, 9] + + +def test_cost_to_go_is_cached_and_goal_change_resets_continuity(): + route = route_fixture() + route.route(pose(), 9) + reads = route.planning.planner.reads + route.route(pose(.01), 9) + assert route.planning.planner.reads == reads + result = route.route(pose(), 1) + assert result['ids'] == [1] + assert route._cost_to_goal == {1: 0.} + assert not result['attachment']['selected_on_previous_route'] + + +def test_goal_attachment_retains_singleton_route_for_final_approach(): + route = route_fixture() + result = route.route(pose(4., 4.), 9) + assert result['status'] == 'route_found' + assert result['ids'] == [9] + assert result['cost_m'] == 0. + + +def test_local_attachment_cost_decreases_while_approaching_goal(): + route = route_fixture() + totals = [route.route(pose(x, 4.), 9)['attachment']['total_m'] for x in [3.4, 3.6, 3.8, 4.]] + assert all(b < a for a, b in zip(totals, totals[1:])) + + +def test_invalid_pose_is_rejected(): + with pytest.raises(ValueError, match='Invalid committed camera pose'): + route_fixture().route(np.full((4, 4), np.nan), 9) diff --git a/code/lite3_ROS/tests/test_stretch_nav_survey.py b/code/lite3_ROS/tests/test_stretch_nav_survey.py new file mode 100644 index 0000000000000000000000000000000000000000..992a63b890d875cbf199a9c1a3028a979427a355 --- /dev/null +++ b/code/lite3_ROS/tests/test_stretch_nav_survey.py @@ -0,0 +1,215 @@ +"""Blocked starts, settled yaw/pitch observations and footprint evidence; no hardware.""" + +import numpy as np +import pytest + +from web_console.stretch_nav_control import depth_veto +from web_console.stretch_nav_footprint import command_footprint_report, depth_support +from web_console.stretch_nav_recovery import ( + CornerObserver, + MeasuredObstacleMemory, + camera_in_base, + rectangle_path_clear, +) +from web_console.stretch_nav_survey import HeadSurvey + + +def camera(pan=0.0, tilt=-0.4): + c, s = np.cos(pan), np.sin(pan) + yaw = np.array([[c, -s, 0.0], [s, c, 0.0], [0.0, 0.0, 1.0]]) + c, s = np.cos(-tilt), np.sin(-tilt) + pitch = np.array([[c, 0.0, s], [0.0, 1.0, 0.0], [-s, 0.0, c]]) + mount = np.eye(4) + mount[:3, :3] = yaw @ pitch @ np.array([[0, 0, 1], [-1, 0, 0], [0, -1, 0]]) + mount[:3, 3] = [0.04 * np.cos(pan), 0.04 * np.sin(pan), 1.3] + return mount + + +def joints(pan=0.0, tilt=-0.4): + values = np.zeros(11) + values[9:11] = [pan, tilt] + return values + + +def empty_grid(): + return {"prob": np.zeros((200, 200)), "obs": np.ones((200, 200)), "res": 0.05} + + +def complete_survey(survey, now=0.0, frame=0): + while survey.active: + target = survey.targets[survey.index][1] + result = survey.update(np.eye(4), camera(*target), joints(*target), frame, now) + assert result["hold"] and result["scan_w"] == 0.0 + now, frame = now + 0.25, frame + 1 + return now, result + + +def test_stuck_forward_goal_gets_distinct_yaw_and_pitch_views_before_neutral_return(): + survey = HeadSurvey() + assert survey.start(np.eye(4), camera(), camera(), joints(), 0.0, "learned footprint") + targets = np.array([target for _, target in survey.targets]) + assert targets[:, 0].min() < -0.6 and targets[:, 0].max() > 0.5 + assert targets[:, 1].min() < -1.0 + np.testing.assert_allclose(targets[-1], [0.0, -0.4]) + _, result = complete_survey(survey) + assert result["survey_complete"] and result["hold"] + assert len(survey.views) == 6 and survey.snapshot()["settled_views"] == 6 + + +def test_duplicate_frames_or_moving_head_do_not_complete_a_view(): + survey = HeadSurvey() + survey.start(np.eye(4), camera(), camera(), joints(), 0.0, "blocked") + target = survey.targets[0][1] + for now in [0.0, 0.5, 1.0, 1.5]: + survey.update(np.eye(4), camera(*target), joints(*target), 1, now) + assert survey.index == 0 + for frame, tilt in enumerate([-0.6, -0.8, -1.0], 2): + survey.update(np.eye(4), camera(tilt=tilt), joints(tilt=tilt), frame, 2.0 + frame / 10) + assert survey.index == 0 + + +def test_joint_reaching_without_settled_camera_tf_does_not_count(): + survey = HeadSurvey() + survey.start(np.eye(4), camera(), camera(), joints(), 0.0, "blocked") + target = survey.targets[0][1] + for frame in range(6): + survey.update(np.eye(4), camera(0.1 * frame, target[1]), joints(*target), frame, frame * 0.5) + assert not survey.views + + +def test_settled_head_with_action_offset_counts_the_actual_image_time_extrinsic(): + survey = HeadSurvey() + survey.start(np.eye(4), camera(), camera(), joints(), 0.0, "blocked") + target = np.array(survey.targets[0][1]) + # A successful hardware action can settle about three degrees short. The + # resulting view is useful, and its measured extrinsic must be retained. + actual = target + [0.04, 0.054] + actual_mount = camera(*actual) + for frame, now in enumerate([0.0, 0.25, 0.75]): + result = survey.update(np.eye(4), actual_mount, joints(*actual), frame, now) + assert result["hold"] and result["scan_w"] == 0.0 + assert survey.index == 1 and len(survey.views) == 1 + np.testing.assert_allclose(survey.views[0]["head_joints"], actual) + np.testing.assert_allclose(survey.views[0]["camera_in_base"], actual_mount) + assert not np.allclose(actual_mount, camera(*target)) + + +def test_stationary_camera_far_from_head_target_does_not_complete_a_view(): + survey = HeadSurvey() + survey.start(np.eye(4), camera(), camera(), joints(), 0.0, "blocked") + actual = np.array(survey.targets[0][1]) + [0.0, 0.08] + for frame in range(6): + survey.update(np.eye(4), camera(*actual), joints(*actual), frame, frame * 0.5) + assert survey.index == 0 and not survey.views + + +def test_survey_is_bounded_and_only_progress_allows_more_passes(): + survey = HeadSurvey() + for start in [0.0, 15.0]: + survey.start(np.eye(4), camera(), camera(), joints(), start, "blocked") + now, _ = complete_survey(survey, start) + assert not survey.start(np.eye(4), camera(), camera(), joints(), now, "blocked") # Cooldown. + with pytest.raises(RuntimeError, match="two passes"): + survey.start(np.eye(4), camera(), camera(), joints(), now + 4.0, "blocked") + base = np.eye(4) + base[0, 3] = 0.21 + assert survey.start(base, camera(), camera(), joints(), now + 4.0, "blocked") + assert survey.passes == 1 + + +def test_survey_times_out_without_fresh_settled_frames(): + survey = HeadSurvey() + survey.start(np.eye(4), camera(), camera(), joints(), 0.0, "blocked") + with pytest.raises(RuntimeError, match="timed out"): + survey.update(np.eye(4), camera(), joints(), 1, 12.1) + + +def test_external_base_motion_aborts_stationary_survey(): + survey = HeadSurvey() + survey.start(np.eye(4), camera(), camera(), joints(), 0.0, "blocked") + base = np.eye(4) + base[0, 3] = 0.1 + with pytest.raises(RuntimeError, match="Base moved"): + survey.update(base, camera(), joints(), 1, 1.0) + + +def test_cancelled_downward_scan_restores_pitch_and_yaw_after_correction(): + observer = CornerObserver() + observer.restore_neutral(np.eye(4), 1.0) + result = observer.update({"target": np.array([1.0, 0.0]), "corner": None}, np.eye(4), + camera(-0.7, -1.05), camera(), joints(-0.7, -1.05), empty_grid(), 1.1) + np.testing.assert_allclose(result["head_target"], [0.0, -0.4], atol=1e-10) + for i in range(3): + observer.update({"target": np.array([1.0, 0.0]), "corner": None}, np.eye(4), + camera(0.0, -1.05), camera(), joints(0.0, -1.05), empty_grid(), 1.2 + i) + assert observer.phase == "return" # Yaw is restored but pitch is still wrong. + + +def test_camera_tf_compensation_holds_for_combined_pitch_and_yaw(): + base = np.eye(4) + base[:2, 3] = [4.0, 2.0] + alignment = np.eye(4) + alignment[:2, 3] = [-2.0, 7.0] + for pan, tilt in [(0.0, -0.4), (0.55, -1.05), (-0.7, -1.05), (-0.7, -0.4)]: + actual = base @ camera(pan, tilt) + recovered = (alignment @ actual) @ np.linalg.inv(actual) + np.testing.assert_allclose(camera_in_base(actual, base), camera(pan, tilt), atol=1e-12) + np.testing.assert_allclose(recovered @ base @ camera(), alignment @ base @ camera(), atol=1e-12) + + +def test_depth_obstacles_survive_a_long_survey_and_its_return(): + memory = MeasuredObstacleMemory() + obstacle = np.array([[0.3, 0.0], [0.3, 0.01], [0.3, -0.01]]) + memory.update(obstacle, 0.0, [0.0, 0.0]) + memory.observing(True, 1.0) + assert len(memory.update(np.empty((0, 2)), 35.0, [0.0, 0.0])) >= 3 + memory.observing(False, 36.0) + assert len(memory.update(np.empty((0, 2)), 40.0, [0.0, 0.0])) >= 3 + assert not len(memory.update(np.empty((0, 2)), 48.1, [0.0, 0.0])) + + +def test_own_body_prediction_is_logged_without_locking_the_robot_in_place(): + grid = empty_grid() + grid["prob"][100, 100] = 0.9 + report = command_footprint_report(grid, np.eye(4), np.zeros(3), 0.1, 0.0) + assert report["clear"] and report["ignored_current_body_cell_count"] == 1 + assert report["self_cells"][0]["probability"] == 0.9 + unsupported = depth_support(report, np.empty((0, 2))) + assert unsupported["depth_supported_cells"] == 0 + assert unsupported["self_cells"][0]["nearest_depth_return_m"] is None + assert rectangle_path_clear([[0.5, 0.0], [1.0, 0.0]], grid) + assert grid["prob"][100, 100] == 0.9 # Original prediction is not overwritten. + + +def test_missing_depth_never_clears_a_prediction_in_newly_swept_space(): + grid = empty_grid() + grid["prob"][94, 100] = 0.9 # 27.5 cm ahead, beyond the current body. + report = command_footprint_report(grid, np.eye(4), np.zeros(3), 0.1, 0.0) + unsupported = depth_support(report, np.empty((0, 2))) + assert not unsupported["clear"] and unsupported["depth_supported_cells"] == 0 + assert not rectangle_path_clear([[0.5, 0.0]], grid) + + +def test_measured_depth_veto_is_preserved_at_the_existing_body_edge(): + points = np.array([[0.215, 0.0], [0.215, 0.01], [0.215, -0.01]]) + assert depth_veto(points, np.zeros(3), 0.1, 0.0) + + +def test_report_depth_support_uses_world_frame_and_preserves_guard_decision(): + grid = empty_grid() + grid["prob"][93, 100] = 0.95 + base = np.eye(4) + base[:2, 3] = [4.0, 7.0] + report = command_footprint_report(grid, base, [4.0, 7.0, 0.0], 0.15, 0.0) + assert not report["clear"] and report["sweep_time_s"] > 0.0 + point = report["cells"][0]["world_xy"] + result = depth_support(report, np.tile(point, (3, 1))) + assert result["depth_supported_cells"] == 1 + assert result["cells"][0]["nearby_depth_returns"] == 3 + + +def test_unknown_predictions_do_not_become_learned_obstacles(): + grid = empty_grid() + grid["prob"][:] = 1.0 + grid["obs"][:] = 0.0 + assert command_footprint_report(grid, np.eye(4), np.zeros(3), 0.1, 0.0)["clear"] diff --git a/code/lite3_ROS/tests/test_stretch_transport.py b/code/lite3_ROS/tests/test_stretch_transport.py new file mode 100644 index 0000000000000000000000000000000000000000..c48d01b635538231d8d8d265a4fae4b5ad5b7b63 --- /dev/null +++ b/code/lite3_ROS/tests/test_stretch_transport.py @@ -0,0 +1,80 @@ +from web_console.stretch_transport import camera_transport_diagnostics + + +def test_transport_age_uses_robot_clock_despite_large_pc_clock_offset(): + packet = {'frame_id': 40, 'sensor_stamp': 900., 'sensor_age': .06} + robot = {'frame_id': 52, 'ros_now_s': 903.} + result = camera_transport_diagnostics(packet, robot, 1200., 1200.02) + assert result['source_frame_gap'] == 12 + assert abs(result['source_age_via_status_s'] - 3.02) < 1e-9 + assert abs(result['post_publish_delay_via_status_s'] - 2.96) < 1e-9 + + +def test_old_status_does_not_produce_a_transport_age(): + result = camera_transport_diagnostics({'frame_id': 5, 'sensor_stamp': 10.}, + {'frame_id': 6, 'ros_now_s': 11.}, 100., 101.) + assert 'source_age_via_status_s' not in result + + +def test_old_relay_and_missing_status_remain_compatible(): + packet = {'frame_id': 5, 'sensor_stamp': 10., 'sensor_age': .03} + assert camera_transport_diagnostics(packet, None, 0., 1.) == {'source_age_at_send_s': .03} + result = camera_transport_diagnostics(packet, {'frame_id': 6}, 1., 1.1) + assert result['source_frame_gap'] == 1 + assert 'source_age_via_status_s' not in result + + +def test_receiver_records_timing_and_preserves_image_bytes(monkeypatch, tmp_path): + import importlib.util + import json + import pickle + from pathlib import Path + from types import SimpleNamespace + + import numpy as np + + path = Path(__file__).resolve().parents[1] / 'scripts/live_stretch_cross_nav.py' + spec = importlib.util.spec_from_file_location('camera_transport_live_test', path) + module = importlib.util.module_from_spec(spec) + spec.loader.exec_module(module) + state = module.LiveState(SimpleNamespace(output=tmp_path, robot_ip='unreachable.invalid')) + packet = {'world_frame': 'odom', 'frame_id': 7, 'sensor_stamp': 1000., 'sensor_age': .05, + 'camera_pose': np.eye(4), 'base_pose_matrix': np.eye(4), + 'camera_tf_stamp': 1000., 'base_tf_stamp': 1000., + 'rgb_jpg': np.frombuffer(b'exact-rgb', dtype=np.uint8), + 'depth_png': np.frombuffer(b'exact-depth', dtype=np.uint8)} + payload = pickle.dumps(packet) + + class Socket: + calls = 0 + + def setsockopt(self, *_): + pass + + def connect(self, *_): + pass + + def poll(self, *_): + self.calls += 1 + if self.calls > 1: + state.done.set() + return False + return True + + def recv(self): + return payload + + def close(self): + pass + + monkeypatch.setattr(module.zmq, 'Context', lambda: SimpleNamespace(socket=lambda *_: Socket(), term=lambda: None)) + module.capture_loop(state, SimpleNamespace(process=SimpleNamespace(poll=lambda: None))) + root = tmp_path / 'capture' + assert (root / 'rgb/00000000.jpg').read_bytes() == b'exact-rgb' + assert (root / 'depth/00000000.png').read_bytes() == b'exact-depth' + timing = json.loads((root / 'transport.jsonl').read_text()) + assert timing['wire_bytes'] == len(payload) + assert timing['deserialize_s'] >= 0 + assert timing['record_and_publish_s'] >= 0 + assert state.packet['sensor_stamp'] == 1000. + assert state.phase == 'teleop' diff --git a/code/lite3_ROS/tests/test_stretch_vggt_debug.py b/code/lite3_ROS/tests/test_stretch_vggt_debug.py new file mode 100644 index 0000000000000000000000000000000000000000..a302345340af38594f229be1ed45a4cf45d12187 --- /dev/null +++ b/code/lite3_ROS/tests/test_stretch_vggt_debug.py @@ -0,0 +1,237 @@ +"""Synthetic inference, buffer reuse and disk failures; no checkpoints or robot.""" + +import hashlib +import json +import threading +from types import SimpleNamespace + +import numpy as np +import pytest +import torch + +from scripts.inspect_stretch_vggt_debug import export_frame +from web_console import stretch_vggt_debug as debug + + +class Head: + size, res = 8, .05 + + def __call__(self, tokens, pts, patch_hw, dino, depth, conf, pose_enc, hw, log_scale, + up_cam=None, views=None): + self.result = {'prob': torch.full((8, 8), .1234567), 'observability': torch.ones(8, 8), + 'uncertainty': torch.zeros(8, 8), 'up_cam': torch.tensor([0., -1., 0.]), + 'up_head': torch.tensor([0., -1., 0.]), 'log_scale': log_scale, 'res': self.res} + return self.result + + +class Backend: + def __init__(self): + self.nav = Head() + self.depth = torch.zeros(2, 4, 6) + self.counter = 0 + self.calib_focal = .91 + self.last_nav = None + + def infer(self, images, n_depth=None, focal=None): + self.counter += 1 + self.depth.fill_(self.counter) + self.last_nav = {'pose_enc': torch.ones(1, len(images), 9)} + self.result = SimpleNamespace(c2w=np.tile(np.eye(4), (len(images), 1, 1)), + K=np.tile(np.eye(3), (len(images), 1, 1)), depth=self.depth, + depth_conf=torch.ones_like(self.depth), hw=(4, 6), + covis=np.ones((len(images), len(images))), log_scale=.3) + return self.result + + +class Estimator: + def __init__(self): + self.backend = Backend() + self._R_model_to_cam = np.eye(4) + self._cameras = None + + def estimate_pose(self, ref_image, ref_depth, curr_image, curr_depth, odom_anchor=None, + ref_rel_poses=None, ref_cam_ids=None, **kwargs): + images = torch.stack([curr_image, ref_image[0]]) + pred = self.backend.infer(images, n_depth=None, focal=.8) + out = self.backend.nav({}, 5, (1, 1), None, pred.depth, pred.depth_conf, + self.backend.last_nav['pose_enc'], (4, 6), .3, + up_cam=np.array([0., -1., 0.]), views=np.array([True, False])) + self.last_bev = {'prob': out['prob'].half().numpy(), 'observability': out['observability'].numpy(), + 'uncertainty': out['uncertainty'].numpy()} + self.last_info = {'view_tags': ['curr_L', 'ref0_L'], 'c2w_metric': pred.c2w, 'valid': True} + self.last_result = (torch.zeros(1, 7), np.ones(1, bool), torch.ones(1)) + return self.last_result + + +def image(): + return torch.linspace(-.01, 1.02, 72).reshape(3, 4, 6) + + +def run_frame(recorder, estimator, number=1): + recorder.begin_frame({'frame_idx': number, 'camera_pose': np.eye(4), 'head_joints': [0., -.4]}) + value = image() + result = estimator.estimate_pose(value[None], None, value, None, + odom_anchor={'T_prev_curr': np.eye(4), 'image': value}, + ref_rel_poses=[(0, 1, np.eye(4))]) + assert result is estimator.last_result + recorder.finish_frame(observation={'retrieval': [{'id': 42, 'loaded': True, 'verified': False}]}, + consumed_bev=estimator.last_bev, + body_grid={'prob': np.ones((8, 8)), 'obs': np.ones((8, 8)), 'err': np.zeros((8, 8))}) + + +def test_hooks_preserve_predictions_and_capture_exact_inputs_and_full_precision_head(tmp_path): + reference = Estimator() + expected = reference.estimate_pose(image()[None], None, image(), None) + estimator = Estimator() + recorder = debug.VggtDebugRecorder(tmp_path / 'debug', {'origin': 'synthetic'}) + recorder.attach(estimator) + run_frame(recorder, estimator) + for actual, value in zip(estimator.last_result, expected): + np.testing.assert_array_equal(np.asarray(actual), np.asarray(value)) + assert isinstance(estimator.backend.nav, debug._RecordingHead) + recorder.close() + assert isinstance(estimator.backend.nav, Head) + assert 'infer' not in vars(estimator.backend) and 'estimate_pose' not in vars(estimator) + record = debug.load_debug_frame(recorder.root, 1) + call = record['passes'][0] + assert call['infer_args'] == {'n_depth': None, 'focal': .8} + assert call['effective_calib_focal'] == .91 + assert call['views'][1]['reference']['id'] == 42 + np.testing.assert_array_equal(debug.load_debug_view(recorder.root, call['views'][0]['asset']), image().numpy()) + assert call['head_calls'][0]['outputs']['prob'].dtype == np.float32 + assert record['outputs']['consumed_bev']['prob'].dtype == np.float16 + np.testing.assert_array_equal(call['head_calls'][0]['inputs']['views'], [True, False]) + status = json.loads((recorder.root / 'status.json').read_text()) + assert status['frames'] == status['passes'] == status['unique_views'] == 1 + + +def test_reused_output_buffers_and_shared_reference_assets_survive_later_passes(tmp_path): + estimator = Estimator() + recorder = debug.VggtDebugRecorder(tmp_path / 'debug') + recorder.attach(estimator) + run_frame(recorder, estimator, 1) + run_frame(recorder, estimator, 2) + estimator.backend.depth.fill_(99) + recorder.close() + first, second = [debug.load_debug_frame(recorder.root, number) for number in (1, 2)] + np.testing.assert_array_equal(first['passes'][0]['prediction']['depth'], 1) + np.testing.assert_array_equal(second['passes'][0]['prediction']['depth'], 2) + assert len(list((recorder.root / 'views').glob('*.npz'))) == 1 + + +def test_interrupted_inference_retains_its_inputs_and_error(tmp_path): + estimator = Estimator() + def fail(_images, n_depth=None, focal=None): + raise ValueError('synthetic inference failure') + estimator.backend.infer = fail + recorder = debug.VggtDebugRecorder(tmp_path / 'debug') + recorder.attach(estimator) + recorder.begin_frame({'frame_idx': 3}) + with pytest.raises(ValueError, match='synthetic inference failure'): + estimator.estimate_pose(image()[None], None, image(), None) + recorder.close('synthetic inference failure') + data = debug.load_debug_frame(recorder.root, 3) + assert data['interrupted'] == data['passes'][0]['inference_error'] == 'synthetic inference failure' + np.testing.assert_array_equal(debug.load_debug_view(recorder.root, data['passes'][0]['views'][0]['asset']), + image().numpy()) + + +def test_background_disk_failure_is_explicit_and_does_not_commit_partial_frame(monkeypatch, tmp_path): + errors = [] + def fail(*_args, **_kwargs): + raise OSError('synthetic disk full') + monkeypatch.setattr(debug, 'write_npz', fail) + estimator = Estimator() + recorder = debug.VggtDebugRecorder(tmp_path / 'debug', on_error=errors.append) + recorder.attach(estimator) + run_frame(recorder, estimator) + recorder.pending.join() + with pytest.raises(RuntimeError, match='synthetic disk full'): + recorder.check() + with pytest.raises(RuntimeError, match='synthetic disk full'): + recorder.close() + assert len(errors) == 1 + assert not list((recorder.root / 'frames').glob('*/frame.json')) + assert json.loads((recorder.root / 'status.json').read_text())['status'] == 'failed' + + +def test_full_queue_is_explicit_and_close_flushes_the_retained_frame(monkeypatch, tmp_path): + entered, release = threading.Event(), threading.Event() + original = debug.VggtDebugRecorder._write + def paused(self, job): + entered.set() + assert release.wait(5) + original(self, job) + monkeypatch.setattr(debug.VggtDebugRecorder, '_write', paused) + recorder = debug.VggtDebugRecorder(tmp_path / 'debug', max_pending=1) + estimator = Estimator() + recorder.attach(estimator) + try: + run_frame(recorder, estimator, 1) + assert entered.wait(2) + run_frame(recorder, estimator, 2) + with pytest.raises(RuntimeError, match='cannot keep up'): + run_frame(recorder, estimator, 3) + finally: + release.set() + recorder.close() + rows = (recorder.root / 'index.jsonl').read_text().splitlines() + assert [json.loads(line)['capture_frame'] for line in rows] == [1, 2, 3] + + +def test_inspector_exports_input_group_and_bev_stages_without_a_model(tmp_path): + recorder = debug.VggtDebugRecorder(tmp_path / 'debug') + estimator = Estimator() + recorder.attach(estimator) + run_frame(recorder, estimator) + recorder.close() + result = export_frame(recorder.root, 1, tmp_path / 'inspection') + assert result['views'] == 2 + assert all((tmp_path / 'inspection' / name).is_file() for name in + ('input_views.jpg', 'predicted_depth.jpg', 'bev_stages.png', 'model_inputs.npz', 'manifest.json')) + with np.load(tmp_path / 'inspection/model_inputs.npz', allow_pickle=False) as arrays: + np.testing.assert_array_equal(arrays['images'][0], image().numpy()) + + +def test_object_arrays_and_asset_traversal_are_rejected(tmp_path): + with pytest.raises(TypeError, match='Object arrays'): + debug.snapshot(np.array([object()], dtype=object)) + with pytest.raises(ValueError, match='asset'): + debug.load_debug_view(tmp_path, '../escape') + + +def test_planner_memory_snapshot_preserves_fusion_evidence_before_buffer_reuse(tmp_path): + world = SimpleNamespace(o=np.array([1., 2.]), num=np.ones((8, 8)), den=np.full((8, 8), 2.), + seen=np.full((8, 8), .7), c={'res': .1, 'block_p': .6}) + episode = SimpleNamespace(world=world, pose=np.zeros(3), bumps=[[1., 2.]], route=None) + recorder = debug.VggtDebugRecorder(tmp_path / 'debug') + recorder.begin_frame({'frame_idx': 4}) + recorder.finish_frame(planner_state=debug.planner_snapshot(episode)) + world.num[:] = 99 + recorder.close() + saved = debug.load_debug_frame(recorder.root, 4)['outputs']['planner_state']['world'] + np.testing.assert_array_equal(saved['num'], 1.) + np.testing.assert_array_equal(saved['den'], 2.) + np.testing.assert_array_equal(saved['seen'], .7) + assert saved['c']['block_p'] == .6 + + +def test_bfloat16_snapshot_preserves_numeric_values_exactly(): + value = torch.tensor([.12345, 2000., 1e-8], dtype=torch.bfloat16) + saved = debug.snapshot(value) + assert saved.dtype == np.float32 + np.testing.assert_array_equal(saved, value.float().numpy()) + + +def test_checkpoint_provenance_records_revision_and_hashes_of_actual_files(monkeypatch, tmp_path): + monkeypatch.setattr(debug.subprocess, 'run', lambda *_a, **_kw: SimpleNamespace(stdout='abc123\n')) + root = tmp_path / 'cross' + heads = root / 'models/VGGT-Omega-CROSS/nav' + heads.mkdir(parents=True) + names = ('vggt_omega_cross_1b_512.pt', 'nav/cross_nav_occupancy.pt', 'nav/cross_nav_observability.pt') + for name in names: + (heads.parent / name).write_bytes(name.encode()) + provenance = debug.model_provenance(root) + assert provenance['cross_git_revision'] == 'abc123' + for name in names: + assert provenance['checkpoints'][name]['sha256'] == hashlib.sha256(name.encode()).hexdigest() diff --git a/code/lite3_ROS/web_console/__init__.py b/code/lite3_ROS/web_console/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/code/lite3_ROS/web_console/cross_run.py b/code/lite3_ROS/web_console/cross_run.py new file mode 100644 index 0000000000000000000000000000000000000000..0b26d00097311cf379178455656025e9fcd4437f --- /dev/null +++ b/code/lite3_ROS/web_console/cross_run.py @@ -0,0 +1,116 @@ +"""Retain native CROSS maps and trajectories without editing the CROSS checkout.""" + +import json +import time +from pathlib import Path + +import numpy as np + + +def matrix(pose): + return pose.matrix().detach().cpu().numpy() + + +class RunArtifacts: + def __init__(self, directory, metadata): + self.directory = Path(directory).resolve() + self.directory.mkdir(parents=True, exist_ok=False) + self.metadata = {**metadata, "status": "running", "has_ground_truth": False} + self.records = [] + self.session = None + self.original_release = None + self.started = time.perf_counter() + self.write_status() + + def write_status(self): + path = self.directory / "run.json" + temporary = path.with_suffix(".json.tmp") + temporary.write_text(json.dumps(self.metadata, indent=2, allow_nan=False) + "\n") + temporary.replace(path) + + def wrap_factory(self, factory): + def make(): + from cross.core.config import config_to_dict + + session = self.session = factory() + process, self.original_release = session.process, session.release + config = config_to_dict(session.mapper.config) + (self.directory / "resolved_config.json").write_text(json.dumps(config, indent=2) + "\n") + + def record(frame): + started = time.perf_counter() + result = process(frame) + _, best, weights = session.belief(matrix) + estimate = getattr(session, "last_estimate", None) + diagnostics = getattr(estimate, "diagnostics", {}) + row = { + "frame_idx": int(frame["frame_idx"]), "timestamp": float(frame["timestamp"]), + "pose": np.asarray(best).tolist(), "weights": np.asarray(weights).tolist(), + "process_s": time.perf_counter() - started, + "frontend_valid": bool(diagnostics.get("valid", True)), + "imu_samples_provided": len(frame.get("imu", [])), + } + self.records.append(row) + return result + + def save_release(): + try: + self.save(session) + finally: + self.release() + + session.process, session.release = record, save_release + return session + return make + + def save(self, session): + session.save_map(self.directory / "map.pkl") + manager = session.hypothesis_manager + times = np.array([r["timestamp"] for r in self.records]) + nodes = [] + for key, node in manager.nodes.items(): + stamp = getattr(node, "timestamp", None) + row = {"id": int(key), "pose": matrix(node.pose_mu[0]).tolist(), "temporary": bool(node.temporary)} + if stamp is not None and len(times) and np.isfinite(stamp): + index = int(np.argmin(np.abs(times - float(stamp)))) + row.update(timestamp=float(stamp), frame_idx=self.records[index]["frame_idx"]) + nodes.append(row) + visual = [{"hypothesis": int(hid), "source": int(a), "target": int(b), "factors": len(factors)} + for hid, hypothesis in manager.hypotheses.items() + for (a, b), factors in hypothesis.visual_edges.items()] + graph = {"nodes": nodes, "odometry_edges": [list(map(int, edge)) for edge in manager.odom_edges], + "visual_edges": visual} + (self.directory / "graph.json").write_text(json.dumps(graph, indent=2, allow_nan=False) + "\n") + self.write_trajectory("trajectory.jsonl") + frontend = getattr(session, "frontend", None) + service = getattr(frontend, "service", None) + self.metadata.update( + frames_processed=len(self.records), keyframes=len(nodes), + permanent_keyframes=sum(not node["temporary"] for node in nodes), + odometry_edges=len(graph["odometry_edges"]), visual_edge_pairs=len(visual), + map_saved=True, valid_frontend_frames=sum(r["frontend_valid"] for r in self.records), + ) + if service is not None: + self.metadata["inertial_frontend_service"] = dict(service.stats) + if frontend is not None and hasattr(frontend, "stats"): + self.metadata["inertial_frontend"] = dict(frontend.stats) + self.write_status() + + def write_trajectory(self, filename): + with (self.directory / filename).open("w") as stream: + for record in self.records: + stream.write(json.dumps(record, allow_nan=False) + "\n") + + def release(self): + if self.original_release: + release, self.original_release = self.original_release, None + release() + + def finish(self, error=None): + self.metadata.update(status="failed" if error else "completed", frames_processed=len(self.records), + wall_seconds=time.perf_counter() - self.started) + if error: + self.metadata["error"] = str(error) + self.write_trajectory("trajectory.partial.jsonl") + self.write_status() + self.release() diff --git a/code/lite3_ROS/web_console/static/cross_nav.css b/code/lite3_ROS/web_console/static/cross_nav.css new file mode 100644 index 0000000000000000000000000000000000000000..0a8e4eb40d39687f4312fc06bf068cdb93d93806 --- /dev/null +++ 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input{min-width:0;width:100%}.help{font-size:11px;color:var(--muted);line-height:1.6}.check{display:flex;gap:7px;align-items:center;margin-top:11px;font-size:12px}input[type=checkbox],input[type=range]{accent-color:var(--mint)}button,select,input[type=number]{font:inherit;background:#1a303e;color:var(--text);border:1px solid #3c5667;border-radius:6px;padding:7px 10px}button{cursor:pointer;font-size:11px;white-space:nowrap}button:hover{border-color:var(--mint);color:var(--mint)}button:disabled{opacity:.5;cursor:wait}.primary{color:var(--mint);border-color:#4f9c8b;background:#1c423f}.buttons{display:flex;gap:6px}.buttons button{padding:6px 9px}.quiet{color:var(--muted)}#global-map{height:420px;min-width:0;width:100%}.map-caption{padding:0 18px 15px}.image-card{display:flex;flex-direction:column}#robot-rgb{display:block;max-height:360px;min-height:220px;width:100%;object-fit:contain;background:#0e1b25}.image-meta{padding:11px 17px;display:flex;align-items:center;justify-content:space-between;color:var(--muted);font-size:11px}.image-card>.help{padding:0 17px 15px}.bev-wrap{padding:0 17px;display:flex;justify-content:center}#bev{width:100%;max-width:430px;aspect-ratio:1;background:#0f1e29;border-radius:6px}.bev-card>.help{padding:8px 18px 18px}.legend{display:flex;flex-wrap:wrap;gap:7px 15px;padding:12px 18px 0;font-size:10px;color:var(--muted)}.legend i{display:inline-block;width:7px;height:7px;margin-right:5px;border-radius:2px}.free{background:#3fc09f}.obstacle{background:#ef6e69}.unknown{background:#213140}.path{background:#b1e8ff}.references{min-width:0}#reference-images{display:grid;grid-template-columns:repeat(3,minmax(0,1fr));gap:9px;padding:8px 16px}figure{margin:0;min-width:0}figure img{width:100%;height:140px;object-fit:contain;border-radius:5px;background:#0c1720}figcaption{font-size:10px;color:var(--muted);margin-top:5px}figcaption b{color:var(--text);font-weight:550}.references>.help{padding:8px 17px 17px}.details{grid-column:2/4}.details dl{display:grid;grid-template-columns:repeat(3,minmax(0,1fr));gap:17px 25px;padding:10px 20px 18px;margin:0}.details dt{font-size:10px;letter-spacing:.7px;text-transform:uppercase;color:var(--muted)}.details dd{margin:4px 0 0;font-size:13px}.details>.help{padding:0 20px 18px}.timeline{margin-top:18px;padding:14px 17px;display:flex;gap:18px;align-items:center}.timeline>div{flex:1;min-width:100px}.timeline label{font-size:11px;color:var(--muted);display:block;margin-bottom:7px}.timeline input{width:100%;margin:0}.timeline>span{font-size:11px;white-space:nowrap;color:var(--muted)}footer{color:#809baa;font-size:10px;padding:17px 2px}#build-state{font-size:11px;color:var(--amber);margin-top:10px}#error{padding:14px;border:1px solid #bd6262;background:#3a2025;margin-bottom:15px;border-radius:6px}button:focus-visible,input:focus-visible,select:focus-visible{outline:2px solid var(--mint);outline-offset:3px}@media(min-width:1450px){#global-map{height:475px}#robot-rgb{max-height:410px}figure img{height:165px}}@media(max-width:1150px){.workspace{grid-template-columns:235px minmax(0,1fr)}.stages{grid-row:span 3}.image-card{grid-column:2}#robot-rgb{max-height:320px}.bev-card,.references{grid-column:2}.details{grid-column:1/3}.metrics{gap:20px}.summary h2{font-size:21px}.metrics strong{font-size:23px}}@media(max-width:700px){header{padding:17px;align-items:flex-start}header>div{display:block}header .eyebrow{margin-bottom:6px}h1{font-size:21px}header .badge{font-size:8px;padding:5px 7px;white-space:normal;max-width:115px;text-align:center}main{padding:18px 12px}.summary{display:block}.metrics{margin-top:20px;justify-content:space-between;gap:10px}.metrics>div{text-align:left}.metrics span{font-size:9px}.notice{display:block}.notice b{display:block;margin-bottom:5px}.workspace{display:flex;flex-direction:column}.stages{order:0}.map-card{order:1}.image-card{order:2}.bev-card{order:3}.references{order:4}.details{order:5}.stage{margin:15px 0}.details dl{grid-template-columns:repeat(2,minmax(0,1fr))}#global-map{height:370px}.card-head{padding:15px 14px 10px}.card-head h2{font-size:15px}.timeline{gap:10px;flex-wrap:wrap}.timeline>div{min-width:200px;order:0;flex-basis:75%}.timeline>span{order:1}.timeline #stop-capture{margin-left:auto;order:2}figure img{height:130px}.references #reference-images{gap:7px;padding:8px 12px}} + +.notice label{display:flex;align-items:center;gap:10px;white-space:nowrap}.notice>span{flex:1}.notice select{max-width:230px}@media(max-width:900px){.notice{flex-wrap:wrap}.notice>span{flex-basis:100%}.notice label{white-space:normal}} diff --git a/code/lite3_ROS/web_console/static/cross_nav_live.html b/code/lite3_ROS/web_console/static/cross_nav_live.html new file mode 100644 index 0000000000000000000000000000000000000000..9d5266bd0abadac42298eaca35e85fb5d1869eb6 --- /dev/null +++ b/code/lite3_ROS/web_console/static/cross_nav_live.html @@ -0,0 +1,26 @@ + +Live Stretch · CROSS navigation +
STRETCH / CROSS · LIVE

Teleop → navigation

CONNECTING
+
+
PHONE REFERENCE MAP

Goal keyframe 1012

2026-10-22 · 15:48:58 · learned BEV + graph routing

0processed observations
—camera distance to goal
0motion commands sent
+
Operator handoffTeleop until the pose is committed and Start navigation becomes available. Close the teleop client completely, then click Start navigation. Keep this page open. Stop navigation ends the run and releases the temporary relay. Goal arrival checks position within 0.4 m; final heading is not enforced.
+ +
Loading observationsTeleop remains in control
+ +
Localization pendingGraph route pendingSpeed limit: 0.10 m/s · 0.25 rad/s
+
+
GLOBAL MAP

Pose, route & local path

Drag to rotate · scroll to zoom. Camera poses and floor-projected local paths use the same map alignment.

+
LIVE ROBOT RGB

Camera observation

Current Stretch camera RGB

Waiting for camera

+
LEARNED BEV

Occupancy & local planning

BEVs appear after a VGGT pass. The local plan appears after map commitment.

+
CURRENT RUN

Localization & handoff

The local route comes from native cross_nav. Swept-footprint checks use learned occupancy and measured depth. A blocked start triggers a stationary head survey. Nearby depth returns support an obstacle prediction; missing returns do not prove free space. This is the first supervised drive test; keep the robot run-stop within reach.

To resume manual testing after Stop, wait for the relay to close and start a new run. After a brief plan gap, an active run continues only with a fresh valid plan. A stopped run never re-arms automatically.

+
+
Live RGB + odometry · trained occupancy/observability heads · phone map preserved · controls require this local page
+
diff --git a/code/lite3_ROS/web_console/static/cross_nav_live.js b/code/lite3_ROS/web_console/static/cross_nav_live.js new file mode 100644 index 0000000000000000000000000000000000000000..df24f1170ed3c1a8da0ac5933c749ee691c7c13d --- /dev/null +++ b/code/lite3_ROS/web_console/static/cross_nav_live.js @@ -0,0 +1,233 @@ +'use strict'; +const el=id=>document.getElementById(id); +let state=null,liveState=null,map=null,drawn=-1,polling=false,plotReady=false; +const replay={active:false,manifest:null,index:0,playing:false,run:null,anchorTime:0,anchorWall:0,generation:0,busy:false,pending:null}; +const initial={eye:{x:1.35,y:-1.65,z:1.2},up:{x:0,y:0,z:1}}; +const colors={map:'#688a9a',route:'#e9bd7c',track:'#72dec0',local:'#b1e8ff'}; +async function api(path,body){const options=body===undefined?{}:{method:'POST',headers:{'X-Session':liveState?.token||state?.token,'Content-Type':'application/json'},body:JSON.stringify(body),keepalive:true};const response=await fetch(path,options),data=await response.json();if(!response.ok)throw Error(data.error||response.status);return data;} +function trace(points,name,layer,extra={}){const p=points||[];return {type:'scatter3d',mode:'lines',name,x:p.map(x=>x[0]),y:p.map(x=>x[1]),z:p.map(x=>x[2]),line:{color:colors[layer],width:layer==='map'?2:5},visible:document.querySelector(`[data-layer=${layer}]`).checked,meta:{layer},...extra};} +async function drawMap(){const f=state.frame;if(!map)return;const data=[trace(map.nodes.map(n=>n.position),'Phone camera keyframes','map'),trace(f.global_route,'Graph route','route'),trace(f.trajectory,'CROSS camera path','track'),trace(f.local_path_display,'Local plan on floor','local')];const goal=map.nodes.find(n=>n.id===state.goal_keyframe);if(goal)data.push(trace([goal.position],`Goal ${state.goal_keyframe}`,'route',{mode:'markers',marker:{size:7,color:'#f3c77c',symbol:'diamond'}}));if(f.camera_display)data.push(trace([f.camera_display],'Robot camera','track',{mode:'markers',marker:{size:6,color:'#72dec0'}}));const layout={paper_bgcolor:'#13232f',font:{family:'system-ui',color:'#98afbd'},showlegend:false,margin:{t:0,b:0,l:0,r:0},uirevision:'live-map',scene:{aspectmode:'data',dragmode:'orbit',camera:el('global-map')._fullLayout?.scene?._scene?.getCamera()||initial,xaxis:{title:'X (m)',gridcolor:'#2b414f'},yaxis:{title:'Y (m)',gridcolor:'#2b414f'},zaxis:{title:'Z · up (m)',gridcolor:'#2b414f'}}};await Plotly.react(el('global-map'),data,layout,{responsive:true,scrollZoom:true,displayModeBar:false});plotReady=true;} +function drawBEV() { + const f=state?.frame; + if(!f?.bev_size||(state.playback&&!state.replay.bev_urls[el('layer').value])){ + const ctx=el('bev').getContext('2d');ctx.fillStyle='#0f1e29';ctx.fillRect(0,0,600,600); + ctx.fillStyle='#a9bfcb';ctx.font='16px system-ui';ctx.textAlign='center'; + ctx.fillText('No saved BEV at this time',300,300);el('legend').replaceChildren();return; + } + const layer=el('layer').value,ctx=el('bev').getContext('2d'),img=new Image(); + img.onload=()=>{ + if(state.frame!==f)return; + const pad=36,size=528,fullHalf=f.bev_size*f.bev_res/2; + const half=Math.min(fullHalf,Number(el('bev-range').value)); + const p=x=>[pad+size*(.5-x[1]/(2*half)),pad+size*(.5-x[0]/(2*half))]; + ctx.fillStyle='#0f1e29';ctx.fillRect(0,0,600,600);ctx.imageSmoothingEnabled=false; + const sourceSize=img.width*half/fullHalf,sourceStart=(img.width-sourceSize)/2; + ctx.drawImage(img,sourceStart,sourceStart,sourceSize,sourceSize,pad,pad,size,size); + ctx.save();ctx.beginPath();ctx.rect(pad,pad,size,size);ctx.clip(); + ctx.strokeStyle='#98afbd30';const step=half<=1.5?.25:half<=3?.5:1; + for(let i=-half;i<=half;i+=step){ + ctx.beginPath();ctx.moveTo(...p([i,-half]));ctx.lineTo(...p([i,half])); + ctx.moveTo(...p([-half,i]));ctx.lineTo(...p([half,i]));ctx.stroke(); + } + if(f.local_path_body?.length){ + ctx.strokeStyle='#b1e8ff';ctx.lineWidth=3;ctx.beginPath();ctx.moveTo(...p([0,0])); + for(const x of f.local_path_body)ctx.lineTo(...p(x));ctx.stroke(); + } + const body=p([.23,.23]),bodySize=size*.46/(2*half); + ctx.strokeStyle='white';ctx.lineWidth=2;ctx.strokeRect(...body,bodySize,bodySize); + for(const cell of [...(f.footprint_diagnostics?.self_cells||[]),...(f.footprint_diagnostics?.cells||[])]){ + const xy=cell.display_body_xy||cell.grid_body_xy,point=p(xy),width=Math.max(4,size*f.bev_res/(2*half)); + ctx.fillStyle=(f.footprint_diagnostics?.self_cells||[]).includes(cell)?'#9aafbf':cell.depth_supported?'#ff6868':'#ffa63d'; + ctx.fillRect(point[0]-width/2,point[1]-width/2,width,width); + } + const origin=p([0,0]);ctx.fillStyle='white';ctx.beginPath();ctx.arc(...origin,3,0,Math.PI*2);ctx.fill(); + if(f.goal_body){ctx.fillStyle='#f3c77c';ctx.beginPath();ctx.arc(...p(f.goal_body),5,0,Math.PI*2);ctx.fill();} + ctx.restore();ctx.fillStyle='#a9bfcb';ctx.font='12px system-ui';ctx.textAlign='center'; + ctx.fillText(`FORWARD +${half} m`,300,20);ctx.fillText(`LEFT +${half} m`,90,585); + ctx.fillText(`RIGHT −${half} m`,505,585); + }; + img.src=state.playback?state.replay.bev_urls[layer]:`/api/bev/${layer}.png?t=${f.frame_idx}`; + const palette={occupancy:[['#37b794','0 free'],['#debe60','0.5'],['#e95b65','1 occupied']], + visibility:[['#192a3c','0 unseen'],['#ade2ff','1 observed']], + uncertainty:[['#192a3c','0 low error'],['#ffae4c','1 high error']]}[layer]; + el('legend').replaceChildren(); + for(const [color,label]of [...palette,['white','Robot footprint'],['#b1e8ff','Local path'], + ['#9aafbf','Own-body prediction (excluded)'],['#ffa63d','Learned blocking cell'],['#ff6868','Blocker with nearby depth returns']]){ + const span=document.createElement('span'),mark=document.createElement('i');mark.style.background=color; + span.append(mark,document.createTextNode(label));el('legend').append(span); + } +} +function details() { + const f=state.frame,survey=f.head_survey,diagnostic=f.footprint_diagnostics; + const joint=state.robot?.joint_positions; + const cells=diagnostic?.cells||[],supported=cells.filter(c=>c.depth_supported).length; + const rows=[ + ['Map pose',f.localized?`Committed · ${f.localized_streak} consecutive observations`:'Tentative · continue teleop'], + ['Map matches',(f.retrieval||[]).filter(a=>a.loaded&&a.verified).map(a=>a.id).join(', ')||'No verified map views'], + ['Local planner',f.planner_name||'Loading'], + ['Pose recovery',f.correction_recovery?.pending?`Holding · ${f.correction_recovery.stable_samples} stable views`:'Ready'], + ['Head survey',survey?.active?`Pass ${survey.pass} · view ${survey.view}/${survey.total} · ${survey.label}`: + survey?.settled_views?`${survey.settled_views} settled views completed`:'Idle'], + ['Corner observation',f.corner_observation?`${f.corner_observation.phase} · ${Math.round(100*(f.corner_observation.coverage||0))}% branch visibility`:'Cruise'], + ['Head pan / tilt',joint?.length>=11?`${(joint[9]*180/Math.PI).toFixed(1)}° / ${(joint[10]*180/Math.PI).toFixed(1)}°`:'Unavailable'], + ['Head action',state.robot?.head_action_state||'Unavailable'], + ['Footprint veto',state.control?.learned_blocked?'Learned occupancy':state.control?.depth_blocked?'Measured depth':'No veto reported'], + ['Own-body predictions',`${diagnostic?.ignored_current_body_cell_count||0} excluded from learned veto`], + ['Blocking cells',cells.length?`${diagnostic.blocking_cell_count} cells · ${supported}/${cells.length} shown cells have nearby depth returns`:'No blocking cells reported'], + ['Last relay velocity',state.robot?.v==null?'Unavailable':`${state.robot.v.toFixed(3)} m/s · ${(state.robot.w||0).toFixed(3)} rad/s`], + ['Handoff gate',state.ready?'Ready for explicit Start':state.gate], + ['Plan age limit',`${state.max_plan_age_s||.8} s · 0.3 s command expiry`], + ['Blind-zone fallback',f.blind_zone?'Assumed support used':'Not used'], + ['Inference',`${f.n_views||0} views · ${(f.compute_s||0).toFixed(2)} s`], + ['Goal arrival','Neutral camera XY within 0.4 m; heading not enforced'], + [state.playback?'Recorded phase':'Run state',state.playback?state.recorded_phase:state.phase] + ]; + el('details').replaceChildren(); + for(const [key,value]of rows){ + const div=document.createElement('div'),dt=document.createElement('dt'),dd=document.createElement('dd'); + dt.textContent=key;dd.textContent=value;div.append(dt,dd);el('details').append(div); + } +} +function showError(error){el('error').textContent=error.message||String(error);el('error').hidden=false;} +function clockText(seconds){const n=Math.max(0,Math.floor(seconds));return `${Math.floor(n/60).toString().padStart(2,'0')}:${(n%60).toString().padStart(2,'0')}`;} +async function render(next,force=false){ + state=next;const recorded=Boolean(state.playback),f=state.frame||{}; + el('phase').textContent=recorded?'REPLAY':state.phase.toUpperCase(); + el('phase').style.color=state.phase==='active'&&!recorded?'#72dec0':'#f3c77c'; + el('page-title').textContent=recorded?'Navigation replay':'Teleop → navigation'; + document.title=recorded?'Recorded Stretch navigation':state.review?'Saved Stretch navigation run':'Live Stretch navigation'; + el('handoff-note').hidden=Boolean(state.review||recorded); + el('page-footer').textContent=recorded||state.review?'Saved RGB, map and BEV · robot motion controls disabled': + 'Live RGB + odometry · trained occupancy/observability heads · phone map preserved'; + el('rgb-label').textContent=recorded||state.review?'RECORDED HEAD RGB':'LIVE ROBOT RGB'; + el('goal').textContent=state.goal_keyframe;el('start').textContent=`Start navigation to ${state.goal_keyframe}`; + el('start').disabled=recorded||!state.ready;el('stop').disabled=recorded||state.phase==='stopped'; + el('replay-open').disabled=liveState?.phase!=='stopped'||liveState?.replay_available===false; + el('replay-open').textContent=recorded?'Restart replay':'Replay recording'; + el('count').textContent=state.processed;el('commands').textContent=state.motion_commands; + el('state-title').textContent=recorded?`Replay · recorded ${state.recorded_phase}`: + ({teleop:state.ready?'Ready for navigation handoff':'Teleop / relocalizing',preparing:'Preparing navigation',active:'CROSS navigation active',stopped:'Run stopped'})[state.phase]; + el('reason').textContent=state.reason; + el('distance').textContent=f.goal_distance==null?'—':`${f.goal_distance.toFixed(2)} m`; + el('localization').textContent=f.localized?`Committed · streak ${f.localized_streak}`:'Localization pending'; + el('route').textContent=f.route_ids?.length?`${f.route_ids.length} route keyframes · ${f.route_cost_m?.toFixed(1)} m graph route`:'Graph route pending'; + if(recorded){ + el('rgb').src=state.replay.rgb_url; + el('frame-note').textContent=`RGB frame ${state.replay.frame_idx} · map frame ${state.replay.map_frame??'pending'} · ${clockText(state.replay.time_s)}`; + }else if(state.capture_frame!=null){ + el('rgb').src=`/api/rgb.jpg?t=${Date.now()}`; + el('frame-note').textContent=state.review?'Saved RGB · robot connections disabled':`Latest RGB · processed frame ${f.frame_idx??'pending'}`; + } + details();const key=`${recorded?replay.run:'current'}:${f.frame_idx}:${state.replay?.bev_frame??''}`; + if(force||drawn!==key){ + drawn=key; + const provenance=recorded?(state.replay.bev_source==='reconstructed'?' · reconstructed offline':state.replay.bev_frame!=null?' · recorded':' · no BEV saved yet'):''; + el('plan-note').textContent=f.bev_size?`${f.bev_size*f.bev_res} × ${f.bev_size*f.bev_res} m · base frame · ${f.planner_name}${provenance}`:'Waiting for learned BEV'; + drawBEV();await drawMap(); + } +} +async function poll(){ + if(polling)return;polling=true; + try{ + const next=await api('/api/status');liveState=next; + if(replay.active&&next.phase!=='stopped'){ + pauseReplay();replay.active=false;replay.pending=null;replay.generation++; + el('replay-panel').hidden=true;map=null;drawn=-1; + } + if(!map)map=await api('/api/map'); + if(!replay.active)await render(next); + if(!replay.active&&next.phase!=='stopped')await api('/api/heartbeat',{}); + el('error').hidden=true; + }catch(error){showError(error);el('start').disabled=true;} + finally{polling=false;} +} +function pauseReplay(){replay.playing=false;el('replay-play').textContent='Play';} +function playReplay(){ + if(!replay.active||!replay.manifest?.frames.length)return; + if(replay.index>=replay.manifest.frames.length-1)requestReplayFrame(0); + replay.anchorTime=replay.manifest.frames[replay.index].time_s;replay.anchorWall=performance.now(); + replay.playing=true;el('replay-play').textContent='Pause'; +} +function updateReplayControls(){ + const m=replay.manifest;if(!m)return; + el('replay-seek').value=replay.index; + el('replay-clock').textContent=`${clockText(m.frames[replay.index]?.time_s||0)} / ${clockText(m.duration_s)}`; + el('replay-prev').disabled=replay.index<=0;el('replay-next').disabled=replay.index>=m.frames.length-1; + const b=state?.replay; + const note=b?.bev_frame==null?'No occupancy has been saved by this point.': + `BEV frame ${b.bev_frame} · ${b.bev_source==='reconstructed'?'reconstructed offline from recorded input':'recorded during the run'} · age ${Math.max(0,b.time_s-b.bev_time_s).toFixed(2)} s.`; + el('replay-note').textContent=`${m.frames.length} RGB frames · ${m.bev_frames} saved BEVs · motion controls disabled. ${note}${replay.index===m.frames.length-1?' Outcome: '+m.outcome:''}`; +} +async function requestReplayFrame(index){ + if(!replay.active||!replay.manifest?.frames.length)return; + replay.index=Math.max(0,Math.min(replay.manifest.frames.length-1,index)); + replay.pending=replay.index;updateReplayControls(); + if(replay.busy)return; + replay.busy=true;const generation=replay.generation; + try{ + while(replay.active&&generation===replay.generation&&replay.pending!==null){ + const wanted=replay.pending;replay.pending=null; + const data=await api(`/api/replay/frame?run=${encodeURIComponent(replay.run)}&index=${wanted}`); + if(!replay.active||generation!==replay.generation)break; + if(replay.pending!==null&&replay.pending!==wanted)continue; + await render(data);updateReplayControls(); + } + }catch(error){pauseReplay();showError(error);} + finally{ + replay.busy=false; + if(replay.active&&replay.pending!==null)requestReplayFrame(replay.pending); + } +} +async function loadReplay(run,autoplay=true){ + pauseReplay();const generation=++replay.generation;replay.pending=null;replay.run=run; + const manifest=await api(`/api/replay/manifest?run=${encodeURIComponent(run)}`); + if(generation!==replay.generation)return;replay.manifest=manifest; + if(!replay.manifest.frames.length)throw Error('This recording has no saved RGB frames'); + const savedMap=await api(`/api/replay/map?run=${encodeURIComponent(run)}`); + if(generation!==replay.generation)return;map=savedMap;drawn=-1; + el('replay-seek').max=replay.manifest.frames.length-1; + el('replay-event').replaceChildren(new Option('Jump to event…','')); + for(const event of replay.manifest.events)el('replay-event').add(new Option(`${clockText(event.time_s)} · ${event.label}`,event.index)); + replay.active=true;el('replay-run').value=run;el('replay-panel').hidden=false; + await requestReplayFrame(replay.manifest.start_index);if(autoplay)playReplay(); +} +async function openReplay(){ + if(liveState?.phase!=='stopped')return; + try{ + const listing=await api('/api/replay/runs'); + el('replay-run').replaceChildren(); + for(const run of listing.runs)el('replay-run').add(new Option(run.id,run.id)); + const key=listing.runs.find(r=>r.id===replay.run)?.id||listing.current_run||listing.runs[0]?.id; + if(!key)throw Error('No completed recordings are available yet'); + el('replay-run').value=key;await loadReplay(key); + }catch(error){showError(error);} +} +async function closeReplay(){ + pauseReplay();replay.active=false;replay.pending=null;replay.generation++; + el('replay-panel').hidden=true;map=await api('/api/map');drawn=-1;await render(liveState,true); +} +setInterval(()=>{ + if(!replay.active||!replay.playing)return; + const m=replay.manifest,target=replay.anchorTime+(performance.now()-replay.anchorWall)/1000*Number(el('replay-speed').value); + let low=0,high=m.frames.length; + while(low>1;if(m.frames[mid].time_s<=target)low=mid+1;else high=mid;} + const index=Math.max(0,low-1);if(index!==replay.index)requestReplayFrame(index); + if(target>=m.duration_s)pauseReplay(); +},80); +el('start').onclick=async()=>{if(replay.active)return;el('start').disabled=true;try{await api('/api/start',{});await poll();}catch(e){el('error').textContent=e.message;el('error').hidden=false;}}; +el('stop').onclick=async()=>{if(replay.active)return;try{await api('/api/stop',{});await poll();}catch(e){el('error').textContent=e.message;el('error').hidden=false;}}; +el('layer').onchange=drawBEV; +el('bev-range').onchange=drawBEV; +el('top').onclick=()=>Plotly.relayout(el('global-map'),{'scene.camera':{eye:{x:0,y:0,z:2.7},up:{x:0,y:1,z:0}}});el('reset').onclick=()=>Plotly.relayout(el('global-map'),{'scene.camera':initial}); +document.querySelectorAll('[data-layer]').forEach(input=>input.onchange=()=>{if(!plotReady)return;const plot=el('global-map'),ids=plot.data.map((t,i)=>t.meta?.layer===input.dataset.layer?i:-1).filter(i=>i>=0);Plotly.relayout(plot,{'scene.camera':plot._fullLayout.scene._scene.getCamera()}).then(()=>Plotly.restyle(plot,{visible:input.checked},ids));}); +el('export').onclick=()=>{const url=URL.createObjectURL(new Blob([JSON.stringify(state,null,2)],{type:'application/json'})),a=document.createElement('a');a.href=url;a.download='stretch-cross-live.json';a.click();setTimeout(()=>URL.revokeObjectURL(url),1000);}; +el('replay-open').onclick=openReplay; +el('replay-close').onclick=()=>closeReplay().catch(showError); +el('replay-run').onchange=()=>loadReplay(el('replay-run').value).catch(showError); +el('replay-play').onclick=()=>replay.playing?pauseReplay():playReplay(); +el('replay-prev').onclick=()=>{pauseReplay();requestReplayFrame(replay.index-1);}; +el('replay-next').onclick=()=>{pauseReplay();requestReplayFrame(replay.index+1);}; +el('replay-seek').oninput=()=>{pauseReplay();requestReplayFrame(Number(el('replay-seek').value));}; +el('replay-event').onchange=()=>{if(el('replay-event').value!==''){pauseReplay();requestReplayFrame(Number(el('replay-event').value));}}; +el('replay-speed').onchange=()=>{if(replay.playing)playReplay();}; +poll();setInterval(poll,650); diff --git a/code/lite3_ROS/web_console/static/vendor/plotly.min.js b/code/lite3_ROS/web_console/static/vendor/plotly.min.js new file mode 100644 index 0000000000000000000000000000000000000000..12ecc2003c7bbea0918d70eb5a65cc1ad8aedc83 --- /dev/null +++ b/code/lite3_ROS/web_console/static/vendor/plotly.min.js @@ -0,0 +1,3620 @@ +/** +* plotly.js v4.1.1 +* Copyright 2012-2026, Plotly, Inc. +* All rights reserved. +* Licensed under the MIT license +*/ +( + function(root, factory) { + if (typeof module === "object" && module.exports) { + module.exports = factory(); + } else { + root.moduleName = factory(); + } +} (typeof self !== "undefined" ? self : this, 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e[0]=s*(h*g-d*m)-f*(l*g-u*m)+v*(l*d-u*h),e[1]=-(i*(h*g-d*m)-f*(n*g-a*m)+v*(n*d-a*h)),e[2]=i*(l*g-u*m)-s*(n*g-a*m)+v*(n*u-a*l),e[3]=-(i*(l*d-u*h)-s*(n*d-a*h)+f*(n*u-a*l)),e[4]=-(o*(h*g-d*m)-c*(l*g-u*m)+p*(l*d-u*h)),e[5]=r*(h*g-d*m)-c*(n*g-a*m)+p*(n*d-a*h),e[6]=-(r*(l*g-u*m)-o*(n*g-a*m)+p*(n*u-a*l)),e[7]=r*(l*d-u*h)-o*(n*d-a*h)+c*(n*u-a*l),e[8]=o*(f*g-d*v)-c*(s*g-u*v)+p*(s*d-u*f),e[9]=-(r*(f*g-d*v)-c*(i*g-a*v)+p*(i*d-a*f)),e[10]=r*(s*g-u*v)-o*(i*g-a*v)+p*(i*u-a*s),e[11]=-(r*(s*d-u*f)-o*(i*d-a*f)+c*(i*u-a*s)),e[12]=-(o*(f*m-h*v)-c*(s*m-l*v)+p*(s*h-l*f)),e[13]=r*(f*m-h*v)-c*(i*m-n*v)+p*(i*h-n*f),e[14]=-(r*(s*m-l*v)-o*(i*m-n*v)+p*(i*l-n*s)),e[15]=r*(s*h-l*f)-o*(i*h-n*f)+c*(i*l-n*s),e}});var afe=W((oFr,nfe)=>{nfe.exports=L_t;function L_t(e){var t=e[0],r=e[1],i=e[2],n=e[3],a=e[4],o=e[5],s=e[6],l=e[7],u=e[8],c=e[9],f=e[10],h=e[11],d=e[12],p=e[13],v=e[14],m=e[15],g=t*o-r*a,w=t*s-i*a,b=t*l-n*a,_=r*s-i*o,M=r*l-n*o,x=i*l-n*s,T=u*p-c*d,A=u*v-f*d,y=u*m-h*d,E=c*v-f*p,S=c*m-h*p,C=f*m-h*v;return 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t===e?(e[12]=t[0]*i+t[4]*n+t[8]*a+t[12],e[13]=t[1]*i+t[5]*n+t[9]*a+t[13],e[14]=t[2]*i+t[6]*n+t[10]*a+t[14],e[15]=t[3]*i+t[7]*n+t[11]*a+t[15]):(o=t[0],s=t[1],l=t[2],u=t[3],c=t[4],f=t[5],h=t[6],d=t[7],p=t[8],v=t[9],m=t[10],g=t[11],e[0]=o,e[1]=s,e[2]=l,e[3]=u,e[4]=c,e[5]=f,e[6]=h,e[7]=d,e[8]=p,e[9]=v,e[10]=m,e[11]=g,e[12]=o*i+c*n+p*a+t[12],e[13]=s*i+f*n+v*a+t[13],e[14]=l*i+h*n+m*a+t[14],e[15]=u*i+d*n+g*a+t[15]),e}});var ffe=W((uFr,cfe)=>{cfe.exports=R_t;function R_t(e,t,r){var i=r[0],n=r[1],a=r[2];return e[0]=t[0]*i,e[1]=t[1]*i,e[2]=t[2]*i,e[3]=t[3]*i,e[4]=t[4]*n,e[5]=t[5]*n,e[6]=t[6]*n,e[7]=t[7]*n,e[8]=t[8]*a,e[9]=t[9]*a,e[10]=t[10]*a,e[11]=t[11]*a,e[12]=t[12],e[13]=t[13],e[14]=t[14],e[15]=t[15],e}});var dfe=W((cFr,hfe)=>{hfe.exports=z_t;function z_t(e,t,r,i){var n=i[0],a=i[1],o=i[2],s=Math.sqrt(n*n+a*a+o*o),l,u,c,f,h,d,p,v,m,g,w,b,_,M,x,T,A,y,E,S,C,k,D,F;return Math.abs(s)<1e-6?null:(s=1/s,n*=s,a*=s,o*=s,l=Math.sin(r),u=Math.cos(r),c=1-u,f=t[0],h=t[1],d=t[2],p=t[3],v=t[4],m=t[5],g=t[6],w=t[7],b=t[8],_=t[9],M=t[10],x=t[11],T=n*n*c+u,A=a*n*c+o*l,y=o*n*c-a*l,E=n*a*c-o*l,S=a*a*c+u,C=o*a*c+n*l,k=n*o*c+a*l,D=a*o*c-n*l,F=o*o*c+u,e[0]=f*T+v*A+b*y,e[1]=h*T+m*A+_*y,e[2]=d*T+g*A+M*y,e[3]=p*T+w*A+x*y,e[4]=f*E+v*S+b*C,e[5]=h*E+m*S+_*C,e[6]=d*E+g*S+M*C,e[7]=p*E+w*S+x*C,e[8]=f*k+v*D+b*F,e[9]=h*k+m*D+_*F,e[10]=d*k+g*D+M*F,e[11]=p*k+w*D+x*F,t!==e&&(e[12]=t[12],e[13]=t[13],e[14]=t[14],e[15]=t[15]),e)}});var vfe=W((fFr,pfe)=>{pfe.exports=B_t;function B_t(e,t,r){var i=Math.sin(r),n=Math.cos(r),a=t[4],o=t[5],s=t[6],l=t[7],u=t[8],c=t[9],f=t[10],h=t[11];return t!==e&&(e[0]=t[0],e[1]=t[1],e[2]=t[2],e[3]=t[3],e[12]=t[12],e[13]=t[13],e[14]=t[14],e[15]=t[15]),e[4]=a*n+u*i,e[5]=o*n+c*i,e[6]=s*n+f*i,e[7]=l*n+h*i,e[8]=u*n-a*i,e[9]=c*n-o*i,e[10]=f*n-s*i,e[11]=h*n-l*i,e}});var mfe=W((hFr,gfe)=>{gfe.exports=q_t;function q_t(e,t,r){var i=Math.sin(r),n=Math.cos(r),a=t[0],o=t[1],s=t[2],l=t[3],u=t[8],c=t[9],f=t[10],h=t[11];return t!==e&&(e[4]=t[4],e[5]=t[5],e[6]=t[6],e[7]=t[7],e[12]=t[12],e[13]=t[13],e[14]=t[14],e[15]=t[15]),e[0]=a*n-u*i,e[1]=o*n-c*i,e[2]=s*n-f*i,e[3]=l*n-h*i,e[8]=a*i+u*n,e[9]=o*i+c*n,e[10]=s*i+f*n,e[11]=l*i+h*n,e}});var xfe=W((dFr,yfe)=>{yfe.exports=O_t;function O_t(e,t,r){var i=Math.sin(r),n=Math.cos(r),a=t[0],o=t[1],s=t[2],l=t[3],u=t[4],c=t[5],f=t[6],h=t[7];return t!==e&&(e[8]=t[8],e[9]=t[9],e[10]=t[10],e[11]=t[11],e[12]=t[12],e[13]=t[13],e[14]=t[14],e[15]=t[15]),e[0]=a*n+u*i,e[1]=o*n+c*i,e[2]=s*n+f*i,e[3]=l*n+h*i,e[4]=u*n-a*i,e[5]=c*n-o*i,e[6]=f*n-s*i,e[7]=h*n-l*i,e}});var bfe=W((pFr,_fe)=>{_fe.exports=N_t;function N_t(e,t,r){var i,n,a,o=r[0],s=r[1],l=r[2],u=Math.sqrt(o*o+s*s+l*l);return Math.abs(u)<1e-6?null:(u=1/u,o*=u,s*=u,l*=u,i=Math.sin(t),n=Math.cos(t),a=1-n,e[0]=o*o*a+n,e[1]=s*o*a+l*i,e[2]=l*o*a-s*i,e[3]=0,e[4]=o*s*a-l*i,e[5]=s*s*a+n,e[6]=l*s*a+o*i,e[7]=0,e[8]=o*l*a+s*i,e[9]=s*l*a-o*i,e[10]=l*l*a+n,e[11]=0,e[12]=0,e[13]=0,e[14]=0,e[15]=1,e)}});var Tfe=W((vFr,wfe)=>{wfe.exports=U_t;function U_t(e,t,r){var i=t[0],n=t[1],a=t[2],o=t[3],s=i+i,l=n+n,u=a+a,c=i*s,f=i*l,h=i*u,d=n*l,p=n*u,v=a*u,m=o*s,g=o*l,w=o*u;return e[0]=1-(d+v),e[1]=f+w,e[2]=h-g,e[3]=0,e[4]=f-w,e[5]=1-(c+v),e[6]=p+m,e[7]=0,e[8]=h+g,e[9]=p-m,e[10]=1-(c+d),e[11]=0,e[12]=r[0],e[13]=r[1],e[14]=r[2],e[15]=1,e}});var Mfe=W((gFr,Afe)=>{Afe.exports=V_t;function V_t(e,t){return e[0]=t[0],e[1]=0,e[2]=0,e[3]=0,e[4]=0,e[5]=t[1],e[6]=0,e[7]=0,e[8]=0,e[9]=0,e[10]=t[2],e[11]=0,e[12]=0,e[13]=0,e[14]=0,e[15]=1,e}});var Efe=W((mFr,Sfe)=>{Sfe.exports=G_t;function G_t(e,t){return e[0]=1,e[1]=0,e[2]=0,e[3]=0,e[4]=0,e[5]=1,e[6]=0,e[7]=0,e[8]=0,e[9]=0,e[10]=1,e[11]=0,e[12]=t[0],e[13]=t[1],e[14]=t[2],e[15]=1,e}});var Cfe=W((yFr,kfe)=>{kfe.exports=H_t;function H_t(e,t){var r=Math.sin(t),i=Math.cos(t);return e[0]=1,e[1]=0,e[2]=0,e[3]=0,e[4]=0,e[5]=i,e[6]=r,e[7]=0,e[8]=0,e[9]=-r,e[10]=i,e[11]=0,e[12]=0,e[13]=0,e[14]=0,e[15]=1,e}});var Ffe=W((xFr,Dfe)=>{Dfe.exports=j_t;function j_t(e,t){var r=Math.sin(t),i=Math.cos(t);return e[0]=i,e[1]=0,e[2]=-r,e[3]=0,e[4]=0,e[5]=1,e[6]=0,e[7]=0,e[8]=r,e[9]=0,e[10]=i,e[11]=0,e[12]=0,e[13]=0,e[14]=0,e[15]=1,e}});var Pfe=W((_Fr,Lfe)=>{Lfe.exports=$_t;function $_t(e,t){var r=Math.sin(t),i=Math.cos(t);return e[0]=i,e[1]=r,e[2]=0,e[3]=0,e[4]=-r,e[5]=i,e[6]=0,e[7]=0,e[8]=0,e[9]=0,e[10]=1,e[11]=0,e[12]=0,e[13]=0,e[14]=0,e[15]=1,e}});var Rfe=W((bFr,Ife)=>{Ife.exports=W_t;function W_t(e,t){var r=t[0],i=t[1],n=t[2],a=t[3],o=r+r,s=i+i,l=n+n,u=r*o,c=i*o,f=i*s,h=n*o,d=n*s,p=n*l,v=a*o,m=a*s,g=a*l;return e[0]=1-f-p,e[1]=c+g,e[2]=h-m,e[3]=0,e[4]=c-g,e[5]=1-u-p,e[6]=d+v,e[7]=0,e[8]=h+m,e[9]=d-v,e[10]=1-u-f,e[11]=0,e[12]=0,e[13]=0,e[14]=0,e[15]=1,e}});var Bfe=W((wFr,zfe)=>{zfe.exports=Y_t;function Y_t(e,t,r,i,n,a,o){var s=1/(r-t),l=1/(n-i),u=1/(a-o);return e[0]=a*2*s,e[1]=0,e[2]=0,e[3]=0,e[4]=0,e[5]=a*2*l,e[6]=0,e[7]=0,e[8]=(r+t)*s,e[9]=(n+i)*l,e[10]=(o+a)*u,e[11]=-1,e[12]=0,e[13]=0,e[14]=o*a*2*u,e[15]=0,e}});var Ofe=W((TFr,qfe)=>{qfe.exports=X_t;function X_t(e,t,r,i,n){var a=1/Math.tan(t/2),o=1/(i-n);return e[0]=a/r,e[1]=0,e[2]=0,e[3]=0,e[4]=0,e[5]=a,e[6]=0,e[7]=0,e[8]=0,e[9]=0,e[10]=(n+i)*o,e[11]=-1,e[12]=0,e[13]=0,e[14]=2*n*i*o,e[15]=0,e}});var Ufe=W((AFr,Nfe)=>{Nfe.exports=Z_t;function Z_t(e,t,r,i){var n=Math.tan(t.upDegrees*Math.PI/180),a=Math.tan(t.downDegrees*Math.PI/180),o=Math.tan(t.leftDegrees*Math.PI/180),s=Math.tan(t.rightDegrees*Math.PI/180),l=2/(o+s),u=2/(n+a);return e[0]=l,e[1]=0,e[2]=0,e[3]=0,e[4]=0,e[5]=u,e[6]=0,e[7]=0,e[8]=-((o-s)*l*.5),e[9]=(n-a)*u*.5,e[10]=i/(r-i),e[11]=-1,e[12]=0,e[13]=0,e[14]=i*r/(r-i),e[15]=0,e}});var Gfe=W((MFr,Vfe)=>{Vfe.exports=K_t;function K_t(e,t,r,i,n,a,o){var s=1/(t-r),l=1/(i-n),u=1/(a-o);return e[0]=-2*s,e[1]=0,e[2]=0,e[3]=0,e[4]=0,e[5]=-2*l,e[6]=0,e[7]=0,e[8]=0,e[9]=0,e[10]=2*u,e[11]=0,e[12]=(t+r)*s,e[13]=(n+i)*l,e[14]=(o+a)*u,e[15]=1,e}});var jfe=W((SFr,Hfe)=>{var J_t=rV();Hfe.exports=Q_t;function Q_t(e,t,r,i){var n,a,o,s,l,u,c,f,h,d,p=t[0],v=t[1],m=t[2],g=i[0],w=i[1],b=i[2],_=r[0],M=r[1],x=r[2];return Math.abs(p-_)<1e-6&&Math.abs(v-M)<1e-6&&Math.abs(m-x)<1e-6?J_t(e):(c=p-_,f=v-M,h=m-x,d=1/Math.sqrt(c*c+f*f+h*h),c*=d,f*=d,h*=d,n=w*h-b*f,a=b*c-g*h,o=g*f-w*c,d=Math.sqrt(n*n+a*a+o*o),d?(d=1/d,n*=d,a*=d,o*=d):(n=0,a=0,o=0),s=f*o-h*a,l=h*n-c*o,u=c*a-f*n,d=Math.sqrt(s*s+l*l+u*u),d?(d=1/d,s*=d,l*=d,u*=d):(s=0,l=0,u=0),e[0]=n,e[1]=s,e[2]=c,e[3]=0,e[4]=a,e[5]=l,e[6]=f,e[7]=0,e[8]=o,e[9]=u,e[10]=h,e[11]=0,e[12]=-(n*p+a*v+o*m),e[13]=-(s*p+l*v+u*m),e[14]=-(c*p+f*v+h*m),e[15]=1,e)}});var Wfe=W((EFr,$fe)=>{$fe.exports=ebt;function ebt(e){return"mat4("+e[0]+", "+e[1]+", "+e[2]+", "+e[3]+", "+e[4]+", "+e[5]+", "+e[6]+", "+e[7]+", "+e[8]+", "+e[9]+", 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.maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%23333%22%20viewBox%3D%220%200%2020%2020%22%3E%3Cpath%20d%3D%22M10%204C9%204%209%205%209%205v.1A5%205%200%200%200%205.1%209H5s-1%200-1%201%201%201%201%201h.1A5%205%200%200%200%209%2014.9v.1s0%201%201%201%201-1%201-1v-.1a5%205%200%200%200%203.9-3.9h.1s1%200%201-1-1-1-1-1h-.1A5%205%200%200%200%2011%205.1V5s0-1-1-1m0%202.5a3.5%203.5%200%201%201%200%207%203.5%203.5%200%201%201%200-7%22%2F%3E%3Ccircle%20cx%3D%2210%22%20cy%3D%2210%22%20r%3D%222%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-geolocate:disabled .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%23aaa%22%20viewBox%3D%220%200%2020%2020%22%3E%3Cpath%20d%3D%22M10%204C9%204%209%205%209%205v.1A5%205%200%200%200%205.1%209H5s-1%200-1%201%201%201%201%201h.1A5%205%200%200%200%209%2014.9v.1s0%201%201%201%201-1%201-1v-.1a5%205%200%200%200%203.9-3.9h.1s1%200%201-1-1-1-1-1h-.1A5%205%200%200%200%2011%205.1V5s0-1-1-1m0%202.5a3.5%203.5%200%201%201%200%207%203.5%203.5%200%201%201%200-7%22%2F%3E%3Ccircle%20cx%3D%2210%22%20cy%3D%2210%22%20r%3D%222%22%2F%3E%3Cpath%20fill%3D%22red%22%20d%3D%22m14%205%201%201-9%209-1-1z%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-geolocate.maplibregl-ctrl-geolocate-active .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%2333b5e5%22%20viewBox%3D%220%200%2020%2020%22%3E%3Cpath%20d%3D%22M10%204C9%204%209%205%209%205v.1A5%205%200%200%200%205.1%209H5s-1%200-1%201%201%201%201%201h.1A5%205%200%200%200%209%2014.9v.1s0%201%201%201%201-1%201-1v-.1a5%205%200%200%200%203.9-3.9h.1s1%200%201-1-1-1-1-1h-.1A5%205%200%200%200%2011%205.1V5s0-1-1-1m0%202.5a3.5%203.5%200%201%201%200%207%203.5%203.5%200%201%201%200-7%22%2F%3E%3Ccircle%20cx%3D%2210%22%20cy%3D%2210%22%20r%3D%222%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-geolocate.maplibregl-ctrl-geolocate-active-error .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%23e58978%22%20viewBox%3D%220%200%2020%2020%22%3E%3Cpath%20d%3D%22M10%204C9%204%209%205%209%205v.1A5%205%200%200%200%205.1%209H5s-1%200-1%201%201%201%201%201h.1A5%205%200%200%200%209%2014.9v.1s0%201%201%201%201-1%201-1v-.1a5%205%200%200%200%203.9-3.9h.1s1%200%201-1-1-1-1-1h-.1A5%205%200%200%200%2011%205.1V5s0-1-1-1m0%202.5a3.5%203.5%200%201%201%200%207%203.5%203.5%200%201%201%200-7%22%2F%3E%3Ccircle%20cx%3D%2210%22%20cy%3D%2210%22%20r%3D%222%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-geolocate.maplibregl-ctrl-geolocate-background .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%2333b5e5%22%20viewBox%3D%220%200%2020%2020%22%3E%3Cpath%20d%3D%22M10%204C9%204%209%205%209%205v.1A5%205%200%200%200%205.1%209H5s-1%200-1%201%201%201%201%201h.1A5%205%200%200%200%209%2014.9v.1s0%201%201%201%201-1%201-1v-.1a5%205%200%200%200%203.9-3.9h.1s1%200%201-1-1-1-1-1h-.1A5%205%200%200%200%2011%205.1V5s0-1-1-1m0%202.5a3.5%203.5%200%201%201%200%207%203.5%203.5%200%201%201%200-7%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-geolocate.maplibregl-ctrl-geolocate-background-error .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%23e54e33%22%20viewBox%3D%220%200%2020%2020%22%3E%3Cpath%20d%3D%22M10%204C9%204%209%205%209%205v.1A5%205%200%200%200%205.1%209H5s-1%200-1%201%201%201%201%201h.1A5%205%200%200%200%209%2014.9v.1s0%201%201%201%201-1%201-1v-.1a5%205%200%200%200%203.9-3.9h.1s1%200%201-1-1-1-1-1h-.1A5%205%200%200%200%2011%205.1V5s0-1-1-1m0%202.5a3.5%203.5%200%201%201%200%207%203.5%203.5%200%201%201%200-7%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-geolocate.maplibregl-ctrl-geolocate-waiting .maplibregl-ctrl-icon{animation:maplibregl-spin 2s linear infinite}@media (forced-colors:active){.maplibregl-ctrl button.maplibregl-ctrl-geolocate .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%23fff%22%20viewBox%3D%220%200%2020%2020%22%3E%3Cpath%20d%3D%22M10%204C9%204%209%205%209%205v.1A5%205%200%200%200%205.1%209H5s-1%200-1%201%201%201%201%201h.1A5%205%200%200%200%209%2014.9v.1s0%201%201%201%201-1%201-1v-.1a5%205%200%200%200%203.9-3.9h.1s1%200%201-1-1-1-1-1h-.1A5%205%200%200%200%2011%205.1V5s0-1-1-1m0%202.5a3.5%203.5%200%201%201%200%207%203.5%203.5%200%201%201%200-7%22%2F%3E%3Ccircle%20cx%3D%2210%22%20cy%3D%2210%22%20r%3D%222%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-geolocate:disabled .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%23999%22%20viewBox%3D%220%200%2020%2020%22%3E%3Cpath%20d%3D%22M10%204C9%204%209%205%209%205v.1A5%205%200%200%200%205.1%209H5s-1%200-1%201%201%201%201%201h.1A5%205%200%200%200%209%2014.9v.1s0%201%201%201%201-1%201-1v-.1a5%205%200%200%200%203.9-3.9h.1s1%200%201-1-1-1-1-1h-.1A5%205%200%200%200%2011%205.1V5s0-1-1-1m0%202.5a3.5%203.5%200%201%201%200%207%203.5%203.5%200%201%201%200-7%22%2F%3E%3Ccircle%20cx%3D%2210%22%20cy%3D%2210%22%20r%3D%222%22%2F%3E%3Cpath%20fill%3D%22red%22%20d%3D%22m14%205%201%201-9%209-1-1z%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-geolocate.maplibregl-ctrl-geolocate-active .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%2333b5e5%22%20viewBox%3D%220%200%2020%2020%22%3E%3Cpath%20d%3D%22M10%204C9%204%209%205%209%205v.1A5%205%200%200%200%205.1%209H5s-1%200-1%201%201%201%201%201h.1A5%205%200%200%200%209%2014.9v.1s0%201%201%201%201-1%201-1v-.1a5%205%200%200%200%203.9-3.9h.1s1%200%201-1-1-1-1-1h-.1A5%205%200%200%200%2011%205.1V5s0-1-1-1m0%202.5a3.5%203.5%200%201%201%200%207%203.5%203.5%200%201%201%200-7%22%2F%3E%3Ccircle%20cx%3D%2210%22%20cy%3D%2210%22%20r%3D%222%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-geolocate.maplibregl-ctrl-geolocate-active-error .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%23e58978%22%20viewBox%3D%220%200%2020%2020%22%3E%3Cpath%20d%3D%22M10%204C9%204%209%205%209%205v.1A5%205%200%200%200%205.1%209H5s-1%200-1%201%201%201%201%201h.1A5%205%200%200%200%209%2014.9v.1s0%201%201%201%201-1%201-1v-.1a5%205%200%200%200%203.9-3.9h.1s1%200%201-1-1-1-1-1h-.1A5%205%200%200%200%2011%205.1V5s0-1-1-1m0%202.5a3.5%203.5%200%201%201%200%207%203.5%203.5%200%201%201%200-7%22%2F%3E%3Ccircle%20cx%3D%2210%22%20cy%3D%2210%22%20r%3D%222%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-geolocate.maplibregl-ctrl-geolocate-background .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%2333b5e5%22%20viewBox%3D%220%200%2020%2020%22%3E%3Cpath%20d%3D%22M10%204C9%204%209%205%209%205v.1A5%205%200%200%200%205.1%209H5s-1%200-1%201%201%201%201%201h.1A5%205%200%200%200%209%2014.9v.1s0%201%201%201%201-1%201-1v-.1a5%205%200%200%200%203.9-3.9h.1s1%200%201-1-1-1-1-1h-.1A5%205%200%200%200%2011%205.1V5s0-1-1-1m0%202.5a3.5%203.5%200%201%201%200%207%203.5%203.5%200%201%201%200-7%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-geolocate.maplibregl-ctrl-geolocate-background-error .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%23e54e33%22%20viewBox%3D%220%200%2020%2020%22%3E%3Cpath%20d%3D%22M10%204C9%204%209%205%209%205v.1A5%205%200%200%200%205.1%209H5s-1%200-1%201%201%201%201%201h.1A5%205%200%200%200%209%2014.9v.1s0%201%201%201%201-1%201-1v-.1a5%205%200%200%200%203.9-3.9h.1s1%200%201-1-1-1-1-1h-.1A5%205%200%200%200%2011%205.1V5s0-1-1-1m0%202.5a3.5%203.5%200%201%201%200%207%203.5%203.5%200%201%201%200-7%22%2F%3E%3C%2Fsvg%3E")}}@media (forced-colors:active) and (prefers-color-scheme:light){.maplibregl-ctrl button.maplibregl-ctrl-geolocate 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k7t=Ho(),C7t=Vl(),D7t=tn().extendFlat,F7t=ls().overrideAll,L7t=HC(),dwe=Da().templatedArray,P7t=dwe("button",{visible:{valType:"boolean"},method:{valType:"enumerated",values:["restyle","relayout","animate","update","skip"],dflt:"restyle"},args:{valType:"info_array",freeLength:!0,items:[{valType:"any"},{valType:"any"},{valType:"any"}]},args2:{valType:"info_array",freeLength:!0,items:[{valType:"any"},{valType:"any"},{valType:"any"}]},label:{valType:"string",dflt:""},execute:{valType:"boolean",dflt:!0}});pwe.exports=F7t(dwe("updatemenu",{_arrayAttrRegexps:[/^updatemenus\[(0|[1-9][0-9]+)\]\.buttons/],visible:{valType:"boolean"},type:{valType:"enumerated",values:["dropdown","buttons"],dflt:"dropdown"},direction:{valType:"enumerated",values:["left","right","up","down"],dflt:"down"},active:{valType:"integer",min:-1,dflt:0},showactive:{valType:"boolean",dflt:!0},buttons:P7t,x:{valType:"number",min:-2,max:3,dflt:-.05},xanchor:{valType:"enumerated",values:["auto","left","center","right"],dflt:"right"},y:{valType:"number",min:-2,max:3,dflt:1},yanchor:{valType:"enumerated",values:["auto","top","middle","bottom"],dflt:"top"},pad:D7t(L7t({editType:"arraydraw"}),{}),font:k7t({}),bgcolor:{valType:"color"},bordercolor:{valType:"color",dflt:C7t.borderLine},borderwidth:{valType:"number",min:0,dflt:1,editType:"arraydraw"}}),"arraydraw","from-root")});var ywe=W((mRr,mwe)=>{"use strict";var IF=it(),vwe=Xc(),gwe=x$(),I7t=PF(),R7t=I7t.name,z7t=gwe.buttons;mwe.exports=function(t,r){var i={name:R7t,handleItemDefaults:B7t};vwe(t,r,i)};function B7t(e,t,r){function i(o,s){return IF.coerce(e,t,gwe,o,s)}var n=vwe(e,t,{name:"buttons",handleItemDefaults:q7t}),a=i("visible",n.length>0);a&&(i("active"),i("direction"),i("type"),i("showactive"),i("x"),i("y"),IF.noneOrAll(e,t,["x","y"]),i("xanchor"),i("yanchor"),i("pad.t"),i("pad.r"),i("pad.b"),i("pad.l"),IF.coerceFont(i,"font",r.font),i("bgcolor",r.paper_bgcolor),i("bordercolor"),i("borderwidth"))}function q7t(e,t){function r(n,a){return IF.coerce(e,t,z7t,n,a)}var i=r("visible",e.method==="skip"||Array.isArray(e.args));i&&(r("method"),r("args"),r("args2"),r("label"),r("execute"))}});var bwe=W((yRr,_we)=>{"use strict";_we.exports=Us;var Kp=vi(),xwe=ni(),t5=Ji(),RF=it();function Us(e,t,r){this.gd=e,this.container=t,this.id=r,this.position=null,this.translateX=null,this.translateY=null,this.hbar=null,this.vbar=null,this.bg=this.container.selectAll("rect.scrollbox-bg").data([0]),this.bg.exit().on(".drag",null).on("wheel",null).remove(),this.bg.enter().append("rect").classed("scrollbox-bg",!0).style("pointer-events","all").attr({opacity:0,x:0,y:0,width:0,height:0})}Us.barWidth=2;Us.barLength=20;Us.barRadius=2;Us.barPad=1;Us.barColor="#808BA4";Us.prototype.enable=function(t,r,i){var n=this.gd._fullLayout,a=n.width,o=n.height;this.position=t;var s=this.position.l,l=this.position.w,u=this.position.t,c=this.position.h,f=this.position.direction,h=f==="down",d=f==="left",p=f==="right",v=f==="up",m=l,g=c,w,b,_,M;!h&&!d&&!p&&!v&&(this.position.direction="down",h=!0);var x=h||v;x?(w=s,b=w+m,h?(_=u,M=Math.min(_+g,o),g=M-_):(M=u+g,_=Math.max(M-g,0),g=M-_)):(_=u,M=_+g,d?(b=s+m,w=Math.max(b-m,0),m=b-w):(w=s,b=Math.min(w+m,a),m=b-w)),this._box={l:w,t:_,w:m,h:g};var T=l>m,A=Us.barLength+2*Us.barPad,y=Us.barWidth+2*Us.barPad,E=s,S=u+c;S+y>o&&(S=o-y);var C=this.container.selectAll("rect.scrollbar-horizontal").data(T?[0]:[]);C.exit().on(".drag",null).remove(),C.enter().append("rect").classed("scrollbar-horizontal",!0).call(xwe.fill,Us.barColor),T?(this.hbar=C.attr({rx:Us.barRadius,ry:Us.barRadius,x:E,y:S,width:A,height:y}),this._hbarXMin=E+A/2,this._hbarTranslateMax=m-A):(delete this.hbar,delete this._hbarXMin,delete this._hbarTranslateMax);var k=c>g,D=Us.barWidth+2*Us.barPad,F=Us.barLength+2*Us.barPad,P=s+l,R=u;P+D>a&&(P=a-D);var L=this.container.selectAll("rect.scrollbar-vertical").data(k?[0]:[]);L.exit().on(".drag",null).remove(),L.enter().append("rect").classed("scrollbar-vertical",!0).call(xwe.fill,Us.barColor),k?(this.vbar=L.attr({rx:Us.barRadius,ry:Us.barRadius,x:P,y:R,width:D,height:F}),this._vbarYMin=R+F/2,this._vbarTranslateMax=g-F):(delete this.vbar,delete this._vbarYMin,delete this._vbarTranslateMax);var 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q=Kp.behavior.drag().on("dragstart",function(){Kp.event.sourceEvent.preventDefault(),Kp.event.sourceEvent.stopPropagation()}).on("drag",this._onBarDrag.bind(this));T&&this.hbar.on(".drag",null).call(q),k&&this.vbar.on(".drag",null).call(q)}this.setTranslate(r,i)};Us.prototype.disable=function(){(this.hbar||this.vbar)&&(this.bg.attr({width:0,height:0}),this.container.on("wheel",null).on(".drag",null).call(t5.setClipUrl,null),delete this._clipRect),this.hbar&&(this.hbar.on(".drag",null),this.hbar.remove(),delete this.hbar,delete this._hbarXMin,delete this._hbarTranslateMax),this.vbar&&(this.vbar.on(".drag",null),this.vbar.remove(),delete this.vbar,delete this._vbarYMin,delete this._vbarTranslateMax)};Us.prototype._onBoxDrag=function(){var t=this.translateX,r=this.translateY;this.hbar&&(t-=Kp.event.dx),this.vbar&&(r-=Kp.event.dy),this.setTranslate(t,r)};Us.prototype._onBoxWheel=function(){var t=this.translateX,r=this.translateY;this.hbar&&(t+=Kp.event.deltaY),this.vbar&&(r+=Kp.event.deltaY),this.setTranslate(t,r)};Us.prototype._onBarDrag=function(){var t=this.translateX,r=this.translateY;if(this.hbar){var i=t+this._hbarXMin,n=i+this._hbarTranslateMax,a=RF.constrain(Kp.event.x,i,n),o=(a-i)/(n-i),s=this.position.w-this._box.w;t=o*s}if(this.vbar){var l=r+this._vbarYMin,u=l+this._vbarTranslateMax,c=RF.constrain(Kp.event.y,l,u),f=(c-l)/(u-l),h=this.position.h-this._box.h;r=f*h}this.setTranslate(t,r)};Us.prototype.setTranslate=function(t,r){var i=this.position.w-this._box.w,n=this.position.h-this._box.h;if(t=RF.constrain(t||0,0,i),r=RF.constrain(r||0,0,n),this.translateX=t,this.translateY=r,this.container.call(t5.setTranslate,this._box.l-this.position.l-t,this._box.t-this.position.t-r),this._clipRect&&this._clipRect.attr({x:Math.floor(this.position.l+t-.5),y:Math.floor(this.position.t+r-.5)}),this.hbar){var 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Rwe=Ho(),X7t=HC(),Z7t=tn().extendDeepAll,K7t=ls().overrideAll,J7t=J6(),zwe=Da().templatedArray,C_=AM(),Q7t=zwe("step",{visible:{valType:"boolean",dflt:!0},method:{valType:"enumerated",values:["restyle","relayout","animate","update","skip"],dflt:"restyle"},args:{valType:"info_array",freeLength:!0,items:[{valType:"any"},{valType:"any"},{valType:"any"}]},label:{valType:"string"},value:{valType:"string"},execute:{valType:"boolean",dflt:!0}});Bwe.exports=K7t(zwe("slider",{visible:{valType:"boolean",dflt:!0},active:{valType:"number",min:0,dflt:0},steps:Q7t,lenmode:{valType:"enumerated",values:["fraction","pixels"],dflt:"fraction"},len:{valType:"number",min:0,dflt:1},x:{valType:"number",min:-2,max:3,dflt:0},pad:Z7t(X7t({editType:"arraydraw"}),{},{t:{dflt:20}}),xanchor:{valType:"enumerated",values:["auto","left","center","right"],dflt:"left"},y:{valType:"number",min:-2,max:3,dflt:0},yanchor:{valType:"enumerated",values:["auto","top","middle","bottom"],dflt:"top"},transition:{duration:{valType:"number",min:0,dflt:150},easing:{valType:"enumerated",values:J7t.transition.easing.values,dflt:"cubic-in-out"}},currentvalue:{visible:{valType:"boolean",dflt:!0},xanchor:{valType:"enumerated",values:["left","center","right"],dflt:"left"},offset:{valType:"number",dflt:10},prefix:{valType:"string"},suffix:{valType:"string"},font:Rwe({})},font:Rwe({}),activebgcolor:{valType:"color",dflt:C_.gripBgActiveColor},bgcolor:{valType:"color",dflt:C_.railBgColor},bordercolor:{valType:"color",dflt:C_.railBorderColor},borderwidth:{valType:"number",min:0,dflt:C_.railBorderWidth},ticklen:{valType:"number",min:0,dflt:C_.tickLength},tickcolor:{valType:"color",dflt:C_.tickColor},tickwidth:{valType:"number",min:0,dflt:1},minorticklen:{valType:"number",min:0,dflt:C_.minorTickLength}}),"arraydraw","from-root")});var Uwe=W((TRr,Nwe)=>{"use strict";var n5=it(),qwe=Xc(),Owe=T$(),eFt=AM(),tFt=eFt.name,rFt=Owe.steps;Nwe.exports=function(t,r){qwe(t,r,{name:tFt,handleItemDefaults:iFt})};function iFt(e,t,r){function i(f,h){return n5.coerce(e,t,Owe,f,h)}for(var n=qwe(e,t,{name:"steps",handleItemDefaults:nFt}),a=0,o=0;o{"use strict";var Jp=vi(),BF=Ko(),jy=ni(),Qp=Ji(),S0=it(),aFt=S0.strTranslate,MM=uo(),oFt=Da().arrayEditor,Qn=AM(),S$=Hl(),Hwe=S$.LINE_SPACING,A$=S$.FROM_TL,M$=S$.FROM_BR;Zwe.exports=function(t){var r=t._context.staticPlot,i=t._fullLayout,n=sFt(i,t),a=i._infolayer.selectAll("g."+Qn.containerClassName).data(n.length>0?[0]:[]);a.enter().append("g").classed(Qn.containerClassName,!0).style("cursor",r?null:"ew-resize");function o(c){c._commandObserver&&(c._commandObserver.remove(),delete c._commandObserver),BF.autoMargin(t,jwe(c))}if(a.exit().each(function(){Jp.select(this).selectAll("g."+Qn.groupClassName).each(o)}).remove(),n.length!==0){var 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r=t._dims,i=r.inputAreaLength-Qn.railInset*2,n=S0.ensureSingle(e,"rect",Qn.railRectClass);n.attr({width:i,height:Qn.railWidth,rx:Qn.railRadius,ry:Qn.railRadius,"shape-rendering":"crispEdges"}).call(jy.stroke,t.bordercolor).call(jy.fill,t.bgcolor).style("stroke-width",t.borderwidth+"px"),Qp.setTranslate(n,Qn.railInset,(r.inputAreaWidth-Qn.railWidth)*.5+r.currentValueTotalHeight)}});var Qwe=W((MRr,Jwe)=>{"use strict";var mFt=AM();Jwe.exports={moduleType:"component",name:mFt.name,layoutAttributes:T$(),supplyLayoutDefaults:Uwe(),draw:Kwe()}});var OF=W((SRr,t5e)=>{"use strict";var e5e=Vl();t5e.exports={bgcolor:{valType:"color",dflt:e5e.background,editType:"plot"},bordercolor:{valType:"color",dflt:e5e.defaultLine,editType:"plot"},borderwidth:{valType:"integer",dflt:0,min:0,editType:"plot"},autorange:{valType:"boolean",dflt:!0,editType:"calc",impliedEdits:{"range[0]":void 0,"range[1]":void 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yFt=Cs(),xFt=uo(),n5e=NF(),_Ft=Hl().LINE_SPACING,UF=n5e.name;function a5e(e){var t=e&&e[UF];return t&&t.visible}VF.isVisible=a5e;VF.makeData=function(e){for(var t=yFt.list({_fullLayout:e},"x",!0),r=e.margin,i=[],n=0;n{"use strict";var GF=it(),s5e=Da(),l5e=Cs(),bFt=OF(),wFt=k$();u5e.exports=function(t,r,i){var n=t[i],a=r[i];if(!(n.rangeslider||r._requestRangeslider[a._id]))return;GF.isPlainObject(n.rangeslider)||(n.rangeslider={});var o=n.rangeslider,s=s5e.newContainer(a,"rangeslider");function l(M,x){return GF.coerce(o,s,bFt,M,x)}var u,c;function f(M,x){return GF.coerce(u,c,wFt,M,x)}var h=l("visible");if(h){l("bgcolor",r.plot_bgcolor),l("bordercolor"),l("borderwidth"),l("thickness"),l("autorange",!a.isValidRange(o.range)),l("range");var d=r._subplots;if(d)for(var p=d.cartesian.filter(function(M){return M.slice(0,Math.max(0,M.indexOf("y")))===l5e.name2id(i)}).map(function(M){return M.slice(M.indexOf("y"),M.length)}),v=GF.simpleMap(p,l5e.id2name),m=0;m{"use strict";var TFt=Cs().list,AFt=Op().getAutoRange,MFt=NF();f5e.exports=function(t){for(var r=TFt(t,"x",!0),i=0;i{"use strict";var HF=vi(),SFt=yi(),EFt=Ko(),pl=it(),jF=pl.strTranslate,p5e=Ji(),$y=ni(),kFt=e_(),CFt=dl(),C$=Cs(),DFt=bf(),FFt=Np(),xa=NF();v5e.exports=function(e){for(var t=e._fullLayout,r=t._rangeSliderData,i=0;i=L.max)P=S[R+1];else if(F=L.pmax)P=S[R+1];else if(F0?e.touches[0].clientX:0}function LFt(e,t,r,i){if(t._context.staticPlot)return;var n=e.select("rect."+xa.slideBoxClassName).node(),a=e.select("rect."+xa.grabAreaMinClassName).node(),o=e.select("rect."+xa.grabAreaMaxClassName).node();function s(){var l=HF.event,u=l.target,c=d5e(l),f=c-e.node().getBoundingClientRect().left,h=i.d2p(r._rl[0]),d=i.d2p(r._rl[1]),p=DFt.coverSlip();this.addEventListener("touchmove",v),this.addEventListener("touchend",m),p.addEventListener("mousemove",v),p.addEventListener("mouseup",m);function v(g){var w=d5e(g),b=+w-c,_,M,x;switch(u){case n:if(x="ew-resize",h+b>r._length||d+b<0)return;_=h+b,M=d+b;break;case a:if(x="col-resize",h+b>r._length)return;_=h+b,M=d;break;case o:if(x="col-resize",d+b<0)return;_=h,M=d+b;break;default:x="ew-resize",_=f,M=f+b;break}if(M<_){var T=M;M=_,_=T}i._pixelMin=_,i._pixelMax=M,FFt(HF.select(p),x),PFt(e,t,r,i)}function m(){p.removeEventListener("mousemove",v),p.removeEventListener("mouseup",m),this.removeEventListener("touchmove",v),this.removeEventListener("touchend",m),pl.removeElement(p)}}e.on("mousedown",s),e.on("touchstart",s)}function PFt(e,t,r,i){function n(s){return r.l2r(pl.constrain(s,i._rl[0],i._rl[1]))}var a=n(i.p2d(i._pixelMin)),o=n(i.p2d(i._pixelMax));window.requestAnimationFrame(function(){SFt.call("_guiRelayout",t,r._name+".range",[a,o])})}function IFt(e,t,r,i,n,a){var o=xa.handleWidth/2;function s(g){return pl.constrain(g,0,i._width)}function l(g){return pl.constrain(g,0,i._height)}function u(g){return pl.constrain(g,-o,i._width+o)}var c=s(i.d2p(r._rl[0])),f=s(i.d2p(r._rl[1]));if(e.select("rect."+xa.slideBoxClassName).attr("x",c).attr("width",f-c),e.select("rect."+xa.maskMinClassName).attr("width",c),e.select("rect."+xa.maskMaxClassName).attr("x",f).attr("width",i._width-f),a.rangemode!=="match"){var h=i._height-l(i.d2pOppAxis(n._rl[1])),d=i._height-l(i.d2pOppAxis(n._rl[0]));e.select("rect."+xa.maskMinOppAxisClassName).attr("x",c).attr("height",h).attr("width",f-c),e.select("rect."+xa.maskMaxOppAxisClassName).attr("x",c).attr("y",d).attr("height",i._height-d).attr("width",f-c),e.select("rect."+xa.slideBoxClassName).attr("y",h).attr("height",d-h)}var p=.5,v=Math.round(u(c-o))-p,m=Math.round(u(f-o))+p;e.select("g."+xa.grabberMinClassName).attr("transform",jF(v,p)),e.select("g."+xa.grabberMaxClassName).attr("transform",jF(m,p))}function RFt(e,t,r,i){var n=pl.ensureSingle(e,"rect",xa.bgClassName,function(l){l.attr({x:0,y:0,"shape-rendering":"crispEdges"})}),a=i.borderwidth%2===0?i.borderwidth:i.borderwidth-1,o=-i._offsetShift,s=p5e.crispRound(t,i.borderwidth);n.attr({width:i._width+a,height:i._height+a,transform:jF(o,o),"stroke-width":s}).call($y.stroke,i.bordercolor).call($y.fill,i.bgcolor)}function zFt(e,t,r,i){var n=t._fullLayout,a=pl.ensureSingleById(n._topdefs,"clipPath",i._clipId,function(o){o.append("rect").attr({x:0,y:0})});a.select("rect").attr({width:i._width,height:i._height})}function BFt(e,t,r,i){var n=t.calcdata,a=e.selectAll("g."+xa.rangePlotClassName).data(r._subplotsWith,pl.identity);a.enter().append("g").attr("class",function(s){return xa.rangePlotClassName+" "+s}).call(p5e.setClipUrl,i._clipId,t),a.order(),a.exit().remove();var o;a.each(function(s,l){var u=HF.select(this),c=l===0,f=C$.getFromId(t,s,"y"),h=f._name,d=i[h],p={data:[],layout:{xaxis:{type:r.type,domain:[0,1],range:i.range.slice(),calendar:r.calendar},width:i._width,height:i._height,margin:{t:0,b:0,l:0,r:0}},_context:t._context};r.rangebreaks&&(p.layout.xaxis.rangebreaks=r.rangebreaks),p.layout[h]={type:f.type,domain:[0,1],range:d.rangemode!=="match"?d.range.slice():f.range.slice(),calendar:f.calendar},f.rangebreaks&&(p.layout[h].rangebreaks=f.rangebreaks),EFt.supplyDefaults(p);var v=p._fullLayout.xaxis,m=p._fullLayout[h];v.clearCalc(),v.setScale(),m.clearCalc(),m.setScale();var g={id:s,plotgroup:u,xaxis:v,yaxis:m,isRangePlot:!0};c?o=g:(g.mainplot="xy",g.mainplotinfo=o),CFt.rangePlot(t,g,qFt(n,s))})}function qFt(e,t){for(var r=[],i=0;i{"use strict";var VFt=it(),GFt=OF(),HFt=k$(),D$=o5e();m5e.exports={moduleType:"component",name:"rangeslider",schema:{subplots:{xaxis:{rangeslider:VFt.extendFlat({},GFt,{yaxis:HFt})}}},layoutAttributes:OF(),handleDefaults:c5e(),calcAutorange:h5e(),draw:g5e(),isVisible:D$.isVisible,makeData:D$.makeData,autoMarginOpts:D$.autoMarginOpts}});var $F=W((IRr,_5e)=>{"use strict";var 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a=0;aA5*u?(g=u,m=g*A5):(m=l,g=m/A5),w=o*m/l,b=s*g/u,p=t.l+t.w*n-m/2,v=t.t+t.h*(1-a)-g/2,r.x0=p,r.y0=v,r.w=m,r.h=g,r.sum=c,r.xaxis={type:"linear",range:[f+2*d-c,c-f-2*h],domain:[n-w/2,n+w/2],_id:"x"},ZM(r.xaxis,r.graphDiv._fullLayout),r.xaxis.setScale(),r.xaxis.isPtWithinRange=function(D){return D.a>=r.aaxis.range[0]&&D.a<=r.aaxis.range[1]&&D.b>=r.baxis.range[1]&&D.b<=r.baxis.range[0]&&D.c>=r.caxis.range[1]&&D.c<=r.caxis.range[0]},r.yaxis={type:"linear",range:[f,c-h-d],domain:[a-b/2,a+b/2],_id:"y"},ZM(r.yaxis,r.graphDiv._fullLayout),r.yaxis.setScale(),r.yaxis.isPtWithinRange=function(){return!0};var _=r.yaxis.domain[0],M=r.aaxis=nY({},e.aaxis,{range:[f,c-h-d],side:"left",tickangle:(+e.aaxis.tickangle||0)-30,domain:[_,_+b*A5],anchor:"free",position:0,_id:"y",_length:m});ZM(M,r.graphDiv._fullLayout),M.setScale();var x=r.baxis=nY({},e.baxis,{range:[c-f-d,h],side:"bottom",domain:r.xaxis.domain,anchor:"free",position:0,_id:"x",_length:m});ZM(x,r.graphDiv._fullLayout),x.setScale();var T=r.caxis=nY({},e.caxis,{range:[c-f-h,d],side:"right",tickangle:(+e.caxis.tickangle||0)+30,domain:[_,_+b*A5],anchor:"free",position:0,_id:"y",_length:m});ZM(T,r.graphDiv._fullLayout),T.setScale();var A="M"+p+","+(v+g)+"h"+m+"l-"+m/2+",-"+g+"Z";r.clipDef.select("path").attr("d",A),r.layers.plotbg.select("path").attr("d",A);var y="M0,"+g+"h"+m+"l-"+m/2+",-"+g+"Z";r.clipDefRelative.select("path").attr("d",y);var E=S1(p,v);r.plotContainer.selectAll(".scatterlayer,.maplayer").attr("transform",E),r.clipDefRelative.select("path").attr("transform",null);var S=S1(p-x._offset,v+g);r.layers.baxis.attr("transform",S),r.layers.bgrid.attr("transform",S);var C=S1(p+m/2,v)+"rotate(30)"+S1(0,-M._offset);r.layers.aaxis.attr("transform",C),r.layers.agrid.attr("transform",C);var k=S1(p+m/2,v)+"rotate(-30)"+S1(0,-T._offset);r.layers.caxis.attr("transform",k),r.layers.cgrid.attr("transform",k),r.drawAxes(!0),r.layers.aline.select("path").attr("d",M.showline?"M"+p+","+(v+g)+"l"+m/2+",-"+g:"M0,0").call(B_.stroke,M.linecolor||"#000").style("stroke-width",(M.linewidth||0)+"px"),r.layers.bline.select("path").attr("d",x.showline?"M"+p+","+(v+g)+"h"+m:"M0,0").call(B_.stroke,x.linecolor||"#000").style("stroke-width",(x.linewidth||0)+"px"),r.layers.cline.select("path").attr("d",T.showline?"M"+(p+m/2)+","+v+"l"+m/2+","+g:"M0,0").call(B_.stroke,T.linecolor||"#000").style("stroke-width",(T.linewidth||0)+"px"),r.graphDiv._context.staticPlot||r.initInteractions(),YL.setClipUrl(r.layers.frontplot,r._hasClipOnAxisFalse?null:r.clipId,r.graphDiv)};E1.drawAxes=function(e){var t=this,r=t.graphDiv,i=t.id.slice(7)+"title",n=t.layers,a=t.aaxis,o=t.baxis,s=t.caxis;if(t.drawAx(a),t.drawAx(o),t.drawAx(s),e){var l=Math.max(a.showticklabels?a.tickfont.size/2:0,(s.showticklabels?s.tickfont.size*.75:0)+(s.ticks==="outside"?s.ticklen*.87:0)),u=(o.showticklabels?o.tickfont.size:0)+(o.ticks==="outside"?o.ticklen:0)+3;n["a-title"]=aY.draw(r,"a"+i,{propContainer:a,propName:t.id+".aaxis.title.text",placeholder:WL(r,"Click to enter Component A title"),attributes:{x:t.x0+t.w/2,y:t.y0-a.title.font.size/3-l,"text-anchor":"middle"}}),n["b-title"]=aY.draw(r,"b"+i,{propContainer:o,propName:t.id+".baxis.title.text",placeholder:WL(r,"Click to enter Component B title"),attributes:{x:t.x0-u,y:t.y0+t.h+o.title.font.size*.83+u,"text-anchor":"middle"}}),n["c-title"]=aY.draw(r,"c"+i,{propContainer:s,propName:t.id+".caxis.title.text",placeholder:WL(r,"Click to enter Component C title"),attributes:{x:t.x0+t.w+u,y:t.y0+t.h+s.title.font.size*.83+u,"text-anchor":"middle"}})}};E1.drawAx=function(e){var t=this,r=t.graphDiv,i=e._name,n=i.charAt(0),a=e._id,o=t.layers[i],s=30,l=n+"tickLayout",u=Izt(e);t[l]!==u&&(o.selectAll("."+a+"tick").remove(),t[l]=u),e.setScale();var c=Jy.calcTicks(e),f=Jy.clipEnds(e,c),h=Jy.makeTransTickFn(e),d=Jy.getTickSigns(e)[2],p=Xg.deg2rad(s),v=d*(e.linewidth||1)/2,m=d*e.ticklen,g=t.w,w=t.h,b=n==="b"?"M0,"+v+"l"+Math.sin(p)*m+","+Math.cos(p)*m:"M"+v+",0l"+Math.cos(p)*m+","+-Math.sin(p)*m,_={a:"M0,0l"+w+",-"+g/2,b:"M0,0l-"+g/2+",-"+w,c:"M0,0l-"+w+","+g/2}[n];Jy.drawTicks(r,e,{vals:e.ticks==="inside"?f:c,layer:o,path:b,transFn:h,crisp:!1}),Jy.drawGrid(r,e,{vals:f,layer:t.layers[n+"grid"],path:_,transFn:h,crisp:!1}),Jy.drawLabels(r,e,{vals:c,layer:o,transFn:h,labelFns:Jy.makeLabelFns(e,0,s)})};function Izt(e){return e.ticks+String(e.ticklen)+String(e.showticklabels)}var 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o=a("color"),s=o!==n.color.dflt?o:r.font.color,l=t._name,u=l.charAt(0).toUpperCase(),c="Component "+u,f=a("title.text",c);t._hovertitle=f===c?f:u,ZL.coerceFont(a,"title.font",r.font,{overrideDflt:{size:ZL.bigFont(r.font.size),color:s}}),a("min"),Kzt(e,t,a,"linear"),Xzt(e,t,a,"linear"),Yzt(e,t,a,"linear",{noAutotickangles:!0,noTicklabelshift:!0,noTicklabelstandoff:!0}),Zzt(e,t,a,{outerTicks:!0});var h=a("showticklabels");h&&(ZL.coerceFont(a,"tickfont",r.font,{overrideDflt:{color:s}}),a("tickangle"),a("tickformat")),Jzt(e,t,a,{dfltColor:o,bgColor:r.bgColor,blend:60,showLine:!0,showGrid:!0,noZeroLine:!0,attributes:n}),a("hoverformat"),a("layer")}});var vEe=W(Pd=>{"use strict";var tBt=lEe(),rBt=_c().getSubplotCalcData,iBt=it().counterRegex,M5="ternary";Pd.name=M5;var nBt=Pd.attr="subplot";Pd.idRoot=M5;Pd.idRegex=Pd.attrRegex=iBt(M5);var aBt=Pd.attributes={};aBt[nBt]={valType:"subplotid",dflt:"ternary",editType:"calc"};Pd.layoutAttributes=lY();Pd.supplyLayoutDefaults=pEe();Pd.plot=function(t){for(var r=t._fullLayout,i=t.calcdata,n=r._subplots[M5],a=0;a{"use strict";gEe.exports={attributes:eY(),supplyDefaults:OSe(),colorbar:Ac(),formatLabels:USe(),calc:jSe(),plot:WSe(),style:th().style,styleOnSelect:th().styleOnSelect,hoverPoints:XSe(),selectPoints:w_(),eventData:KSe(),moduleType:"trace",name:"scatterternary",basePlotModule:vEe(),categories:["ternary","symbols","showLegend","scatter-like"],meta:{}}});var xEe=W((lqr,yEe)=>{"use strict";yEe.exports=mEe()});var uY=W((uqr,bEe)=>{"use strict";var 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hY=W((cqr,wEe)=>{"use strict";var cY=RM(),fY=it().extendFlat;wEe.exports={violinmode:fY({},cY.boxmode,{}),violingap:fY({},cY.boxgap,{}),violingroupgap:fY({},cY.boxgroupgap,{})}});var EEe=W((fqr,SEe)=>{"use strict";var TEe=it(),oBt=ni(),AEe=BM(),MEe=uY();SEe.exports=function(t,r,i,n){function a(M,x){return TEe.coerce(t,r,MEe,M,x)}function o(M,x){return TEe.coerce2(t,r,MEe,M,x)}if(AEe.handleSampleDefaults(t,r,a,n),r.visible!==!1){a("bandwidth"),a("side");var s=a("width");s||(a("scalegroup",r.name),a("scalemode"));var l=a("span"),u;Array.isArray(l)&&(u="manual"),a("spanmode",u);var c=a("line.color",(t.marker||{}).color||i),f=a("line.width"),h=a("fillcolor",oBt.addOpacity(r.line.color,.5));AEe.handlePointsDefaults(t,r,a,{prefix:""});var d=o("box.width"),p=o("box.fillcolor",h),v=o("box.line.color",c),m=o("box.line.width",f),g=a("box.visible",!!(d||p||v||m));g||(r.box={visible:!1});var 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RP=Wa(),AWt=us().attributes,MWt=Ho(),SWt=Vl(),{hovertemplateAttrs:EWt,texttemplateAttrs:kWt,templatefallbackAttrs:HPe}=Ga(),d2=tn().extendFlat,CWt=Du().pattern,zP=MWt({editType:"plot",arrayOk:!0,colorEditType:"plot"});jPe.exports={labels:{valType:"data_array",editType:"calc"},label0:{valType:"number",dflt:0,editType:"calc"},dlabel:{valType:"number",dflt:1,editType:"calc"},values:{valType:"data_array",editType:"calc"},marker:{colors:{valType:"data_array",editType:"calc"},line:{color:{valType:"color",dflt:SWt.defaultLine,arrayOk:!0,editType:"style"},width:{valType:"number",min:0,dflt:0,arrayOk:!0,editType:"style"},editType:"calc"},pattern:CWt,editType:"calc"},text:{valType:"data_array",editType:"plot"},hovertext:{valType:"string",dflt:"",arrayOk:!0,editType:"style"},scalegroup:{valType:"string",dflt:"",editType:"calc"},textinfo:{valType:"flaglist",flags:["label","text","value","percent"],extras:["none"],editType:"calc"},hoverinfo:d2({},RP.hoverinfo,{flags:["label","text","value","percent","name"]}),hovertemplate:EWt({},{keys:["label","color","value","percent","text"]}),hovertemplatefallback:HPe(),texttemplate:kWt({editType:"plot"},{keys:["label","color","value","percent","text"]}),texttemplatefallback:HPe({editType:"plot"}),textposition:{valType:"enumerated",values:["inside","outside","auto","none"],dflt:"auto",arrayOk:!0,editType:"plot"},textfont:d2({},zP,{}),insidetextorientation:{valType:"enumerated",values:["horizontal","radial","tangential","auto"],dflt:"auto",editType:"plot"},insidetextfont:d2({},zP,{}),outsidetextfont:d2({},zP,{}),automargin:{valType:"boolean",dflt:!1,editType:"plot"},showlegend:d2({},RP.showlegend,{arrayOk:!0}),legend:d2({},RP.legend,{arrayOk:!0}),legendrank:d2({},RP.legendrank,{arrayOk:!0}),title:{text:{valType:"string",dflt:"",editType:"plot"},font:d2({},zP,{}),position:{valType:"enumerated",values:["top left","top center","top right","middle center","bottom left","bottom center","bottom right"],editType:"plot"},editType:"plot"},domain:AWt({name:"pie",trace:!0,editType:"calc"}),hole:{valType:"number",min:0,max:1,dflt:0,editType:"calc"},sort:{valType:"boolean",dflt:!0,editType:"calc"},direction:{valType:"enumerated",values:["clockwise","counterclockwise"],dflt:"counterclockwise",editType:"calc"},rotation:{valType:"angle",dflt:0,editType:"calc"},pull:{valType:"number",min:0,max:1,dflt:0,arrayOk:!0,editType:"calc"}}});var ab=W((dUr,YPe)=>{"use strict";var DWt=sn(),OS=it(),FWt=nb(),LWt=us().defaults,PWt=E0().handleText,IWt=it().coercePattern;function $Pe(e,t){var r=OS.isArrayOrTypedArray(e),i=OS.isArrayOrTypedArray(t),n=Math.min(r?e.length:1/0,i?t.length:1/0);if(isFinite(n)||(n=0),n&&i){for(var a,o=0;o0){a=!0;break}}a||(n=0)}return{hasLabels:r,hasValues:i,len:n}}function WPe(e,t,r,i,n){var a=i("marker.line.width");a&&i("marker.line.color",n?void 0:r.paper_bgcolor);var o=i("marker.colors");IWt(i,"marker.pattern",o),e.marker&&!t.marker.pattern.fgcolor&&(t.marker.pattern.fgcolor=e.marker.colors),t.marker.pattern.bgcolor||(t.marker.pattern.bgcolor=r.paper_bgcolor)}function RWt(e,t,r,i){function n(w,b){return OS.coerce(e,t,FWt,w,b)}var a=n("labels"),o=n("values"),s=$Pe(a,o),l=s.len;if(t._hasLabels=s.hasLabels,t._hasValues=s.hasValues,!t._hasLabels&&t._hasValues&&(n("label0"),n("dlabel")),!l){t.visible=!1;return}t._length=l,WPe(e,t,i,n,!0),n("scalegroup");var u=n("text"),c=n("texttemplate");n("texttemplatefallback");var f;if(c||(f=n("textinfo",OS.isArrayOrTypedArray(u)?"text+percent":"percent")),n("hovertext"),n("hovertemplate"),n("hovertemplatefallback"),c||f&&f!=="none"){var h=n("textposition");PWt(e,t,i,n,h,{moduleHasSelected:!1,moduleHasUnselected:!1,moduleHasConstrain:!1,moduleHasCliponaxis:!1,moduleHasTextangle:!1,moduleHasInsideanchor:!1});var d=Array.isArray(h)||h==="auto",p=d||h==="outside";p&&n("automargin"),(h==="inside"||h==="auto"||Array.isArray(h))&&n("insidetextorientation")}else f==="none"&&n("textposition","none");LWt(t,i,n);var v=n("hole"),m=n("title.text");if(m){var g=n("title.position",v?"middle center":"top center");!v&&g==="middle center"&&(t.title.position="top center"),OS.coerceFont(n,"title.font",i.font)}n("sort"),n("direction"),n("rotation"),n("pull")}YPe.exports={handleLabelsAndValues:$Pe,handleMarkerDefaults:WPe,supplyDefaults:RWt}});var BP=W((pUr,XPe)=>{"use strict";XPe.exports={hiddenlabels:{valType:"data_array",editType:"calc"},piecolorway:{valType:"colorlist",editType:"calc"},extendpiecolors:{valType:"boolean",dflt:!0,editType:"calc"}}});var KPe=W((vUr,ZPe)=>{"use strict";var zWt=it(),BWt=BP();ZPe.exports=function(t,r){function i(n,a){return zWt.coerce(t,r,BWt,n,a)}i("hiddenlabels"),i("piecolorway",r.colorway),i("extendpiecolors")}});var a4=W((gUr,eIe)=>{"use strict";var qWt=sn(),n4=ni(),OWt={};function NWt(e,t){var r=[],i=e._fullLayout,n=i.hiddenlabels||[],a=t.labels,o=t.marker.colors||[],s=t.values,l=t._length,u=t._hasValues&&l,c,f;if(t.dlabel)for(a=new Array(l),c=0;c=0});var _=t.type==="funnelarea"?v:t.sort;return _&&r.sort(function(M,x){return x.v-M.v}),r[0]&&(r[0].vTotal=p),r}function JPe(e){return function(r,i){if(!r||!n4.isValid(r))return!1;let n=n4.rgbaString(r);return e[i]||(e[i]=n),n}}function UWt(e,t){var r=(t||{}).type;r||(r="pie");var i=e._fullLayout,n=e.calcdata,a=i[r+"colorway"],o=i["_"+r+"colormap"];i["extend"+r+"colors"]&&(a=QPe(a,OWt));for(var s=0,l=0;l{"use strict";var VWt=Kf().appendArrayMultiPointValues;tIe.exports=function(t,r){var i={curveNumber:r.index,pointNumbers:t.pts,data:r._input,fullData:r,label:t.label,color:t.color,value:t.v,percent:t.percent,text:t.text,bbox:t.bbox,v:t.v};return t.pts.length===1&&(i.pointNumber=i.i=t.pts[0]),VWt(i,r,t.pts),r.type==="funnelarea"&&(delete i.v,delete i.i),i}});var UP=W((yUr,TIe)=>{"use 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E=+Ln.castOption(u.pull,_.pts)||0;E>0&&(x+=E*_.pxmid[0],T+=E*_.pxmid[1])}_.cxFinal=x,_.cyFinal=T;function S(L,I,B,O){var $=O*(I[0]-L[0]),Y=O*(I[1]-L[1]);return"a"+O*l.r+","+O*l.r+" 0 "+_.largeArc+(B?" 1 ":" 0 ")+$+","+Y}var C=u.hole;if(_.v===l.vTotal){var k="M"+(x+_.px0[0])+","+(T+_.px0[1])+S(_.px0,_.pxmid,!0,1)+S(_.pxmid,_.px0,!0,1)+"Z";C?y.attr("d","M"+(x+C*_.px0[0])+","+(T+C*_.px0[1])+S(_.px0,_.pxmid,!1,C)+S(_.pxmid,_.px0,!1,C)+"Z"+k):y.attr("d",k)}else{var D=S(_.px0,_.px1,!0,1);if(C){var F=1-C;y.attr("d","M"+(x+C*_.px1[0])+","+(T+C*_.px1[1])+S(_.px1,_.px0,!1,C)+"l"+F*_.px0[0]+","+F*_.px0[1]+D+"Z")}else y.attr("d","M"+x+","+T+"l"+_.px0[0]+","+_.px0[1]+D+"Z")}bIe(e,_,l);var P=Ln.castOption(u.textposition,_.pts),R=A.selectAll("g.slicetext").data(_.text&&P!=="none"?[0]:[]);R.enter().append("g").classed("slicetext",!0),R.exit().remove(),R.each(function(){var L=kc.ensureSingle(jh.select(this),"text","",function(q){q.attr("data-notex",1)}),I=kc.ensureUniformFontSize(e,P==="outside"?XWt(u,_,i.font):hIe(u,_,i.font));L.text(_.text).attr({class:"slicetext",transform:"","text-anchor":"middle"}).call(tm.font,I).call(OZ.convertToTspans,e);var B=tm.bBox(L.node()),O;if(P==="outside")O=sIe(B,_);else if(O=pIe(B,_,l),P==="auto"&&O.scale<1){var $=kc.ensureUniformFontSize(e,u.outsidetextfont);L.call(tm.font,$),B=tm.bBox(L.node()),O=sIe(B,_)}var Y=O.textPosAngle,K=Y===void 0?_.pxmid:NP(l.r,Y);if(O.targetX=x+K[0]*O.rCenter+(O.x||0),O.targetY=T+K[1]*O.rCenter+(O.y||0),wIe(O,B),O.outside){var j=O.targetY;_.yLabelMin=j-B.height/2,_.yLabelMid=j,_.yLabelMax=j+B.height/2,_.labelExtraX=0,_.labelExtraY=0,h=!0}O.fontSize=I.size,jWt(u.type,O,i),o[M].transform=O,kc.setTransormAndDisplay(L,O)})});var d=jh.select(this).selectAll("g.titletext").data(u.title.text?[0]:[]);if(d.enter().append("g").classed("titletext",!0),d.exit().remove(),d.each(function(){var _=kc.ensureSingle(jh.select(this),"text","",function(T){T.attr("data-notex",1)}),M=u.title.text;u._meta&&(M=kc.templateString(M,u._meta)),_.text(M).attr({class:"titletext",transform:"","text-anchor":"middle"}).call(tm.font,u.title.font).call(OZ.convertToTspans,e);var x;u.title.position==="middle center"?x=JWt(l):x=yIe(l,n),_.attr("transform",iIe(x.x,x.y)+HWt(Math.min(1,x.scale))+iIe(x.tx,x.ty))}),h&&eYt(f,u),YWt(c,u),h&&u.automargin){var p=tm.bBox(s.node()),v=u.domain,m=n.w*(v.x[1]-v.x[0]),g=n.h*(v.y[1]-v.y[0]),w=(.5*m-l.r)/n.w,b=(.5*g-l.r)/n.h;GWt.autoMargin(e,"pie."+u.uid+".automargin",{xl:v.x[0]-w,xr:v.x[1]+w,yb:v.y[0]-b,yt:v.y[1]+b,l:Math.max(l.cx-l.r-p.left,0),r:Math.max(p.right-(l.cx+l.r),0),b:Math.max(p.bottom-(l.cy+l.r),0),t:Math.max(l.cy-l.r-p.top,0),pad:5})}})});setTimeout(function(){a.selectAll("tspan").each(function(){var o=jh.select(this);o.attr("dy")&&o.attr("dy",o.attr("dy"))})},0)}function YWt(e,t){e.each(function(r){var i=jh.select(this);if(!r.labelExtraX&&!r.labelExtraY){i.select("path.textline").remove();return}var n=i.select("g.slicetext text");r.transform.targetX+=r.labelExtraX,r.transform.targetY+=r.labelExtraY,kc.setTransormAndDisplay(n,r.transform);var a=r.cxFinal+r.pxmid[0],o=r.cyFinal+r.pxmid[1],s="M"+a+","+o,l=(r.yLabelMax-r.yLabelMin)*(r.pxmid[0]<0?-1:1)/4;if(r.labelExtraX){var u=r.labelExtraX*r.pxmid[1]/r.pxmid[0],c=r.yLabelMid+r.labelExtraY-(r.cyFinal+r.pxmid[1]);Math.abs(u)>Math.abs(c)?s+="l"+c*r.pxmid[0]/r.pxmid[1]+","+c+"H"+(a+r.labelExtraX+l):s+="l"+r.labelExtraX+","+u+"v"+(c-u)+"h"+l}else s+="V"+(r.yLabelMid+r.labelExtraY)+"h"+l;kc.ensureSingle(i,"path","textline").call(lIe.stroke,t.outsidetextfont.color).attr({"stroke-width":Math.min(2,t.outsidetextfont.size/8),d:s,fill:"none"})})}function fIe(e,t,r){var i=r[0],n=i.cx,a=i.cy,o=i.trace,s=o.type==="funnelarea";"_hasHoverLabel"in o||(o._hasHoverLabel=!1),"_hasHoverEvent"in o||(o._hasHoverEvent=!1),e.on("mouseover",function(l){var u=t._fullLayout,c=t._fullData[o.index];if(!(t._dragging||u.hovermode===!1)){var f=c.hoverinfo;if(Array.isArray(f)&&(f=qP.castHoverinfo({hoverinfo:[Ln.castOption(f,l.pts)],_module:o._module},u,0)),f==="all"&&(f="label+text+value+percent+name"),c.hovertemplate||f!=="none"&&f!=="skip"&&f){var h=l.rInscribed||0,d=n+l.pxmid[0]*(1-h),p=a+l.pxmid[1]*(1-h),v=u.separators,m=[];if(f&&f.indexOf("label")!==-1&&m.push(l.label),l.text=Ln.castOption(c.hovertext||c.text,l.pts),f&&f.indexOf("text")!==-1){var g=l.text;kc.isValidTextValue(g)&&m.push(g)}l.value=l.v,l.valueLabel=Ln.formatPieValue(l.v,v),f&&f.indexOf("value")!==-1&&m.push(l.valueLabel),l.percent=l.v/i.vTotal,l.percentLabel=Ln.formatPiePercent(l.percent,v),f&&f.indexOf("percent")!==-1&&m.push(l.percentLabel);var w=c.hoverlabel,b=w.font,_=[];qP.loneHover({trace:o,x0:d-h*i.r,x1:d+h*i.r,y:p,_x0:s?n+l.TL[0]:d-h*i.r,_x1:s?n+l.TR[0]:d+h*i.r,_y0:s?a+l.TL[1]:p-h*i.r,_y1:s?a+l.BL[1]:p+h*i.r,text:m.join("
"),name:c.hovertemplate||f.indexOf("name")!==-1?c.name:void 0,idealAlign:l.pxmid[0]<0?"left":"right",color:Ln.castOption(w.bgcolor,l.pts)||l.color,borderColor:Ln.castOption(w.bordercolor,l.pts),fontFamily:Ln.castOption(b.family,l.pts),fontSize:Ln.castOption(b.size,l.pts),fontColor:Ln.castOption(b.color,l.pts),nameLength:Ln.castOption(w.namelength,l.pts),textAlign:Ln.castOption(w.align,l.pts),hovertemplate:Ln.castOption(c.hovertemplate,l.pts),hovertemplateLabels:l,eventData:[OP(l,c)]},{container:u._hoverlayer.node(),outerContainer:u._paper.node(),gd:t,inOut_bbox:_}),l.bbox=_[0],o._hasHoverLabel=!0}o._hasHoverEvent=!0,t.emit("plotly_hover",{points:[OP(l,c)],event:jh.event})}}),e.on("mouseout",function(l){var u=t._fullLayout,c=t._fullData[o.index],f=jh.select(this).datum();o._hasHoverEvent&&(l.originalEvent=jh.event,t.emit("plotly_unhover",{points:[OP(f,c)],event:jh.event}),o._hasHoverEvent=!1),o._hasHoverLabel&&(qP.loneUnhover(u._hoverlayer.node()),o._hasHoverLabel=!1)}),e.on("click",function(l){var u=t._fullLayout,c=t._fullData[o.index];t._dragging||u.hovermode===!1||(t._hoverdata=[OP(l,c)],qP.click(t,jh.event))})}function XWt(e,t,r){var i=Ln.castOption(e.outsidetextfont.color,t.pts)||Ln.castOption(e.textfont.color,t.pts)||r.color,n=Ln.castOption(e.outsidetextfont.family,t.pts)||Ln.castOption(e.textfont.family,t.pts)||r.family,a=Ln.castOption(e.outsidetextfont.size,t.pts)||Ln.castOption(e.textfont.size,t.pts)||r.size,o=Ln.castOption(e.outsidetextfont.weight,t.pts)||Ln.castOption(e.textfont.weight,t.pts)||r.weight,s=Ln.castOption(e.outsidetextfont.style,t.pts)||Ln.castOption(e.textfont.style,t.pts)||r.style,l=Ln.castOption(e.outsidetextfont.variant,t.pts)||Ln.castOption(e.textfont.variant,t.pts)||r.variant,u=Ln.castOption(e.outsidetextfont.textcase,t.pts)||Ln.castOption(e.textfont.textcase,t.pts)||r.textcase,c=Ln.castOption(e.outsidetextfont.lineposition,t.pts)||Ln.castOption(e.textfont.lineposition,t.pts)||r.lineposition,f=Ln.castOption(e.outsidetextfont.shadow,t.pts)||Ln.castOption(e.textfont.shadow,t.pts)||r.shadow;return{color:i,family:n,size:a,weight:o,style:s,variant:l,textcase:u,lineposition:c,shadow:f}}function hIe(e,t,r){var i=Ln.castOption(e.insidetextfont.color,t.pts);!i&&e._input.textfont&&(i=Ln.castOption(e._input.textfont.color,t.pts));var n=Ln.castOption(e.insidetextfont.family,t.pts)||Ln.castOption(e.textfont.family,t.pts)||r.family,a=Ln.castOption(e.insidetextfont.size,t.pts)||Ln.castOption(e.textfont.size,t.pts)||r.size,o=Ln.castOption(e.insidetextfont.weight,t.pts)||Ln.castOption(e.textfont.weight,t.pts)||r.weight,s=Ln.castOption(e.insidetextfont.style,t.pts)||Ln.castOption(e.textfont.style,t.pts)||r.style,l=Ln.castOption(e.insidetextfont.variant,t.pts)||Ln.castOption(e.textfont.variant,t.pts)||r.variant,u=Ln.castOption(e.insidetextfont.textcase,t.pts)||Ln.castOption(e.textfont.textcase,t.pts)||r.textcase,c=Ln.castOption(e.insidetextfont.lineposition,t.pts)||Ln.castOption(e.textfont.lineposition,t.pts)||r.lineposition,f=Ln.castOption(e.insidetextfont.shadow,t.pts)||Ln.castOption(e.textfont.shadow,t.pts)||r.shadow;return{color:i||lIe.contrast(t.color),family:n,size:a,weight:o,style:s,variant:l,textcase:u,lineposition:c,shadow:f}}function dIe(e,t){for(var r,i,n=0;n=-4;w-=2)g(Math.PI*w,"tan");for(w=4;w>=-4;w-=2)g(Math.PI*(w+1),"tan")}if(f||d){for(w=4;w>=-4;w-=2)g(Math.PI*(w+1.5),"rad");for(w=4;w>=-4;w-=2)g(Math.PI*(w+.5),"rad")}}if(s||p||f){var b=Math.sqrt(e.width*e.width+e.height*e.height);if(m={scale:n*i*2/b,rCenter:1-n,rotate:0},m.textPosAngle=(t.startangle+t.stopangle)/2,m.scale>=1)return m;v.push(m)}(p||d)&&(m=aIe(e,i,o,l,u),m.textPosAngle=(t.startangle+t.stopangle)/2,v.push(m)),(p||h)&&(m=oIe(e,i,o,l,u),m.textPosAngle=(t.startangle+t.stopangle)/2,v.push(m));for(var _=0,M=0,x=0;x=1)break}return v[_]}function ZWt(e,t){var r=e.startangle,i=e.stopangle;return r>t&&t>i||r0?1:-1)/2,y:a/(1+r*r/(i*i)),outside:!0}}function JWt(e){var t=Math.sqrt(e.titleBox.width*e.titleBox.width+e.titleBox.height*e.titleBox.height);return{x:e.cx,y:e.cy,scale:e.trace.hole*e.r*2/t,tx:0,ty:-e.titleBox.height/2+e.trace.title.font.size}}function yIe(e,t){var 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c=a("text");a("texttemplate"),a("texttemplatefallback"),r.texttemplate||a("textinfo",Fze.isArrayOrTypedArray(c)?"text+label":"label"),a("hovertext"),a("hovertemplate"),a("hovertemplatefallback");var f=a("pathbar.visible"),h="auto";SXt(t,r,n,a,h,{hasPathbar:f,moduleHasSelected:!1,moduleHasUnselected:!1,moduleHasConstrain:!1,moduleHasCliponaxis:!1,moduleHasTextangle:!1,moduleHasInsideanchor:!1}),a("textposition");var d=r.textposition.indexOf("bottom")!==-1;kXt(t,r,n,a);var p=r._hasColorscale=CXt(t,"marker","colors")||(t.marker||{}).coloraxis;p?DXt(t,r,n,a,{prefix:"marker.",cLetter:"c"}):a("marker.depthfade",!(r.marker.colors||[]).length);var v=r.textfont.size*2;a("marker.pad.t",d?v/4:v),a("marker.pad.l",v/4),a("marker.pad.r",v/4),a("marker.pad.b",d?v:v/4),a("marker.cornerradius"),r._hovered={marker:{line:{width:2,color:AXt.contrast(n.paper_bgcolor)}}},f&&(a("pathbar.thickness",r.pathbar.textfont.size+2*EXt),a("pathbar.side"),a("pathbar.edgeshape")),a("sort"),a("root.color"),MXt(r,n,a),r._length=null}});var zze=W((DGr,Rze)=>{"use strict";var FXt=it(),LXt=pK();Rze.exports=function(t,r){function i(n,a){return FXt.coerce(t,r,LXt,n,a)}i("treemapcolorway",r.colorway),i("extendtreemapcolors")}});var gK=W(vK=>{"use strict";var Bze=HS();vK.calc=function(e,t){return Bze.calc(e,t)};vK.crossTraceCalc=function(e){return Bze._runCrossTraceCalc("treemap",e)}});var mK=W((LGr,qze)=>{"use strict";qze.exports=function e(t,r,i){var n;i.swapXY&&(n=t.x0,t.x0=t.y0,t.y0=n,n=t.x1,t.x1=t.y1,t.y1=n),i.flipX&&(n=t.x0,t.x0=r[0]-t.x1,t.x1=r[0]-n),i.flipY&&(n=t.y0,t.y0=r[1]-t.y1,t.y1=r[1]-n);var a=t.children;if(a)for(var o=0;o{"use strict";var y4=VS(),PXt=mK();Oze.exports=function(t,r,i){var n=i.flipX,a=i.flipY,o=i.packing==="dice-slice",s=i.pad[a?"bottom":"top"],l=i.pad[n?"right":"left"],u=i.pad[n?"left":"right"],c=i.pad[a?"top":"bottom"],f;o&&(f=l,l=s,s=f,f=u,u=c,c=f);var h=y4.treemap().tile(IXt(i.packing,i.squarifyratio)).paddingInner(i.pad.inner).paddingLeft(l).paddingRight(u).paddingTop(s).paddingBottom(c).size(o?[r[1],r[0]]:r)(t);return(o||n||a)&&PXt(h,r,{swapXY:o,flipX:n,flipY:a}),h};function IXt(e,t){switch(e){case"squarify":return y4.treemapSquarify.ratio(t);case"binary":return y4.treemapBinary;case"dice":return y4.treemapDice;case"slice":return y4.treemapSlice;default:return y4.treemapSliceDice}}});var hI=W((IGr,Gze)=>{"use strict";var Nze=vi(),x4=ni(),Uze=it(),xK=am(),RXt=Qc().resizeText,zXt=lI();function BXt(e){var t=e._fullLayout._treemaplayer.selectAll(".trace");RXt(e,t,"treemap"),t.each(function(r){var 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hn=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+(hn>>>26)|0,hn&=67108863,j=Math.imul(re,ut),q=Math.imul(re,vt),q=q+Math.imul(pe,ut)|0,J=Math.imul(pe,vt),j=j+Math.imul(ee,mt)|0,q=q+Math.imul(ee,bt)|0,q=q+Math.imul(ae,mt)|0,J=J+Math.imul(ae,bt)|0,j=j+Math.imul(Ee,Ue)|0,q=q+Math.imul(Ee,Ge)|0,q=q+Math.imul(ye,Ue)|0,J=J+Math.imul(ye,Ge)|0,j=j+Math.imul(be,Re)|0,q=q+Math.imul(be,Ve)|0,q=q+Math.imul(he,Re)|0,J=J+Math.imul(he,Ve)|0,j=j+Math.imul(ce,Tt)|0,q=q+Math.imul(ce,Xt)|0,q=q+Math.imul(ge,Tt)|0,J=J+Math.imul(ge,Xt)|0,j=j+Math.imul(G,lr)|0,q=q+Math.imul(G,ur)|0,q=q+Math.imul(Q,lr)|0,J=J+Math.imul(Q,ur)|0,j=j+Math.imul(V,Zt)|0,q=q+Math.imul(V,kr)|0,q=q+Math.imul(X,Zt)|0,J=J+Math.imul(X,kr)|0;var ta=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+(ta>>>26)|0,ta&=67108863,j=Math.imul(Fe,ut),q=Math.imul(Fe,vt),q=q+Math.imul(Se,ut)|0,J=Math.imul(Se,vt),j=j+Math.imul(re,mt)|0,q=q+Math.imul(re,bt)|0,q=q+Math.imul(pe,mt)|0,J=J+Math.imul(pe,bt)|0,j=j+Math.imul(ee,Ue)|0,q=q+Math.imul(ee,Ge)|0,q=q+Math.imul(ae,Ue)|0,J=J+Math.imul(ae,Ge)|0,j=j+Math.imul(Ee,Re)|0,q=q+Math.imul(Ee,Ve)|0,q=q+Math.imul(ye,Re)|0,J=J+Math.imul(ye,Ve)|0,j=j+Math.imul(be,Tt)|0,q=q+Math.imul(be,Xt)|0,q=q+Math.imul(he,Tt)|0,J=J+Math.imul(he,Xt)|0,j=j+Math.imul(ce,lr)|0,q=q+Math.imul(ce,ur)|0,q=q+Math.imul(ge,lr)|0,J=J+Math.imul(ge,ur)|0,j=j+Math.imul(G,Zt)|0,q=q+Math.imul(G,kr)|0,q=q+Math.imul(Q,Zt)|0,J=J+Math.imul(Q,kr)|0,j=j+Math.imul(V,tt)|0,q=q+Math.imul(V,st)|0,q=q+Math.imul(X,tt)|0,J=J+Math.imul(X,st)|0;var ca=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+(ca>>>26)|0,ca&=67108863,j=Math.imul(_e,ut),q=Math.imul(_e,vt),q=q+Math.imul(Ie,ut)|0,J=Math.imul(Ie,vt),j=j+Math.imul(Fe,mt)|0,q=q+Math.imul(Fe,bt)|0,q=q+Math.imul(Se,mt)|0,J=J+Math.imul(Se,bt)|0,j=j+Math.imul(re,Ue)|0,q=q+Math.imul(re,Ge)|0,q=q+Math.imul(pe,Ue)|0,J=J+Math.imul(pe,Ge)|0,j=j+Math.imul(ee,Re)|0,q=q+Math.imul(ee,Ve)|0,q=q+Math.imul(ae,Re)|0,J=J+Math.imul(ae,Ve)|0,j=j+Math.imul(Ee,Tt)|0,q=q+Math.imul(Ee,Xt)|0,q=q+Math.imul(ye,Tt)|0,J=J+Math.imul(ye,Xt)|0,j=j+Math.imul(be,lr)|0,q=q+Math.imul(be,ur)|0,q=q+Math.imul(he,lr)|0,J=J+Math.imul(he,ur)|0,j=j+Math.imul(ce,Zt)|0,q=q+Math.imul(ce,kr)|0,q=q+Math.imul(ge,Zt)|0,J=J+Math.imul(ge,kr)|0,j=j+Math.imul(G,tt)|0,q=q+Math.imul(G,st)|0,q=q+Math.imul(Q,tt)|0,J=J+Math.imul(Q,st)|0,j=j+Math.imul(V,Je)|0,q=q+Math.imul(V,Ct)|0,q=q+Math.imul(X,Je)|0,J=J+Math.imul(X,Ct)|0;var dn=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+(dn>>>26)|0,dn&=67108863,j=Math.imul(Qe,ut),q=Math.imul(Qe,vt),q=q+Math.imul(et,ut)|0,J=Math.imul(et,vt),j=j+Math.imul(_e,mt)|0,q=q+Math.imul(_e,bt)|0,q=q+Math.imul(Ie,mt)|0,J=J+Math.imul(Ie,bt)|0,j=j+Math.imul(Fe,Ue)|0,q=q+Math.imul(Fe,Ge)|0,q=q+Math.imul(Se,Ue)|0,J=J+Math.imul(Se,Ge)|0,j=j+Math.imul(re,Re)|0,q=q+Math.imul(re,Ve)|0,q=q+Math.imul(pe,Re)|0,J=J+Math.imul(pe,Ve)|0,j=j+Math.imul(ee,Tt)|0,q=q+Math.imul(ee,Xt)|0,q=q+Math.imul(ae,Tt)|0,J=J+Math.imul(ae,Xt)|0,j=j+Math.imul(Ee,lr)|0,q=q+Math.imul(Ee,ur)|0,q=q+Math.imul(ye,lr)|0,J=J+Math.imul(ye,ur)|0,j=j+Math.imul(be,Zt)|0,q=q+Math.imul(be,kr)|0,q=q+Math.imul(he,Zt)|0,J=J+Math.imul(he,kr)|0,j=j+Math.imul(ce,tt)|0,q=q+Math.imul(ce,st)|0,q=q+Math.imul(ge,tt)|0,J=J+Math.imul(ge,st)|0,j=j+Math.imul(G,Je)|0,q=q+Math.imul(G,Ct)|0,q=q+Math.imul(Q,Je)|0,J=J+Math.imul(Q,Ct)|0,j=j+Math.imul(V,hr)|0,q=q+Math.imul(V,Ur)|0,q=q+Math.imul(X,hr)|0,J=J+Math.imul(X,Ur)|0;var Vn=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+(Vn>>>26)|0,Vn&=67108863,j=Math.imul(Qe,mt),q=Math.imul(Qe,bt),q=q+Math.imul(et,mt)|0,J=Math.imul(et,bt),j=j+Math.imul(_e,Ue)|0,q=q+Math.imul(_e,Ge)|0,q=q+Math.imul(Ie,Ue)|0,J=J+Math.imul(Ie,Ge)|0,j=j+Math.imul(Fe,Re)|0,q=q+Math.imul(Fe,Ve)|0,q=q+Math.imul(Se,Re)|0,J=J+Math.imul(Se,Ve)|0,j=j+Math.imul(re,Tt)|0,q=q+Math.imul(re,Xt)|0,q=q+Math.imul(pe,Tt)|0,J=J+Math.imul(pe,Xt)|0,j=j+Math.imul(ee,lr)|0,q=q+Math.imul(ee,ur)|0,q=q+Math.imul(ae,lr)|0,J=J+Math.imul(ae,ur)|0,j=j+Math.imul(Ee,Zt)|0,q=q+Math.imul(Ee,kr)|0,q=q+Math.imul(ye,Zt)|0,J=J+Math.imul(ye,kr)|0,j=j+Math.imul(be,tt)|0,q=q+Math.imul(be,st)|0,q=q+Math.imul(he,tt)|0,J=J+Math.imul(he,st)|0,j=j+Math.imul(ce,Je)|0,q=q+Math.imul(ce,Ct)|0,q=q+Math.imul(ge,Je)|0,J=J+Math.imul(ge,Ct)|0,j=j+Math.imul(G,hr)|0,q=q+Math.imul(G,Ur)|0,q=q+Math.imul(Q,hr)|0,J=J+Math.imul(Q,Ur)|0;var ra=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+(ra>>>26)|0,ra&=67108863,j=Math.imul(Qe,Ue),q=Math.imul(Qe,Ge),q=q+Math.imul(et,Ue)|0,J=Math.imul(et,Ge),j=j+Math.imul(_e,Re)|0,q=q+Math.imul(_e,Ve)|0,q=q+Math.imul(Ie,Re)|0,J=J+Math.imul(Ie,Ve)|0,j=j+Math.imul(Fe,Tt)|0,q=q+Math.imul(Fe,Xt)|0,q=q+Math.imul(Se,Tt)|0,J=J+Math.imul(Se,Xt)|0,j=j+Math.imul(re,lr)|0,q=q+Math.imul(re,ur)|0,q=q+Math.imul(pe,lr)|0,J=J+Math.imul(pe,ur)|0,j=j+Math.imul(ee,Zt)|0,q=q+Math.imul(ee,kr)|0,q=q+Math.imul(ae,Zt)|0,J=J+Math.imul(ae,kr)|0,j=j+Math.imul(Ee,tt)|0,q=q+Math.imul(Ee,st)|0,q=q+Math.imul(ye,tt)|0,J=J+Math.imul(ye,st)|0,j=j+Math.imul(be,Je)|0,q=q+Math.imul(be,Ct)|0,q=q+Math.imul(he,Je)|0,J=J+Math.imul(he,Ct)|0,j=j+Math.imul(ce,hr)|0,q=q+Math.imul(ce,Ur)|0,q=q+Math.imul(ge,hr)|0,J=J+Math.imul(ge,Ur)|0;var ds=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+(ds>>>26)|0,ds&=67108863,j=Math.imul(Qe,Re),q=Math.imul(Qe,Ve),q=q+Math.imul(et,Re)|0,J=Math.imul(et,Ve),j=j+Math.imul(_e,Tt)|0,q=q+Math.imul(_e,Xt)|0,q=q+Math.imul(Ie,Tt)|0,J=J+Math.imul(Ie,Xt)|0,j=j+Math.imul(Fe,lr)|0,q=q+Math.imul(Fe,ur)|0,q=q+Math.imul(Se,lr)|0,J=J+Math.imul(Se,ur)|0,j=j+Math.imul(re,Zt)|0,q=q+Math.imul(re,kr)|0,q=q+Math.imul(pe,Zt)|0,J=J+Math.imul(pe,kr)|0,j=j+Math.imul(ee,tt)|0,q=q+Math.imul(ee,st)|0,q=q+Math.imul(ae,tt)|0,J=J+Math.imul(ae,st)|0,j=j+Math.imul(Ee,Je)|0,q=q+Math.imul(Ee,Ct)|0,q=q+Math.imul(ye,Je)|0,J=J+Math.imul(ye,Ct)|0,j=j+Math.imul(be,hr)|0,q=q+Math.imul(be,Ur)|0,q=q+Math.imul(he,hr)|0,J=J+Math.imul(he,Ur)|0;var mo=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+(mo>>>26)|0,mo&=67108863,j=Math.imul(Qe,Tt),q=Math.imul(Qe,Xt),q=q+Math.imul(et,Tt)|0,J=Math.imul(et,Xt),j=j+Math.imul(_e,lr)|0,q=q+Math.imul(_e,ur)|0,q=q+Math.imul(Ie,lr)|0,J=J+Math.imul(Ie,ur)|0,j=j+Math.imul(Fe,Zt)|0,q=q+Math.imul(Fe,kr)|0,q=q+Math.imul(Se,Zt)|0,J=J+Math.imul(Se,kr)|0,j=j+Math.imul(re,tt)|0,q=q+Math.imul(re,st)|0,q=q+Math.imul(pe,tt)|0,J=J+Math.imul(pe,st)|0,j=j+Math.imul(ee,Je)|0,q=q+Math.imul(ee,Ct)|0,q=q+Math.imul(ae,Je)|0,J=J+Math.imul(ae,Ct)|0,j=j+Math.imul(Ee,hr)|0,q=q+Math.imul(Ee,Ur)|0,q=q+Math.imul(ye,hr)|0,J=J+Math.imul(ye,Ur)|0;var Rs=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+(Rs>>>26)|0,Rs&=67108863,j=Math.imul(Qe,lr),q=Math.imul(Qe,ur),q=q+Math.imul(et,lr)|0,J=Math.imul(et,ur),j=j+Math.imul(_e,Zt)|0,q=q+Math.imul(_e,kr)|0,q=q+Math.imul(Ie,Zt)|0,J=J+Math.imul(Ie,kr)|0,j=j+Math.imul(Fe,tt)|0,q=q+Math.imul(Fe,st)|0,q=q+Math.imul(Se,tt)|0,J=J+Math.imul(Se,st)|0,j=j+Math.imul(re,Je)|0,q=q+Math.imul(re,Ct)|0,q=q+Math.imul(pe,Je)|0,J=J+Math.imul(pe,Ct)|0,j=j+Math.imul(ee,hr)|0,q=q+Math.imul(ee,Ur)|0,q=q+Math.imul(ae,hr)|0,J=J+Math.imul(ae,Ur)|0;var ho=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+(ho>>>26)|0,ho&=67108863,j=Math.imul(Qe,Zt),q=Math.imul(Qe,kr),q=q+Math.imul(et,Zt)|0,J=Math.imul(et,kr),j=j+Math.imul(_e,tt)|0,q=q+Math.imul(_e,st)|0,q=q+Math.imul(Ie,tt)|0,J=J+Math.imul(Ie,st)|0,j=j+Math.imul(Fe,Je)|0,q=q+Math.imul(Fe,Ct)|0,q=q+Math.imul(Se,Je)|0,J=J+Math.imul(Se,Ct)|0,j=j+Math.imul(re,hr)|0,q=q+Math.imul(re,Ur)|0,q=q+Math.imul(pe,hr)|0,J=J+Math.imul(pe,Ur)|0;var ka=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+(ka>>>26)|0,ka&=67108863,j=Math.imul(Qe,tt),q=Math.imul(Qe,st),q=q+Math.imul(et,tt)|0,J=Math.imul(et,st),j=j+Math.imul(_e,Je)|0,q=q+Math.imul(_e,Ct)|0,q=q+Math.imul(Ie,Je)|0,J=J+Math.imul(Ie,Ct)|0,j=j+Math.imul(Fe,hr)|0,q=q+Math.imul(Fe,Ur)|0,q=q+Math.imul(Se,hr)|0,J=J+Math.imul(Se,Ur)|0;var ao=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+(ao>>>26)|0,ao&=67108863,j=Math.imul(Qe,Je),q=Math.imul(Qe,Ct),q=q+Math.imul(et,Je)|0,J=Math.imul(et,Ct),j=j+Math.imul(_e,hr)|0,q=q+Math.imul(_e,Ur)|0,q=q+Math.imul(Ie,hr)|0,J=J+Math.imul(Ie,Ur)|0;var zs=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+(zs>>>26)|0,zs&=67108863,j=Math.imul(Qe,hr),q=Math.imul(Qe,Ur),q=q+Math.imul(et,hr)|0,J=Math.imul(et,Ur);var _a=(K+j|0)+((q&8191)<<13)|0;return K=(J+(q>>>13)|0)+(_a>>>26)|0,_a&=67108863,Y[0]=si,Y[1]=ei,Y[2]=Lr,Y[3]=$i,Y[4]=Tn,Y[5]=hn,Y[6]=ta,Y[7]=ca,Y[8]=dn,Y[9]=Vn,Y[10]=ra,Y[11]=ds,Y[12]=mo,Y[13]=Rs,Y[14]=ho,Y[15]=ka,Y[16]=ao,Y[17]=zs,Y[18]=_a,K!==0&&(Y[19]=K,B.length++),B};Math.imul||(M=_);function x(R,L,I){I.negative=L.negative^R.negative,I.length=R.length+L.length;for(var B=0,O=0,$=0;$>>26)|0,O+=Y>>>26,Y&=67108863}I.words[$]=K,B=Y,Y=O}return B!==0?I.words[$]=B:I.length--,I.strip()}function T(R,L,I){var B=new A;return B.mulp(R,L,I)}f.prototype.mulTo=function(L,I){var B,O=this.length+L.length;return this.length===10&&L.length===10?B=M(this,L,I):O<63?B=_(this,L,I):O<1024?B=x(this,L,I):B=T(this,L,I),B};function A(R,L){this.x=R,this.y=L}A.prototype.makeRBT=function(L){for(var I=new Array(L),B=f.prototype._countBits(L)-1,O=0;O>=1;return O},A.prototype.permute=function(L,I,B,O,$,Y){for(var K=0;K>>1)$++;return 1<<$+1+O},A.prototype.conjugate=function(L,I,B){if(!(B<=1))for(var O=0;O>>13,B[2*Y+1]=$&8191,$=$>>>13;for(Y=2*I;Y>=26,I+=O/67108864|0,I+=$>>>26,this.words[B]=$&67108863}return I!==0&&(this.words[B]=I,this.length++),L===0&&(this.length=1,this._normSign()),this},f.prototype.muln=function(L){return this.clone().imuln(L)},f.prototype.sqr=function(){return this.mul(this)},f.prototype.isqr=function(){return this.imul(this.clone())},f.prototype.pow=function(L){var I=b(L);if(I.length===0)return new f(1);for(var B=this,O=0;O=0);var I=L%26,B=(L-I)/26,O=67108863>>>26-I<<26-I,$;if(I!==0){var Y=0;for($=0;$>>26-I}Y&&(this.words[$]=Y,this.length++)}if(B!==0){for($=this.length-1;$>=0;$--)this.words[$+B]=this.words[$];for($=0;$=0);var O;I?O=(I-I%26)/26:O=0;var $=L%26,Y=Math.min((L-$)/26,this.length),K=67108863^67108863>>>$<<$,j=B;if(O-=Y,O=Math.max(0,O),j){for(var q=0;qY)for(this.length-=Y,q=0;q=0&&(J!==0||q>=O);q--){var U=this.words[q]|0;this.words[q]=J<<26-$|U>>>$,J=U&K}return j&&J!==0&&(j.words[j.length++]=J),this.length===0&&(this.words[0]=0,this.length=1),this.strip()},f.prototype.ishrn=function(L,I,B){return u(this.negative===0),this.iushrn(L,I,B)},f.prototype.shln=function(L){return this.clone().ishln(L)},f.prototype.ushln=function(L){return this.clone().iushln(L)},f.prototype.shrn=function(L){return this.clone().ishrn(L)},f.prototype.ushrn=function(L){return this.clone().iushrn(L)},f.prototype.testn=function(L){u(typeof L=="number"&&L>=0);var I=L%26,B=(L-I)/26,O=1<=0);var I=L%26,B=(L-I)/26;if(u(this.negative===0,"imaskn works only with positive numbers"),this.length<=B)return this;if(I!==0&&B++,this.length=Math.min(B,this.length),I!==0){var O=67108863^67108863>>>I<=67108864;I++)this.words[I]-=67108864,I===this.length-1?this.words[I+1]=1:this.words[I+1]++;return this.length=Math.max(this.length,I+1),this},f.prototype.isubn=function(L){if(u(typeof L=="number"),u(L<67108864),L<0)return this.iaddn(-L);if(this.negative!==0)return this.negative=0,this.iaddn(L),this.negative=1,this;if(this.words[0]-=L,this.length===1&&this.words[0]<0)this.words[0]=-this.words[0],this.negative=1;else for(var I=0;I>26)-(j/67108864|0),this.words[$+B]=Y&67108863}for(;$>26,this.words[$+B]=Y&67108863;if(K===0)return this.strip();for(u(K===-1),K=0,$=0;$>26,this.words[$]=Y&67108863;return this.negative=1,this.strip()},f.prototype._wordDiv=function(L,I){var B=this.length-L.length,O=this.clone(),$=L,Y=$.words[$.length-1]|0,K=this._countBits(Y);B=26-K,B!==0&&($=$.ushln(B),O.iushln(B),Y=$.words[$.length-1]|0);var j=O.length-$.length,q;if(I!=="mod"){q=new f(null),q.length=j+1,q.words=new Array(q.length);for(var J=0;J=0;V--){var X=(O.words[$.length+V]|0)*67108864+(O.words[$.length+V-1]|0);for(X=Math.min(X/Y|0,67108863),O._ishlnsubmul($,X,V);O.negative!==0;)X--,O.negative=0,O._ishlnsubmul($,1,V),O.isZero()||(O.negative^=1);q&&(q.words[V]=X)}return q&&q.strip(),O.strip(),I!=="div"&&B!==0&&O.iushrn(B),{div:q||null,mod:O}},f.prototype.divmod=function(L,I,B){if(u(!L.isZero()),this.isZero())return{div:new f(0),mod:new f(0)};var O,$,Y;return this.negative!==0&&L.negative===0?(Y=this.neg().divmod(L,I),I!=="mod"&&(O=Y.div.neg()),I!=="div"&&($=Y.mod.neg(),B&&$.negative!==0&&$.iadd(L)),{div:O,mod:$}):this.negative===0&&L.negative!==0?(Y=this.divmod(L.neg(),I),I!=="mod"&&(O=Y.div.neg()),{div:O,mod:Y.mod}):(this.negative&L.negative)!==0?(Y=this.neg().divmod(L.neg(),I),I!=="div"&&($=Y.mod.neg(),B&&$.negative!==0&&$.isub(L)),{div:Y.div,mod:$}):L.length>this.length||this.cmp(L)<0?{div:new f(0),mod:this}:L.length===1?I==="div"?{div:this.divn(L.words[0]),mod:null}:I==="mod"?{div:null,mod:new f(this.modn(L.words[0]))}:{div:this.divn(L.words[0]),mod:new f(this.modn(L.words[0]))}:this._wordDiv(L,I)},f.prototype.div=function(L){return this.divmod(L,"div",!1).div},f.prototype.mod=function(L){return this.divmod(L,"mod",!1).mod},f.prototype.umod=function(L){return this.divmod(L,"mod",!0).mod},f.prototype.divRound=function(L){var I=this.divmod(L);if(I.mod.isZero())return I.div;var B=I.mod.abs(),O=L.abs().iushrn(1),$=L.words[0]&1,Y=B.cmp(O);if(Y<0||$===1&&Y===0)return I.div;var K=new f(1);return K.negative=this.negative^L.negative,I.div.iadd(K)},f.prototype.modn=function(L){u(L<=67108863);for(var I=(1<<26)%L,B=0,O=this.length-1;O>=0;O--)B=(I*B+(this.words[O]|0))%L;return B},f.prototype.idivn=function(L){u(L<=67108863);for(var I=0,B=this.length-1;B>=0;B--){var O=(this.words[B]|0)+I*67108864;this.words[B]=O/L|0,I=O%L}return this.strip()},f.prototype.divn=function(L){return this.clone().idivn(L)},f.prototype.egcd=function(L){u(L.negative===0),u(!L.isZero());var I=this,B=L.clone();I.negative!==0?I=I.umod(L):I=I.clone();for(var O=new f(1),$=new f(0),Y=new f(0),K=new f(1),j=0;I.isEven()&&B.isEven();)I.iushrn(1),B.iushrn(1),++j;for(var q=B.clone(),J=I.clone();!I.isZero();){for(var U=0,V=1;(I.words[0]&V)===0&&U<26;++U,V<<=1);if(U>0)for(I.iushrn(U);U-- >0;)(O.isOdd()||$.isOdd())&&(O.iadd(q),$.isub(J)),O.iushrn(1),$.iushrn(1);for(var X=0,H=1;(B.words[0]&H)===0&&X<26;++X,H<<=1);if(X>0)for(B.iushrn(X);X-- >0;)(Y.isOdd()||K.isOdd())&&(Y.iadd(q),K.isub(J)),Y.iushrn(1),K.iushrn(1);I.cmp(B)>=0?(I.isub(B),O.isub(Y),$.isub(K)):(B.isub(I),Y.isub(O),K.isub($))}return{a:Y,b:K,gcd:B.iushln(j)}},f.prototype._invmp=function(L){u(L.negative===0),u(!L.isZero());var I=this,B=L.clone();I.negative!==0?I=I.umod(L):I=I.clone();for(var O=new f(1),$=new f(0),Y=B.clone();I.cmpn(1)>0&&B.cmpn(1)>0;){for(var K=0,j=1;(I.words[0]&j)===0&&K<26;++K,j<<=1);if(K>0)for(I.iushrn(K);K-- >0;)O.isOdd()&&O.iadd(Y),O.iushrn(1);for(var q=0,J=1;(B.words[0]&J)===0&&q<26;++q,J<<=1);if(q>0)for(B.iushrn(q);q-- >0;)$.isOdd()&&$.iadd(Y),$.iushrn(1);I.cmp(B)>=0?(I.isub(B),O.isub($)):(B.isub(I),$.isub(O))}var U;return I.cmpn(1)===0?U=O:U=$,U.cmpn(0)<0&&U.iadd(L),U},f.prototype.gcd=function(L){if(this.isZero())return L.abs();if(L.isZero())return this.abs();var I=this.clone(),B=L.clone();I.negative=0,B.negative=0;for(var O=0;I.isEven()&&B.isEven();O++)I.iushrn(1),B.iushrn(1);do{for(;I.isEven();)I.iushrn(1);for(;B.isEven();)B.iushrn(1);var $=I.cmp(B);if($<0){var Y=I;I=B,B=Y}else if($===0||B.cmpn(1)===0)break;I.isub(B)}while(!0);return B.iushln(O)},f.prototype.invm=function(L){return this.egcd(L).a.umod(L)},f.prototype.isEven=function(){return(this.words[0]&1)===0},f.prototype.isOdd=function(){return(this.words[0]&1)===1},f.prototype.andln=function(L){return this.words[0]&L},f.prototype.bincn=function(L){u(typeof L=="number");var I=L%26,B=(L-I)/26,O=1<>>26,K&=67108863,this.words[Y]=K}return $!==0&&(this.words[Y]=$,this.length++),this},f.prototype.isZero=function(){return this.length===1&&this.words[0]===0},f.prototype.cmpn=function(L){var I=L<0;if(this.negative!==0&&!I)return-1;if(this.negative===0&&I)return 1;this.strip();var B;if(this.length>1)B=1;else{I&&(L=-L),u(L<=67108863,"Number is too big");var O=this.words[0]|0;B=O===L?0:OL.length)return 1;if(this.length=0;B--){var O=this.words[B]|0,$=L.words[B]|0;if(O!==$){O<$?I=-1:O>$&&(I=1);break}}return I},f.prototype.gtn=function(L){return this.cmpn(L)===1},f.prototype.gt=function(L){return this.cmp(L)===1},f.prototype.gten=function(L){return this.cmpn(L)>=0},f.prototype.gte=function(L){return this.cmp(L)>=0},f.prototype.ltn=function(L){return this.cmpn(L)===-1},f.prototype.lt=function(L){return this.cmp(L)===-1},f.prototype.lten=function(L){return this.cmpn(L)<=0},f.prototype.lte=function(L){return this.cmp(L)<=0},f.prototype.eqn=function(L){return this.cmpn(L)===0},f.prototype.eq=function(L){return this.cmp(L)===0},f.red=function(L){return new F(L)},f.prototype.toRed=function(L){return u(!this.red,"Already a number in reduction context"),u(this.negative===0,"red works only with positives"),L.convertTo(this)._forceRed(L)},f.prototype.fromRed=function(){return u(this.red,"fromRed works only with numbers in reduction context"),this.red.convertFrom(this)},f.prototype._forceRed=function(L){return this.red=L,this},f.prototype.forceRed=function(L){return u(!this.red,"Already a number in reduction context"),this._forceRed(L)},f.prototype.redAdd=function(L){return u(this.red,"redAdd works only with red numbers"),this.red.add(this,L)},f.prototype.redIAdd=function(L){return u(this.red,"redIAdd works only with red numbers"),this.red.iadd(this,L)},f.prototype.redSub=function(L){return u(this.red,"redSub works only with red numbers"),this.red.sub(this,L)},f.prototype.redISub=function(L){return u(this.red,"redISub works only with red numbers"),this.red.isub(this,L)},f.prototype.redShl=function(L){return u(this.red,"redShl works only with red numbers"),this.red.shl(this,L)},f.prototype.redMul=function(L){return u(this.red,"redMul works only with red numbers"),this.red._verify2(this,L),this.red.mul(this,L)},f.prototype.redIMul=function(L){return u(this.red,"redMul works only with red numbers"),this.red._verify2(this,L),this.red.imul(this,L)},f.prototype.redSqr=function(){return u(this.red,"redSqr works only with red numbers"),this.red._verify1(this),this.red.sqr(this)},f.prototype.redISqr=function(){return u(this.red,"redISqr works only with red numbers"),this.red._verify1(this),this.red.isqr(this)},f.prototype.redSqrt=function(){return u(this.red,"redSqrt works only with red numbers"),this.red._verify1(this),this.red.sqrt(this)},f.prototype.redInvm=function(){return u(this.red,"redInvm works only with red numbers"),this.red._verify1(this),this.red.invm(this)},f.prototype.redNeg=function(){return u(this.red,"redNeg works only with red numbers"),this.red._verify1(this),this.red.neg(this)},f.prototype.redPow=function(L){return u(this.red&&!L.red,"redPow(normalNum)"),this.red._verify1(this),this.red.pow(this,L)};var y={k256:null,p224:null,p192:null,p25519:null};function E(R,L){this.name=R,this.p=new f(L,16),this.n=this.p.bitLength(),this.k=new f(1).iushln(this.n).isub(this.p),this.tmp=this._tmp()}E.prototype._tmp=function(){var L=new f(null);return L.words=new Array(Math.ceil(this.n/13)),L},E.prototype.ireduce=function(L){var I=L,B;do this.split(I,this.tmp),I=this.imulK(I),I=I.iadd(this.tmp),B=I.bitLength();while(B>this.n);var O=B0?I.isub(this.p):I.strip!==void 0?I.strip():I._strip(),I},E.prototype.split=function(L,I){L.iushrn(this.n,0,I)},E.prototype.imulK=function(L){return L.imul(this.k)};function S(){E.call(this,"k256","ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff fffffffe fffffc2f")}c(S,E),S.prototype.split=function(L,I){for(var B=4194303,O=Math.min(L.length,9),$=0;$>>22,Y=K}Y>>>=22,L.words[$-10]=Y,Y===0&&L.length>10?L.length-=10:L.length-=9},S.prototype.imulK=function(L){L.words[L.length]=0,L.words[L.length+1]=0,L.length+=2;for(var I=0,B=0;B>>=26,L.words[B]=$,I=O}return I!==0&&(L.words[L.length++]=I),L},f._prime=function(L){if(y[L])return y[L];var I;if(L==="k256")I=new S;else if(L==="p224")I=new C;else if(L==="p192")I=new k;else if(L==="p25519")I=new D;else throw new Error("Unknown prime "+L);return y[L]=I,I};function F(R){if(typeof R=="string"){var L=f._prime(R);this.m=L.p,this.prime=L}else u(R.gtn(1),"modulus must be greater than 1"),this.m=R,this.prime=null}F.prototype._verify1=function(L){u(L.negative===0,"red works only with positives"),u(L.red,"red works only with red numbers")},F.prototype._verify2=function(L,I){u((L.negative|I.negative)===0,"red works only with positives"),u(L.red&&L.red===I.red,"red works only with red numbers")},F.prototype.imod=function(L){return this.prime?this.prime.ireduce(L)._forceRed(this):L.umod(this.m)._forceRed(this)},F.prototype.neg=function(L){return L.isZero()?L.clone():this.m.sub(L)._forceRed(this)},F.prototype.add=function(L,I){this._verify2(L,I);var B=L.add(I);return B.cmp(this.m)>=0&&B.isub(this.m),B._forceRed(this)},F.prototype.iadd=function(L,I){this._verify2(L,I);var B=L.iadd(I);return B.cmp(this.m)>=0&&B.isub(this.m),B},F.prototype.sub=function(L,I){this._verify2(L,I);var B=L.sub(I);return B.cmpn(0)<0&&B.iadd(this.m),B._forceRed(this)},F.prototype.isub=function(L,I){this._verify2(L,I);var B=L.isub(I);return B.cmpn(0)<0&&B.iadd(this.m),B},F.prototype.shl=function(L,I){return this._verify1(L),this.imod(L.ushln(I))},F.prototype.imul=function(L,I){return this._verify2(L,I),this.imod(L.imul(I))},F.prototype.mul=function(L,I){return this._verify2(L,I),this.imod(L.mul(I))},F.prototype.isqr=function(L){return this.imul(L,L.clone())},F.prototype.sqr=function(L){return this.mul(L,L)},F.prototype.sqrt=function(L){if(L.isZero())return L.clone();var I=this.m.andln(3);if(u(I%2===1),I===3){var B=this.m.add(new f(1)).iushrn(2);return this.pow(L,B)}for(var O=this.m.subn(1),$=0;!O.isZero()&&O.andln(1)===0;)$++,O.iushrn(1);u(!O.isZero());var Y=new f(1).toRed(this),K=Y.redNeg(),j=this.m.subn(1).iushrn(1),q=this.m.bitLength();for(q=new f(2*q*q).toRed(this);this.pow(q,j).cmp(K)!==0;)q.redIAdd(K);for(var J=this.pow(q,O),U=this.pow(L,O.addn(1).iushrn(1)),V=this.pow(L,O),X=$;V.cmp(Y)!==0;){for(var H=V,G=0;H.cmp(Y)!==0;G++)H=H.redSqr();u(G=0;$--){for(var J=I.words[$],U=q-1;U>=0;U--){var V=J>>U&1;if(Y!==O[0]&&(Y=this.sqr(Y)),V===0&&K===0){j=0;continue}K<<=1,K|=V,j++,!(j!==B&&($!==0||U!==0))&&(Y=this.mul(Y,O[K]),j=0,K=0)}q=26}return Y},F.prototype.convertTo=function(L){var I=L.umod(this.m);return I===L?I.clone():I},F.prototype.convertFrom=function(L){var I=L.clone();return I.red=null,I},f.mont=function(L){return new P(L)};function P(R){F.call(this,R),this.shift=this.m.bitLength(),this.shift%26!==0&&(this.shift+=26-this.shift%26),this.r=new f(1).iushln(this.shift),this.r2=this.imod(this.r.sqr()),this.rinv=this.r._invmp(this.m),this.minv=this.rinv.mul(this.r).isubn(1).div(this.m),this.minv=this.minv.umod(this.r),this.minv=this.r.sub(this.minv)}c(P,F),P.prototype.convertTo=function(L){return this.imod(L.ushln(this.shift))},P.prototype.convertFrom=function(L){var I=this.imod(L.mul(this.rinv));return I.red=null,I},P.prototype.imul=function(L,I){if(L.isZero()||I.isZero())return L.words[0]=0,L.length=1,L;var B=L.imul(I),O=B.maskn(this.shift).mul(this.minv).imaskn(this.shift).mul(this.m),$=B.isub(O).iushrn(this.shift),Y=$;return $.cmp(this.m)>=0?Y=$.isub(this.m):$.cmpn(0)<0&&(Y=$.iadd(this.m)),Y._forceRed(this)},P.prototype.mul=function(L,I){if(L.isZero()||I.isZero())return new f(0)._forceRed(this);var B=L.mul(I),O=B.maskn(this.shift).mul(this.minv).imaskn(this.shift).mul(this.m),$=B.isub(O).iushrn(this.shift),Y=$;return $.cmp(this.m)>=0?Y=$.isub(this.m):$.cmpn(0)<0&&(Y=$.iadd(this.m)),Y._forceRed(this)},P.prototype.invm=function(L){var I=this.imod(L._invmp(this.m).mul(this.r2));return I._forceRed(this)}})(n,this)},6204(n){"use strict";n.exports=a;function a(o){var s,l,u,c=o.length,f=0;for(s=0;s>>1;if(!(A<=0)){var y,E=s.mallocDouble(2*A*x),S=s.mallocInt32(x);if(x=f(w,A,E,S),x>0){if(A===1&&M)l.init(x),y=l.sweepComplete(A,_,0,x,E,S,0,x,E,S);else{var C=s.mallocDouble(2*A*T),k=s.mallocInt32(T);T=f(b,A,C,k),T>0&&(l.init(x+T),A===1?y=l.sweepBipartite(A,_,0,x,E,S,0,T,C,k):y=u(A,_,M,x,E,S,T,C,k),s.free(C),s.free(k))}s.free(E),s.free(S)}return y}}}var d;function p(w,b){d.push([w,b])}function v(w){return d=[],h(w,w,p,!0),d}function m(w,b){return d=[],h(w,b,p,!1),d}function g(w,b,_){switch(arguments.length){case 1:return v(w);case 2:return typeof b=="function"?h(w,w,b,!0):m(w,b);case 3:return h(w,b,_,!1);default:throw new Error("box-intersect: Invalid arguments")}}},2455(n,a){"use strict";function o(){function 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T=this.root,A=[];;){if(A.push(T),T.left){if(x=T.right._count)break;T=T.right}else break}return new m(this,[])},h.ge=function(x){for(var T=this._compare,A=this.root,y=[],E=0;A;){var S=T(x,A.key);y.push(A),S<=0&&(E=y.length),S<=0?A=A.left:A=A.right}return y.length=E,new m(this,y)},h.gt=function(x){for(var T=this._compare,A=this.root,y=[],E=0;A;){var S=T(x,A.key);y.push(A),S<0&&(E=y.length),S<0?A=A.left:A=A.right}return y.length=E,new m(this,y)},h.lt=function(x){for(var T=this._compare,A=this.root,y=[],E=0;A;){var S=T(x,A.key);y.push(A),S>0&&(E=y.length),S<=0?A=A.left:A=A.right}return y.length=E,new m(this,y)},h.le=function(x){for(var T=this._compare,A=this.root,y=[],E=0;A;){var S=T(x,A.key);y.push(A),S>=0&&(E=y.length),S<0?A=A.left:A=A.right}return y.length=E,new m(this,y)},h.find=function(x){for(var T=this._compare,A=this.root,y=[];A;){var E=T(x,A.key);if(y.push(A),E===0)return new m(this,y);E<=0?A=A.left:A=A.right}return new m(this,[])},h.remove=function(x){var T=this.find(x);return T?T.remove():this},h.get=function(x){for(var T=this._compare,A=this.root;A;){var y=T(x,A.key);if(y===0)return A.value;y<=0?A=A.left:A=A.right}};function m(x,T){this.tree=x,this._stack=T}var g=m.prototype;Object.defineProperty(g,"valid",{get:function(){return this._stack.length>0}}),Object.defineProperty(g,"node",{get:function(){return this._stack.length>0?this._stack[this._stack.length-1]:null},enumerable:!0}),g.clone=function(){return new m(this.tree,this._stack.slice())};function w(x,T){x.key=T.key,x.value=T.value,x.left=T.left,x.right=T.right,x._color=T._color,x._count=T._count}function b(x){for(var T,A,y,E,S=x.length-1;S>=0;--S){if(T=x[S],S===0){T._color=o;return}if(A=x[S-1],A.left===T){if(y=A.right,y.right&&y.right._color===a){if(y=A.right=l(y),E=y.right=l(y.right),A.right=y.left,y.left=A,y.right=E,y._color=A._color,T._color=o,A._color=o,E._color=o,c(A),c(y),S>1){var C=x[S-2];C.left===A?C.left=y:C.right=y}x[S-1]=y;return}else if(y.left&&y.left._color===a){if(y=A.right=l(y),E=y.left=l(y.left),A.right=E.left,y.left=E.right,E.left=A,E.right=y,E._color=A._color,A._color=o,y._color=o,T._color=o,c(A),c(y),c(E),S>1){var C=x[S-2];C.left===A?C.left=E:C.right=E}x[S-1]=E;return}if(y._color===o)if(A._color===a){A._color=o,A.right=u(a,y);return}else{A.right=u(a,y);continue}else{if(y=l(y),A.right=y.left,y.left=A,y._color=A._color,A._color=a,c(A),c(y),S>1){var C=x[S-2];C.left===A?C.left=y:C.right=y}x[S-1]=y,x[S]=A,S+11){var C=x[S-2];C.right===A?C.right=y:C.left=y}x[S-1]=y;return}else if(y.right&&y.right._color===a){if(y=A.left=l(y),E=y.right=l(y.right),A.left=E.right,y.right=E.left,E.right=A,E.left=y,E._color=A._color,A._color=o,y._color=o,T._color=o,c(A),c(y),c(E),S>1){var C=x[S-2];C.right===A?C.right=E:C.left=E}x[S-1]=E;return}if(y._color===o)if(A._color===a){A._color=o,A.left=u(a,y);return}else{A.left=u(a,y);continue}else{if(y=l(y),A.left=y.right,y.right=A,y._color=A._color,A._color=a,c(A),c(y),S>1){var C=x[S-2];C.right===A?C.right=y:C.left=y}x[S-1]=y,x[S]=A,S+1=0;--y){var A=x[y];A.left===x[y+1]?T[y]=new s(A._color,A.key,A.value,T[y+1],A.right,A._count):T[y]=new s(A._color,A.key,A.value,A.left,T[y+1],A._count)}if(A=T[T.length-1],A.left&&A.right){var E=T.length;for(A=A.left;A.right;)T.push(A),A=A.right;var S=T[E-1];T.push(new s(A._color,S.key,S.value,A.left,A.right,A._count)),T[E-1].key=A.key,T[E-1].value=A.value;for(var y=T.length-2;y>=E;--y)A=T[y],T[y]=new s(A._color,A.key,A.value,A.left,T[y+1],A._count);T[E-1].left=T[E]}if(A=T[T.length-1],A._color===a){var C=T[T.length-2];C.left===A?C.left=null:C.right===A&&(C.right=null),T.pop();for(var y=0;y0)return this._stack[this._stack.length-1].key},enumerable:!0}),Object.defineProperty(g,"value",{get:function(){if(this._stack.length>0)return this._stack[this._stack.length-1].value},enumerable:!0}),Object.defineProperty(g,"index",{get:function(){var x=0,T=this._stack;if(T.length===0){var A=this.tree.root;return A?A._count:0}else T[T.length-1].left&&(x=T[T.length-1].left._count);for(var y=T.length-2;y>=0;--y)T[y+1]===T[y].right&&(++x,T[y].left&&(x+=T[y].left._count));return x},enumerable:!0}),g.next=function(){var x=this._stack;if(x.length!==0){var T=x[x.length-1];if(T.right)for(T=T.right;T;)x.push(T),T=T.left;else for(x.pop();x.length>0&&x[x.length-1].right===T;)T=x[x.length-1],x.pop()}},Object.defineProperty(g,"hasNext",{get:function(){var x=this._stack;if(x.length===0)return!1;if(x[x.length-1].right)return!0;for(var T=x.length-1;T>0;--T)if(x[T-1].left===x[T])return!0;return!1}}),g.update=function(x){var T=this._stack;if(T.length===0)throw new Error("Can't update empty node!");var A=new Array(T.length),y=T[T.length-1];A[A.length-1]=new s(y._color,y.key,x,y.left,y.right,y._count);for(var E=T.length-2;E>=0;--E)y=T[E],y.left===T[E+1]?A[E]=new s(y._color,y.key,y.value,A[E+1],y.right,y._count):A[E]=new s(y._color,y.key,y.value,y.left,A[E+1],y._count);return new f(this.tree._compare,A[0])},g.prev=function(){var x=this._stack;if(x.length!==0){var T=x[x.length-1];if(T.left)for(T=T.left;T;)x.push(T),T=T.right;else for(x.pop();x.length>0&&x[x.length-1].left===T;)T=x[x.length-1],x.pop()}},Object.defineProperty(g,"hasPrev",{get:function(){var x=this._stack;if(x.length===0)return!1;if(x[x.length-1].left)return!0;for(var T=x.length-1;T>0;--T)if(x[T-1].right===x[T])return!0;return!1}});function _(x,T){return xT?1:0}function M(x){return new f(x||_,null)}},3837(n,a,o){"use strict";n.exports=k;var s=o(4935),l=o(501),u=o(5304),c=o(6429),f=o(6444),h=new Float32Array([1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1]),d=ArrayBuffer,p=DataView;function v(D){return d.isView(D)&&!(D instanceof p)}function m(D){return Array.isArray(D)||v(D)}function g(D,F){return D[0]=F[0],D[1]=F[1],D[2]=F[2],D}function w(D){this.gl=D,this.pixelRatio=1,this.bounds=[[-10,-10,-10],[10,10,10]],this.ticks=[[],[],[]],this.autoTicks=!0,this.tickSpacing=[1,1,1],this.tickEnable=[!0,!0,!0],this.tickFont=["sans-serif","sans-serif","sans-serif"],this.tickFontStyle=["normal","normal","normal"],this.tickFontWeight=["normal","normal","normal"],this.tickFontVariant=["normal","normal","normal"],this.tickSize=[12,12,12],this.tickAngle=[0,0,0],this.tickAlign=["auto","auto","auto"],this.tickColor=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.tickPad=[10,10,10],this.lastCubeProps={cubeEdges:[0,0,0],axis:[0,0,0]},this.labels=["x","y","z"],this.labelEnable=[!0,!0,!0],this.labelFont=["sans-serif","sans-serif","sans-serif"],this.labelFontStyle=["normal","normal","normal"],this.labelFontWeight=["normal","normal","normal"],this.labelFontVariant=["normal","normal","normal"],this.labelSize=[20,20,20],this.labelAngle=[0,0,0],this.labelAlign=["auto","auto","auto"],this.labelColor=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.labelPad=[10,10,10],this.lineEnable=[!0,!0,!0],this.lineMirror=[!1,!1,!1],this.lineWidth=[1,1,1],this.lineColor=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.lineTickEnable=[!0,!0,!0],this.lineTickMirror=[!1,!1,!1],this.lineTickLength=[0,0,0],this.lineTickWidth=[1,1,1],this.lineTickColor=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.gridEnable=[!0,!0,!0],this.gridWidth=[1,1,1],this.gridColor=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.zeroEnable=[!0,!0,!0],this.zeroLineColor=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.zeroLineWidth=[2,2,2],this.backgroundEnable=[!1,!1,!1],this.backgroundColor=[[.8,.8,.8,.5],[.8,.8,.8,.5],[.8,.8,.8,.5]],this._firstInit=!0,this._text=null,this._lines=null,this._background=u(D)}var b=w.prototype;b.update=function(D){D=D||{};function F(V,X,H){if(H in D){var G=D[H],Q=this[H],te;(V?m(G)&&m(G[0]):m(G))?this[H]=te=[X(G[0]),X(G[1]),X(G[2])]:this[H]=te=[X(G),X(G),X(G)];for(var ce=0;ce<3;++ce)if(te[ce]!==Q[ce])return!0}return!1}var P=F.bind(this,!1,Number),R=F.bind(this,!1,Boolean),L=F.bind(this,!1,String),I=F.bind(this,!0,function(V){if(m(V)){if(V.length===3)return[+V[0],+V[1],+V[2],1];if(V.length===4)return[+V[0],+V[1],+V[2],+V[3]]}return[0,0,0,1]}),B,O=!1,$=!1;if("bounds"in D)for(var Y=D.bounds,K=0;K<2;++K)for(var j=0;j<3;++j)Y[K][j]!==this.bounds[K][j]&&($=!0),this.bounds[K][j]=Y[K][j];if("ticks"in D){B=D.ticks,O=!0,this.autoTicks=!1;for(var K=0;K<3;++K)this.tickSpacing[K]=0}else P("tickSpacing")&&(this.autoTicks=!0,$=!0);if(this._firstInit&&("ticks"in D||"tickSpacing"in D||(this.autoTicks=!0),$=!0,O=!0,this._firstInit=!1),$&&this.autoTicks&&(B=f.create(this.bounds,this.tickSpacing),O=!0),O){for(var K=0;K<3;++K)B[K].sort(function(X,H){return X.x-H.x});f.equal(B,this.ticks)?O=!1:this.ticks=B}R("tickEnable"),L("tickFont")&&(O=!0),L("tickFontStyle")&&(O=!0),L("tickFontWeight")&&(O=!0),L("tickFontVariant")&&(O=!0),P("tickSize"),P("tickAngle"),P("tickPad"),I("tickColor");var q=L("labels");L("labelFont")&&(q=!0),L("labelFontStyle")&&(q=!0),L("labelFontWeight")&&(q=!0),L("labelFontVariant")&&(q=!0),R("labelEnable"),P("labelSize"),P("labelPad"),I("labelColor"),R("lineEnable"),R("lineMirror"),P("lineWidth"),I("lineColor"),R("lineTickEnable"),R("lineTickMirror"),P("lineTickLength"),P("lineTickWidth"),I("lineTickColor"),R("gridEnable"),P("gridWidth"),I("gridColor"),R("zeroEnable"),I("zeroLineColor"),P("zeroLineWidth"),R("backgroundEnable"),I("backgroundColor");var J=[{family:this.labelFont[0],style:this.labelFontStyle[0],weight:this.labelFontWeight[0],variant:this.labelFontVariant[0]},{family:this.labelFont[1],style:this.labelFontStyle[1],weight:this.labelFontWeight[1],variant:this.labelFontVariant[1]},{family:this.labelFont[2],style:this.labelFontStyle[2],weight:this.labelFontWeight[2],variant:this.labelFontVariant[2]}],U=[{family:this.tickFont[0],style:this.tickFontStyle[0],weight:this.tickFontWeight[0],variant:this.tickFontVariant[0]},{family:this.tickFont[1],style:this.tickFontStyle[1],weight:this.tickFontWeight[1],variant:this.tickFontVariant[1]},{family:this.tickFont[2],style:this.tickFontStyle[2],weight:this.tickFontWeight[2],variant:this.tickFontVariant[2]}];this._text?this._text&&(q||O)&&this._text.update(this.bounds,this.labels,J,this.ticks,U):this._text=s(this.gl,this.bounds,this.labels,J,this.ticks,U),this._lines&&O&&(this._lines.dispose(),this._lines=null),this._lines||(this._lines=l(this.gl,this.bounds,this.ticks))};function _(){this.primalOffset=[0,0,0],this.primalMinor=[0,0,0],this.mirrorOffset=[0,0,0],this.mirrorMinor=[0,0,0]}var M=[new _,new _,new _];function x(D,F,P,R,L){for(var I=D.primalOffset,B=D.primalMinor,O=D.mirrorOffset,$=D.mirrorMinor,Y=R[F],K=0;K<3;++K)if(F!==K){var j=I,q=O,J=B,U=$;Y&1<0?(J[K]=-1,U[K]=0):(J[K]=0,U[K]=1)}}var T=[0,0,0],A={model:h,view:h,projection:h,_ortho:!1};b.isOpaque=function(){return!0},b.isTransparent=function(){return!1},b.drawTransparent=function(D){};var y=0,E=[0,0,0],S=[0,0,0],C=[0,0,0];b.draw=function(D){D=D||A;for(var H=this.gl,F=D.model||h,P=D.view||h,R=D.projection||h,L=this.bounds,I=D._ortho||!1,B=c(F,P,R,L,I),O=B.cubeEdges,$=B.axis,Y=P[12],K=P[13],j=P[14],q=P[15],J=I?2:1,U=J*this.pixelRatio*(R[3]*Y+R[7]*K+R[11]*j+R[15]*q)/H.drawingBufferHeight,V=0;V<3;++V)this.lastCubeProps.cubeEdges[V]=O[V],this.lastCubeProps.axis[V]=$[V];for(var X=M,V=0;V<3;++V)x(M[V],V,this.bounds,O,$);for(var H=this.gl,G=T,V=0;V<3;++V)this.backgroundEnable[V]?G[V]=$[V]:G[V]=0;this._background.draw(F,P,R,L,G,this.backgroundColor),this._lines.bind(F,P,R,this);for(var V=0;V<3;++V){var Q=[0,0,0];$[V]>0?Q[V]=L[1][V]:Q[V]=L[0][V];for(var te=0;te<2;++te){var ce=(V+1+te)%3,ge=(V+1+(te^1))%3;this.gridEnable[ce]&&this._lines.drawGrid(ce,ge,this.bounds,Q,this.gridColor[ce],this.gridWidth[ce]*this.pixelRatio)}for(var te=0;te<2;++te){var ce=(V+1+te)%3,ge=(V+1+(te^1))%3;this.zeroEnable[ge]&&Math.min(L[0][ge],L[1][ge])<=0&&Math.max(L[0][ge],L[1][ge])>=0&&this._lines.drawZero(ce,ge,this.bounds,Q,this.zeroLineColor[ge],this.zeroLineWidth[ge]*this.pixelRatio)}}for(var V=0;V<3;++V){this.lineEnable[V]&&this._lines.drawAxisLine(V,this.bounds,X[V].primalOffset,this.lineColor[V],this.lineWidth[V]*this.pixelRatio),this.lineMirror[V]&&this._lines.drawAxisLine(V,this.bounds,X[V].mirrorOffset,this.lineColor[V],this.lineWidth[V]*this.pixelRatio);for(var Ce=g(E,X[V].primalMinor),be=g(S,X[V].mirrorMinor),he=this.lineTickLength,te=0;te<3;++te){var oe=U/F[5*te];Ce[te]*=he[te]*oe,be[te]*=he[te]*oe}this.lineTickEnable[V]&&this._lines.drawAxisTicks(V,X[V].primalOffset,Ce,this.lineTickColor[V],this.lineTickWidth[V]*this.pixelRatio),this.lineTickMirror[V]&&this._lines.drawAxisTicks(V,X[V].mirrorOffset,be,this.lineTickColor[V],this.lineTickWidth[V]*this.pixelRatio)}this._lines.unbind(),this._text.bind(F,P,R,this.pixelRatio);var Ee,ye=.5,ue,ee;function ae(Se){ee=[0,0,0],ee[Se]=1}function xe(Se,ke,_e){var Ie=(Se+1)%3,Oe=(Se+2)%3,Qe=ke[Ie],et=ke[Oe],_t=_e[Ie],ut=_e[Oe];if(Qe>0&&ut>0){ae(Ie);return}else if(Qe>0&&ut<0){ae(Ie);return}else if(Qe<0&&ut>0){ae(Ie);return}else if(Qe<0&&ut<0){ae(Ie);return}else if(et>0&&_t>0){ae(Oe);return}else if(et>0&&_t<0){ae(Oe);return}else if(et<0&&_t>0){ae(Oe);return}else if(et<0&&_t<0){ae(Oe);return}}for(var V=0;V<3;++V){for(var re=X[V].primalMinor,pe=X[V].mirrorMinor,we=g(C,X[V].primalOffset),te=0;te<3;++te)this.lineTickEnable[V]&&(we[te]+=U*re[te]*Math.max(this.lineTickLength[te],0)/F[5*te]);var Fe=[0,0,0];if(Fe[V]=1,this.tickEnable[V]){this.tickAngle[V]===-3600?(this.tickAngle[V]=0,this.tickAlign[V]="auto"):this.tickAlign[V]=-1,ue=1,Ee=[this.tickAlign[V],ye,ue],Ee[0]==="auto"?Ee[0]=y:Ee[0]=parseInt(""+Ee[0]),ee=[0,0,0],xe(V,re,pe);for(var te=0;te<3;++te)we[te]+=U*re[te]*this.tickPad[te]/F[5*te];this._text.drawTicks(V,this.tickSize[V],this.tickAngle[V],we,this.tickColor[V],Fe,ee,Ee)}if(this.labelEnable[V]){ue=0,ee=[0,0,0],this.labels[V].length>4&&(ae(V),ue=1),Ee=[this.labelAlign[V],ye,ue],Ee[0]==="auto"?Ee[0]=y:Ee[0]=parseInt(""+Ee[0]);for(var te=0;te<3;++te)we[te]+=U*re[te]*this.labelPad[te]/F[5*te];we[V]+=.5*(L[0][V]+L[1][V]),this._text.drawLabel(V,this.labelSize[V],this.labelAngle[V],we,this.labelColor[V],[0,0,0],ee,Ee)}}this._text.unbind()},b.dispose=function(){this._text.dispose(),this._lines.dispose(),this._background.dispose(),this._lines=null,this._text=null,this._background=null,this.gl=null};function k(D,F){var P=new w(D);return P.update(F),P}},5304(n,a,o){"use strict";n.exports=h;var s=o(2762),l=o(8116),u=o(1879).bg;function c(d,p,v,m){this.gl=d,this.buffer=p,this.vao=v,this.shader=m}var f=c.prototype;f.draw=function(d,p,v,m,g,w){for(var b=!1,_=0;_<3;++_)b=b||g[_];if(b){var M=this.gl;M.enable(M.POLYGON_OFFSET_FILL),M.polygonOffset(1,2),this.shader.bind(),this.shader.uniforms={model:d,view:p,projection:v,bounds:m,enable:g,colors:w},this.vao.bind(),this.vao.draw(this.gl.TRIANGLES,36),this.vao.unbind(),M.disable(M.POLYGON_OFFSET_FILL)}},f.dispose=function(){this.vao.dispose(),this.buffer.dispose(),this.shader.dispose()};function h(d){for(var p=[],v=[],m=0,g=0;g<3;++g)for(var w=(g+1)%3,b=(g+2)%3,_=[0,0,0],M=[0,0,0],x=-1;x<=1;x+=2){v.push(m,m+2,m+1,m+1,m+2,m+3),_[g]=x,M[g]=x;for(var T=-1;T<=1;T+=2){_[w]=T;for(var A=-1;A<=1;A+=2)_[b]=A,p.push(_[0],_[1],_[2],M[0],M[1],M[2]),m+=1}var y=w;w=b,b=y}var E=s(d,new Float32Array(p)),S=s(d,new Uint16Array(v),d.ELEMENT_ARRAY_BUFFER),C=l(d,[{buffer:E,type:d.FLOAT,size:3,offset:0,stride:24},{buffer:E,type:d.FLOAT,size:3,offset:12,stride:24}],S),k=u(d);return k.attributes.position.location=0,k.attributes.normal.location=1,new c(d,E,C,k)}},6429(n,a,o){"use strict";n.exports=x;var s=o(8828),l=o(6760),u=o(5202),c=o(3250),f=new Array(16),h=new Array(8),d=new Array(8),p=new Array(3),v=[0,0,0];(function(){for(var T=0;T<8;++T)h[T]=[1,1,1,1],d[T]=[1,1,1]})();function m(T,A,y){for(var E=0;E<4;++E){T[E]=y[12+E];for(var S=0;S<3;++S)T[E]+=A[S]*y[4*S+E]}}var g=[[0,0,1,0,0],[0,0,-1,1,0],[0,-1,0,1,0],[0,1,0,1,0],[-1,0,0,1,0],[1,0,0,1,0]];function w(T){for(var A=0;A$&&(P|=1<$){P|=1<d[k][1])&&(X=k);for(var H=-1,k=0;k<3;++k){var G=X^1<d[Q][0]&&(Q=G)}}var te=b;te[0]=te[1]=te[2]=0,te[s.log2(H^X)]=X&H,te[s.log2(X^Q)]=X&Q;var ce=Q^7;ce===P||ce===V?(ce=H^7,te[s.log2(Q^ce)]=ce&Q):te[s.log2(H^ce)]=ce&H;for(var ge=_,Ce=P,I=0;I<3;++I)Ce&1< HALF_PI) && (b <= ONE_AND_HALF_PI)) ? + b - PI : + b; +} + +float look_horizontal_or_vertical(float a, float ratio) { + // ratio controls the ratio between being horizontal to (vertical + horizontal) + // if ratio is set to 0.5 then it is 50%, 50%. + // when using a higher ratio e.g. 0.75 the result would + // likely be more horizontal than vertical. + + float b = positive_angle(a); + + return + (b < ( ratio) * HALF_PI) ? 0.0 : + (b < (2.0 - ratio) * HALF_PI) ? -HALF_PI : + (b < (2.0 + ratio) * HALF_PI) ? 0.0 : + (b < (4.0 - ratio) * HALF_PI) ? HALF_PI : + 0.0; +} + +float roundTo(float a, float b) { + return float(b * floor((a + 0.5 * b) / b)); +} + +float look_round_n_directions(float a, int n) { + float b = positive_angle(a); + float div = TWO_PI / float(n); + float c = roundTo(b, div); + return look_upwards(c); +} + +float applyAlignOption(float rawAngle, float delta) { + return + (option > 2) ? look_round_n_directions(rawAngle + delta, option) : // option 3-n: round to n directions + (option == 2) ? look_horizontal_or_vertical(rawAngle + delta, hv_ratio) : // horizontal or vertical + (option == 1) ? rawAngle + delta : // use free angle, and flip to align with one direction of the axis + (option == 0) ? look_upwards(rawAngle) : // use free angle, and stay upwards + (option ==-1) ? 0.0 : // useful for backward compatibility, all texts remains horizontal + rawAngle; // otherwise return back raw input angle +} + +bool isAxisTitle = (axis.x == 0.0) && + (axis.y == 0.0) && + (axis.z == 0.0); + +void main() { + //Compute world offset + float axisDistance = position.z; + vec3 dataPosition = axisDistance * axis + offset; + + float beta = angle; // i.e. user defined attributes for each tick + + float axisAngle; + float clipAngle; + float flip; + + if (enableAlign) { + axisAngle = (isAxisTitle) ? HALF_PI : + computeViewAngle(dataPosition, dataPosition + axis); + clipAngle = computeViewAngle(dataPosition, dataPosition + alignDir); + + axisAngle += (sin(axisAngle) < 0.0) ? PI : 0.0; + clipAngle += (sin(clipAngle) < 0.0) ? PI : 0.0; + + flip = (dot(vec2(cos(axisAngle), sin(axisAngle)), + vec2(sin(clipAngle),-cos(clipAngle))) > 0.0) ? 1.0 : 0.0; + + beta += applyAlignOption(clipAngle, flip * PI); + } + + //Compute plane offset + vec2 planeCoord = position.xy * pixelScale; + + mat2 planeXform = scale * mat2( + cos(beta), sin(beta), + -sin(beta), cos(beta) + ); + + vec2 viewOffset = 2.0 * planeXform * planeCoord / resolution; + + //Compute clip position + vec3 clipPosition = project(dataPosition); + + //Apply text offset in clip coordinates + clipPosition += vec3(viewOffset, 0.0); + + //Done + gl_Position = vec4(clipPosition, 1.0); +} +`]),h=s([`precision highp float; +#define GLSLIFY 1 + +uniform vec4 color; +void main() { + gl_FragColor = color; +}`]);a.Q=function(v){return l(v,f,h,null,[{name:"position",type:"vec3"}])};var d=s([`precision highp float; +#define GLSLIFY 1 + +attribute vec3 position; +attribute vec3 normal; + +uniform mat4 model, view, projection; +uniform vec3 enable; +uniform vec3 bounds[2]; + +varying vec3 colorChannel; + +void main() { + + vec3 signAxis = sign(bounds[1] - bounds[0]); + + vec3 realNormal = signAxis * normal; + + if(dot(realNormal, enable) > 0.0) { + vec3 minRange = min(bounds[0], bounds[1]); + vec3 maxRange = max(bounds[0], bounds[1]); + vec3 nPosition = mix(minRange, maxRange, 0.5 * (position + 1.0)); + gl_Position = projection * (view * (model * vec4(nPosition, 1.0))); + } else { + gl_Position = vec4(0,0,0,0); + } + + colorChannel = abs(realNormal); +} +`]),p=s([`precision highp float; +#define GLSLIFY 1 + +uniform vec4 colors[3]; + +varying vec3 colorChannel; + +void main() { + gl_FragColor = colorChannel.x * colors[0] + + colorChannel.y * colors[1] + + colorChannel.z * colors[2]; +}`]);a.bg=function(v){return l(v,d,p,null,[{name:"position",type:"vec3"},{name:"normal",type:"vec3"}])}},4935(n,a,o){"use strict";n.exports=w;var s=o(2762),l=o(8116),u=o(4359),c=o(1879).Q,f=window||process.global||{},h=f.__TEXT_CACHE||{};f.__TEXT_CACHE={};var d=3;function p(b,_,M,x){this.gl=b,this.shader=_,this.buffer=M,this.vao=x,this.tickOffset=this.tickCount=this.labelOffset=this.labelCount=null}var v=p.prototype,m=[0,0];v.bind=function(b,_,M,x){this.vao.bind(),this.shader.bind();var T=this.shader.uniforms;T.model=b,T.view=_,T.projection=M,T.pixelScale=x,m[0]=this.gl.drawingBufferWidth,m[1]=this.gl.drawingBufferHeight,this.shader.uniforms.resolution=m},v.unbind=function(){this.vao.unbind()},v.update=function(b,_,M,x,T){var A=[];function y(I,B,O,$,Y,K){var j=[O.style,O.weight,O.variant,O.family].join("_"),q=h[j];q||(q=h[j]={});var J=q[B];J||(J=q[B]=g(B,{triangles:!0,font:O.family,fontStyle:O.style,fontWeight:O.weight,fontVariant:O.variant,textAlign:"center",textBaseline:"middle",lineSpacing:Y,styletags:K}));for(var U=($||12)/12,V=J.positions,X=J.cells,H=0,G=X.length;H=0;--te){var ce=V[Q[te]];A.push(U*ce[0],-U*ce[1],I)}}for(var E=[0,0,0],S=[0,0,0],C=[0,0,0],k=[0,0,0],D=1.25,F={breaklines:!0,bolds:!0,italics:!0,subscripts:!0,superscripts:!0},P=0;P<3;++P){C[P]=A.length/d|0,y(.5*(b[0][P]+b[1][P]),_[P],M[P],12,D,F),k[P]=(A.length/d|0)-C[P],E[P]=A.length/d|0;for(var R=0;R=0&&(d=f.length-h-1);var p=Math.pow(10,d),v=Math.round(u*c*p),m=v+"";if(m.indexOf("e")>=0)return m;var g=v/p,w=v%p;v<0?(g=-Math.ceil(g)|0,w=-w|0):(g=Math.floor(g)|0,w=w|0);var b=""+g;if(v<0&&(b="-"+b),d){for(var _=""+w;_.length=u[0][h];--v)d.push({x:v*c[h],text:o(c[h],v)});f.push(d)}return f}function l(u,c){for(var f=0;f<3;++f){if(u[f].length!==c[f].length)return!1;for(var h=0;hb)throw new Error("gl-buffer: If resizing buffer, must not specify offset");return g.bufferSubData(w,x,M),b}function p(g,w){for(var b=s.malloc(g.length,w),_=g.length,M=0;M<_;++M)b[M]=g[M];return b}function v(g,w){for(var b=1,_=w.length-1;_>=0;--_){if(w[_]!==b)return!1;b*=g[_]}return!0}h.update=function(g,w){if(typeof w!="number"&&(w=-1),this.bind(),typeof g=="object"&&typeof g.shape!="undefined"){var b=g.dtype;if(c.indexOf(b)<0&&(b="float32"),this.type===this.gl.ELEMENT_ARRAY_BUFFER){var _=gl.getExtension("OES_element_index_uint");_&&b!=="uint16"?b="uint32":b="uint16"}if(b===g.dtype&&v(g.shape,g.stride))g.offset===0&&g.data.length===g.shape[0]?this.length=d(this.gl,this.type,this.length,this.usage,g.data,w):this.length=d(this.gl,this.type,this.length,this.usage,g.data.subarray(g.offset,g.shape[0]),w);else{var M=s.malloc(g.size,b),x=u(M,g.shape);l.assign(x,g),w<0?this.length=d(this.gl,this.type,this.length,this.usage,M,w):this.length=d(this.gl,this.type,this.length,this.usage,M.subarray(0,g.size),w),s.free(M)}}else if(Array.isArray(g)){var T;this.type===this.gl.ELEMENT_ARRAY_BUFFER?T=p(g,"uint16"):T=p(g,"float32"),w<0?this.length=d(this.gl,this.type,this.length,this.usage,T,w):this.length=d(this.gl,this.type,this.length,this.usage,T.subarray(0,g.length),w),s.free(T)}else if(typeof g=="object"&&typeof g.length=="number")this.length=d(this.gl,this.type,this.length,this.usage,g,w);else if(typeof g=="number"||g===void 0){if(w>=0)throw new Error("gl-buffer: Cannot specify offset when resizing buffer");g=g|0,g<=0&&(g=1),this.gl.bufferData(this.type,g|0,this.usage),this.length=g}else throw new Error("gl-buffer: Invalid data type")};function m(g,w,b,_){if(b=b||g.ARRAY_BUFFER,_=_||g.DYNAMIC_DRAW,b!==g.ARRAY_BUFFER&&b!==g.ELEMENT_ARRAY_BUFFER)throw new Error("gl-buffer: Invalid type for webgl buffer, must be either gl.ARRAY_BUFFER or gl.ELEMENT_ARRAY_BUFFER");if(_!==g.DYNAMIC_DRAW&&_!==g.STATIC_DRAW&&_!==g.STREAM_DRAW)throw new Error("gl-buffer: Invalid usage for buffer, must be either gl.DYNAMIC_DRAW, gl.STATIC_DRAW or gl.STREAM_DRAW");var M=g.createBuffer(),x=new f(g,b,M,0,_);return x.update(w),x}n.exports=m},6405(n,a,o){"use strict";var s=o(2931);n.exports=function(u,c){var f=u.positions,h=u.vectors,d={positions:[],vertexIntensity:[],vertexIntensityBounds:u.vertexIntensityBounds,vectors:[],cells:[],coneOffset:u.coneOffset,colormap:u.colormap};if(u.positions.length===0)return c&&(c[0]=[0,0,0],c[1]=[0,0,0]),d;for(var p=0,v=1/0,m=-1/0,g=1/0,w=-1/0,b=1/0,_=-1/0,M=null,x=null,T=[],A=1/0,y=!1,E=u.coneSizemode==="raw",S=0;Sp&&(p=s.length(k)),S&&!E){var D=2*s.distance(M,C)/(s.length(x)+s.length(k));D?(A=Math.min(A,D),y=!1):y=!0}y||(M=C,x=k),T.push(k)}var F=[v,g,b],P=[m,w,_];c&&(c[0]=F,c[1]=P),p===0&&(p=1);var R=1/p;isFinite(A)||(A=1),d.vectorScale=A;var L=u.coneSize||(E?1:.5);u.absoluteConeSize&&(L=u.absoluteConeSize*R),d.coneScale=L;for(var S=0,I=0;S=1},g.isTransparent=function(){return this.opacity<1},g.pickSlots=1,g.setPickBase=function(T){this.pickId=T};function w(T){for(var A=p({colormap:T,nshades:256,format:"rgba"}),y=new Uint8Array(256*4),E=0;E<256;++E){for(var S=A[E],C=0;C<3;++C)y[4*E+C]=S[C];y[4*E+3]=S[3]*255}return d(y,[256,256,4],[4,0,1])}function b(T){for(var A=T.length,y=new Array(A),E=0;E0){var I=this.triShader;I.bind(),I.uniforms=D,this.triangleVAO.bind(),A.drawArrays(A.TRIANGLES,0,this.triangleCount*3),this.triangleVAO.unbind()}},g.drawPick=function(T){T=T||{};for(var A=this.gl,y=T.model||v,E=T.view||v,S=T.projection||v,C=[[-1e6,-1e6,-1e6],[1e6,1e6,1e6]],k=0;k<3;++k)C[0][k]=Math.max(C[0][k],this.clipBounds[0][k]),C[1][k]=Math.min(C[1][k],this.clipBounds[1][k]);this._model=[].slice.call(y),this._view=[].slice.call(E),this._projection=[].slice.call(S),this._resolution=[A.drawingBufferWidth,A.drawingBufferHeight];var D={model:y,view:E,projection:S,clipBounds:C,tubeScale:this.tubeScale,vectorScale:this.vectorScale,coneScale:this.coneScale,coneOffset:this.coneOffset,pickId:this.pickId/255},F=this.pickShader;F.bind(),F.uniforms=D,this.triangleCount>0&&(this.triangleVAO.bind(),A.drawArrays(A.TRIANGLES,0,this.triangleCount*3),this.triangleVAO.unbind())},g.pick=function(T){if(!T||T.id!==this.pickId)return null;var A=T.value[0]+256*T.value[1]+65536*T.value[2],y=this.cells[A],E=this.positions[y[1]].slice(0,3),S={position:E,dataCoordinate:E,index:Math.floor(y[1]/48)};return this.traceType==="cone"?S.index=Math.floor(y[1]/48):this.traceType==="streamtube"&&(S.intensity=this.intensity[y[1]],S.velocity=this.vectors[y[1]].slice(0,3),S.divergence=this.vectors[y[1]][3],S.index=A),S},g.dispose=function(){this.texture.dispose(),this.triShader.dispose(),this.pickShader.dispose(),this.triangleVAO.dispose(),this.trianglePositions.dispose(),this.triangleVectors.dispose(),this.triangleColors.dispose(),this.triangleUVs.dispose(),this.triangleIds.dispose()};function _(T,A){var y=s(T,A.meshShader.vertex,A.meshShader.fragment,null,A.meshShader.attributes);return y.attributes.position.location=0,y.attributes.color.location=2,y.attributes.uv.location=3,y.attributes.vector.location=4,y}function M(T,A){var y=s(T,A.pickShader.vertex,A.pickShader.fragment,null,A.pickShader.attributes);return y.attributes.position.location=0,y.attributes.id.location=1,y.attributes.vector.location=4,y}function x(T,A,y){var E=y.shaders;arguments.length===1&&(A=T,T=A.gl);var S=_(T,E),C=M(T,E),k=c(T,d(new Uint8Array([255,255,255,255]),[1,1,4]));k.generateMipmap(),k.minFilter=T.LINEAR_MIPMAP_LINEAR,k.magFilter=T.LINEAR;var D=l(T),F=l(T),P=l(T),R=l(T),L=l(T),I=u(T,[{buffer:D,type:T.FLOAT,size:4},{buffer:L,type:T.UNSIGNED_BYTE,size:4,normalized:!0},{buffer:P,type:T.FLOAT,size:4},{buffer:R,type:T.FLOAT,size:2},{buffer:F,type:T.FLOAT,size:4}]),B=new m(T,k,S,C,D,F,L,P,R,I,y.traceType||"cone");return B.update(A),B}n.exports=x},614(n,a,o){var s=o(3236),l=s([`precision highp float; + +precision highp float; +#define GLSLIFY 1 + +vec3 getOrthogonalVector(vec3 v) { + // Return up-vector for only-z vector. + // Return ax + by + cz = 0, a point that lies on the plane that has v as a normal and that isn't (0,0,0). + // From the above if-statement we have ||a|| > 0 U ||b|| > 0. + // Assign z = 0, x = -b, y = a: + // a*-b + b*a + c*0 = -ba + ba + 0 = 0 + if (v.x*v.x > v.z*v.z || v.y*v.y > v.z*v.z) { + return normalize(vec3(-v.y, v.x, 0.0)); + } else { + return normalize(vec3(0.0, v.z, -v.y)); + } +} + +// Calculate the cone vertex and normal at the given index. +// +// The returned vertex is for a cone with its top at origin and height of 1.0, +// pointing in the direction of the vector attribute. +// +// Each cone is made up of a top vertex, a center base vertex and base perimeter vertices. +// These vertices are used to make up the triangles of the cone by the following: +// segment + 0 top vertex +// segment + 1 perimeter vertex a+1 +// segment + 2 perimeter vertex a +// segment + 3 center base vertex +// segment + 4 perimeter vertex a +// segment + 5 perimeter vertex a+1 +// Where segment is the number of the radial segment * 6 and a is the angle at that radial segment. +// To go from index to segment, floor(index / 6) +// To go from segment to angle, 2*pi * (segment/segmentCount) +// To go from index to segment index, index - (segment*6) +// +vec3 getConePosition(vec3 d, float rawIndex, float coneOffset, out vec3 normal) { + + const float segmentCount = 8.0; + + float index = rawIndex - floor(rawIndex / + (segmentCount * 6.0)) * + (segmentCount * 6.0); + + float segment = floor(0.001 + index/6.0); + float segmentIndex = index - (segment*6.0); + + normal = -normalize(d); + + if (segmentIndex > 2.99 && segmentIndex < 3.01) { + return mix(vec3(0.0), -d, coneOffset); + } + + float nextAngle = ( + (segmentIndex > 0.99 && segmentIndex < 1.01) || + (segmentIndex > 4.99 && segmentIndex < 5.01) + ) ? 1.0 : 0.0; + float angle = 2.0 * 3.14159 * ((segment + nextAngle) / segmentCount); + + vec3 v1 = mix(d, vec3(0.0), coneOffset); + vec3 v2 = v1 - d; + + vec3 u = getOrthogonalVector(d); + vec3 v = normalize(cross(u, d)); + + vec3 x = u * cos(angle) * length(d)*0.25; + vec3 y = v * sin(angle) * length(d)*0.25; + vec3 v3 = v2 + x + y; + if (segmentIndex < 3.0) { + vec3 tx = u * sin(angle); + vec3 ty = v * -cos(angle); + vec3 tangent = tx + ty; + normal = normalize(cross(v3 - v1, tangent)); + } + + if (segmentIndex == 0.0) { + return mix(d, vec3(0.0), coneOffset); + } + return v3; +} + +attribute vec3 vector; +attribute vec4 color, position; +attribute vec2 uv; + +uniform float vectorScale, coneScale, coneOffset; +uniform mat4 model, view, projection, inverseModel; +uniform vec3 eyePosition, lightPosition; + +varying vec3 f_normal, f_lightDirection, f_eyeDirection, f_data, f_position; +varying vec4 f_color; +varying vec2 f_uv; + +void main() { + // Scale the vector magnitude to stay constant with + // model & view changes. + vec3 normal; + vec3 XYZ = getConePosition(mat3(model) * ((vectorScale * coneScale) * vector), position.w, coneOffset, normal); + vec4 conePosition = model * vec4(position.xyz, 1.0) + vec4(XYZ, 0.0); + + //Lighting geometry parameters + vec4 cameraCoordinate = view * conePosition; + cameraCoordinate.xyz /= cameraCoordinate.w; + f_lightDirection = lightPosition - cameraCoordinate.xyz; + f_eyeDirection = eyePosition - cameraCoordinate.xyz; + f_normal = normalize((vec4(normal, 0.0) * inverseModel).xyz); + + // vec4 m_position = model * vec4(conePosition, 1.0); + vec4 t_position = view * conePosition; + gl_Position = projection * t_position; + + f_color = color; + f_data = conePosition.xyz; + f_position = position.xyz; + f_uv = uv; +} +`]),u=s([`#extension GL_OES_standard_derivatives : enable + +precision highp float; +#define GLSLIFY 1 + +float beckmannDistribution(float x, float roughness) { + float NdotH = max(x, 0.0001); + float cos2Alpha = NdotH * NdotH; + float tan2Alpha = (cos2Alpha - 1.0) / cos2Alpha; + float roughness2 = roughness * roughness; + float denom = 3.141592653589793 * roughness2 * cos2Alpha * cos2Alpha; + return exp(tan2Alpha / roughness2) / denom; +} + +float cookTorranceSpecular( + vec3 lightDirection, + vec3 viewDirection, + vec3 surfaceNormal, + float roughness, + float fresnel) { + + float VdotN = max(dot(viewDirection, surfaceNormal), 0.0); + float LdotN = max(dot(lightDirection, surfaceNormal), 0.0); + + //Half angle vector + vec3 H = normalize(lightDirection + viewDirection); + + //Geometric term + float NdotH = max(dot(surfaceNormal, H), 0.0); + float VdotH = max(dot(viewDirection, H), 0.000001); + float LdotH = max(dot(lightDirection, H), 0.000001); + float G1 = (2.0 * NdotH * VdotN) / VdotH; + float G2 = (2.0 * NdotH * LdotN) / LdotH; + float G = min(1.0, min(G1, G2)); + + //Distribution term + float D = beckmannDistribution(NdotH, roughness); + + //Fresnel term + float F = pow(1.0 - VdotN, fresnel); + + //Multiply terms and done + return G * F * D / max(3.14159265 * VdotN, 0.000001); +} + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +uniform vec3 clipBounds[2]; +uniform float roughness, fresnel, kambient, kdiffuse, kspecular, opacity; +uniform sampler2D texture; + +varying vec3 f_normal, f_lightDirection, f_eyeDirection, f_data, f_position; +varying vec4 f_color; +varying vec2 f_uv; + +void main() { + if (outOfRange(clipBounds[0], clipBounds[1], f_position)) discard; + vec3 N = normalize(f_normal); + vec3 L = normalize(f_lightDirection); + vec3 V = normalize(f_eyeDirection); + + if(gl_FrontFacing) { + N = -N; + } + + float specular = min(1.0, max(0.0, cookTorranceSpecular(L, V, N, roughness, fresnel))); + float diffuse = min(kambient + kdiffuse * max(dot(N, L), 0.0), 1.0); + + vec4 surfaceColor = f_color * texture2D(texture, f_uv); + vec4 litColor = surfaceColor.a * vec4(diffuse * surfaceColor.rgb + kspecular * vec3(1,1,1) * specular, 1.0); + + gl_FragColor = litColor * opacity; +} +`]),c=s([`precision highp float; + +precision highp float; +#define GLSLIFY 1 + +vec3 getOrthogonalVector(vec3 v) { + // Return up-vector for only-z vector. + // Return ax + by + cz = 0, a point that lies on the plane that has v as a normal and that isn't (0,0,0). + // From the above if-statement we have ||a|| > 0 U ||b|| > 0. + // Assign z = 0, x = -b, y = a: + // a*-b + b*a + c*0 = -ba + ba + 0 = 0 + if (v.x*v.x > v.z*v.z || v.y*v.y > v.z*v.z) { + return normalize(vec3(-v.y, v.x, 0.0)); + } else { + return normalize(vec3(0.0, v.z, -v.y)); + } +} + +// Calculate the cone vertex and normal at the given index. +// +// The returned vertex is for a cone with its top at origin and height of 1.0, +// pointing in the direction of the vector attribute. +// +// Each cone is made up of a top vertex, a center base vertex and base perimeter vertices. +// These vertices are used to make up the triangles of the cone by the following: +// segment + 0 top vertex +// segment + 1 perimeter vertex a+1 +// segment + 2 perimeter vertex a +// segment + 3 center base vertex +// segment + 4 perimeter vertex a +// segment + 5 perimeter vertex a+1 +// Where segment is the number of the radial segment * 6 and a is the angle at that radial segment. +// To go from index to segment, floor(index / 6) +// To go from segment to angle, 2*pi * (segment/segmentCount) +// To go from index to segment index, index - (segment*6) +// +vec3 getConePosition(vec3 d, float rawIndex, float coneOffset, out vec3 normal) { + + const float segmentCount = 8.0; + + float index = rawIndex - floor(rawIndex / + (segmentCount * 6.0)) * + (segmentCount * 6.0); + + float segment = floor(0.001 + index/6.0); + float segmentIndex = index - (segment*6.0); + + normal = -normalize(d); + + if (segmentIndex > 2.99 && segmentIndex < 3.01) { + return mix(vec3(0.0), -d, coneOffset); + } + + float nextAngle = ( + (segmentIndex > 0.99 && segmentIndex < 1.01) || + (segmentIndex > 4.99 && segmentIndex < 5.01) + ) ? 1.0 : 0.0; + float angle = 2.0 * 3.14159 * ((segment + nextAngle) / segmentCount); + + vec3 v1 = mix(d, vec3(0.0), coneOffset); + vec3 v2 = v1 - d; + + vec3 u = getOrthogonalVector(d); + vec3 v = normalize(cross(u, d)); + + vec3 x = u * cos(angle) * length(d)*0.25; + vec3 y = v * sin(angle) * length(d)*0.25; + vec3 v3 = v2 + x + y; + if (segmentIndex < 3.0) { + vec3 tx = u * sin(angle); + vec3 ty = v * -cos(angle); + vec3 tangent = tx + ty; + normal = normalize(cross(v3 - v1, tangent)); + } + + if (segmentIndex == 0.0) { + return mix(d, vec3(0.0), coneOffset); + } + return v3; +} + +attribute vec4 vector; +attribute vec4 position; +attribute vec4 id; + +uniform mat4 model, view, projection; +uniform float vectorScale, coneScale, coneOffset; + +varying vec3 f_position; +varying vec4 f_id; + +void main() { + vec3 normal; + vec3 XYZ = getConePosition(mat3(model) * ((vectorScale * coneScale) * vector.xyz), position.w, coneOffset, normal); + vec4 conePosition = model * vec4(position.xyz, 1.0) + vec4(XYZ, 0.0); + gl_Position = projection * (view * conePosition); + f_id = id; + f_position = position.xyz; +} +`]),f=s([`precision highp float; +#define GLSLIFY 1 + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +uniform vec3 clipBounds[2]; +uniform float pickId; + +varying vec3 f_position; +varying vec4 f_id; + +void main() { + if (outOfRange(clipBounds[0], clipBounds[1], f_position)) discard; + + gl_FragColor = vec4(pickId, f_id.xyz); +}`]);a.meshShader={vertex:l,fragment:u,attributes:[{name:"position",type:"vec4"},{name:"color",type:"vec4"},{name:"uv",type:"vec2"},{name:"vector",type:"vec3"}]},a.pickShader={vertex:c,fragment:f,attributes:[{name:"position",type:"vec4"},{name:"id",type:"vec4"},{name:"vector",type:"vec3"}]}},737(n){n.exports={0:"NONE",1:"ONE",2:"LINE_LOOP",3:"LINE_STRIP",4:"TRIANGLES",5:"TRIANGLE_STRIP",6:"TRIANGLE_FAN",256:"DEPTH_BUFFER_BIT",512:"NEVER",513:"LESS",514:"EQUAL",515:"LEQUAL",516:"GREATER",517:"NOTEQUAL",518:"GEQUAL",519:"ALWAYS",768:"SRC_COLOR",769:"ONE_MINUS_SRC_COLOR",770:"SRC_ALPHA",771:"ONE_MINUS_SRC_ALPHA",772:"DST_ALPHA",773:"ONE_MINUS_DST_ALPHA",774:"DST_COLOR",775:"ONE_MINUS_DST_COLOR",776:"SRC_ALPHA_SATURATE",1024:"STENCIL_BUFFER_BIT",1028:"FRONT",1029:"BACK",1032:"FRONT_AND_BACK",1280:"INVALID_ENUM",1281:"INVALID_VALUE",1282:"INVALID_OPERATION",1285:"OUT_OF_MEMORY",1286:"INVALID_FRAMEBUFFER_OPERATION",2304:"CW",2305:"CCW",2849:"LINE_WIDTH",2884:"CULL_FACE",2885:"CULL_FACE_MODE",2886:"FRONT_FACE",2928:"DEPTH_RANGE",2929:"DEPTH_TEST",2930:"DEPTH_WRITEMASK",2931:"DEPTH_CLEAR_VALUE",2932:"DEPTH_FUNC",2960:"STENCIL_TEST",2961:"STENCIL_CLEAR_VALUE",2962:"STENCIL_FUNC",2963:"STENCIL_VALUE_MASK",2964:"STENCIL_FAIL",2965:"STENCIL_PASS_DEPTH_FAIL",2966:"STENCIL_PASS_DEPTH_PASS",2967:"STENCIL_REF",2968:"STENCIL_WRITEMASK",2978:"VIEWPORT",3024:"DITHER",3042:"BLEND",3088:"SCISSOR_BOX",3089:"SCISSOR_TEST",3106:"COLOR_CLEAR_VALUE",3107:"COLOR_WRITEMASK",3317:"UNPACK_ALIGNMENT",3333:"PACK_ALIGNMENT",3379:"MAX_TEXTURE_SIZE",3386:"MAX_VIEWPORT_DIMS",3408:"SUBPIXEL_BITS",3410:"RED_BITS",3411:"GREEN_BITS",3412:"BLUE_BITS",3413:"ALPHA_BITS",3414:"DEPTH_BITS",3415:"STENCIL_BITS",3553:"TEXTURE_2D",4352:"DONT_CARE",4353:"FASTEST",4354:"NICEST",5120:"BYTE",5121:"UNSIGNED_BYTE",5122:"SHORT",5123:"UNSIGNED_SHORT",5124:"INT",5125:"UNSIGNED_INT",5126:"FLOAT",5386:"INVERT",5890:"TEXTURE",6401:"STENCIL_INDEX",6402:"DEPTH_COMPONENT",6406:"ALPHA",6407:"RGB",6408:"RGBA",6409:"LUMINANCE",6410:"LUMINANCE_ALPHA",7680:"KEEP",7681:"REPLACE",7682:"INCR",7683:"DECR",7936:"VENDOR",7937:"RENDERER",7938:"VERSION",9728:"NEAREST",9729:"LINEAR",9984:"NEAREST_MIPMAP_NEAREST",9985:"LINEAR_MIPMAP_NEAREST",9986:"NEAREST_MIPMAP_LINEAR",9987:"LINEAR_MIPMAP_LINEAR",10240:"TEXTURE_MAG_FILTER",10241:"TEXTURE_MIN_FILTER",10242:"TEXTURE_WRAP_S",10243:"TEXTURE_WRAP_T",10497:"REPEAT",10752:"POLYGON_OFFSET_UNITS",16384:"COLOR_BUFFER_BIT",32769:"CONSTANT_COLOR",32770:"ONE_MINUS_CONSTANT_COLOR",32771:"CONSTANT_ALPHA",32772:"ONE_MINUS_CONSTANT_ALPHA",32773:"BLEND_COLOR",32774:"FUNC_ADD",32777:"BLEND_EQUATION_RGB",32778:"FUNC_SUBTRACT",32779:"FUNC_REVERSE_SUBTRACT",32819:"UNSIGNED_SHORT_4_4_4_4",32820:"UNSIGNED_SHORT_5_5_5_1",32823:"POLYGON_OFFSET_FILL",32824:"POLYGON_OFFSET_FACTOR",32854:"RGBA4",32855:"RGB5_A1",32873:"TEXTURE_BINDING_2D",32926:"SAMPLE_ALPHA_TO_COVERAGE",32928:"SAMPLE_COVERAGE",32936:"SAMPLE_BUFFERS",32937:"SAMPLES",32938:"SAMPLE_COVERAGE_VALUE",32939:"SAMPLE_COVERAGE_INVERT",32968:"BLEND_DST_RGB",32969:"BLEND_SRC_RGB",32970:"BLEND_DST_ALPHA",32971:"BLEND_SRC_ALPHA",33071:"CLAMP_TO_EDGE",33170:"GENERATE_MIPMAP_HINT",33189:"DEPTH_COMPONENT16",33306:"DEPTH_STENCIL_ATTACHMENT",33635:"UNSIGNED_SHORT_5_6_5",33648:"MIRRORED_REPEAT",33901:"ALIASED_POINT_SIZE_RANGE",33902:"ALIASED_LINE_WIDTH_RANGE",33984:"TEXTURE0",33985:"TEXTURE1",33986:"TEXTURE2",33987:"TEXTURE3",33988:"TEXTURE4",33989:"TEXTURE5",33990:"TEXTURE6",33991:"TEXTURE7",33992:"TEXTURE8",33993:"TEXTURE9",33994:"TEXTURE10",33995:"TEXTURE11",33996:"TEXTURE12",33997:"TEXTURE13",33998:"TEXTURE14",33999:"TEXTURE15",34e3:"TEXTURE16",34001:"TEXTURE17",34002:"TEXTURE18",34003:"TEXTURE19",34004:"TEXTURE20",34005:"TEXTURE21",34006:"TEXTURE22",34007:"TEXTURE23",34008:"TEXTURE24",34009:"TEXTURE25",34010:"TEXTURE26",34011:"TEXTURE27",34012:"TEXTURE28",34013:"TEXTURE29",34014:"TEXTURE30",34015:"TEXTURE31",34016:"ACTIVE_TEXTURE",34024:"MAX_RENDERBUFFER_SIZE",34041:"DEPTH_STENCIL",34055:"INCR_WRAP",34056:"DECR_WRAP",34067:"TEXTURE_CUBE_MAP",34068:"TEXTURE_BINDING_CUBE_MAP",34069:"TEXTURE_CUBE_MAP_POSITIVE_X",34070:"TEXTURE_CUBE_MAP_NEGATIVE_X",34071:"TEXTURE_CUBE_MAP_POSITIVE_Y",34072:"TEXTURE_CUBE_MAP_NEGATIVE_Y",34073:"TEXTURE_CUBE_MAP_POSITIVE_Z",34074:"TEXTURE_CUBE_MAP_NEGATIVE_Z",34076:"MAX_CUBE_MAP_TEXTURE_SIZE",34338:"VERTEX_ATTRIB_ARRAY_ENABLED",34339:"VERTEX_ATTRIB_ARRAY_SIZE",34340:"VERTEX_ATTRIB_ARRAY_STRIDE",34341:"VERTEX_ATTRIB_ARRAY_TYPE",34342:"CURRENT_VERTEX_ATTRIB",34373:"VERTEX_ATTRIB_ARRAY_POINTER",34466:"NUM_COMPRESSED_TEXTURE_FORMATS",34467:"COMPRESSED_TEXTURE_FORMATS",34660:"BUFFER_SIZE",34661:"BUFFER_USAGE",34816:"STENCIL_BACK_FUNC",34817:"STENCIL_BACK_FAIL",34818:"STENCIL_BACK_PASS_DEPTH_FAIL",34819:"STENCIL_BACK_PASS_DEPTH_PASS",34877:"BLEND_EQUATION_ALPHA",34921:"MAX_VERTEX_ATTRIBS",34922:"VERTEX_ATTRIB_ARRAY_NORMALIZED",34930:"MAX_TEXTURE_IMAGE_UNITS",34962:"ARRAY_BUFFER",34963:"ELEMENT_ARRAY_BUFFER",34964:"ARRAY_BUFFER_BINDING",34965:"ELEMENT_ARRAY_BUFFER_BINDING",34975:"VERTEX_ATTRIB_ARRAY_BUFFER_BINDING",35040:"STREAM_DRAW",35044:"STATIC_DRAW",35048:"DYNAMIC_DRAW",35632:"FRAGMENT_SHADER",35633:"VERTEX_SHADER",35660:"MAX_VERTEX_TEXTURE_IMAGE_UNITS",35661:"MAX_COMBINED_TEXTURE_IMAGE_UNITS",35663:"SHADER_TYPE",35664:"FLOAT_VEC2",35665:"FLOAT_VEC3",35666:"FLOAT_VEC4",35667:"INT_VEC2",35668:"INT_VEC3",35669:"INT_VEC4",35670:"BOOL",35671:"BOOL_VEC2",35672:"BOOL_VEC3",35673:"BOOL_VEC4",35674:"FLOAT_MAT2",35675:"FLOAT_MAT3",35676:"FLOAT_MAT4",35678:"SAMPLER_2D",35680:"SAMPLER_CUBE",35712:"DELETE_STATUS",35713:"COMPILE_STATUS",35714:"LINK_STATUS",35715:"VALIDATE_STATUS",35716:"INFO_LOG_LENGTH",35717:"ATTACHED_SHADERS",35718:"ACTIVE_UNIFORMS",35719:"ACTIVE_UNIFORM_MAX_LENGTH",35720:"SHADER_SOURCE_LENGTH",35721:"ACTIVE_ATTRIBUTES",35722:"ACTIVE_ATTRIBUTE_MAX_LENGTH",35724:"SHADING_LANGUAGE_VERSION",35725:"CURRENT_PROGRAM",36003:"STENCIL_BACK_REF",36004:"STENCIL_BACK_VALUE_MASK",36005:"STENCIL_BACK_WRITEMASK",36006:"FRAMEBUFFER_BINDING",36007:"RENDERBUFFER_BINDING",36048:"FRAMEBUFFER_ATTACHMENT_OBJECT_TYPE",36049:"FRAMEBUFFER_ATTACHMENT_OBJECT_NAME",36050:"FRAMEBUFFER_ATTACHMENT_TEXTURE_LEVEL",36051:"FRAMEBUFFER_ATTACHMENT_TEXTURE_CUBE_MAP_FACE",36053:"FRAMEBUFFER_COMPLETE",36054:"FRAMEBUFFER_INCOMPLETE_ATTACHMENT",36055:"FRAMEBUFFER_INCOMPLETE_MISSING_ATTACHMENT",36057:"FRAMEBUFFER_INCOMPLETE_DIMENSIONS",36061:"FRAMEBUFFER_UNSUPPORTED",36064:"COLOR_ATTACHMENT0",36096:"DEPTH_ATTACHMENT",36128:"STENCIL_ATTACHMENT",36160:"FRAMEBUFFER",36161:"RENDERBUFFER",36162:"RENDERBUFFER_WIDTH",36163:"RENDERBUFFER_HEIGHT",36164:"RENDERBUFFER_INTERNAL_FORMAT",36168:"STENCIL_INDEX8",36176:"RENDERBUFFER_RED_SIZE",36177:"RENDERBUFFER_GREEN_SIZE",36178:"RENDERBUFFER_BLUE_SIZE",36179:"RENDERBUFFER_ALPHA_SIZE",36180:"RENDERBUFFER_DEPTH_SIZE",36181:"RENDERBUFFER_STENCIL_SIZE",36194:"RGB565",36336:"LOW_FLOAT",36337:"MEDIUM_FLOAT",36338:"HIGH_FLOAT",36339:"LOW_INT",36340:"MEDIUM_INT",36341:"HIGH_INT",36346:"SHADER_COMPILER",36347:"MAX_VERTEX_UNIFORM_VECTORS",36348:"MAX_VARYING_VECTORS",36349:"MAX_FRAGMENT_UNIFORM_VECTORS",37440:"UNPACK_FLIP_Y_WEBGL",37441:"UNPACK_PREMULTIPLY_ALPHA_WEBGL",37442:"CONTEXT_LOST_WEBGL",37443:"UNPACK_COLORSPACE_CONVERSION_WEBGL",37444:"BROWSER_DEFAULT_WEBGL"}},5171(n,a,o){var s=o(737);n.exports=function(u){return s[u]}},9165(n,a,o){"use strict";n.exports=m;var s=o(2762),l=o(8116),u=o(3436),c=[1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1];function f(g,w,b,_){this.gl=g,this.shader=_,this.buffer=w,this.vao=b,this.pixelRatio=1,this.bounds=[[1/0,1/0,1/0],[-1/0,-1/0,-1/0]],this.clipBounds=[[-1/0,-1/0,-1/0],[1/0,1/0,1/0]],this.lineWidth=[1,1,1],this.capSize=[10,10,10],this.lineCount=[0,0,0],this.lineOffset=[0,0,0],this.opacity=1,this.hasAlpha=!1}var h=f.prototype;h.isOpaque=function(){return!this.hasAlpha},h.isTransparent=function(){return this.hasAlpha},h.drawTransparent=h.draw=function(g){var w=this.gl,b=this.shader.uniforms;this.shader.bind();var _=b.view=g.view||c,M=b.projection=g.projection||c;b.model=g.model||c,b.clipBounds=this.clipBounds,b.opacity=this.opacity;var x=_[12],T=_[13],A=_[14],y=_[15],E=g._ortho||!1,S=E?2:1,C=S*this.pixelRatio*(M[3]*x+M[7]*T+M[11]*A+M[15]*y)/w.drawingBufferHeight;this.vao.bind();for(var k=0;k<3;++k)w.lineWidth(this.lineWidth[k]*this.pixelRatio),b.capSize=this.capSize[k]*C,this.lineCount[k]&&w.drawArrays(w.LINES,this.lineOffset[k],this.lineCount[k]);this.vao.unbind()};function d(g,w){for(var b=0;b<3;++b)g[0][b]=Math.min(g[0][b],w[b]),g[1][b]=Math.max(g[1][b],w[b])}var p=(function(){for(var g=new Array(3),w=0;w<3;++w){for(var b=[],_=1;_<=2;++_)for(var M=-1;M<=1;M+=2){var x=(_+w)%3,T=[0,0,0];T[x]=M,b.push(T)}g[w]=b}return g})();function v(g,w,b,_){for(var M=p[_],x=0;x0){var D=E.slice();D[A]+=C[1][A],M.push(E[0],E[1],E[2],k[0],k[1],k[2],k[3],0,0,0,D[0],D[1],D[2],k[0],k[1],k[2],k[3],0,0,0),d(this.bounds,D),T+=2+v(M,D,k,A)}}}this.lineCount[A]=T-this.lineOffset[A]}this.buffer.update(M)}},h.dispose=function(){this.shader.dispose(),this.buffer.dispose(),this.vao.dispose()};function m(g){var w=g.gl,b=s(w),_=l(w,[{buffer:b,type:w.FLOAT,size:3,offset:0,stride:40},{buffer:b,type:w.FLOAT,size:4,offset:12,stride:40},{buffer:b,type:w.FLOAT,size:3,offset:28,stride:40}]),M=u(w);M.attributes.position.location=0,M.attributes.color.location=1,M.attributes.offset.location=2;var x=new f(w,b,_,M);return x.update(g),x}},3436(n,a,o){"use strict";var s=o(3236),l=o(9405),u=s([`precision highp float; +#define GLSLIFY 1 + +attribute vec3 position, offset; +attribute vec4 color; +uniform mat4 model, view, projection; +uniform float capSize; +varying vec4 fragColor; +varying vec3 fragPosition; + +void main() { + vec4 worldPosition = model * vec4(position, 1.0); + worldPosition = (worldPosition / worldPosition.w) + vec4(capSize * offset, 0.0); + gl_Position = projection * (view * worldPosition); + fragColor = color; + fragPosition = position; +}`]),c=s([`precision highp float; +#define GLSLIFY 1 + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +uniform vec3 clipBounds[2]; +uniform float opacity; +varying vec3 fragPosition; +varying vec4 fragColor; + +void main() { + if ( + outOfRange(clipBounds[0], clipBounds[1], fragPosition) || + fragColor.a * opacity == 0. + ) discard; + + gl_FragColor = opacity * fragColor; +}`]);n.exports=function(f){return l(f,u,c,null,[{name:"position",type:"vec3"},{name:"color",type:"vec4"},{name:"offset",type:"vec3"}])}},2260(n,a,o){"use strict";var s=o(7766);n.exports=T;var l=null,u,c,f,h;function d(A){var y=A.getParameter(A.FRAMEBUFFER_BINDING),E=A.getParameter(A.RENDERBUFFER_BINDING),S=A.getParameter(A.TEXTURE_BINDING_2D);return[y,E,S]}function p(A,y){A.bindFramebuffer(A.FRAMEBUFFER,y[0]),A.bindRenderbuffer(A.RENDERBUFFER,y[1]),A.bindTexture(A.TEXTURE_2D,y[2])}function v(A,y){var E=A.getParameter(y.MAX_COLOR_ATTACHMENTS_WEBGL);l=new Array(E+1);for(var S=0;S<=E;++S){for(var C=new Array(E),k=0;k1&&F.drawBuffersWEBGL(l[D]);var B=E.getExtension("WEBGL_depth_texture");B?P?A.depth=g(E,C,k,B.UNSIGNED_INT_24_8_WEBGL,E.DEPTH_STENCIL,E.DEPTH_STENCIL_ATTACHMENT):R&&(A.depth=g(E,C,k,E.UNSIGNED_SHORT,E.DEPTH_COMPONENT,E.DEPTH_ATTACHMENT)):R&&P?A._depth_rb=w(E,C,k,E.DEPTH_STENCIL,E.DEPTH_STENCIL_ATTACHMENT):R?A._depth_rb=w(E,C,k,E.DEPTH_COMPONENT16,E.DEPTH_ATTACHMENT):P&&(A._depth_rb=w(E,C,k,E.STENCIL_INDEX,E.STENCIL_ATTACHMENT));var O=E.checkFramebufferStatus(E.FRAMEBUFFER);if(O!==E.FRAMEBUFFER_COMPLETE){A._destroyed=!0,E.bindFramebuffer(E.FRAMEBUFFER,null),E.deleteFramebuffer(A.handle),A.handle=null,A.depth&&(A.depth.dispose(),A.depth=null),A._depth_rb&&(E.deleteRenderbuffer(A._depth_rb),A._depth_rb=null);for(var I=0;IC||E<0||E>C)throw new Error("gl-fbo: Can't resize FBO, invalid dimensions");A._shape[0]=y,A._shape[1]=E;for(var k=d(S),D=0;Dk||E<0||E>k)throw new Error("gl-fbo: Parameters are too large for FBO");S=S||{};var D=1;if("color"in S){if(D=Math.max(S.color|0,0),D<0)throw new Error("gl-fbo: Must specify a nonnegative number of colors");if(D>1)if(C){if(D>A.getParameter(C.MAX_COLOR_ATTACHMENTS_WEBGL))throw new Error("gl-fbo: Context does not support "+D+" draw buffers")}else throw new Error("gl-fbo: Multiple draw buffer extension not supported")}var F=A.UNSIGNED_BYTE,P=A.getExtension("OES_texture_float");if(S.float&&D>0){if(!P)throw new Error("gl-fbo: Context does not support floating point textures");F=A.FLOAT}else S.preferFloat&&D>0&&P&&(F=A.FLOAT);var R=!0;"depth"in S&&(R=!!S.depth);var L=!1;return"stencil"in S&&(L=!!S.stencil),new _(A,y,E,F,D,R,L,C)}},2992(n,a,o){var s=o(3387).sprintf,l=o(5171),u=o(1848),c=o(1085);n.exports=f;function f(h,d,p){"use strict";var v=u(d)||"of unknown name (see npm glsl-shader-name)",m="unknown type";p!==void 0&&(m=p===l.FRAGMENT_SHADER?"fragment":"vertex");for(var g=s(`Error compiling %s shader %s: +`,m,v),w=s("%s%s",g,h),b=h.split(` +`),_={},M=0;M max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +uniform vec3 clipBounds[2]; +uniform sampler2D dashTexture; +uniform float dashScale; +uniform float opacity; + +varying vec3 worldPosition; +varying float pixelArcLength; +varying vec4 fragColor; + +void main() { + if ( + outOfRange(clipBounds[0], clipBounds[1], worldPosition) || + fragColor.a * opacity == 0. + ) discard; + + float dashWeight = texture2D(dashTexture, vec2(dashScale * pixelArcLength, 0)).r; + if(dashWeight < 0.5) { + discard; + } + gl_FragColor = fragColor * opacity; +} +`]),f=s([`precision highp float; +#define GLSLIFY 1 + +#define FLOAT_MAX 1.70141184e38 +#define FLOAT_MIN 1.17549435e-38 + +// https://github.com/mikolalysenko/glsl-read-float/blob/master/index.glsl +vec4 packFloat(float v) { + float av = abs(v); + + //Handle special cases + if(av < FLOAT_MIN) { + return vec4(0.0, 0.0, 0.0, 0.0); + } else if(v > FLOAT_MAX) { + return vec4(127.0, 128.0, 0.0, 0.0) / 255.0; + } else if(v < -FLOAT_MAX) { + return vec4(255.0, 128.0, 0.0, 0.0) / 255.0; + } + + vec4 c = vec4(0,0,0,0); + + //Compute exponent and mantissa + float e = floor(log2(av)); + float m = av * pow(2.0, -e) - 1.0; + + //Unpack mantissa + c[1] = floor(128.0 * m); + m -= c[1] / 128.0; + c[2] = floor(32768.0 * m); + m -= c[2] / 32768.0; + c[3] = floor(8388608.0 * m); + + //Unpack exponent + float ebias = e + 127.0; + c[0] = floor(ebias / 2.0); + ebias -= c[0] * 2.0; + c[1] += floor(ebias) * 128.0; + + //Unpack sign bit + c[0] += 128.0 * step(0.0, -v); + + //Scale back to range + return c / 255.0; +} + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +uniform float pickId; +uniform vec3 clipBounds[2]; + +varying vec3 worldPosition; +varying float pixelArcLength; +varying vec4 fragColor; + +void main() { + if (outOfRange(clipBounds[0], clipBounds[1], worldPosition)) discard; + + gl_FragColor = vec4(pickId/255.0, packFloat(pixelArcLength).xyz); +}`]),h=[{name:"position",type:"vec3"},{name:"nextPosition",type:"vec3"},{name:"arcLength",type:"float"},{name:"lineWidth",type:"float"},{name:"color",type:"vec4"}];a.createShader=function(d){return l(d,u,c,null,h)},a.createPickShader=function(d){return l(d,u,f,null,h)}},5714(n,a,o){"use strict";n.exports=A;var s=o(2762),l=o(8116),u=o(7766),c=new Uint8Array(4),f=new Float32Array(c.buffer);function h(y,E,S,C){return c[0]=C,c[1]=S,c[2]=E,c[3]=y,f[0]}var d=o(2478),p=o(9618),v=o(7319),m=v.createShader,g=v.createPickShader,w=[1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1];function b(y,E){for(var S=0,C=0;C<3;++C){var k=y[C]-E[C];S+=k*k}return Math.sqrt(S)}function _(y){for(var E=[[-1e6,-1e6,-1e6],[1e6,1e6,1e6]],S=0;S<3;++S)E[0][S]=Math.max(y[0][S],E[0][S]),E[1][S]=Math.min(y[1][S],E[1][S]);return E}function M(y,E,S,C){this.arcLength=y,this.position=E,this.index=S,this.dataCoordinate=C}function x(y,E,S,C,k,D){this.gl=y,this.shader=E,this.pickShader=S,this.buffer=C,this.vao=k,this.clipBounds=[[-1/0,-1/0,-1/0],[1/0,1/0,1/0]],this.points=[],this.arcLength=[],this.vertexCount=0,this.bounds=[[0,0,0],[0,0,0]],this.pickId=0,this.lineWidth=1,this.texture=D,this.dashScale=1,this.opacity=1,this.hasAlpha=!1,this.dirty=!0,this.pixelRatio=1}var T=x.prototype;T.isTransparent=function(){return this.hasAlpha},T.isOpaque=function(){return!this.hasAlpha},T.pickSlots=1,T.setPickBase=function(y){this.pickId=y},T.drawTransparent=T.draw=function(y){if(this.vertexCount){var E=this.gl,S=this.shader,C=this.vao;S.bind(),S.uniforms={model:y.model||w,view:y.view||w,projection:y.projection||w,clipBounds:_(this.clipBounds),dashTexture:this.texture.bind(),dashScale:this.dashScale/this.arcLength[this.arcLength.length-1],opacity:this.opacity,screenShape:[E.drawingBufferWidth,E.drawingBufferHeight],pixelRatio:this.pixelRatio},C.bind(),C.draw(E.TRIANGLE_STRIP,this.vertexCount),C.unbind()}},T.drawPick=function(y){if(this.vertexCount){var E=this.gl,S=this.pickShader,C=this.vao;S.bind(),S.uniforms={model:y.model||w,view:y.view||w,projection:y.projection||w,pickId:this.pickId,clipBounds:_(this.clipBounds),screenShape:[E.drawingBufferWidth,E.drawingBufferHeight],pixelRatio:this.pixelRatio},C.bind(),C.draw(E.TRIANGLE_STRIP,this.vertexCount),C.unbind()}},T.update=function(y){var E,S;this.dirty=!0;var C=!!y.connectGaps;"dashScale"in y&&(this.dashScale=y.dashScale),this.hasAlpha=!1,"opacity"in y&&(this.opacity=+y.opacity,this.opacity<1&&(this.hasAlpha=!0));var k=[],D=[],F=[],P=0,R=0,L=[[1/0,1/0,1/0],[-1/0,-1/0,-1/0]],I=y.position||y.positions;if(I){var B=y.color||y.colors||[0,0,0,1],O=y.lineWidth||1,$=!1;e:for(E=1;E0){for(var j=0;j<24;++j)k.push(k[k.length-12]);R+=2,$=!0}continue e}L[0][S]=Math.min(L[0][S],Y[S],K[S]),L[1][S]=Math.max(L[1][S],Y[S],K[S])}var q,J;Array.isArray(B[0])?(q=B.length>E-1?B[E-1]:B.length>0?B[B.length-1]:[0,0,0,1],J=B.length>E?B[E]:B.length>0?B[B.length-1]:[0,0,0,1]):q=J=B,q.length===3&&(q=[q[0],q[1],q[2],1]),J.length===3&&(J=[J[0],J[1],J[2],1]),!this.hasAlpha&&q[3]<1&&(this.hasAlpha=!0);var U;Array.isArray(O)?U=O.length>E-1?O[E-1]:O.length>0?O[O.length-1]:[0,0,0,1]:U=O;var V=P;if(P+=b(Y,K),$){for(S=0;S<2;++S)k.push(Y[0],Y[1],Y[2],K[0],K[1],K[2],V,U,q[0],q[1],q[2],q[3]);R+=2,$=!1}k.push(Y[0],Y[1],Y[2],K[0],K[1],K[2],V,U,q[0],q[1],q[2],q[3],Y[0],Y[1],Y[2],K[0],K[1],K[2],V,-U,q[0],q[1],q[2],q[3],K[0],K[1],K[2],Y[0],Y[1],Y[2],P,-U,J[0],J[1],J[2],J[3],K[0],K[1],K[2],Y[0],Y[1],Y[2],P,U,J[0],J[1],J[2],J[3]),R+=4}}if(this.buffer.update(k),D.push(P),F.push(I[I.length-1].slice()),this.bounds=L,this.vertexCount=R,this.points=F,this.arcLength=D,"dashes"in y){var X=y.dashes,H=X.slice();for(H.unshift(0),E=1;E1.0001)return null;S+=E[M]}return Math.abs(S-1)>.001?null:[x,h(p,E),E]}},840(n,a,o){var s=o(3236),l=s([`precision highp float; +#define GLSLIFY 1 + +attribute vec3 position, normal; +attribute vec4 color; +attribute vec2 uv; + +uniform mat4 model + , view + , projection + , inverseModel; +uniform vec3 eyePosition + , lightPosition; + +varying vec3 f_normal + , f_lightDirection + , f_eyeDirection + , f_data; +varying vec4 f_color; +varying vec2 f_uv; + +vec4 project(vec3 p) { + return projection * (view * (model * vec4(p, 1.0))); +} + +void main() { + gl_Position = project(position); + + //Lighting geometry parameters + vec4 cameraCoordinate = view * vec4(position , 1.0); + cameraCoordinate.xyz /= cameraCoordinate.w; + f_lightDirection = lightPosition - cameraCoordinate.xyz; + f_eyeDirection = eyePosition - cameraCoordinate.xyz; + f_normal = normalize((vec4(normal, 0.0) * inverseModel).xyz); + + f_color = color; + f_data = position; + f_uv = uv; +} +`]),u=s([`#extension GL_OES_standard_derivatives : enable + +precision highp float; +#define GLSLIFY 1 + +float beckmannDistribution(float x, float roughness) { + float NdotH = max(x, 0.0001); + float cos2Alpha = NdotH * NdotH; + float tan2Alpha = (cos2Alpha - 1.0) / cos2Alpha; + float roughness2 = roughness * roughness; + float denom = 3.141592653589793 * roughness2 * cos2Alpha * cos2Alpha; + return exp(tan2Alpha / roughness2) / denom; +} + +float cookTorranceSpecular( + vec3 lightDirection, + vec3 viewDirection, + vec3 surfaceNormal, + float roughness, + float fresnel) { + + float VdotN = max(dot(viewDirection, surfaceNormal), 0.0); + float LdotN = max(dot(lightDirection, surfaceNormal), 0.0); + + //Half angle vector + vec3 H = normalize(lightDirection + viewDirection); + + //Geometric term + float NdotH = max(dot(surfaceNormal, H), 0.0); + float VdotH = max(dot(viewDirection, H), 0.000001); + float LdotH = max(dot(lightDirection, H), 0.000001); + float G1 = (2.0 * NdotH * VdotN) / VdotH; + float G2 = (2.0 * NdotH * LdotN) / LdotH; + float G = min(1.0, min(G1, G2)); + + //Distribution term + float D = beckmannDistribution(NdotH, roughness); + + //Fresnel term + float F = pow(1.0 - VdotN, fresnel); + + //Multiply terms and done + return G * F * D / max(3.14159265 * VdotN, 0.000001); +} + +//#pragma glslify: beckmann = require(glsl-specular-beckmann) // used in gl-surface3d + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +uniform vec3 clipBounds[2]; +uniform float roughness + , fresnel + , kambient + , kdiffuse + , kspecular; +uniform sampler2D texture; + +varying vec3 f_normal + , f_lightDirection + , f_eyeDirection + , f_data; +varying vec4 f_color; +varying vec2 f_uv; + +void main() { + if (f_color.a == 0.0 || + outOfRange(clipBounds[0], clipBounds[1], f_data) + ) discard; + + vec3 N = normalize(f_normal); + vec3 L = normalize(f_lightDirection); + vec3 V = normalize(f_eyeDirection); + + if(gl_FrontFacing) { + N = -N; + } + + float specular = min(1.0, max(0.0, cookTorranceSpecular(L, V, N, roughness, fresnel))); + //float specular = max(0.0, beckmann(L, V, N, roughness)); // used in gl-surface3d + + float diffuse = min(kambient + kdiffuse * max(dot(N, L), 0.0), 1.0); + + vec4 surfaceColor = vec4(f_color.rgb, 1.0) * texture2D(texture, f_uv); + vec4 litColor = surfaceColor.a * vec4(diffuse * surfaceColor.rgb + kspecular * vec3(1,1,1) * specular, 1.0); + + gl_FragColor = litColor * f_color.a; +} +`]),c=s([`precision highp float; +#define GLSLIFY 1 + +attribute vec3 position; +attribute vec4 color; +attribute vec2 uv; + +uniform mat4 model, view, projection; + +varying vec4 f_color; +varying vec3 f_data; +varying vec2 f_uv; + +void main() { + gl_Position = projection * (view * (model * vec4(position, 1.0))); + f_color = color; + f_data = position; + f_uv = uv; +}`]),f=s([`precision highp float; +#define GLSLIFY 1 + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +uniform vec3 clipBounds[2]; +uniform sampler2D texture; +uniform float opacity; + +varying vec4 f_color; +varying vec3 f_data; +varying vec2 f_uv; + +void main() { + if (outOfRange(clipBounds[0], clipBounds[1], f_data)) discard; + + gl_FragColor = f_color * texture2D(texture, f_uv) * opacity; +}`]),h=s([`precision highp float; +#define GLSLIFY 1 + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +attribute vec3 position; +attribute vec4 color; +attribute vec2 uv; +attribute float pointSize; + +uniform mat4 model, view, projection; +uniform vec3 clipBounds[2]; + +varying vec4 f_color; +varying vec2 f_uv; + +void main() { + if (outOfRange(clipBounds[0], clipBounds[1], position)) { + + gl_Position = vec4(0.0, 0.0 ,0.0 ,0.0); + } else { + gl_Position = projection * (view * (model * vec4(position, 1.0))); + } + gl_PointSize = pointSize; + f_color = color; + f_uv = uv; +}`]),d=s([`precision highp float; +#define GLSLIFY 1 + +uniform sampler2D texture; +uniform float opacity; + +varying vec4 f_color; +varying vec2 f_uv; + +void main() { + vec2 pointR = gl_PointCoord.xy - vec2(0.5, 0.5); + if(dot(pointR, pointR) > 0.25) { + discard; + } + gl_FragColor = f_color * texture2D(texture, f_uv) * opacity; +}`]),p=s([`precision highp float; +#define GLSLIFY 1 + +attribute vec3 position; +attribute vec4 id; + +uniform mat4 model, view, projection; + +varying vec3 f_position; +varying vec4 f_id; + +void main() { + gl_Position = projection * (view * (model * vec4(position, 1.0))); + f_id = id; + f_position = position; +}`]),v=s([`precision highp float; +#define GLSLIFY 1 + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +uniform vec3 clipBounds[2]; +uniform float pickId; + +varying vec3 f_position; +varying vec4 f_id; + +void main() { + if (outOfRange(clipBounds[0], clipBounds[1], f_position)) discard; + + gl_FragColor = vec4(pickId, f_id.xyz); +}`]),m=s([`precision highp float; +#define GLSLIFY 1 + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +attribute vec3 position; +attribute float pointSize; +attribute vec4 id; + +uniform mat4 model, view, projection; +uniform vec3 clipBounds[2]; + +varying vec3 f_position; +varying vec4 f_id; + +void main() { + if (outOfRange(clipBounds[0], clipBounds[1], position)) { + + gl_Position = vec4(0.0, 0.0, 0.0, 0.0); + } else { + gl_Position = projection * (view * (model * vec4(position, 1.0))); + gl_PointSize = pointSize; + } + f_id = id; + f_position = position; +}`]),g=s([`precision highp float; +#define GLSLIFY 1 + +attribute vec3 position; + +uniform mat4 model, view, projection; + +void main() { + gl_Position = projection * (view * (model * vec4(position, 1.0))); +}`]),w=s([`precision highp float; +#define GLSLIFY 1 + +uniform vec3 contourColor; + +void main() { + gl_FragColor = vec4(contourColor, 1.0); +} +`]);a.meshShader={vertex:l,fragment:u,attributes:[{name:"position",type:"vec3"},{name:"normal",type:"vec3"},{name:"color",type:"vec4"},{name:"uv",type:"vec2"}]},a.wireShader={vertex:c,fragment:f,attributes:[{name:"position",type:"vec3"},{name:"color",type:"vec4"},{name:"uv",type:"vec2"}]},a.pointShader={vertex:h,fragment:d,attributes:[{name:"position",type:"vec3"},{name:"color",type:"vec4"},{name:"uv",type:"vec2"},{name:"pointSize",type:"float"}]},a.pickShader={vertex:p,fragment:v,attributes:[{name:"position",type:"vec3"},{name:"id",type:"vec4"}]},a.pointPickShader={vertex:m,fragment:v,attributes:[{name:"position",type:"vec3"},{name:"pointSize",type:"float"},{name:"id",type:"vec4"}]},a.contourShader={vertex:g,fragment:w,attributes:[{name:"position",type:"vec3"}]}},7201(n,a,o){"use strict";var s=1e-6,l=1e-6,u=o(9405),c=o(2762),f=o(8116),h=o(7766),d=o(8406),p=o(6760),v=o(7608),m=o(9618),g=o(6729),w=o(7765),b=o(1888),_=o(840),M=o(7626),x=_.meshShader,T=_.wireShader,A=_.pointShader,y=_.pickShader,E=_.pointPickShader,S=_.contourShader,C=[1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1];function k(j,q,J,U,V,X,H,G,Q,te,ce,ge,Ce,be,he,oe,Ee,ye,ue,ee,ae,xe,re,pe,we,Fe,Se){this.gl=j,this.pixelRatio=1,this.cells=[],this.positions=[],this.intensity=[],this.texture=q,this.dirty=!0,this.triShader=J,this.lineShader=U,this.pointShader=V,this.pickShader=X,this.pointPickShader=H,this.contourShader=G,this.trianglePositions=Q,this.triangleColors=ce,this.triangleNormals=Ce,this.triangleUVs=ge,this.triangleIds=te,this.triangleVAO=be,this.triangleCount=0,this.lineWidth=1,this.edgePositions=he,this.edgeColors=Ee,this.edgeUVs=ye,this.edgeIds=oe,this.edgeVAO=ue,this.edgeCount=0,this.pointPositions=ee,this.pointColors=xe,this.pointUVs=re,this.pointSizes=pe,this.pointIds=ae,this.pointVAO=we,this.pointCount=0,this.contourLineWidth=1,this.contourPositions=Fe,this.contourVAO=Se,this.contourCount=0,this.contourColor=[0,0,0],this.contourEnable=!0,this.pickVertex=!0,this.pickId=1,this.bounds=[[1/0,1/0,1/0],[-1/0,-1/0,-1/0]],this.clipBounds=[[-1/0,-1/0,-1/0],[1/0,1/0,1/0]],this.lightPosition=[1e5,1e5,0],this.ambientLight=.8,this.diffuseLight=.8,this.specularLight=2,this.roughness=.5,this.fresnel=1.5,this.opacity=1,this.hasAlpha=!1,this.opacityscale=!1,this._model=C,this._view=C,this._projection=C,this._resolution=[1,1]}var D=k.prototype;D.isOpaque=function(){return!this.hasAlpha},D.isTransparent=function(){return this.hasAlpha},D.pickSlots=1,D.setPickBase=function(j){this.pickId=j};function F(j,q){if(!q||!q.length)return 1;for(var J=0;Jj&&J>0){var U=(q[J][0]-j)/(q[J][0]-q[J-1][0]);return q[J][1]*(1-U)+U*q[J-1][1]}}return 1}function P(j,q){for(var J=g({colormap:j,nshades:256,format:"rgba"}),U=new Uint8Array(256*4),V=0;V<256;++V){for(var X=J[V],H=0;H<3;++H)U[4*V+H]=X[H];q?U[4*V+3]=255*F(V/255,q):U[4*V+3]=255*X[3]}return m(U,[256,256,4],[4,0,1])}function R(j){for(var q=j.length,J=new Array(q),U=0;U0){var Ce=this.triShader;Ce.bind(),Ce.uniforms=G,this.triangleVAO.bind(),q.drawArrays(q.TRIANGLES,0,this.triangleCount*3),this.triangleVAO.unbind()}if(this.edgeCount>0&&this.lineWidth>0){var Ce=this.lineShader;Ce.bind(),Ce.uniforms=G,this.edgeVAO.bind(),q.lineWidth(this.lineWidth*this.pixelRatio),q.drawArrays(q.LINES,0,this.edgeCount*2),this.edgeVAO.unbind()}if(this.pointCount>0){var Ce=this.pointShader;Ce.bind(),Ce.uniforms=G,this.pointVAO.bind(),q.drawArrays(q.POINTS,0,this.pointCount),this.pointVAO.unbind()}if(this.contourEnable&&this.contourCount>0&&this.contourLineWidth>0){var Ce=this.contourShader;Ce.bind(),Ce.uniforms=G,this.contourVAO.bind(),q.drawArrays(q.LINES,0,this.contourCount),this.contourVAO.unbind()}},D.drawPick=function(j){j=j||{};for(var q=this.gl,J=j.model||C,U=j.view||C,V=j.projection||C,X=[[-1e6,-1e6,-1e6],[1e6,1e6,1e6]],H=0;H<3;++H)X[0][H]=Math.max(X[0][H],this.clipBounds[0][H]),X[1][H]=Math.min(X[1][H],this.clipBounds[1][H]);this._model=[].slice.call(J),this._view=[].slice.call(U),this._projection=[].slice.call(V),this._resolution=[q.drawingBufferWidth,q.drawingBufferHeight];var G={model:J,view:U,projection:V,clipBounds:X,pickId:this.pickId/255},Q=this.pickShader;if(Q.bind(),Q.uniforms=G,this.triangleCount>0&&(this.triangleVAO.bind(),q.drawArrays(q.TRIANGLES,0,this.triangleCount*3),this.triangleVAO.unbind()),this.edgeCount>0&&(this.edgeVAO.bind(),q.lineWidth(this.lineWidth*this.pixelRatio),q.drawArrays(q.LINES,0,this.edgeCount*2),this.edgeVAO.unbind()),this.pointCount>0){var Q=this.pointPickShader;Q.bind(),Q.uniforms=G,this.pointVAO.bind(),q.drawArrays(q.POINTS,0,this.pointCount),this.pointVAO.unbind()}},D.pick=function(j){if(!j||j.id!==this.pickId)return null;for(var q=j.value[0]+256*j.value[1]+65536*j.value[2],J=this.cells[q],U=this.positions,V=new Array(J.length),X=0;XMath.abs(y))g.rotate(C,0,0,-A*E*Math.PI*x.rotateSpeed/window.innerWidth);else if(!x._ortho){var k=-x.zoomSpeed*S*y/window.innerHeight*(C-g.lastT())/20;g.pan(C,0,0,b*(Math.exp(k)-1))}}},!0)},x.enableMouseListeners(),x}},799(n,a,o){var s=o(3236),l=o(9405),u=s([`precision mediump float; +#define GLSLIFY 1 +attribute vec2 position; +varying vec2 uv; +void main() { + uv = position; + gl_Position = vec4(position, 0, 1); +}`]),c=s([`precision mediump float; +#define GLSLIFY 1 + +uniform sampler2D accumBuffer; +varying vec2 uv; + +void main() { + vec4 accum = texture2D(accumBuffer, 0.5 * (uv + 1.0)); + gl_FragColor = min(vec4(1,1,1,1), accum); +}`]);n.exports=function(f){return l(f,u,c,null,[{name:"position",type:"vec2"}])}},4100(n,a,o){"use strict";var s=o(4437),l=o(3837),u=o(5445),c=o(4449),f=o(3589),h=o(2260),d=o(7169),p=o(351),v=o(4772),m=o(4040),g=o(799),w=o(2431)({tablet:!0,featureDetect:!0});n.exports={createScene:T,createCamera:s};function b(){this.mouse=[-1,-1],this.screen=null,this.distance=1/0,this.index=null,this.dataCoordinate=null,this.dataPosition=null,this.object=null,this.data=null}function _(y,E){var S=null;try{S=y.getContext("webgl",E),S||(S=y.getContext("experimental-webgl",E))}catch(C){return null}return S}function M(y){var E=Math.round(Math.log(Math.abs(y))/Math.log(10));if(E<0){var S=Math.round(Math.pow(10,-E));return Math.ceil(y*S)/S}else if(E>0){var S=Math.round(Math.pow(10,E));return Math.ceil(y/S)*S}return Math.ceil(y)}function x(y){return typeof y=="boolean"?y:!0}function T(y){y=y||{},y.camera=y.camera||{};var E=y.canvas;if(!E)if(E=document.createElement("canvas"),y.container){var S=y.container;S.appendChild(E)}else document.body.appendChild(E);var C=y.gl;if(C||(y.glOptions&&(w=!!y.glOptions.preserveDrawingBuffer),C=_(E,y.glOptions||{premultipliedAlpha:!0,antialias:!0,preserveDrawingBuffer:w})),!C)throw new Error("webgl not supported");var k=y.bounds||[[-10,-10,-10],[10,10,10]],D=new b,F=h(C,C.drawingBufferWidth,C.drawingBufferHeight,{preferFloat:!w}),P=g(C),R=y.cameraObject&&y.cameraObject._ortho===!0||y.camera.projection&&y.camera.projection.type==="orthographic"||!1,L={eye:y.camera.eye||[2,0,0],center:y.camera.center||[0,0,0],up:y.camera.up||[0,1,0],zoomMin:y.camera.zoomMax||.1,zoomMax:y.camera.zoomMin||100,mode:y.camera.mode||"turntable",_ortho:R},I=y.axes||{},B=l(C,I);B.enable=!I.disable;var O=y.spikes||{},$=c(C,O),Y=[],K=[],j=[],q=[],J=!0,H=!0,U=new Array(16),V=new Array(16),X={view:null,projection:U,model:V,_ortho:!1},H=!0,G=[C.drawingBufferWidth,C.drawingBufferHeight],Q=y.cameraObject||s(E,L),te={gl:C,contextLost:!1,pixelRatio:y.pixelRatio||1,canvas:E,selection:D,camera:Q,axes:B,axesPixels:null,spikes:$,bounds:k,objects:Y,shape:G,aspect:y.aspectRatio||[1,1,1],pickRadius:y.pickRadius||10,zNear:y.zNear||.01,zFar:y.zFar||1e3,fovy:y.fovy||Math.PI/4,clearColor:y.clearColor||[0,0,0,0],autoResize:x(y.autoResize),autoBounds:x(y.autoBounds),autoScale:!!y.autoScale,autoCenter:x(y.autoCenter),clipToBounds:x(y.clipToBounds),snapToData:!!y.snapToData,onselect:y.onselect||null,onrender:y.onrender||null,onclick:y.onclick||null,cameraParams:X,oncontextloss:null,mouseListener:null,_stopped:!1,getAspectratio:function(){return{x:this.aspect[0],y:this.aspect[1],z:this.aspect[2]}},setAspectratio:function(ee){this.aspect[0]=ee.x,this.aspect[1]=ee.y,this.aspect[2]=ee.z,H=!0},setBounds:function(ee,ae){this.bounds[0][ee]=ae.min,this.bounds[1][ee]=ae.max},setClearColor:function(ee){this.clearColor=ee},clearRGBA:function(){this.gl.clearColor(this.clearColor[0],this.clearColor[1],this.clearColor[2],this.clearColor[3]),this.gl.clear(this.gl.COLOR_BUFFER_BIT|this.gl.DEPTH_BUFFER_BIT)}},ce=[C.drawingBufferWidth/te.pixelRatio|0,C.drawingBufferHeight/te.pixelRatio|0];function ge(){if(!te._stopped&&te.autoResize){var ee=E.parentNode,ae=1,xe=1;ee&&ee!==document.body?(ae=ee.clientWidth,xe=ee.clientHeight):(ae=window.innerWidth,xe=window.innerHeight);var re=Math.ceil(ae*te.pixelRatio)|0,pe=Math.ceil(xe*te.pixelRatio)|0;if(re!==E.width||pe!==E.height){E.width=re,E.height=pe;var we=E.style;we.position=we.position||"absolute",we.left="0px",we.top="0px",we.width=ae+"px",we.height=xe+"px",J=!0}}}te.autoResize&&ge(),window.addEventListener("resize",ge);function Ce(){for(var ee=Y.length,ae=q.length,xe=0;xe0&&j[ae-1]===0;)j.pop(),q.pop().dispose()}te.update=function(ee){te._stopped||(ee=ee||{},J=!0,H=!0)},te.add=function(ee){te._stopped||(ee.axes=B,Y.push(ee),K.push(-1),J=!0,H=!0,Ce())},te.remove=function(ee){if(!te._stopped){var ae=Y.indexOf(ee);ae<0||(Y.splice(ae,1),K.pop(),J=!0,H=!0,Ce())}},te.dispose=function(){if(!te._stopped&&(te._stopped=!0,window.removeEventListener("resize",ge),E.removeEventListener("webglcontextlost",be),te.mouseListener.enabled=!1,!te.contextLost)){B.dispose(),$.dispose();for(var ee=0;eeD.distance)continue;for(var _e=0;_e1e-6?(w=Math.acos(b),_=Math.sin(w),M=Math.sin((1-u)*w)/_,x=Math.sin(u*w)/_):(M=1-u,x=u),o[0]=M*c+x*p,o[1]=M*f+x*v,o[2]=M*h+x*m,o[3]=M*d+x*g,o}},5964(n){"use strict";n.exports=function(a){return!a&&a!==0?"":a.toString()}},9366(n,a,o){"use strict";var s=o(4359);n.exports=u;var l={};function u(c,f,h){var d=[f.style,f.weight,f.variant,f.family].join("_"),p=l[d];if(p||(p=l[d]={}),c in p)return p[c];var v={textAlign:"center",textBaseline:"middle",lineHeight:1,font:f.family,fontStyle:f.style,fontWeight:f.weight,fontVariant:f.variant,lineSpacing:1.25,styletags:{breaklines:!0,bolds:!0,italics:!0,subscripts:!0,superscripts:!0}};v.triangles=!0;var m=s(c,v);v.triangles=!1;var g=s(c,v),w,b;if(h&&h!==1){for(w=0;w max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +attribute vec3 position; +attribute vec4 color; +attribute vec2 glyph; +attribute vec4 id; + +uniform vec4 highlightId; +uniform float highlightScale; +uniform mat4 model, view, projection; +uniform vec3 clipBounds[2]; + +varying vec4 interpColor; +varying vec4 pickId; +varying vec3 dataCoordinate; + +void main() { + if (outOfRange(clipBounds[0], clipBounds[1], position)) { + + gl_Position = vec4(0,0,0,0); + } else { + float scale = 1.0; + if(distance(highlightId, id) < 0.0001) { + scale = highlightScale; + } + + vec4 worldPosition = model * vec4(position, 1); + vec4 viewPosition = view * worldPosition; + viewPosition = viewPosition / viewPosition.w; + vec4 clipPosition = projection * (viewPosition + scale * vec4(glyph.x, -glyph.y, 0, 0)); + + gl_Position = clipPosition; + interpColor = color; + pickId = id; + dataCoordinate = position; + } +}`]),c=l([`precision highp float; +#define GLSLIFY 1 + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +attribute vec3 position; +attribute vec4 color; +attribute vec2 glyph; +attribute vec4 id; + +uniform mat4 model, view, projection; +uniform vec2 screenSize; +uniform vec3 clipBounds[2]; +uniform float highlightScale, pixelRatio; +uniform vec4 highlightId; + +varying vec4 interpColor; +varying vec4 pickId; +varying vec3 dataCoordinate; + +void main() { + if (outOfRange(clipBounds[0], clipBounds[1], position)) { + + gl_Position = vec4(0,0,0,0); + } else { + float scale = pixelRatio; + if(distance(highlightId.bgr, id.bgr) < 0.001) { + scale *= highlightScale; + } + + vec4 worldPosition = model * vec4(position, 1.0); + vec4 viewPosition = view * worldPosition; + vec4 clipPosition = projection * viewPosition; + clipPosition /= clipPosition.w; + + gl_Position = clipPosition + vec4(screenSize * scale * vec2(glyph.x, -glyph.y), 0.0, 0.0); + interpColor = color; + pickId = id; + dataCoordinate = position; + } +}`]),f=l([`precision highp float; +#define GLSLIFY 1 + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +attribute vec3 position; +attribute vec4 color; +attribute vec2 glyph; +attribute vec4 id; + +uniform float highlightScale; +uniform vec4 highlightId; +uniform vec3 axes[2]; +uniform mat4 model, view, projection; +uniform vec2 screenSize; +uniform vec3 clipBounds[2]; +uniform float scale, pixelRatio; + +varying vec4 interpColor; +varying vec4 pickId; +varying vec3 dataCoordinate; + +void main() { + if (outOfRange(clipBounds[0], clipBounds[1], position)) { + + gl_Position = vec4(0,0,0,0); + } else { + float lscale = pixelRatio * scale; + if(distance(highlightId, id) < 0.0001) { + lscale *= highlightScale; + } + + vec4 clipCenter = projection * (view * (model * vec4(position, 1))); + vec3 dataPosition = position + 0.5*lscale*(axes[0] * glyph.x + axes[1] * glyph.y) * clipCenter.w * screenSize.y; + vec4 clipPosition = projection * (view * (model * vec4(dataPosition, 1))); + + gl_Position = clipPosition; + interpColor = color; + pickId = id; + dataCoordinate = dataPosition; + } +} +`]),h=l([`precision highp float; +#define GLSLIFY 1 + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +uniform vec3 fragClipBounds[2]; +uniform float opacity; + +varying vec4 interpColor; +varying vec3 dataCoordinate; + +void main() { + if ( + outOfRange(fragClipBounds[0], fragClipBounds[1], dataCoordinate) || + interpColor.a * opacity == 0. + ) discard; + gl_FragColor = interpColor * opacity; +} +`]),d=l([`precision highp float; +#define GLSLIFY 1 + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +uniform vec3 fragClipBounds[2]; +uniform float pickGroup; + +varying vec4 pickId; +varying vec3 dataCoordinate; + +void main() { + if (outOfRange(fragClipBounds[0], fragClipBounds[1], dataCoordinate)) discard; + + gl_FragColor = vec4(pickGroup, pickId.bgr); +}`]),p=[{name:"position",type:"vec3"},{name:"color",type:"vec4"},{name:"glyph",type:"vec2"},{name:"id",type:"vec4"}],v={vertex:u,fragment:h,attributes:p},m={vertex:c,fragment:h,attributes:p},g={vertex:f,fragment:h,attributes:p},w={vertex:u,fragment:d,attributes:p},b={vertex:c,fragment:d,attributes:p},_={vertex:f,fragment:d,attributes:p};function M(x,T){var A=s(x,T),y=A.attributes;return y.position.location=0,y.color.location=1,y.glyph.location=2,y.id.location=3,A}a.createPerspective=function(x){return M(x,v)},a.createOrtho=function(x){return M(x,m)},a.createProject=function(x){return M(x,g)},a.createPickPerspective=function(x){return M(x,w)},a.createPickOrtho=function(x){return M(x,b)},a.createPickProject=function(x){return M(x,_)}},8418(n,a,o){"use strict";var s=o(5219),l=o(2762),u=o(8116),c=o(1888),f=o(6760),h=o(1283),d=o(9366),p=o(5964),v=[1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1],m=ArrayBuffer,g=DataView;function w(V){return m.isView(V)&&!(V instanceof g)}function b(V){return Array.isArray(V)||w(V)}n.exports=U;function _(V,X){var H=V[0],G=V[1],Q=V[2],te=V[3];return V[0]=X[0]*H+X[4]*G+X[8]*Q+X[12]*te,V[1]=X[1]*H+X[5]*G+X[9]*Q+X[13]*te,V[2]=X[2]*H+X[6]*G+X[10]*Q+X[14]*te,V[3]=X[3]*H+X[7]*G+X[11]*Q+X[15]*te,V}function M(V,X,H,G){return _(G,G,H),_(G,G,X),_(G,G,V)}function x(V,X){this.index=V,this.dataCoordinate=this.position=X}function T(V){return V===!0||V>1?1:V}function A(V,X,H,G,Q,te,ce,ge,Ce,be,he,oe){this.gl=V,this.pixelRatio=1,this.shader=X,this.orthoShader=H,this.projectShader=G,this.pointBuffer=Q,this.colorBuffer=te,this.glyphBuffer=ce,this.idBuffer=ge,this.vao=Ce,this.vertexCount=0,this.lineVertexCount=0,this.opacity=1,this.hasAlpha=!1,this.lineWidth=0,this.projectScale=[.6666666666666666,.6666666666666666,.6666666666666666],this.projectOpacity=[1,1,1],this.projectHasAlpha=!1,this.pickId=0,this.pickPerspectiveShader=be,this.pickOrthoShader=he,this.pickProjectShader=oe,this.points=[],this._selectResult=new 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S=A[E],C=T;parseInt(E)+""===E?C+="["+E+"]":C+="."+E,typeof S=="object"?y.push.apply(y,w(C,S)):y.push([C,S])}return y}function b(T){switch(T){case"bool":return!1;case"int":case"sampler2D":case"samplerCube":return 0;case"float":return 0;default:var A=T.indexOf("vec");if(0<=A&&A<=1&&T.length===4+A){var y=T.charCodeAt(T.length-1)-48;if(y<2||y>4)throw new l("","Invalid data type");return T.charAt(0)==="b"?c(y,!1):c(y,0)}else if(T.indexOf("mat")===0&&T.length===4){var y=T.charCodeAt(T.length-1)-48;if(y<2||y>4)throw new l("","Invalid uniform dimension type for matrix "+name+": "+T);return c(y*y,0)}else throw new l("","Unknown uniform data type for "+name+": "+T)}}function _(T,A,y){if(typeof y=="object"){var E=M(y);Object.defineProperty(T,A,{get:u(E),set:g(y),enumerable:!0,configurable:!1})}else v[y]?Object.defineProperty(T,A,{get:m(y),set:g(y),enumerable:!0,configurable:!1}):T[A]=b(p[y].type)}function M(T){var A;if(Array.isArray(T)){A=new Array(T.length);for(var y=0;y1){p[0]in h||(h[p[0]]=[]),h=h[p[0]];for(var v=1;v1)for(var w=0;w 0 U ||b|| > 0. + // Assign z = 0, x = -b, y = a: + // a*-b + b*a + c*0 = -ba + ba + 0 = 0 + if (v.x*v.x > v.z*v.z || v.y*v.y > v.z*v.z) { + return normalize(vec3(-v.y, v.x, 0.0)); + } else { + return normalize(vec3(0.0, v.z, -v.y)); + } +} + +// Calculate the tube vertex and normal at the given index. +// +// The returned vertex is for a tube ring with its center at origin, radius of length(d), pointing in the direction of d. +// +// Each tube segment is made up of a ring of vertices. +// These vertices are used to make up the triangles of the tube by connecting them together in the vertex array. +// The indexes of tube segments run from 0 to 8. +// +vec3 getTubePosition(vec3 d, float index, out vec3 normal) { + float segmentCount = 8.0; + + float angle = 2.0 * 3.14159 * (index / segmentCount); + + vec3 u = getOrthogonalVector(d); + vec3 v = normalize(cross(u, d)); + + vec3 x = u * cos(angle) * length(d); + vec3 y = v * sin(angle) * length(d); + vec3 v3 = x + y; + + normal = normalize(v3); + + return v3; +} + +attribute vec4 vector; +attribute vec4 color, position; +attribute vec2 uv; + +uniform float vectorScale, tubeScale; +uniform mat4 model, view, projection, inverseModel; +uniform vec3 eyePosition, lightPosition; + +varying vec3 f_normal, f_lightDirection, f_eyeDirection, f_data, f_position; +varying vec4 f_color; +varying vec2 f_uv; + +void main() { + // Scale the vector magnitude to stay constant with + // model & view changes. + vec3 normal; + vec3 XYZ = getTubePosition(mat3(model) * (tubeScale * vector.w * normalize(vector.xyz)), position.w, normal); + vec4 tubePosition = model * vec4(position.xyz, 1.0) + vec4(XYZ, 0.0); + + //Lighting geometry parameters + vec4 cameraCoordinate = view * tubePosition; + cameraCoordinate.xyz /= cameraCoordinate.w; + f_lightDirection = lightPosition - cameraCoordinate.xyz; + f_eyeDirection = eyePosition - cameraCoordinate.xyz; + f_normal = normalize((vec4(normal, 0.0) * inverseModel).xyz); + + // vec4 m_position = model * vec4(tubePosition, 1.0); + vec4 t_position = view * tubePosition; + gl_Position = projection * t_position; + + f_color = color; + f_data = tubePosition.xyz; + f_position = position.xyz; + f_uv = uv; +} +`]),u=s([`#extension GL_OES_standard_derivatives : enable + +precision highp float; +#define GLSLIFY 1 + +float beckmannDistribution(float x, float roughness) { + float NdotH = max(x, 0.0001); + float cos2Alpha = NdotH * NdotH; + float tan2Alpha = (cos2Alpha - 1.0) / cos2Alpha; + float roughness2 = roughness * roughness; + float denom = 3.141592653589793 * roughness2 * cos2Alpha * cos2Alpha; + return exp(tan2Alpha / roughness2) / denom; +} + +float cookTorranceSpecular( + vec3 lightDirection, + vec3 viewDirection, + vec3 surfaceNormal, + float roughness, + float fresnel) { + + float VdotN = max(dot(viewDirection, surfaceNormal), 0.0); + float LdotN = max(dot(lightDirection, surfaceNormal), 0.0); + + //Half angle vector + vec3 H = normalize(lightDirection + viewDirection); + + //Geometric term + float NdotH = max(dot(surfaceNormal, H), 0.0); + float VdotH = max(dot(viewDirection, H), 0.000001); + float LdotH = max(dot(lightDirection, H), 0.000001); + float G1 = (2.0 * NdotH * VdotN) / VdotH; + float G2 = (2.0 * NdotH * LdotN) / LdotH; + float G = min(1.0, min(G1, G2)); + + //Distribution term + float D = beckmannDistribution(NdotH, roughness); + + //Fresnel term + float F = pow(1.0 - VdotN, fresnel); + + //Multiply terms and done + return G * F * D / max(3.14159265 * VdotN, 0.000001); +} + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +uniform vec3 clipBounds[2]; +uniform float roughness, fresnel, kambient, kdiffuse, kspecular, opacity; +uniform sampler2D texture; + +varying vec3 f_normal, f_lightDirection, f_eyeDirection, f_data, f_position; +varying vec4 f_color; +varying vec2 f_uv; + +void main() { + if (outOfRange(clipBounds[0], clipBounds[1], f_position)) discard; + vec3 N = normalize(f_normal); + vec3 L = normalize(f_lightDirection); + vec3 V = normalize(f_eyeDirection); + + if(gl_FrontFacing) { + N = -N; + } + + float specular = min(1.0, max(0.0, cookTorranceSpecular(L, V, N, roughness, fresnel))); + float diffuse = min(kambient + kdiffuse * max(dot(N, L), 0.0), 1.0); + + vec4 surfaceColor = f_color * texture2D(texture, f_uv); + vec4 litColor = surfaceColor.a * vec4(diffuse * surfaceColor.rgb + kspecular * vec3(1,1,1) * specular, 1.0); + + gl_FragColor = litColor * opacity; +} +`]),c=s([`precision highp float; + +precision highp float; +#define GLSLIFY 1 + +vec3 getOrthogonalVector(vec3 v) { + // Return up-vector for only-z vector. + // Return ax + by + cz = 0, a point that lies on the plane that has v as a normal and that isn't (0,0,0). + // From the above if-statement we have ||a|| > 0 U ||b|| > 0. + // Assign z = 0, x = -b, y = a: + // a*-b + b*a + c*0 = -ba + ba + 0 = 0 + if (v.x*v.x > v.z*v.z || v.y*v.y > v.z*v.z) { + return normalize(vec3(-v.y, v.x, 0.0)); + } else { + return normalize(vec3(0.0, v.z, -v.y)); + } +} + +// Calculate the tube vertex and normal at the given index. +// +// The returned vertex is for a tube ring with its center at origin, radius of length(d), pointing in the direction of d. +// +// Each tube segment is made up of a ring of vertices. +// These vertices are used to make up the triangles of the tube by connecting them together in the vertex array. +// The indexes of tube segments run from 0 to 8. +// +vec3 getTubePosition(vec3 d, float index, out vec3 normal) { + float segmentCount = 8.0; + + float angle = 2.0 * 3.14159 * (index / segmentCount); + + vec3 u = getOrthogonalVector(d); + vec3 v = normalize(cross(u, d)); + + vec3 x = u * cos(angle) * length(d); + vec3 y = v * sin(angle) * length(d); + vec3 v3 = x + y; + + normal = normalize(v3); + + return v3; +} + +attribute vec4 vector; +attribute vec4 position; +attribute vec4 id; + +uniform mat4 model, view, projection; +uniform float tubeScale; + +varying vec3 f_position; +varying vec4 f_id; + +void main() { + vec3 normal; + vec3 XYZ = getTubePosition(mat3(model) * (tubeScale * vector.w * normalize(vector.xyz)), position.w, normal); + vec4 tubePosition = model * vec4(position.xyz, 1.0) + vec4(XYZ, 0.0); + + gl_Position = projection * (view * tubePosition); + f_id = id; + f_position = position.xyz; +} +`]),f=s([`precision highp float; +#define GLSLIFY 1 + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +uniform vec3 clipBounds[2]; +uniform float pickId; + +varying vec3 f_position; +varying vec4 f_id; + +void main() { + if (outOfRange(clipBounds[0], clipBounds[1], f_position)) discard; + + gl_FragColor = vec4(pickId, f_id.xyz); +}`]);a.meshShader={vertex:l,fragment:u,attributes:[{name:"position",type:"vec4"},{name:"color",type:"vec4"},{name:"uv",type:"vec2"},{name:"vector",type:"vec4"}]},a.pickShader={vertex:c,fragment:f,attributes:[{name:"position",type:"vec4"},{name:"id",type:"vec4"},{name:"vector",type:"vec4"}]}},7815(n,a,o){"use strict";var s=o(2931),l=o(9970),u=["xyz","xzy","yxz","yzx","zxy","zyx"],c=function(_,M,x,T){for(var A=_.points,y=_.velocities,E=_.divergences,S=[],C=[],k=[],D=[],F=[],P=[],R=0,L=0,I=l.create(),B=l.create(),O=8,$=0;$0)for(var q=0;qM)return T-1}return T},d=function(_,M,x){return _x?x:_},p=function(_,M,x){var T=M.vectors,A=M.meshgrid,y=_[0],E=_[1],S=_[2],C=A[0].length,k=A[1].length,D=A[2].length,F=h(A[0],y),P=h(A[1],E),R=h(A[2],S),L=F+1,I=P+1,B=R+1;if(F=d(F,0,C-1),L=d(L,0,C-1),P=d(P,0,k-1),I=d(I,0,k-1),R=d(R,0,D-1),B=d(B,0,D-1),F<0||P<0||R<0||L>C-1||I>k-1||B>D-1)return s.create();var O=A[0][F],$=A[0][L],Y=A[1][P],K=A[1][I],j=A[2][R],q=A[2][B],J=(y-O)/($-O),U=(E-Y)/(K-Y),V=(S-j)/(q-j);isFinite(J)||(J=.5),isFinite(U)||(U=.5),isFinite(V)||(V=.5);var X,H,G,Q,te,ce;switch(x.reversedX&&(F=C-1-F,L=C-1-L),x.reversedY&&(P=k-1-P,I=k-1-I),x.reversedZ&&(R=D-1-R,B=D-1-B),x.filled){case 5:te=R,ce=B,G=P*D,Q=I*D,X=F*D*k,H=L*D*k;break;case 4:te=R,ce=B,X=F*D,H=L*D,G=P*D*C,Q=I*D*C;break;case 3:G=P,Q=I,te=R*k,ce=B*k,X=F*k*D,H=L*k*D;break;case 2:G=P,Q=I,X=F*k,H=L*k,te=R*k*C,ce=B*k*C;break;case 1:X=F,H=L,te=R*C,ce=B*C,G=P*C*D,Q=I*C*D;break;default:X=F,H=L,G=P*C,Q=I*C,te=R*C*k,ce=B*C*k;break}var ge=T[X+G+te],Ce=T[X+G+ce],be=T[X+Q+te],he=T[X+Q+ce],oe=T[H+G+te],Ee=T[H+G+ce],ye=T[H+Q+te],ue=T[H+Q+ce],ee=s.create(),ae=s.create(),xe=s.create(),re=s.create();s.lerp(ee,ge,oe,J),s.lerp(ae,Ce,Ee,J),s.lerp(xe,be,ye,J),s.lerp(re,he,ue,J);var pe=s.create(),we=s.create();s.lerp(pe,ee,xe,U),s.lerp(we,ae,re,U);var Fe=s.create();return s.lerp(Fe,pe,we,V),Fe},v=function(_,M){var x=M[0],T=M[1],A=M[2];return _[0]=x<0?-x:x,_[1]=T<0?-T:T,_[2]=A<0?-A:A,_},m=function(_){var M=1/0;_.sort(function(y,E){return y-E});for(var x=_.length,T=1;TL||ueI||eeB)},$=s.distance(M[0],M[1]),Y=10*$/T,K=Y*Y,j=1,q=0,J=x.length;J>1&&(j=g(x));for(var U=0;Uq&&(q=ge),te.push(ge),D.push({points:X,velocities:H,divergences:te});for(var Ce=0;CeK&&s.scale(be,be,Y/Math.sqrt(he)),s.add(be,be,V),G=C(be),s.squaredDistance(Q,be)-K>-1e-4*K){X.push(be),Q=be,H.push(G);var ce=k(be,G),ge=s.length(ce);isFinite(ge)&&ge>q&&(q=ge),te.push(ge)}V=be}}var oe=f(D,_.colormap,q,j);return y?oe.tubeScale=y:(q===0&&(q=1),oe.tubeScale=A*.5*j/q),oe};var w=o(6740),b=o(6405).createMesh;n.exports.createTubeMesh=function(_,M){return b(_,M,{shaders:w,traceType:"streamtube"})}},990(n,a,o){var s=o(9405),l=o(3236),u=l([`precision highp float; +#define GLSLIFY 1 + +attribute vec4 uv; +attribute vec3 f; +attribute vec3 normal; + +uniform vec3 objectOffset; +uniform mat4 model, view, projection, inverseModel; +uniform vec3 lightPosition, eyePosition; +uniform sampler2D colormap; + +varying float value, kill; +varying vec3 worldCoordinate; +varying vec2 planeCoordinate; +varying vec3 lightDirection, eyeDirection, surfaceNormal; +varying vec4 vColor; + +void main() { + vec3 localCoordinate = vec3(uv.zw, f.x); + worldCoordinate = objectOffset + localCoordinate; + mat4 objectOffsetTranslation = mat4(1.0) + mat4(vec4(0), vec4(0), vec4(0), vec4(objectOffset, 0)); + vec4 worldPosition = (model * objectOffsetTranslation) * vec4(localCoordinate, 1.0); + vec4 clipPosition = projection * (view * worldPosition); + gl_Position = clipPosition; + kill = f.y; + value = f.z; + planeCoordinate = uv.xy; + + vColor = texture2D(colormap, vec2(value, value)); + + //Lighting geometry parameters + vec4 cameraCoordinate = view * worldPosition; + cameraCoordinate.xyz /= cameraCoordinate.w; + lightDirection = lightPosition - cameraCoordinate.xyz; + eyeDirection = eyePosition - cameraCoordinate.xyz; + surfaceNormal = normalize((vec4(normal,0) * inverseModel).xyz); +} +`]),c=l([`precision highp float; +#define GLSLIFY 1 + +float beckmannDistribution(float x, float roughness) { + float NdotH = max(x, 0.0001); + float cos2Alpha = NdotH * NdotH; + float tan2Alpha = (cos2Alpha - 1.0) / cos2Alpha; + float roughness2 = roughness * roughness; + float denom = 3.141592653589793 * roughness2 * cos2Alpha * cos2Alpha; + return exp(tan2Alpha / roughness2) / denom; +} + +float beckmannSpecular( + vec3 lightDirection, + vec3 viewDirection, + vec3 surfaceNormal, + float roughness) { + return beckmannDistribution(dot(surfaceNormal, normalize(lightDirection + viewDirection)), roughness); +} + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +uniform vec3 lowerBound, upperBound; +uniform float contourTint; +uniform vec4 contourColor; +uniform sampler2D colormap; +uniform vec3 clipBounds[2]; +uniform float roughness, fresnel, kambient, kdiffuse, kspecular, opacity; +uniform float vertexColor; + +varying float value, kill; +varying vec3 worldCoordinate; +varying vec3 lightDirection, eyeDirection, surfaceNormal; +varying vec4 vColor; + +void main() { + if ( + kill > 0.0 || + vColor.a == 0.0 || + outOfRange(clipBounds[0], clipBounds[1], worldCoordinate) + ) discard; + + vec3 N = normalize(surfaceNormal); + vec3 V = normalize(eyeDirection); + vec3 L = normalize(lightDirection); + + if(gl_FrontFacing) { + N = -N; + } + + float specular = max(beckmannSpecular(L, V, N, roughness), 0.); + float diffuse = min(kambient + kdiffuse * max(dot(N, L), 0.0), 1.0); + + //decide how to interpolate color \u2014 in vertex or in fragment + vec4 surfaceColor = + step(vertexColor, .5) * texture2D(colormap, vec2(value, value)) + + step(.5, vertexColor) * vColor; + + vec4 litColor = surfaceColor.a * vec4(diffuse * surfaceColor.rgb + kspecular * vec3(1,1,1) * specular, 1.0); + + gl_FragColor = mix(litColor, contourColor, contourTint) * opacity; +} +`]),f=l([`precision highp float; +#define GLSLIFY 1 + +attribute vec4 uv; +attribute float f; + +uniform vec3 objectOffset; +uniform mat3 permutation; +uniform mat4 model, view, projection; +uniform float height, zOffset; +uniform sampler2D colormap; + +varying float value, kill; +varying vec3 worldCoordinate; +varying vec2 planeCoordinate; +varying vec3 lightDirection, eyeDirection, surfaceNormal; +varying vec4 vColor; + +void main() { + vec3 dataCoordinate = permutation * vec3(uv.xy, height); + worldCoordinate = objectOffset + dataCoordinate; + mat4 objectOffsetTranslation = mat4(1.0) + mat4(vec4(0), vec4(0), vec4(0), vec4(objectOffset, 0)); + vec4 worldPosition = (model * objectOffsetTranslation) * vec4(dataCoordinate, 1.0); + + vec4 clipPosition = projection * (view * worldPosition); + clipPosition.z += zOffset; + + gl_Position = clipPosition; + value = f + objectOffset.z; + kill = -1.0; + planeCoordinate = uv.zw; + + vColor = texture2D(colormap, vec2(value, value)); + + //Don't do lighting for contours + surfaceNormal = vec3(1,0,0); + eyeDirection = vec3(0,1,0); + lightDirection = vec3(0,0,1); +} +`]),h=l([`precision highp float; +#define GLSLIFY 1 + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +uniform vec2 shape; +uniform vec3 clipBounds[2]; +uniform float pickId; + +varying float value, kill; +varying vec3 worldCoordinate; +varying vec2 planeCoordinate; +varying vec3 surfaceNormal; + +vec2 splitFloat(float v) { + float vh = 255.0 * v; + float upper = floor(vh); + float lower = fract(vh); + return vec2(upper / 255.0, floor(lower * 16.0) / 16.0); +} + +void main() { + if ((kill > 0.0) || + (outOfRange(clipBounds[0], clipBounds[1], worldCoordinate))) discard; + + vec2 ux = splitFloat(planeCoordinate.x / shape.x); + vec2 uy = splitFloat(planeCoordinate.y / shape.y); + gl_FragColor = vec4(pickId, ux.x, uy.x, ux.y + (uy.y/16.0)); +} +`]);a.createShader=function(d){var p=s(d,u,c,null,[{name:"uv",type:"vec4"},{name:"f",type:"vec3"},{name:"normal",type:"vec3"}]);return p.attributes.uv.location=0,p.attributes.f.location=1,p.attributes.normal.location=2,p},a.createPickShader=function(d){var p=s(d,u,h,null,[{name:"uv",type:"vec4"},{name:"f",type:"vec3"},{name:"normal",type:"vec3"}]);return p.attributes.uv.location=0,p.attributes.f.location=1,p.attributes.normal.location=2,p},a.createContourShader=function(d){var p=s(d,f,c,null,[{name:"uv",type:"vec4"},{name:"f",type:"float"}]);return p.attributes.uv.location=0,p.attributes.f.location=1,p},a.createPickContourShader=function(d){var p=s(d,f,h,null,[{name:"uv",type:"vec4"},{name:"f",type:"float"}]);return p.attributes.uv.location=0,p.attributes.f.location=1,p}},9499(n,a,o){"use strict";n.exports=X;var s=o(8828),l=o(2762),u=o(8116),c=o(7766),f=o(1888),h=o(6729),d=o(5298),p=o(9994),v=o(9618),m=o(3711),g=o(6760),w=o(7608),b=o(2478),_=o(6199),M=o(990),x=M.createShader,T=M.createContourShader,A=M.createPickShader,y=M.createPickContourShader,E=40,S=[1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1],C=[[0,0],[0,1],[1,0],[1,1],[1,0],[0,1]],k=[[0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0]];(function(){for(var H=0;H<3;++H){var G=k[H],Q=(H+1)%3,te=(H+2)%3;G[Q+0]=1,G[te+3]=1,G[H+6]=1}})();function D(H,G,Q,te,ce){this.position=H,this.index=G,this.uv=Q,this.level=te,this.dataCoordinate=ce}var F=256;function P(H,G,Q,te,ce,ge,Ce,be,he,oe,Ee,ye,ue,ee,ae){this.gl=H,this.shape=G,this.bounds=Q,this.objectOffset=ae,this.intensityBounds=[],this._shader=te,this._pickShader=ce,this._coordinateBuffer=ge,this._vao=Ce,this._colorMap=be,this._contourShader=he,this._contourPickShader=oe,this._contourBuffer=Ee,this._contourVAO=ye,this._contourOffsets=[[],[],[]],this._contourCounts=[[],[],[]],this._vertexCount=0,this._pickResult=new D([0,0,0],[0,0],[0,0],[0,0,0],[0,0,0]),this._dynamicBuffer=ue,this._dynamicVAO=ee,this._dynamicOffsets=[0,0,0],this._dynamicCounts=[0,0,0],this.contourWidth=[1,1,1],this.contourLevels=[[1],[1],[1]],this.contourTint=[0,0,0],this.contourColor=[[.5,.5,.5,1],[.5,.5,.5,1],[.5,.5,.5,1]],this.showContour=!0,this.showSurface=!0,this.enableHighlight=[!0,!0,!0],this.highlightColor=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.highlightTint=[1,1,1],this.highlightLevel=[-1,-1,-1],this.enableDynamic=[!0,!0,!0],this.dynamicLevel=[NaN,NaN,NaN],this.dynamicColor=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.dynamicTint=[1,1,1],this.dynamicWidth=[1,1,1],this.axesBounds=[[1/0,1/0,1/0],[-1/0,-1/0,-1/0]],this.surfaceProject=[!1,!1,!1],this.contourProject=[[!1,!1,!1],[!1,!1,!1],[!1,!1,!1]],this.colorBounds=[!1,!1],this._field=[v(f.mallocFloat(1024),[0,0]),v(f.mallocFloat(1024),[0,0]),v(f.mallocFloat(1024),[0,0])],this.pickId=1,this.clipBounds=[[-1/0,-1/0,-1/0],[1/0,1/0,1/0]],this.snapToData=!1,this.pixelRatio=1,this.opacity=1,this.lightPosition=[10,1e4,0],this.ambientLight=.8,this.diffuseLight=.8,this.specularLight=2,this.roughness=.5,this.fresnel=1.5,this.vertexColor=0,this.dirty=!0}var R=P.prototype;R.genColormap=function(H,G){var Q=!1,te=p([h({colormap:H,nshades:F,format:"rgba"}).map(function(ce,ge){var Ce=G?L(ge/255,G):ce[3];return Ce<1&&(Q=!0),[ce[0],ce[1],ce[2],255*Ce]})]);return d.divseq(te,255),this.hasAlphaScale=Q,te},R.isTransparent=function(){return this.opacity<1||this.hasAlphaScale},R.isOpaque=function(){return!this.isTransparent()},R.pickSlots=1,R.setPickBase=function(H){this.pickId=H};function L(H,G){if(!G||!G.length)return 1;for(var Q=0;QH&&Q>0){var te=(G[Q][0]-H)/(G[Q][0]-G[Q-1][0]);return G[Q][1]*(1-te)+te*G[Q-1][1]}}return 1}var I=[0,0,0],B={showSurface:!1,showContour:!1,projections:[S.slice(),S.slice(),S.slice()],clipBounds:[[[0,0,0],[0,0,0]],[[0,0,0],[0,0,0]],[[0,0,0],[0,0,0]]]};function O(H,G){var Q,te,ce,ge=G.axes&&G.axes.lastCubeProps.axis||I,Ce=G.showSurface,be=G.showContour;for(Q=0;Q<3;++Q)for(Ce=Ce||G.surfaceProject[Q],te=0;te<3;++te)be=be||G.contourProject[Q][te];for(Q=0;Q<3;++Q){var he=B.projections[Q];for(te=0;te<16;++te)he[te]=0;for(te=0;te<4;++te)he[5*te]=1;he[5*Q]=0,he[12+Q]=G.axesBounds[+(ge[Q]>0)][Q],g(he,H.model,he);var oe=B.clipBounds[Q];for(ce=0;ce<2;++ce)for(te=0;te<3;++te)oe[ce][te]=H.clipBounds[ce][te];oe[0][Q]=-1e8,oe[1][Q]=1e8}return B.showSurface=Ce,B.showContour=be,B}var $={model:S,view:S,projection:S,inverseModel:S.slice(),lowerBound:[0,0,0],upperBound:[0,0,0],colorMap:0,clipBounds:[[0,0,0],[0,0,0]],height:0,contourTint:0,contourColor:[0,0,0,1],permutation:[1,0,0,0,1,0,0,0,1],zOffset:-1e-4,objectOffset:[0,0,0],kambient:1,kdiffuse:1,kspecular:1,lightPosition:[1e3,1e3,1e3],eyePosition:[0,0,0],roughness:1,fresnel:1,opacity:1,vertexColor:0},Y=S.slice(),K=[1,0,0,0,1,0,0,0,1];function j(H,G){H=H||{};var Q=this.gl;Q.disable(Q.CULL_FACE),this._colorMap.bind(0);var te=$;te.model=H.model||S,te.view=H.view||S,te.projection=H.projection||S,te.lowerBound=[this.bounds[0][0],this.bounds[0][1],this.colorBounds[0]||this.bounds[0][2]],te.upperBound=[this.bounds[1][0],this.bounds[1][1],this.colorBounds[1]||this.bounds[1][2]],te.objectOffset=this.objectOffset,te.contourColor=this.contourColor[0],te.inverseModel=w(te.inverseModel,te.model);for(var ce=0;ce<2;++ce)for(var ge=te.clipBounds[ce],Ce=0;Ce<3;++Ce)ge[Ce]=Math.min(Math.max(this.clipBounds[ce][Ce],-1e8),1e8);te.kambient=this.ambientLight,te.kdiffuse=this.diffuseLight,te.kspecular=this.specularLight,te.roughness=this.roughness,te.fresnel=this.fresnel,te.opacity=this.opacity,te.height=0,te.permutation=K,te.vertexColor=this.vertexColor;var be=Y;for(g(be,te.view,te.model),g(be,te.projection,be),w(be,be),ce=0;ce<3;++ce)te.eyePosition[ce]=be[12+ce]/be[15];var he=be[15];for(ce=0;ce<3;++ce)he+=this.lightPosition[ce]*be[4*ce+3];for(ce=0;ce<3;++ce){var oe=be[12+ce];for(Ce=0;Ce<3;++Ce)oe+=be[4*Ce+ce]*this.lightPosition[Ce];te.lightPosition[ce]=oe/he}var Ee=O(te,this);if(Ee.showSurface){for(this._shader.bind(),this._shader.uniforms=te,this._vao.bind(),this.showSurface&&this._vertexCount&&this._vao.draw(Q.TRIANGLES,this._vertexCount),ce=0;ce<3;++ce)!this.surfaceProject[ce]||!this.vertexCount||(this._shader.uniforms.model=Ee.projections[ce],this._shader.uniforms.clipBounds=Ee.clipBounds[ce],this._vao.draw(Q.TRIANGLES,this._vertexCount));this._vao.unbind()}if(Ee.showContour){var ye=this._contourShader;te.kambient=1,te.kdiffuse=0,te.kspecular=0,te.opacity=1,ye.bind(),ye.uniforms=te;var ue=this._contourVAO;for(ue.bind(),ce=0;ce<3;++ce)for(ye.uniforms.permutation=k[ce],Q.lineWidth(this.contourWidth[ce]*this.pixelRatio),Ce=0;Ce>4)/16)/255,ce=Math.floor(te),ge=te-ce,Ce=G[1]*(H.value[1]+(H.value[2]&15)/16)/255,be=Math.floor(Ce),he=Ce-be;ce+=1,be+=1;var oe=Q.position;oe[0]=oe[1]=oe[2]=0;for(var Ee=0;Ee<2;++Ee)for(var ye=Ee?ge:1-ge,ue=0;ue<2;++ue)for(var ee=ue?he:1-he,ae=ce+Ee,xe=be+ue,re=ye*ee,pe=0;pe<3;++pe)oe[pe]+=this._field[pe].get(ae,xe)*re;for(var we=this._pickResult.level,Fe=0;Fe<3;++Fe)if(we[Fe]=b.le(this.contourLevels[Fe],oe[Fe]),we[Fe]<0)this.contourLevels[Fe].length>0&&(we[Fe]=0);else if(we[Fe]Math.abs(ke-oe[Fe])&&(we[Fe]+=1)}for(Q.index[0]=ge<.5?ce:ce+1,Q.index[1]=he<.5?be:be+1,Q.uv[0]=te/G[0],Q.uv[1]=Ce/G[1],pe=0;pe<3;++pe)Q.dataCoordinate[pe]=this._field[pe].get(Q.index[0],Q.index[1]);return Q},R.padField=function(H,G){var Q=G.shape.slice(),te=H.shape.slice();d.assign(H.lo(1,1).hi(Q[0],Q[1]),G),d.assign(H.lo(1).hi(Q[0],1),G.hi(Q[0],1)),d.assign(H.lo(1,te[1]-1).hi(Q[0],1),G.lo(0,Q[1]-1).hi(Q[0],1)),d.assign(H.lo(0,1).hi(1,Q[1]),G.hi(1)),d.assign(H.lo(te[0]-1,1).hi(1,Q[1]),G.lo(Q[0]-1)),H.set(0,0,G.get(0,0)),H.set(0,te[1]-1,G.get(0,Q[1]-1)),H.set(te[0]-1,0,G.get(Q[0]-1,0)),H.set(te[0]-1,te[1]-1,G.get(Q[0]-1,Q[1]-1))};function J(H,G){return Array.isArray(H)?[G(H[0]),G(H[1]),G(H[2])]:[G(H),G(H),G(H)]}function U(H){return Array.isArray(H)?H.length===3?[H[0],H[1],H[2],1]:[H[0],H[1],H[2],H[3]]:[0,0,0,1]}function V(H){if(Array.isArray(H)){if(Array.isArray(H))return[U(H[0]),U(H[1]),U(H[2])];var G=U(H);return[G.slice(),G.slice(),G.slice()]}}R.update=function(H){H=H||{},this.objectOffset=H.objectOffset||this.objectOffset,this.dirty=!0,"contourWidth"in H&&(this.contourWidth=J(H.contourWidth,Number)),"showContour"in H&&(this.showContour=J(H.showContour,Boolean)),"showSurface"in H&&(this.showSurface=!!H.showSurface),"contourTint"in H&&(this.contourTint=J(H.contourTint,Boolean)),"contourColor"in H&&(this.contourColor=V(H.contourColor)),"contourProject"in H&&(this.contourProject=J(H.contourProject,function(ra){return J(ra,Boolean)})),"surfaceProject"in H&&(this.surfaceProject=H.surfaceProject),"dynamicColor"in H&&(this.dynamicColor=V(H.dynamicColor)),"dynamicTint"in H&&(this.dynamicTint=J(H.dynamicTint,Number)),"dynamicWidth"in H&&(this.dynamicWidth=J(H.dynamicWidth,Number)),"opacity"in H&&(this.opacity=H.opacity),"opacityscale"in H&&(this.opacityscale=H.opacityscale),"colorBounds"in H&&(this.colorBounds=H.colorBounds),"vertexColor"in H&&(this.vertexColor=H.vertexColor?1:0),"colormap"in H&&this._colorMap.setPixels(this.genColormap(H.colormap,this.opacityscale));var G=H.field||H.coords&&H.coords[2]||null,Q=!1;if(G||(this._field[2].shape[0]||this._field[2].shape[2]?G=this._field[2].lo(1,1).hi(this._field[2].shape[0]-2,this._field[2].shape[1]-2):G=this._field[2].hi(0,0)),"field"in H||"coords"in H){var te=(G.shape[0]+2)*(G.shape[1]+2);te>this._field[2].data.length&&(f.freeFloat(this._field[2].data),this._field[2].data=f.mallocFloat(s.nextPow2(te))),this._field[2]=v(this._field[2].data,[G.shape[0]+2,G.shape[1]+2]),this.padField(this._field[2],G),this.shape=G.shape.slice();for(var ce=this.shape,ge=0;ge<2;++ge)this._field[2].size>this._field[ge].data.length&&(f.freeFloat(this._field[ge].data),this._field[ge].data=f.mallocFloat(this._field[2].size)),this._field[ge]=v(this._field[ge].data,[ce[0]+2,ce[1]+2]);if(H.coords){var Ce=H.coords;if(!Array.isArray(Ce)||Ce.length!==3)throw new Error("gl-surface: invalid coordinates for x/y");for(ge=0;ge<2;++ge){var be=Ce[ge];for(ue=0;ue<2;++ue)if(be.shape[ue]!==ce[ue])throw new Error("gl-surface: coords have incorrect shape");this.padField(this._field[ge],be)}}else if(H.ticks){var he=H.ticks;if(!Array.isArray(he)||he.length!==2)throw new Error("gl-surface: invalid ticks");for(ge=0;ge<2;++ge){var oe=he[ge];if((Array.isArray(oe)||oe.length)&&(oe=v(oe)),oe.shape[0]!==ce[ge])throw new Error("gl-surface: invalid tick length");var Ee=v(oe.data,ce);Ee.stride[ge]=oe.stride[0],Ee.stride[ge^1]=0,this.padField(this._field[ge],Ee)}}else{for(ge=0;ge<2;++ge){var ye=[0,0];ye[ge]=1,this._field[ge]=v(this._field[ge].data,[ce[0]+2,ce[1]+2],ye,0)}this._field[0].set(0,0,0);for(var ue=0;ue0){for(var dn=0;dn<5;++dn)ur.pop();Ne-=1}continue e}}}$e.push(Ne)}this._contourOffsets[Bt]=kr,this._contourCounts[Bt]=$e}var Vn=f.mallocFloat(ur.length);for(ge=0;geD||C<0||C>D)throw new Error("gl-texture2d: Invalid texture size");return E._shape=[S,C],E.bind(),k.texImage2D(k.TEXTURE_2D,0,E.format,S,C,0,E.format,E.type,null),E._mipLevels=[0],E}function g(E,S,C,k,D,F){this.gl=E,this.handle=S,this.format=D,this.type=F,this._shape=[C,k],this._mipLevels=[0],this._magFilter=E.NEAREST,this._minFilter=E.NEAREST,this._wrapS=E.CLAMP_TO_EDGE,this._wrapT=E.CLAMP_TO_EDGE,this._anisoSamples=1;var P=this,R=[this._wrapS,this._wrapT];Object.defineProperties(R,[{get:function(){return P._wrapS},set:function(I){return P.wrapS=I}},{get:function(){return P._wrapT},set:function(I){return P.wrapT=I}}]),this._wrapVector=R;var L=[this._shape[0],this._shape[1]];Object.defineProperties(L,[{get:function(){return P._shape[0]},set:function(I){return P.width=I}},{get:function(){return P._shape[1]},set:function(I){return P.height=I}}]),this._shapeVector=L}var w=g.prototype;Object.defineProperties(w,{minFilter:{get:function(){return this._minFilter},set:function(E){this.bind();var S=this.gl;if(this.type===S.FLOAT&&c.indexOf(E)>=0&&(S.getExtension("OES_texture_float_linear")||(E=S.NEAREST)),f.indexOf(E)<0)throw new Error("gl-texture2d: Unknown filter mode "+E);return S.texParameteri(S.TEXTURE_2D,S.TEXTURE_MIN_FILTER,E),this._minFilter=E}},magFilter:{get:function(){return this._magFilter},set:function(E){this.bind();var S=this.gl;if(this.type===S.FLOAT&&c.indexOf(E)>=0&&(S.getExtension("OES_texture_float_linear")||(E=S.NEAREST)),f.indexOf(E)<0)throw new Error("gl-texture2d: Unknown filter mode "+E);return S.texParameteri(S.TEXTURE_2D,S.TEXTURE_MAG_FILTER,E),this._magFilter=E}},mipSamples:{get:function(){return this._anisoSamples},set:function(E){var S=this._anisoSamples;if(this._anisoSamples=Math.max(E,1)|0,S!==this._anisoSamples){var C=this.gl.getExtension("EXT_texture_filter_anisotropic");C&&this.gl.texParameterf(this.gl.TEXTURE_2D,C.TEXTURE_MAX_ANISOTROPY_EXT,this._anisoSamples)}return this._anisoSamples}},wrapS:{get:function(){return this._wrapS},set:function(E){if(this.bind(),h.indexOf(E)<0)throw new Error("gl-texture2d: Unknown wrap mode "+E);return this.gl.texParameteri(this.gl.TEXTURE_2D,this.gl.TEXTURE_WRAP_S,E),this._wrapS=E}},wrapT:{get:function(){return this._wrapT},set:function(E){if(this.bind(),h.indexOf(E)<0)throw new Error("gl-texture2d: Unknown wrap mode "+E);return this.gl.texParameteri(this.gl.TEXTURE_2D,this.gl.TEXTURE_WRAP_T,E),this._wrapT=E}},wrap:{get:function(){return this._wrapVector},set:function(E){if(Array.isArray(E)||(E=[E,E]),E.length!==2)throw new Error("gl-texture2d: Must specify wrap mode for rows and columns");for(var S=0;S<2;++S)if(h.indexOf(E[S])<0)throw new Error("gl-texture2d: Unknown wrap mode "+E);this._wrapS=E[0],this._wrapT=E[1];var C=this.gl;return this.bind(),C.texParameteri(C.TEXTURE_2D,C.TEXTURE_WRAP_S,this._wrapS),C.texParameteri(C.TEXTURE_2D,C.TEXTURE_WRAP_T,this._wrapT),E}},shape:{get:function(){return this._shapeVector},set:function(E){if(!Array.isArray(E))E=[E|0,E|0];else if(E.length!==2)throw new Error("gl-texture2d: Invalid texture shape");return m(this,E[0]|0,E[1]|0),[E[0]|0,E[1]|0]}},width:{get:function(){return this._shape[0]},set:function(E){return E=E|0,m(this,E,this._shape[1]),E}},height:{get:function(){return this._shape[1]},set:function(E){return E=E|0,m(this,this._shape[0],E),E}}}),w.bind=function(E){var S=this.gl;return E!==void 0&&S.activeTexture(S.TEXTURE0+(E|0)),S.bindTexture(S.TEXTURE_2D,this.handle),E!==void 0?E|0:S.getParameter(S.ACTIVE_TEXTURE)-S.TEXTURE0},w.dispose=function(){this.gl.deleteTexture(this.handle)},w.generateMipmap=function(){this.bind(),this.gl.generateMipmap(this.gl.TEXTURE_2D);for(var E=Math.min(this._shape[0],this._shape[1]),S=0;E>0;++S,E>>>=1)this._mipLevels.indexOf(S)<0&&this._mipLevels.push(S)},w.setPixels=function(E,S,C,k){var D=this.gl;this.bind(),Array.isArray(S)?(k=C,C=S[1]|0,S=S[0]|0):(S=S||0,C=C||0),k=k||0;var F=p(E)?E:E.raw;if(F){var P=this._mipLevels.indexOf(k)<0;P?(D.texImage2D(D.TEXTURE_2D,0,this.format,this.format,this.type,F),this._mipLevels.push(k)):D.texSubImage2D(D.TEXTURE_2D,k,S,C,this.format,this.type,F)}else if(E.shape&&E.stride&&E.data){if(E.shape.length<2||S+E.shape[1]>this._shape[1]>>>k||C+E.shape[0]>this._shape[0]>>>k||S<0||C<0)throw new Error("gl-texture2d: Texture dimensions are out of bounds");_(D,S,C,k,this.format,this.type,this._mipLevels,E)}else throw new Error("gl-texture2d: Unsupported data type")};function b(E,S){return E.length===3?S[2]===1&&S[1]===E[0]*E[2]&&S[0]===E[2]:S[0]===1&&S[1]===E[0]}function _(E,S,C,k,D,F,P,R){var L=R.dtype,I=R.shape.slice();if(I.length<2||I.length>3)throw new Error("gl-texture2d: Invalid ndarray, must be 2d or 3d");var B=0,O=0,$=b(I,R.stride.slice());L==="float32"?B=E.FLOAT:L==="float64"?(B=E.FLOAT,$=!1,L="float32"):L==="uint8"?B=E.UNSIGNED_BYTE:(B=E.UNSIGNED_BYTE,$=!1,L="uint8");var Y=1;if(I.length===2)O=E.LUMINANCE,I=[I[0],I[1],1],R=s(R.data,I,[R.stride[0],R.stride[1],1],R.offset);else if(I.length===3){if(I[2]===1)O=E.ALPHA;else if(I[2]===2)O=E.LUMINANCE_ALPHA;else if(I[2]===3)O=E.RGB;else if(I[2]===4)O=E.RGBA;else throw new Error("gl-texture2d: Invalid shape for pixel coords");Y=I[2]}else throw new Error("gl-texture2d: Invalid shape for texture");if((O===E.LUMINANCE||O===E.ALPHA)&&(D===E.LUMINANCE||D===E.ALPHA)&&(O=D),O!==D)throw new Error("gl-texture2d: Incompatible texture format for setPixels");var K=R.size,j=P.indexOf(k)<0;if(j&&P.push(k),B===F&&$)R.offset===0&&R.data.length===K?j?E.texImage2D(E.TEXTURE_2D,k,D,I[0],I[1],0,D,F,R.data):E.texSubImage2D(E.TEXTURE_2D,k,S,C,I[0],I[1],D,F,R.data):j?E.texImage2D(E.TEXTURE_2D,k,D,I[0],I[1],0,D,F,R.data.subarray(R.offset,R.offset+K)):E.texSubImage2D(E.TEXTURE_2D,k,S,C,I[0],I[1],D,F,R.data.subarray(R.offset,R.offset+K));else{var q;F===E.FLOAT?q=u.mallocFloat32(K):q=u.mallocUint8(K);var J=s(q,I,[I[2],I[2]*I[0],1]);B===E.FLOAT&&F===E.UNSIGNED_BYTE?v(J,R):l.assign(J,R),j?E.texImage2D(E.TEXTURE_2D,k,D,I[0],I[1],0,D,F,q.subarray(0,K)):E.texSubImage2D(E.TEXTURE_2D,k,S,C,I[0],I[1],D,F,q.subarray(0,K)),F===E.FLOAT?u.freeFloat32(q):u.freeUint8(q)}}function M(E){var S=E.createTexture();return E.bindTexture(E.TEXTURE_2D,S),E.texParameteri(E.TEXTURE_2D,E.TEXTURE_MIN_FILTER,E.NEAREST),E.texParameteri(E.TEXTURE_2D,E.TEXTURE_MAG_FILTER,E.NEAREST),E.texParameteri(E.TEXTURE_2D,E.TEXTURE_WRAP_S,E.CLAMP_TO_EDGE),E.texParameteri(E.TEXTURE_2D,E.TEXTURE_WRAP_T,E.CLAMP_TO_EDGE),S}function x(E,S,C,k,D){var F=E.getParameter(E.MAX_TEXTURE_SIZE);if(S<0||S>F||C<0||C>F)throw new Error("gl-texture2d: Invalid texture shape");if(D===E.FLOAT&&!E.getExtension("OES_texture_float"))throw new Error("gl-texture2d: Floating point textures not supported on this platform");var P=M(E);return E.texImage2D(E.TEXTURE_2D,0,k,S,C,0,k,D,null),new g(E,P,S,C,k,D)}function T(E,S,C,k,D,F){var P=M(E);return E.texImage2D(E.TEXTURE_2D,0,D,D,F,S),new g(E,P,C,k,D,F)}function A(E,S){var C=S.dtype,k=S.shape.slice(),D=E.getParameter(E.MAX_TEXTURE_SIZE);if(k[0]<0||k[0]>D||k[1]<0||k[1]>D)throw new Error("gl-texture2d: Invalid texture size");var F=b(k,S.stride.slice()),P=0;C==="float32"?P=E.FLOAT:C==="float64"?(P=E.FLOAT,F=!1,C="float32"):C==="uint8"?P=E.UNSIGNED_BYTE:(P=E.UNSIGNED_BYTE,F=!1,C="uint8");var R=0;if(k.length===2)R=E.LUMINANCE,k=[k[0],k[1],1],S=s(S.data,k,[S.stride[0],S.stride[1],1],S.offset);else if(k.length===3)if(k[2]===1)R=E.ALPHA;else if(k[2]===2)R=E.LUMINANCE_ALPHA;else if(k[2]===3)R=E.RGB;else if(k[2]===4)R=E.RGBA;else throw new Error("gl-texture2d: Invalid shape for pixel coords");else throw new Error("gl-texture2d: Invalid shape for texture");P===E.FLOAT&&!E.getExtension("OES_texture_float")&&(P=E.UNSIGNED_BYTE,F=!1);var L,I,B=S.size;if(F)S.offset===0&&S.data.length===B?L=S.data:L=S.data.subarray(S.offset,S.offset+B);else{var O=[k[2],k[2]*k[0],1];I=u.malloc(B,C);var $=s(I,k,O,0);(C==="float32"||C==="float64")&&P===E.UNSIGNED_BYTE?v($,S):l.assign($,S),L=I.subarray(0,B)}var Y=M(E);return E.texImage2D(E.TEXTURE_2D,0,R,k[0],k[1],0,R,P,L),F||u.free(I),new g(E,Y,k[0],k[1],R,P)}function y(E){if(arguments.length<=1)throw new Error("gl-texture2d: Missing arguments for texture2d constructor");if(c||d(E),typeof arguments[1]=="number")return x(E,arguments[1],arguments[2],arguments[3]||E.RGBA,arguments[4]||E.UNSIGNED_BYTE);if(Array.isArray(arguments[1]))return x(E,arguments[1][0]|0,arguments[1][1]|0,arguments[2]||E.RGBA,arguments[3]||E.UNSIGNED_BYTE);if(typeof arguments[1]=="object"){var S=arguments[1],C=p(S)?S:S.raw;if(C)return T(E,C,S.width|0,S.height|0,arguments[2]||E.RGBA,arguments[3]||E.UNSIGNED_BYTE);if(S.shape&&S.data&&S.stride)return A(E,S)}throw new Error("gl-texture2d: Invalid arguments for texture2d constructor")}},1433(n){"use strict";function a(o,s,l){s?s.bind():o.bindBuffer(o.ELEMENT_ARRAY_BUFFER,null);var u=o.getParameter(o.MAX_VERTEX_ATTRIBS)|0;if(l){if(l.length>u)throw new Error("gl-vao: Too many vertex attributes");for(var c=0;c1?0:Math.acos(v)}},9226(n){n.exports=a;function a(o,s){return 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YK=Bqe.exports=RKt({x:um.x,y:um.y,z:{valType:"data_array"},text:cv({},um.text,{}),texttemplate:LKt(),texttemplatefallback:Iqe({editType:"calc"}),hovertext:cv({},um.hovertext,{}),hovertemplate:FKt(),hovertemplatefallback:Iqe(),xhoverformat:$K("x"),yhoverformat:$K("y"),zhoverformat:$K("z"),mode:cv({},um.mode,{dflt:"lines+markers"}),surfaceaxis:{valType:"enumerated",values:[-1,0,1,2],dflt:-1},surfacecolor:{valType:"color"},projection:{x:WK("x"),y:WK("y"),z:WK("z")},connectgaps:um.connectgaps,line:qKt,marker:cv({symbol:{valType:"enumerated",values:zqe(IKt),dflt:"circle",arrayOk:!0},size:cv({},_b.size,{dflt:8}),sizeref:_b.sizeref,sizemin:_b.sizemin,sizemode:_b.sizemode,opacity:cv({},_b.opacity,{arrayOk:!1}),colorbar:_b.colorbar,line:cv({width:cv({},BKt.width,{arrayOk:!1})},XK("marker.line"))},XK("marker")),textposition:cv({},um.textposition,{dflt:"top 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n?["ticks","all","allticks"].indexOf(n.mirror)!==-1?(r.lineTickMirror[i]=!0,r.lineMirror[i]=!0):n.mirror===!0?(r.lineTickMirror[i]=!1,r.lineMirror[i]=!0):(r.lineTickMirror[i]=!1,r.lineMirror[i]=!1):r.lineMirror[i]=!1,"showbackground"in n&&n.showbackground!==!1?(r.backgroundEnable[i]=!0,r.backgroundColor[i]=bb(n.backgroundcolor)):r.backgroundEnable[i]=!1}};function QKt(e,t){var r=new Xqe;return r.merge(e,t),r}Zqe.exports=QKt});var eOe=W((AHr,Qqe)=>{"use strict";var eJt=om(),tJt=["xaxis","yaxis","zaxis"];function Jqe(){this.enabled=[!0,!0,!0],this.colors=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.drawSides=[!0,!0,!0],this.lineWidth=[1,1,1]}var rJt=Jqe.prototype;rJt.merge=function(e){for(var t=0;t<3;++t){var r=e[tJt[t]];if(!r.visible){this.enabled[t]=!1,this.drawSides[t]=!1;continue}this.enabled[t]=r.showspikes,this.colors[t]=eJt(r.spikecolor),this.drawSides[t]=r.spikesides,this.lineWidth[t]=r.spikethickness}};function iJt(e){var t=new Jqe;return t.merge(e),t}Qqe.exports=iJt});var iOe=W((MHr,rOe)=>{"use strict";rOe.exports=lJt;var tOe=ji(),nJt=it(),aJt=["xaxis","yaxis","zaxis"],oJt=[0,0,0];function sJt(e){for(var t=new Array(3),r=0;r<3;++r){for(var i=e[r],n=new Array(i.length),a=0;a/g," "));n[a]=u,o.tickmode=s}}t.ticks=n;for(var a=0;a<3;++a){oJt[a]=.5*(e.glplot.bounds[0][a]+e.glplot.bounds[1][a]);for(var c=0;c<2;++c)t.bounds[c][a]=e.glplot.bounds[c][a]}e.contourLevels=sJt(n)}});var cOe=W((SHr,uOe)=>{"use strict";var oOe=nc().gl_plot3d,uJt=oOe.createCamera,nOe=oOe.createScene,cJt=$qe(),fJt=XD(),wI=yi(),nh=it(),bI=nh.preserveDrawingBuffer(),TI=ji(),fv=Ds(),hJt=om(),dJt=JK(),pJt=d$(),vJt=Kqe(),gJt=eOe(),mJt=iOe(),yJt=Op().applyAutorangeOptions,aE,_I,sOe=!1;function lOe(e,t){var r=document.createElement("div"),i=e.container;this.graphDiv=e.graphDiv;var n=document.createElementNS("http://www.w3.org/2000/svg","svg");n.style.position="absolute",n.style.top=n.style.left="0px",n.style.width=n.style.height="100%",n.style["z-index"]=20,n.style["pointer-events"]="none",r.appendChild(n),this.svgContainer=n,r.id=e.id,r.style.position="absolute",r.style.top=r.style.left="0px",r.style.width=r.style.height="100%",i.appendChild(r),this.fullLayout=t,this.id=e.id||"scene",this.fullSceneLayout=t[this.id],this.plotArgs=[[],{},{}],this.axesOptions=vJt(t,t[this.id]),this.spikeOptions=gJt(t[this.id]),this.container=r,this.staticMode=!!e.staticPlot,this.pixelRatio=this.pixelRatio||e.plotGlPixelRatio||2,this.dataScale=[1,1,1],this.contourLevels=[[],[],[]],this.convertAnnotations=wI.getComponentMethod("annotations3d","convert"),this.drawAnnotations=wI.getComponentMethod("annotations3d","draw"),this.initializeGLPlot()}var af=lOe.prototype;af.prepareOptions=function(){var e=this,t={canvas:e.canvas,gl:e.gl,glOptions:{preserveDrawingBuffer:bI,premultipliedAlpha:!0,antialias:!0},container:e.container,axes:e.axesOptions,spikes:e.spikeOptions,pickRadius:10,snapToData:!0,autoScale:!0,autoBounds:!1,cameraObject:e.camera,pixelRatio:e.pixelRatio};if(e.staticMode){if(!_I&&(aE=document.createElement("canvas"),_I=cJt({canvas:aE,preserveDrawingBuffer:!0,premultipliedAlpha:!0,antialias:!0}),!_I))throw new Error("error creating static canvas/context for image server");t.gl=_I,t.canvas=aE}return t};var aOe=!0;af.tryCreatePlot=function(){var e=this,t=e.prepareOptions(),r=!0;try{e.glplot=nOe(t)}catch(i){if(e.staticMode||!aOe||bI)r=!1;else{nh.warn(["webgl setup failed possibly due to","false preserveDrawingBuffer config.","The mobile/tablet device may not be detected by is-mobile module.","Enabling preserveDrawingBuffer in second attempt to create webgl scene..."].join(" "));try{bI=t.glOptions.preserveDrawingBuffer=!0,e.glplot=nOe(t)}catch(n){bI=t.glOptions.preserveDrawingBuffer=!1,r=!1}}}return aOe=!1,r};af.initializeGLCamera=function(){var e=this,t=e.fullSceneLayout.camera,r=t.projection.type==="orthographic";e.camera=uJt(e.container,{center:[t.center.x,t.center.y,t.center.z],eye:[t.eye.x,t.eye.y,t.eye.z],up:[t.up.x,t.up.y,t.up.z],_ortho:r,zoomMin:.01,zoomMax:100,mode:"orbit"})};af.initializeGLPlot=function(){var e=this;e.initializeGLCamera();var t=e.tryCreatePlot();if(!t)return dJt(e);e.traces={},e.make4thDimension();var r=e.graphDiv,i=r.layout,n=function(){var o={};return e.isCameraChanged(i)&&(o[e.id+".camera"]=e.getCamera()),e.isAspectChanged(i)&&(o[e.id+".aspectratio"]=e.glplot.getAspectratio(),i[e.id].aspectmode!=="manual"&&(e.fullSceneLayout.aspectmode=i[e.id].aspectmode=o[e.id+".aspectmode"]="manual")),o},a=function(o){if(o.fullSceneLayout.dragmode!==!1){var s=n();o.saveLayout(i),o.graphDiv.emit("plotly_relayout",s)}};return e.glplot.canvas&&(e.glplot.canvas.addEventListener("mouseup",function(){a(e)}),e.glplot.canvas.addEventListener("touchstart",function(){sOe=!0}),e.glplot.canvas.addEventListener("wheel",function(o){if(r._context._scrollZoom.gl3d){if(e.camera._ortho){var s=o.deltaX>o.deltaY?1.1:.9090909090909091,l=e.glplot.getAspectratio();e.glplot.setAspectratio({x:s*l.x,y:s*l.y,z:s*l.z})}a(e)}},fJt?{passive:!1}:!1),e.glplot.canvas.addEventListener("mousemove",function(){if(e.fullSceneLayout.dragmode!==!1&&e.camera.mouseListener.buttons!==0){var o=n();e.graphDiv.emit("plotly_relayouting",o)}}),e.staticMode||e.glplot.canvas.addEventListener("webglcontextlost",function(o){r&&r.emit&&r.emit("plotly_webglcontextlost",{event:o,layer:e.id})},!1)),e.glplot.oncontextloss=function(){e.recoverContext()},e.glplot.onrender=function(){e.render()},!0};af.render=function(){var e=this,t=e.graphDiv,r,i=e.svgContainer,n=e.container.getBoundingClientRect();t._fullLayout._calcInverseTransform(t);var a=t._fullLayout._invScaleX,o=t._fullLayout._invScaleY,s=n.width*a,l=n.height*o;i.setAttributeNS(null,"viewBox","0 0 "+s+" "+l),i.setAttributeNS(null,"width",s),i.setAttributeNS(null,"height",l),mJt(e),e.glplot.axes.update(e.axesOptions);for(var u=Object.keys(e.traces),c=null,f=e.glplot.selection,h=0;h")):r.type==="isosurface"||r.type==="volume"?(g.valueLabel=TI.hoverLabelText(e._mockAxis,e._mockAxis.d2l(f.traceCoordinate[3]),r.valuehoverformat),x.push("value: "+g.valueLabel),f.textLabel&&x.push(f.textLabel),M=x.join("
")):M=f.textLabel;var T={x:f.traceCoordinate[0],y:f.traceCoordinate[1],z:f.traceCoordinate[2],data:v._input,fullData:v,curveNumber:v.index,pointNumber:m};fv.appendArrayPointValue(T,v,m),r._module.eventData&&(T=v._module.eventData(T,f,v,{},m));var A={points:[T]};if(e.fullSceneLayout.hovermode){var y=[];fv.loneHover({trace:v,x:(.5+.5*p[0]/p[3])*s,y:(.5-.5*p[1]/p[3])*l,xLabel:g.xLabel,yLabel:g.yLabel,zLabel:g.zLabel,text:M,name:c.name,color:fv.castHoverOption(v,m,"bgcolor")||c.color,borderColor:fv.castHoverOption(v,m,"bordercolor"),fontFamily:fv.castHoverOption(v,m,"font.family"),fontSize:fv.castHoverOption(v,m,"font.size"),fontColor:fv.castHoverOption(v,m,"font.color"),nameLength:fv.castHoverOption(v,m,"namelength"),textAlign:fv.castHoverOption(v,m,"align"),hovertemplate:nh.castOption(v,m,"hovertemplate"),hovertemplateLabels:nh.extendFlat({},T,g),eventData:[T]},{container:i,gd:t,inOut_bbox:y}),T.bbox=y[0]}f.distance<5&&(f.buttons||sOe)?t.emit("plotly_click",A):t.emit("plotly_hover",A),this.oldEventData=A}else fv.loneUnhover(i),this.oldEventData&&t.emit("plotly_unhover",this.oldEventData),this.oldEventData=void 0;e.drawAnnotations(e)};af.recoverContext=function(){var e=this;e.glplot.dispose();var t=function(){if(e.glplot.gl.isContextLost()){requestAnimationFrame(t);return}if(!e.initializeGLPlot()){nh.error("Catastrophic and unrecoverable WebGL error. Context lost.");return}e.plot.apply(e,e.plotArgs)};requestAnimationFrame(t)};var oE=["xaxis","yaxis","zaxis"];function xJt(e,t,r){for(var i=e.fullSceneLayout,n=0;n<3;n++){var a=oE[n],o=a.charAt(0),s=i[a],l=t[o],u=t[o+"calendar"],c=t["_"+o+"length"];if(!nh.isArrayOrTypedArray(l))r[0][n]=Math.min(r[0][n],0),r[1][n]=Math.max(r[1][n],c-1);else for(var f,h=0;h<(c||l.length);h++)if(nh.isArrayOrTypedArray(l[h]))for(var d=0;dv[1][o])v[0][o]=-1,v[1][o]=1;else{var S=v[1][o]-v[0][o];v[0][o]-=S/32,v[1][o]+=S/32}if(w=[v[0][o],v[1][o]],w=yJt(w,l),v[0][o]=w[0],v[1][o]=w[1],l.isReversed()){var C=v[0][o];v[0][o]=v[1][o],v[1][o]=C}}else w=l.range,v[0][o]=l.r2l(w[0]),v[1][o]=l.r2l(w[1]);v[0][o]===v[1][o]&&(v[0][o]-=1,v[1][o]+=1),m[o]=v[1][o]-v[0][o],l.range=[v[0][o],v[1][o]],l.limitRange(),i.glplot.setBounds(o,{min:l.range[0]*d[o],max:l.range[1]*d[o]})}var k,D=c.aspectmode;if(D==="cube")k=[1,1,1];else if(D==="manual"){var F=c.aspectratio;k=[F.x,F.y,F.z]}else if(D==="auto"||D==="data"){var P=[1,1,1];for(o=0;o<3;++o){l=c[oE[o]],u=l.type;var R=g[u];P[o]=Math.pow(R.acc,1/R.count)/d[o]}D==="data"||Math.max.apply(null,P)/Math.min.apply(null,P)<=4?k=P:k=[1,1,1]}else throw new Error("scene.js aspectRatio was not one of the enumerated types");c.aspectratio.x=f.aspectratio.x=k[0],c.aspectratio.y=f.aspectratio.y=k[1],c.aspectratio.z=f.aspectratio.z=k[2],i.glplot.setAspectratio(c.aspectratio),i.viewInitial.aspectratio||(i.viewInitial.aspectratio={x:c.aspectratio.x,y:c.aspectratio.y,z:c.aspectratio.z}),i.viewInitial.aspectmode||(i.viewInitial.aspectmode=c.aspectmode);var L=c.domain||null,I=t._size||null;if(L&&I){var B=i.container.style;B.position="absolute",B.left=I.l+L.x[0]*I.w+"px",B.top=I.t+(1-L.y[1])*I.h+"px",B.width=I.w*(L.x[1]-L.x[0])+"px",B.height=I.h*(L.y[1]-L.y[0])+"px"}i.glplot.redraw()}};af.destroy=function(){var e=this;e.glplot&&(e.camera.mouseListener.enabled=!1,e.container.removeEventListener("wheel",e.camera.wheelListener),e.camera=null,e.glplot.dispose(),e.container.parentNode.removeChild(e.container),e.glplot=null)};function bJt(e){return[[e.eye.x,e.eye.y,e.eye.z],[e.center.x,e.center.y,e.center.z],[e.up.x,e.up.y,e.up.z]]}function wJt(e){return{up:{x:e.up[0],y:e.up[1],z:e.up[2]},center:{x:e.center[0],y:e.center[1],z:e.center[2]},eye:{x:e.eye[0],y:e.eye[1],z:e.eye[2]},projection:{type:e._ortho===!0?"orthographic":"perspective"}}}af.getCamera=function(){var e=this;return e.camera.view.recalcMatrix(e.camera.view.lastT()),wJt(e.camera)};af.setViewport=function(e){var t=this,r=e.camera;t.camera.lookAt.apply(this,bJt(r)),t.glplot.setAspectratio(e.aspectratio);var i=r.projection.type==="orthographic",n=t.camera._ortho;i!==n&&(t.glplot.redraw(),t.glplot.clearRGBA(),t.glplot.dispose(),t.initializeGLPlot())};af.isCameraChanged=function(e){var t=this,r=t.getCamera(),i=nh.nestedProperty(e,t.id+".camera"),n=i.get();function a(u,c,f,h){var d=["up","center","eye"],p=["x","y","z"];return c[d[f]]&&u[d[f]][p[h]]===c[d[f]][p[h]]}var o=!1;if(n===void 0)o=!0;else{for(var s=0;s<3;s++)for(var l=0;l<3;l++)if(!a(r,n,s,l)){o=!0;break}(!n.projection||r.projection&&r.projection.type!==n.projection.type)&&(o=!0)}return o};af.isAspectChanged=function(e){var t=this,r=t.glplot.getAspectratio(),i=nh.nestedProperty(e,t.id+".aspectratio"),n=i.get();return n===void 0||n.x!==r.x||n.y!==r.y||n.z!==r.z};af.saveLayout=function(e){var t=this,r=t.fullLayout,i,n,a,o,s,l,u=t.isCameraChanged(e),c=t.isAspectChanged(e),f=u||c;if(f){var h={};if(u&&(i=t.getCamera(),n=nh.nestedProperty(e,t.id+".camera"),a=n.get(),h[t.id+".camera"]=a),c&&(o=t.glplot.getAspectratio(),s=nh.nestedProperty(e,t.id+".aspectratio"),l=s.get(),h[t.id+".aspectratio"]=l),wI.call("_storeDirectGUIEdit",e,r._preGUI,h),u){n.set(i);var d=nh.nestedProperty(r,t.id+".camera");d.set(i)}if(c){s.set(o);var p=nh.nestedProperty(r,t.id+".aspectratio");p.set(o),t.glplot.redraw()}}return f};af.updateFx=function(e,t){var r=this,i=r.camera;if(i)if(e==="orbit")i.mode="orbit",i.keyBindingMode="rotate";else if(e==="turntable"){i.up=[0,0,1],i.mode="turntable",i.keyBindingMode="rotate";var n=r.graphDiv,a=n._fullLayout,o=r.fullSceneLayout.camera,s=o.up.x,l=o.up.y,u=o.up.z;if(u/Math.sqrt(s*s+l*l+u*u)<.999){var c=r.id+".camera.up",f={x:0,y:0,z:1},h={};h[c]=f;var d=n.layout;wI.call("_storeDirectGUIEdit",d,a._preGUI,h),o.up=f,nh.nestedProperty(d,c).set(f)}}else i.keyBindingMode=e;r.fullSceneLayout.hovermode=t};function TJt(e,t,r){for(var i=0,n=r-1;i0)for(var s=255/o,l=0;l<3;++l)e[a+l]=Math.min(s*e[a+l],255)}}af.toImage=function(e){var t=this;e||(e="png"),t.staticMode&&t.container.appendChild(aE),t.glplot.redraw();var r=t.glplot.gl,i=r.drawingBufferWidth,n=r.drawingBufferHeight;r.bindFramebuffer(r.FRAMEBUFFER,null);var a=new Uint8Array(i*n*4);r.readPixels(0,0,i,n,r.RGBA,r.UNSIGNED_BYTE,a),TJt(a,i,n),AJt(a,i,n);var o=document.createElement("canvas");o.width=i,o.height=n;var s=o.getContext("2d",{willReadFrequently:!0}),l=s.createImageData(i,n);l.data.set(a),s.putImageData(l,0,0);var u;switch(e){case"jpeg":u=o.toDataURL("image/jpeg");break;case"webp":u=o.toDataURL("image/webp");break;default:u=o.toDataURL("image/png")}return t.staticMode&&t.container.removeChild(aE),u};af.setConvert=function(){for(var e=this,t=0;t<3;t++){var r=e.fullSceneLayout[oE[t]];TI.setConvert(r,e.fullLayout),r.setScale=nh.noop}};af.make4thDimension=function(){var e=this,t=e.graphDiv,r=t._fullLayout;e._mockAxis={type:"linear",showexponent:"all",exponentformat:"B"},TI.setConvert(e._mockAxis,r)};uOe.exports=lOe});var hOe=W((EHr,fOe)=>{"use strict";fOe.exports={scene:{valType:"subplotid",dflt:"scene",editType:"calc+clearAxisTypes"}}});var eJ=W((kHr,dOe)=>{"use strict";var MJt=ni(),Xn=ec(),QK=tn().extendFlat,SJt=ls().overrideAll;dOe.exports=SJt({visible:Xn.visible,showspikes:{valType:"boolean",dflt:!0},spikesides:{valType:"boolean",dflt:!0},spikethickness:{valType:"number",min:0,dflt:2},spikecolor:{valType:"color",dflt:MJt.defaultLine},showbackground:{valType:"boolean",dflt:!1},backgroundcolor:{valType:"color",dflt:"rgba(204, 204, 204, 0.5)"},showaxeslabels:{valType:"boolean",dflt:!0},color:Xn.color,categoryorder:Xn.categoryorder,categoryarray:Xn.categoryarray,title:{text:Xn.title.text,font:Xn.title.font},type:QK({},Xn.type,{values:["-","linear","log","date","category"]}),autotypenumbers:Xn.autotypenumbers,autorange:Xn.autorange,autorangeoptions:{minallowed:Xn.autorangeoptions.minallowed,maxallowed:Xn.autorangeoptions.maxallowed,clipmin:Xn.autorangeoptions.clipmin,clipmax:Xn.autorangeoptions.clipmax,include:Xn.autorangeoptions.include,editType:"plot"},rangemode:Xn.rangemode,minallowed:Xn.minallowed,maxallowed:Xn.maxallowed,range:QK({},Xn.range,{items:[{valType:"any",editType:"plot",impliedEdits:{"^autorange":!1}},{valType:"any",editType:"plot",impliedEdits:{"^autorange":!1}}],anim:!1}),tickmode:Xn.minor.tickmode,nticks:Xn.nticks,tick0:Xn.tick0,dtick:Xn.dtick,tickvals:Xn.tickvals,ticktext:Xn.ticktext,ticks:Xn.ticks,mirror:Xn.mirror,ticklen:Xn.ticklen,tickwidth:Xn.tickwidth,tickcolor:Xn.tickcolor,showticklabels:Xn.showticklabels,labelalias:Xn.labelalias,tickfont:Xn.tickfont,tickangle:Xn.tickangle,tickprefix:Xn.tickprefix,showtickprefix:Xn.showtickprefix,ticksuffix:Xn.ticksuffix,showticksuffix:Xn.showticksuffix,showexponent:Xn.showexponent,exponentformat:Xn.exponentformat,minexponent:Xn.minexponent,separatethousands:Xn.separatethousands,tickformat:Xn.tickformat,tickformatstops:Xn.tickformatstops,hoverformat:Xn.hoverformat,showline:Xn.showline,linecolor:Xn.linecolor,linewidth:Xn.linewidth,showgrid:Xn.showgrid,gridcolor:QK({},Xn.gridcolor,{dflt:"rgb(204, 204, 204)"}),gridwidth:Xn.gridwidth,zeroline:Xn.zeroline,zerolinecolor:Xn.zerolinecolor,zerolinewidth:Xn.zerolinewidth},"plot","from-root")});var nJ=W((CHr,pOe)=>{"use strict";var tJ=eJ(),EJt=us().attributes,rJ=tn().extendFlat,kJt=it().counterRegex;function iJ(e,t,r){return{x:{valType:"number",dflt:e,editType:"camera"},y:{valType:"number",dflt:t,editType:"camera"},z:{valType:"number",dflt:r,editType:"camera"},editType:"camera"}}pOe.exports={_arrayAttrRegexps:[kJt("scene",".annotations",!0)],bgcolor:{valType:"color",dflt:"rgba(0,0,0,0)",editType:"plot"},camera:{up:rJ(iJ(0,0,1),{}),center:rJ(iJ(0,0,0),{}),eye:rJ(iJ(1.25,1.25,1.25),{}),projection:{type:{valType:"enumerated",values:["perspective","orthographic"],dflt:"perspective",editType:"calc"},editType:"calc"},editType:"camera"},domain:EJt({name:"scene",editType:"plot"}),aspectmode:{valType:"enumerated",values:["auto","cube","data","manual"],dflt:"auto",editType:"plot",impliedEdits:{"aspectratio.x":void 0,"aspectratio.y":void 0,"aspectratio.z":void 0}},aspectratio:{x:{valType:"number",min:0,editType:"plot",impliedEdits:{"^aspectmode":"manual"}},y:{valType:"number",min:0,editType:"plot",impliedEdits:{"^aspectmode":"manual"}},z:{valType:"number",min:0,editType:"plot",impliedEdits:{"^aspectmode":"manual"}},editType:"plot",impliedEdits:{aspectmode:"manual"}},xaxis:tJ,yaxis:tJ,zaxis:tJ,dragmode:{valType:"enumerated",values:["orbit","turntable","zoom","pan",!1],editType:"plot"},hovermode:{valType:"enumerated",values:["closest",!1],dflt:"closest",editType:"modebar"},uirevision:{valType:"any",editType:"none"},editType:"plot"}});var yOe=W((DHr,mOe)=>{"use strict";var CJt=ni(),vOe=it(),DJt=Da(),FJt=eJ(),LJt=Kj(),PJt=mM(),gOe=["xaxis","yaxis","zaxis"],IJt=13600/187;mOe.exports=function(t,r,i){var n,a;function o(u,c){return vOe.coerce(n,a,FJt,u,c)}for(var s=0;s{"use strict";var RJt=it(),zJt=ni(),BJt=yi(),qJt=q_(),OJt=yOe(),xOe=nJ(),NJt=_c().getSubplotData,_Oe="gl3d";bOe.exports=function(t,r,i){var n=r._basePlotModules.length>1;function a(o){if(!n){var s=RJt.validate(t[o],xOe[o]);if(s)return t[o]}}qJt(t,r,i,{type:_Oe,attributes:xOe,handleDefaults:UJt,fullLayout:r,font:r.font,fullData:i,getDfltFromLayout:a,autotypenumbersDflt:r.autotypenumbers,paper_bgcolor:r.paper_bgcolor,calendar:r.calendar})};function UJt(e,t,r,i){for(var n=r("bgcolor"),a=zJt.combine(n,i.paper_bgcolor),o=["up","center","eye"],s=0;s.999)&&(h="turntable")}else h="turntable";r("dragmode",h),r("hovermode",i.getDfltFromLayout("hovermode"))}});var w2=W(ah=>{"use strict";var VJt=ls().overrideAll,GJt=sy(),HJt=cOe(),jJt=_c().getSubplotData,$Jt=it(),WJt=sd(),S4="gl3d",aJ="scene";ah.name=S4;ah.attr=aJ;ah.idRoot=aJ;ah.idRegex=ah.attrRegex=$Jt.counterRegex("scene");ah.attributes=hOe();ah.layoutAttributes=nJ();ah.baseLayoutAttrOverrides=VJt({hoverlabel:GJt.hoverlabel},"plot","nested");ah.supplyLayoutDefaults=wOe();ah.plot=function(t){for(var r=t._fullLayout,i=t._fullData,n=r._subplots[S4],a=0;a{"use 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qOe(e,t,r){this.scene=e,this.uid=r,this.surface=t,this.data=null,this.showContour=[!1,!1,!1],this.contourStart=[null,null,null],this.contourEnd=[null,null,null],this.contourSize=[0,0,0],this.minValues=[1/0,1/0,1/0],this.maxValues=[-1/0,-1/0,-1/0],this.dataScaleX=1,this.dataScaleY=1,this.refineData=!0,this.objectOffset=[0,0,0]}var hv=qOe.prototype;hv.getXat=function(e,t,r,i){var n=lE(this.data.x)?lE(this.data.x[0])?this.data.x[t][e]:this.data.x[e]:e;return r===void 0?n:i.d2l(n,0,r)};hv.getYat=function(e,t,r,i){var n=lE(this.data.y)?lE(this.data.y[0])?this.data.y[t][e]:this.data.y[t]:t;return r===void 0?n:i.d2l(n,0,r)};hv.getZat=function(e,t,r,i){var n=this.data.z[t][e];return n===null&&this.data.connectgaps&&this.data._interpolatedZ&&(n=this.data._interpolatedZ[t][e]),r===void 0?n:i.d2l(n,0,r)};hv.handlePick=function(e){if(e.object===this.surface){var 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fQt(e,t){if(e0){r=k4[i];break}return r}function dQt(e,t){if(!(e<1||t<1)){for(var r=dJ(e),i=dJ(t),n=1,a=0;aAI;)i--,i/=hQt(i),i++,i1?n:1};function vQt(e,t,r){var i=r[8]+r[2]*t[0]+r[5]*t[1];return e[0]=(r[6]+r[0]*t[0]+r[3]*t[1])/i,e[1]=(r[7]+r[1]*t[0]+r[4]*t[1])/i,e}function gQt(e,t,r){return mQt(e,t,vQt,r),e}function mQt(e,t,r,i){for(var n=[0,0],a=e.shape[0],o=e.shape[1],s=0;s0&&this.contourStart[i]!==null&&this.contourEnd[i]!==null&&this.contourEnd[i]>this.contourStart[i]))for(t[i]=!0,n=this.contourStart[i];nh&&(this.minValues[u]=h),this.maxValues[u]{"use strict";VOe.exports={attributes:sE(),supplyDefaults:hJ().supplyDefaults,colorbar:{min:"cmin",max:"cmax"},calc:ROe(),plot:UOe(),moduleType:"trace",name:"surface",basePlotModule:w2(),categories:["gl3d","2dMap","showLegend"],meta:{}}});var jOe=W((NHr,HOe)=>{"use strict";HOe.exports=GOe()});var C4=W((UHr,WOe)=>{"use strict";var 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D4=XOe.exports=SQt(vJ({x:{valType:"data_array"},y:{valType:"data_array"},z:{valType:"data_array"},value:{valType:"data_array"},isomin:{valType:"number"},isomax:{valType:"number"},surface:{show:{valType:"boolean",dflt:!0},count:{valType:"integer",dflt:2,min:1},fill:{valType:"number",min:0,max:1,dflt:1},pattern:{valType:"flaglist",flags:["A","B","C","D","E"],extras:["all","odd","even"],dflt:"all"}},spaceframe:{show:{valType:"boolean",dflt:!1},fill:{valType:"number",min:0,max:1,dflt:.15}},slices:{x:gJ("x"),y:gJ("y"),z:gJ("z")},caps:{x:mJ("x"),y:mJ("y"),z:mJ("z")},text:{valType:"string",dflt:"",arrayOk:!0},hovertext:{valType:"string",dflt:"",arrayOk:!0},hovertemplate:AQt(),hovertemplatefallback:MQt(),xhoverformat:MI("x"),yhoverformat:MI("y"),zhoverformat:MI("z"),valuehoverformat:MI("value",1),showlegend:vJ({},YOe.showlegend,{dflt:!1})},TQt("",{colorAttr:"`value`",showScaleDflt:!0,editTypeOverride:"calc"}),{opacity:uE.opacity,lightposition:uE.lightposition,lighting:uE.lighting,flatshading:uE.flatshading,contour:uE.contour,hoverinfo:vJ({},YOe.hoverinfo)}),"calc","nested");D4.flatshading.dflt=!0;D4.lighting.facenormalsepsilon.dflt=0;D4.x.editType=D4.y.editType=D4.z.editType=D4.value.editType="calc+clearAxisTypes"});var yJ=W((GHr,KOe)=>{"use strict";var EQt=it(),kQt=yi(),CQt=SI(),DQt=Fu();function FQt(e,t,r,i){function n(a,o){return EQt.coerce(e,t,CQt,a,o)}ZOe(e,t,r,i,n)}function ZOe(e,t,r,i,n){var a=n("isomin"),o=n("isomax");o!=null&&a!==void 0&&a!==null&&a>o&&(t.isomin=null,t.isomax=null);var s=n("x"),l=n("y"),u=n("z"),c=n("value");if(!s||!s.length||!l||!l.length||!u||!u.length||!c||!c.length){t.visible=!1;return}var f=kQt.getComponentMethod("calendars","handleTraceDefaults");f(e,t,["x","y","z"],i),n("valuehoverformat"),["x","y","z"].forEach(function(v){n(v+"hoverformat");var m="caps."+v,g=n(m+".show");g&&n(m+".fill");var w="slices."+v,b=n(w+".show");b&&(n(w+".fill"),n(w+".locations"))});var h=n("spaceframe.show");h&&n("spaceframe.fill");var d=n("surface.show");d&&(n("surface.count"),n("surface.fill"),n("surface.pattern"));var 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GQt=Eo(),Il=SI(),HQt=sE(),cNe=Wa(),TJ=tn().extendFlat,jQt=ls().overrideAll,DI=fNe.exports=jQt(TJ({x:Il.x,y:Il.y,z:Il.z,value:Il.value,isomin:Il.isomin,isomax:Il.isomax,surface:Il.surface,spaceframe:{show:{valType:"boolean",dflt:!1},fill:{valType:"number",min:0,max:1,dflt:1}},slices:Il.slices,caps:Il.caps,text:Il.text,hovertext:Il.hovertext,xhoverformat:Il.xhoverformat,yhoverformat:Il.yhoverformat,zhoverformat:Il.zhoverformat,valuehoverformat:Il.valuehoverformat,hovertemplate:Il.hovertemplate,hovertemplatefallback:Il.hovertemplatefallback},GQt("",{colorAttr:"`value`",showScaleDflt:!0,editTypeOverride:"calc"}),{colorbar:Il.colorbar,opacity:Il.opacity,opacityscale:HQt.opacityscale,lightposition:Il.lightposition,lighting:Il.lighting,flatshading:Il.flatshading,contour:Il.contour,hoverinfo:TJ({},cNe.hoverinfo),showlegend:TJ({},cNe.showlegend,{dflt:!1})}),"calc","nested");DI.x.editType=DI.y.editType=DI.z.editType=DI.value.editType="calc+clearAxisTypes"});var dNe=W((KHr,hNe)=>{"use strict";var 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n=pNe(i(r.xaxis,e._meshX,t.dataScale[0],e.xcalendar),i(r.yaxis,e._meshY,t.dataScale[1],e.ycalendar),i(r.zaxis,e._meshZ,t.dataScale[2],e.zcalendar)),a=pNe(e._meshI,e._meshJ,e._meshK),o={positions:n,cells:a,lightPosition:[e.lightposition.x,e.lightposition.y,e.lightposition.z],ambient:e.lighting.ambient,diffuse:e.lighting.diffuse,specular:e.lighting.specular,roughness:e.lighting.roughness,fresnel:e.lighting.fresnel,vertexNormalsEpsilon:e.lighting.vertexnormalsepsilon,faceNormalsEpsilon:e.lighting.facenormalsepsilon,opacity:e.opacity,opacityscale:e.opacityscale,contourEnable:e.contour.show,contourColor:QQt(e.contour.color).slice(0,3),contourWidth:e.contour.width,useFacetNormals:e.flatshading},s=eer(e);o.vertexIntensity=e._meshIntensity,o.vertexIntensityBounds=[s.min,s.max],o.colormap=KQt(e),this.mesh.update(o)};SJ.dispose=function(){this.scene.glplot.remove(this.mesh),this.mesh.dispose()};function rer(e,t){var r=e.glplot.gl,i=ZQt({gl:r}),n=new vNe(e,i,t.uid);return i._trace=n,n.update(t),e.glplot.add(i),n}gNe.exports=rer});var xNe=W((QHr,yNe)=>{"use strict";yNe.exports={attributes:AJ(),supplyDefaults:dNe(),calc:bJ(),colorbar:{min:"cmin",max:"cmax"},plot:mNe(),moduleType:"trace",name:"volume",basePlotModule:w2(),categories:["gl3d","showLegend"],meta:{}}});var bNe=W((ejr,_Ne)=>{"use strict";_Ne.exports=xNe()});var ANe=W((tjr,TNe)=>{"use strict";var ier=yi(),wNe=it(),ner=Fu(),aer=C4();TNe.exports=function(t,r,i,n){function a(c,f){return wNe.coerce(t,r,aer,c,f)}function o(c){var f=c.map(function(h){var d=a(h);return d&&wNe.isArrayOrTypedArray(d)?d:null});return f.every(function(h){return h&&h.length===f[0].length})&&f}var s=o(["x","y","z"]);if(!s){r.visible=!1;return}if(o(["i","j","k"]),r.i&&(!r.j||!r.k)||r.j&&(!r.k||!r.i)||r.k&&(!r.i||!r.j)){r.visible=!1;return}var l=ier.getComponentMethod("calendars","handleTraceDefaults");l(t,r,["x","y","z"],n),["lighting.ambient","lighting.diffuse","lighting.specular","lighting.roughness","lighting.fresnel","lighting.vertexnormalsepsilon","lighting.facenormalsepsilon","lightposition.x","lightposition.y","lightposition.z","flatshading","alphahull","delaunayaxis","opacity"].forEach(function(c){a(c)});var u=a("contour.show");u&&(a("contour.color"),a("contour.width")),"intensity"in t?(a("intensity"),a("intensitymode"),ner(t,r,n,a,{prefix:"",cLetter:"c"})):(r.showscale=!1,"facecolor"in t?a("facecolor"):"vertexcolor"in t?a("vertexcolor"):a("color",i)),a("text"),a("hovertext"),a("hovertemplate"),a("hovertemplatefallback"),a("xhoverformat"),a("yhoverformat"),a("zhoverformat"),r._length=null}});var SNe=W((rjr,MNe)=>{"use strict";var oer=Zc();MNe.exports=function(t,r){r.intensity&&oer(t,r,{vals:r.intensity,containerStr:"",cLetter:"c"})}});var FNe=W((ijr,DNe)=>{"use strict";var ser=nc().gl_mesh3d,ler=nc().delaunay_triangulate,uer=nc().alpha_shape,cer=nc().convex_hull,fer=sm().parseColorScale,her=it().isArrayOrTypedArray,DJ=om(),der=Jo().extractOpts,ENe=F4();function CNe(e,t,r){this.scene=e,this.uid=r,this.mesh=t,this.name="",this.color="#fff",this.data=null,this.showContour=!1}var FJ=CNe.prototype;FJ.handlePick=function(e){if(e.object===this.mesh){var t=e.index=e.data.index;e.data._cellCenter?e.traceCoordinate=e.data.dataCoordinate:e.traceCoordinate=[this.data.x[t],this.data.y[t],this.data.z[t]];var r=this.data.hovertext||this.data.text;return her(r)&&r[t]!==void 0?e.textLabel=r[t]:r&&(e.textLabel=r),!0}};function kNe(e){for(var t=[],r=e.length,i=0;i=t-.5)return!1;return!0}FJ.update=function(e){var t=this.scene,r=t.fullSceneLayout;this.data=e;var i=e.x.length,n=ENe(EJ(r.xaxis,e.x,t.dataScale[0],e.xcalendar),EJ(r.yaxis,e.y,t.dataScale[1],e.ycalendar),EJ(r.zaxis,e.z,t.dataScale[2],e.zcalendar)),a;if(e.i&&e.j&&e.k){if(e.i.length!==e.j.length||e.j.length!==e.k.length||!CJ(e.i,i)||!CJ(e.j,i)||!CJ(e.k,i))return;a=ENe(kJ(e.i),kJ(e.j),kJ(e.k))}else e.alphahull===0?a=cer(n):e.alphahull>0?a=uer(e.alphahull,n):a=per(e.delaunayaxis,n);var o={positions:n,cells:a,lightPosition:[e.lightposition.x,e.lightposition.y,e.lightposition.z],ambient:e.lighting.ambient,diffuse:e.lighting.diffuse,specular:e.lighting.specular,roughness:e.lighting.roughness,fresnel:e.lighting.fresnel,vertexNormalsEpsilon:e.lighting.vertexnormalsepsilon,faceNormalsEpsilon:e.lighting.facenormalsepsilon,opacity:e.opacity,contourEnable:e.contour.show,contourColor:DJ(e.contour.color).slice(0,3),contourWidth:e.contour.width,useFacetNormals:e.flatshading};if(e.intensity){var s=der(e);this.color="#fff";var l=e.intensitymode;o[l+"Intensity"]=e.intensity,o[l+"IntensityBounds"]=[s.min,s.max],o.colormap=fer(e)}else e.vertexcolor?(this.color=e.vertexcolor[0],o.vertexColors=kNe(e.vertexcolor)):e.facecolor?(this.color=e.facecolor[0],o.cellColors=kNe(e.facecolor)):(this.color=e.color,o.meshColor=DJ(e.color));this.mesh.update(o)};FJ.dispose=function(){this.scene.glplot.remove(this.mesh),this.mesh.dispose()};function ver(e,t){var r=e.glplot.gl,i=ser({gl:r}),n=new CNe(e,i,t.uid);return i._trace=n,n.update(t),e.glplot.add(i),n}DNe.exports=ver});var PNe=W((njr,LNe)=>{"use strict";LNe.exports={attributes:C4(),supplyDefaults:ANe(),calc:SNe(),colorbar:{min:"cmin",max:"cmax"},plot:FNe(),moduleType:"trace",name:"mesh3d",basePlotModule:w2(),categories:["gl3d","showLegend"],meta:{}}});var RNe=W((ajr,INe)=>{"use strict";INe.exports=PNe()});var PJ=W((ojr,BNe)=>{"use strict";var ger=Eo(),L4=_s().axisHoverFormat,{hovertemplateAttrs:mer,templatefallbackAttrs:yer}=Ga(),xer=C4(),zNe=Wa(),LJ=tn().extendFlat,FI={x:{valType:"data_array",editType:"calc+clearAxisTypes"},y:{valType:"data_array",editType:"calc+clearAxisTypes"},z:{valType:"data_array",editType:"calc+clearAxisTypes"},u:{valType:"data_array",editType:"calc"},v:{valType:"data_array",editType:"calc"},w:{valType:"data_array",editType:"calc"},sizemode:{valType:"enumerated",values:["scaled","absolute","raw"],editType:"calc",dflt:"scaled"},sizeref:{valType:"number",editType:"calc",min:0},anchor:{valType:"enumerated",editType:"calc",values:["tip","tail","cm","center"],dflt:"cm"},text:{valType:"string",dflt:"",arrayOk:!0,editType:"calc"},hovertext:{valType:"string",dflt:"",arrayOk:!0,editType:"calc"},hovertemplate:mer({editType:"calc"},{keys:["norm"]}),hovertemplatefallback:yer({editType:"calc"}),uhoverformat:L4("u",1),vhoverformat:L4("v",1),whoverformat:L4("w",1),xhoverformat:L4("x"),yhoverformat:L4("y"),zhoverformat:L4("z"),showlegend:LJ({},zNe.showlegend,{dflt:!1})};LJ(FI,ger("",{colorAttr:"u/v/w norm",showScaleDflt:!0,editTypeOverride:"calc"}));var _er=["opacity","lightposition","lighting"];_er.forEach(function(e){FI[e]=xer[e]});FI.hoverinfo=LJ({},zNe.hoverinfo,{editType:"calc",flags:["x","y","z","u","v","w","norm","text","name"],dflt:"x+y+z+norm+text+name"});BNe.exports=FI});var ONe=W((sjr,qNe)=>{"use strict";var ber=it(),wer=Fu(),Ter=PJ();qNe.exports=function(t,r,i,n){function a(d,p){return ber.coerce(t,r,Ter,d,p)}var o=a("u"),s=a("v"),l=a("w"),u=a("x"),c=a("y"),f=a("z");if(!o||!o.length||!s||!s.length||!l||!l.length||!u||!u.length||!c||!c.length||!f||!f.length){r.visible=!1;return}var h=a("sizemode");a("sizeref",h==="raw"?1:.5),a("anchor"),a("lighting.ambient"),a("lighting.diffuse"),a("lighting.specular"),a("lighting.roughness"),a("lighting.fresnel"),a("lightposition.x"),a("lightposition.y"),a("lightposition.z"),wer(t,r,n,a,{prefix:"",cLetter:"c"}),a("text"),a("hovertext"),a("hovertemplate"),a("hovertemplatefallback"),a("uhoverformat"),a("vhoverformat"),a("whoverformat"),a("xhoverformat"),a("yhoverformat"),a("zhoverformat"),r._length=null}});var UNe=W((ljr,NNe)=>{"use strict";var Aer=Zc();NNe.exports=function(t,r){for(var i=r.u,n=r.v,a=r.w,o=Math.min(r.x.length,r.y.length,r.z.length,i.length,n.length,a.length),s=-1/0,l=1/0,u=0;u{"use strict";var Mer=nc().gl_cone3d,Ser=nc().gl_cone3d.createConeMesh,Eer=it().simpleMap,ker=sm().parseColorScale,Cer=Jo().extractOpts,Der=it().isArrayOrTypedArray,VNe=F4();function GNe(e,t){this.scene=e,this.uid=t,this.mesh=null,this.data=null}var IJ=GNe.prototype;IJ.handlePick=function(e){if(e.object===this.mesh){var t=e.index=e.data.index,r=this.data.x[t],i=this.data.y[t],n=this.data.z[t],a=this.data.u[t],o=this.data.v[t],s=this.data.w[t];e.traceCoordinate=[r,i,n,a,o,s,Math.sqrt(a*a+o*o+s*s)];var l=this.data.hovertext||this.data.text;return Der(l)&&l[t]!==void 0?e.textLabel=l[t]:l&&(e.textLabel=l),!0}};var Fer={xaxis:0,yaxis:1,zaxis:2},Ler={tip:1,tail:0,cm:.25,center:.5},Per={tip:1,tail:1,cm:.75,center:.5};function HNe(e,t){var r=e.fullSceneLayout,i=e.dataScale,n={};function a(c,f){var h=r[f],d=i[Fer[f]];return Eer(c,function(p){return h.d2l(p)*d})}n.vectors=VNe(a(t.u,"xaxis"),a(t.v,"yaxis"),a(t.w,"zaxis"),t._len),n.positions=VNe(a(t.x,"xaxis"),a(t.y,"yaxis"),a(t.z,"zaxis"),t._len);var o=Cer(t);n.colormap=ker(t),n.vertexIntensityBounds=[o.min/t._normMax,o.max/t._normMax],n.coneOffset=Ler[t.anchor];var s=t.sizemode;s==="scaled"?n.coneSize=t.sizeref||.5:s==="absolute"?n.coneSize=t.sizeref&&t._normMax?t.sizeref/t._normMax:.5:s==="raw"&&(n.coneSize=t.sizeref),n.coneSizemode=s;var l=Mer(n),u=t.lightposition;return l.lightPosition=[u.x,u.y,u.z],l.ambient=t.lighting.ambient,l.diffuse=t.lighting.diffuse,l.specular=t.lighting.specular,l.roughness=t.lighting.roughness,l.fresnel=t.lighting.fresnel,l.opacity=t.opacity,t._pad=Per[t.anchor]*l.vectorScale*l.coneScale*t._normMax,l}IJ.update=function(e){this.data=e;var t=HNe(this.scene,e);this.mesh.update(t)};IJ.dispose=function(){this.scene.glplot.remove(this.mesh),this.mesh.dispose()};function Ier(e,t){var r=e.glplot.gl,i=HNe(e,t),n=Ser(r,i),a=new GNe(e,t.uid);return a.mesh=n,a.data=t,n._trace=a,e.glplot.add(n),a}jNe.exports=Ier});var YNe=W((cjr,WNe)=>{"use strict";WNe.exports={moduleType:"trace",name:"cone",basePlotModule:w2(),categories:["gl3d","showLegend"],attributes:PJ(),supplyDefaults:ONe(),colorbar:{min:"cmin",max:"cmax"},calc:UNe(),plot:$Ne(),eventData:function(e,t){return e.norm=t.traceCoordinate[6],e},meta:{}}});var ZNe=W((fjr,XNe)=>{"use strict";XNe.exports=YNe()});var zJ=W((hjr,JNe)=>{"use strict";var 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Ke=(Ke=de*de)*Ke;de-=Ae=(de*(.87-952426e-9*Ke)-ie)/(.87-.00476213*Ke)}while(i(Ae)>g&&--Me>0);return[de,ve]};function kt(){return t.geoProjection(lt).scale(131.747)}var Jt=_a(2.6516,-.76534,.19123,-.047094,1.36289,-.13965,.031762);function Rt(){return t.geoProjection(Jt).scale(131.087)}function Tr(ie){var se=ie(_,0)[0]-ie(-_,0)[0];function de(ve,Me){var Ae=ve>0?-.5:.5,Pe=ie(ve+Ae*b,Me);return Pe[0]-=Ae*se,Pe}return ie.invert&&(de.invert=function(ve,Me){var Ae=ve>0?-.5:.5,Pe=ie.invert(ve+Ae*se,Me),Ke=Pe[0]-Ae*b;return Ke<-b?Ke+=2*b:Ke>b&&(Ke-=2*b),Pe[0]=Ke,Pe}),de}function Wt(ie,se){var de=p(ie),ve=p(se),Me=o(se),Ae=o(ie)*Me,Pe=v(ie)*Me,Ke=v(ve*se);ie=i(a(Pe,Ke)),se=k(Ae),i(ie-_)>g&&(ie%=_);var nt=br(ie>b/4?_-ie:ie,se);return ie>b/4&&(Ke=nt[0],nt[0]=-nt[1],nt[1]=-Ke),nt[0]*=de,nt[1]*=-ve,nt}Wt.invert=function(ie,se){i(ie)>1&&(ie=p(ie)*2-ie),i(se)>1&&(se=p(se)*2-se);var de=p(ie),ve=p(se),Me=-de*ie,Ae=-ve*se,Pe=Ae/Me<1,Ke=Xr(Pe?Ae:Me,Pe?Me:Ae),nt=Ke[0],Ze=Ke[1],at=o(Ze);return Pe&&(nt=-_-nt),[de*(a(v(nt)*at,-v(Ze))+b),ve*k(o(nt)*at)]};function br(ie,se){if(se===_)return[0,0];var de=v(se),ve=de*de,Me=ve*ve,Ae=1+Me,Pe=1+3*Me,Ke=1-Me,nt=k(1/F(Ae)),Ze=Ke+ve*Ae*nt,at=(1-de)/Ze,yt=F(at),Pt=at*Ae,Ut=F(Pt),ar=yt*Ke,Ar,Vr;if(ie===0)return[0,-(ar+ve*Ut)];var _i=o(se),rn=1/_i,cn=2*de*_i,xn=(-3*ve+nt*Pe)*cn,Dn=(-Ze*_i-(1-de)*xn)/(Ze*Ze),Qa=.5*Dn/yt,So=Ke*Qa-2*ve*yt*cn,oa=ve*Ae*Dn+at*Pe*cn,as=-rn*cn,wl=-rn*oa,Xu=-2*rn*So,jf=4*ie/b,u0;if(ie>.222*b||se.175*b){if(Ar=(ar+ve*F(Pt*(1+Me)-ar*ar))/(1+Me),ie>b/4)return[Ar,Ar];var ou=Ar,Ul=.5*Ar;Ar=.5*(Ul+ou),Vr=50;do{var $c=F(Pt-Ar*Ar),$f=Ar*(Xu+as*$c)+wl*k(Ar/Ut)-jf;if(!$f)break;$f<0?Ul=Ar:ou=Ar,Ar=.5*(Ul+ou)}while(i(ou-Ul)>g&&--Vr>0)}else{Ar=g,Vr=25;do{var Wf=Ar*Ar,Yf=F(Pt-Wf),Sh=Xu+as*Yf,gf=Ar*Sh+wl*k(Ar/Ut)-jf,c0=Sh+(wl-as*Wf)/Yf;Ar-=u0=Yf?gf/c0:0}while(i(u0)>g&&--Vr>0)}return[Ar,-ar-ve*F(Pt-Ar*Ar)]}function Xr(ie,se){for(var de=0,ve=1,Me=.5,Ae=50;;){var Pe=Me*Me,Ke=F(Me),nt=k(1/F(1+Pe)),Ze=1-Pe+Me*(1+Pe)*nt,at=(1-Ke)/Ze,yt=F(at),Pt=at*(1+Pe),Ut=yt*(1-Pe),ar=Pt-ie*ie,Ar=F(ar),Vr=se+Ut+Me*Ar;if(i(ve-de)0?de=Me:ve=Me,Me=.5*(de+ve)}if(!Ae)return null;var _i=k(Ke),rn=o(_i),cn=1/rn,xn=2*Ke*rn,Dn=(-3*Me+nt*(1+3*Pe))*xn,Qa=(-Ze*rn-(1-Ke)*Dn)/(Ze*Ze),So=.5*Qa/yt,oa=(1-Pe)*So-2*Me*yt*xn,as=-2*cn*oa,wl=-cn*xn,Xu=-cn*(Me*(1+Pe)*Qa+at*(1+3*Pe)*xn);return[b/4*(ie*(as+wl*Ar)+Xu*k(ie/F(Pt))),_i]}function ti(){return t.geoProjection(Tr(Wt)).scale(239.75)}function Mi(ie,se,de){var ve,Me,Ae;return ie?(ve=an(ie,de),se?(Me=an(se,1-de),Ae=Me[1]*Me[1]+de*ve[0]*ve[0]*Me[0]*Me[0],[[ve[0]*Me[2]/Ae,ve[1]*ve[2]*Me[0]*Me[1]/Ae],[ve[1]*Me[1]/Ae,-ve[0]*ve[2]*Me[0]*Me[2]/Ae],[ve[2]*Me[1]*Me[2]/Ae,-de*ve[0]*ve[1]*Me[0]/Ae]]):[[ve[0],0],[ve[1],0],[ve[2],0]]):(Me=an(se,1-de),[[0,Me[0]/Me[1]],[1/Me[1],0],[Me[2]/Me[1],0]])}function an(ie,se){var de,ve,Me,Ae,Pe;if(se=1-g)return de=(1-se)/4,ve=L(ie),Ae=P(ie),Me=1/ve,Pe=ve*R(ie),[Ae+de*(Pe-ie)/(ve*ve),Me-de*Ae*Me*(Pe-ie),Me+de*Ae*Me*(Pe+ie),2*n(s(ie))-_+de*(Pe-ie)/ve];var Ke=[1,0,0,0,0,0,0,0,0],nt=[F(se),0,0,0,0,0,0,0,0],Ze=0;for(ve=F(1-se),Pe=1;i(nt[Ze]/Ke[Ze])>g&&Ze<8;)de=Ke[Ze++],nt[Ze]=(de-ve)/2,Ke[Ze]=(de+ve)/2,ve=F(de*ve),Pe*=2;Me=Pe*Ke[Ze]*ie;do Ae=nt[Ze]*v(ve=Me)/Ke[Ze],Me=(k(Ae)+Me)/2;while(--Ze);return[v(Me),Ae=o(Me),Ae/o(Me-ve),Me]}function Gn(ie,se,de){var ve=i(ie),Me=i(se),Ae=R(Me);if(ve){var Pe=1/v(ve),Ke=1/(m(ve)*m(ve)),nt=-(Ke+de*(Ae*Ae*Pe*Pe)-1+de),Ze=(de-1)*Ke,at=(-nt+F(nt*nt-4*Ze))/2;return[yn(n(1/F(at)),de)*p(ie),yn(n(F((at/Ke-1)/de)),1-de)*p(se)]}return[0,yn(n(Ae),1-de)*p(se)]}function yn(ie,se){if(!se)return ie;if(se===1)return u(m(ie/2+M));for(var de=1,ve=F(1-se),Me=F(se),Ae=0;i(Me)>g;Ae++){if(ie%b){var Pe=n(ve*m(ie)/de);Pe<0&&(Pe+=b),ie+=Pe+~~(ie/b)*b}else ie+=ie;Me=(de+ve)/2,ve=F(de*ve),Me=((de=Me)-ve)/2}return ie/(h(2,Ae)*de)}function fa(ie,se){var de=(T-1)/(T+1),ve=F(1-de*de),Me=yn(_,ve*ve),Ae=-1,Pe=u(m(b/4+i(se)/2)),Ke=s(Ae*Pe)/F(de),nt=Wn(Ke*o(Ae*ie),Ke*v(Ae*ie)),Ze=Gn(nt[0],nt[1],ve*ve);return[-Ze[1],(se>=0?1:-1)*(.5*Me-Ze[0])]}function Wn(ie,se){var de=ie*ie,ve=se+1,Me=1-de-se*se;return[.5*((ie>=0?_:-_)-a(Me,2*ie)),-.25*u(Me*Me+4*de)+.5*u(ve*ve+de)]}function Ja(ie,se){var de=se[0]*se[0]+se[1]*se[1];return[(ie[0]*se[0]+ie[1]*se[1])/de,(ie[1]*se[0]-ie[0]*se[1])/de]}fa.invert=function(ie,se){var de=(T-1)/(T+1),ve=F(1-de*de),Me=yn(_,ve*ve),Ae=-1,Pe=Mi(.5*Me-se,-ie,ve*ve),Ke=Ja(Pe[0],Pe[1]),nt=a(Ke[1],Ke[0])/Ae;return[nt,2*n(s(.5/Ae*u(de*Ke[0]*Ke[0]+de*Ke[1]*Ke[1])))-_]};function oo(){return t.geoProjection(Tr(fa)).scale(151.496)}function Ao(ie){var se=v(ie),de=o(ie),ve=Io(ie);ve.invert=Io(-ie);function Me(Ae,Pe){var Ke=ve(Ae,Pe);Ae=Ke[0],Pe=Ke[1];var nt=v(Pe),Ze=o(Pe),at=o(Ae),yt=D(se*nt+de*Ze*at),Pt=v(yt),Ut=i(Pt)>g?yt/Pt:1;return[Ut*de*v(Ae),(i(Ae)>_?Ut:-Ut)*(se*Ze-de*nt*at)]}return Me.invert=function(Ae,Pe){var Ke=F(Ae*Ae+Pe*Pe),nt=-v(Ke),Ze=o(Ke),at=Ke*Ze,yt=-Pe*nt,Pt=Ke*se,Ut=F(at*at+yt*yt-Pt*Pt),ar=a(at*Pt+yt*Ut,yt*Pt-at*Ut),Ar=(Ke>_?-1:1)*a(Ae*nt,Ke*o(ar)*Ze+Pe*v(ar)*nt);return ve.invert(Ar,ar)},Me}function Io(ie){var se=v(ie),de=o(ie);return function(ve,Me){var Ae=o(Me),Pe=o(ve)*Ae,Ke=v(ve)*Ae,nt=v(Me);return[a(Ke,Pe*de-nt*se),k(nt*de+Pe*se)]}}function ps(){var ie=0,se=t.geoProjectionMutator(Ao),de=se(ie),ve=de.rotate,Me=de.stream,Ae=t.geoCircle();return de.parallel=function(Pe){if(!arguments.length)return ie*E;var Ke=de.rotate();return se(ie=Pe*S).rotate(Ke)},de.rotate=function(Pe){return arguments.length?(ve.call(de,[Pe[0],Pe[1]-ie*E]),Ae.center([-Pe[0],-Pe[1]]),de):(Pe=ve.call(de),Pe[1]+=ie*E,Pe)},de.stream=function(Pe){return Pe=Me(Pe),Pe.sphere=function(){Pe.polygonStart();var Ke=.01,nt=Ae.radius(90-Ke)().coordinates[0],Ze=nt.length-1,at=-1,yt;for(Pe.lineStart();++at=0;)Pe.point((yt=nt[at])[0],yt[1]);Pe.lineEnd(),Pe.polygonEnd()},Pe},de.scale(79.4187).parallel(45).clipAngle(180-.001)}var rs=3,Mo=k(1-1/rs)*E,is=Vt(0);function Ro(ie){var se=Mo*S,de=Ge(b,se)[0]-Ge(-b,se)[0],ve=is(0,se)[1],Me=Ge(0,se)[1],Ae=A-Me,Pe=y/ie,Ke=4/y,nt=ve+Ae*Ae*4/y;function Ze(at,yt){var Pt,Ut=i(yt);if(Ut>se){var ar=f(ie-1,c(0,l((at+b)/Pe)));at+=b*(ie-1)/ie-ar*Pe,Pt=Ge(at,Ut),Pt[0]=Pt[0]*y/de-y*(ie-1)/(2*ie)+ar*y/ie,Pt[1]=ve+(Pt[1]-Me)*4*Ae/y,yt<0&&(Pt[1]=-Pt[1])}else Pt=is(at,yt);return Pt[0]*=Ke,Pt[1]/=nt,Pt}return Ze.invert=function(at,yt){at/=Ke,yt*=nt;var Pt=i(yt);if(Pt>ve){var Ut=f(ie-1,c(0,l((at+b)/Pe)));at=(at+b*(ie-1)/ie-Ut*Pe)*de/y;var ar=Ge.invert(at,.25*(Pt-ve)*y/Ae+Me);return ar[0]-=b*(ie-1)/ie-Ut*Pe,yt<0&&(ar[1]=-ar[1]),ar}return is.invert(at,yt)},Ze}function Uo(ie,se){return[ie,se&1?90-g:Mo]}function so(ie,se){return[ie,se&1?-90+g:-Mo]}function In(ie){return[ie[0]*(1-g),ie[1]]}function va(ie){var se=[].concat(r.range(-180,180+ie/2,ie).map(Uo),r.range(180,-180-ie/2,-ie).map(so));return{type:"Polygon",coordinates:[ie===180?se.map(In):se]}}function vs(){var ie=4,se=t.geoProjectionMutator(Ro),de=se(ie),ve=de.stream;return de.lobes=function(Me){return arguments.length?se(ie=+Me):ie},de.stream=function(Me){var Ae=de.rotate(),Pe=ve(Me),Ke=(de.rotate([0,0]),ve(Me));return de.rotate(Ae),Pe.sphere=function(){t.geoStream(va(180/ie),Ke)},Pe},de.scale(239.75)}function Zs(ie){var se=1+ie,de=v(1/se),ve=k(de),Me=2*F(b/(Ae=b+4*ve*se)),Ae,Pe=.5*Me*(se+F(ie*(2+ie))),Ke=ie*ie,nt=se*se;function Ze(at,yt){var Pt=1-v(yt),Ut,ar;if(Pt&&Pt<2){var Ar=_-yt,Vr=25,_i;do{var rn=v(Ar),cn=o(Ar),xn=ve+a(rn,se-cn),Dn=1+nt-2*se*cn;Ar-=_i=(Ar-Ke*ve-se*rn+Dn*xn-.5*Pt*Ae)/(2*se*rn*xn)}while(i(_i)>w&&--Vr>0);Ut=Me*F(Dn),ar=at*xn/b}else Ut=Me*(ie+Pt),ar=at*ve/b;return[Ut*v(ar),Pe-Ut*o(ar)]}return Ze.invert=function(at,yt){var Pt=at*at+(yt-=Pe)*yt,Ut=(1+nt-Pt/(Me*Me))/(2*se),ar=D(Ut),Ar=v(ar),Vr=ve+a(Ar,se-Ut);return[k(at/F(Pt))*b/Vr,k(1-2*(ar-Ke*ve-se*Ar+(1+nt-2*se*Ut)*Vr)/Ae)]},Ze}function Ks(){var ie=1,se=t.geoProjectionMutator(Zs),de=se(ie);return de.ratio=function(ve){return arguments.length?se(ie=+ve):ie},de.scale(167.774).center([0,18.67])}var Ol=.7109889596207567,Js=.0528035274542;function ru(ie,se){return se>-Ol?(ie=ee(ie,se),ie[1]+=Js,ie):Se(ie,se)}ru.invert=function(ie,se){return se>-Ol?ee.invert(ie,se-Js):Se.invert(ie,se)};function xu(){return t.geoProjection(ru).rotate([-20,-55]).scale(164.263).center([0,-5.4036])}function _u(ie,se){return i(se)>Ol?(ie=ee(ie,se),ie[1]-=se>0?Js:-Js,ie):Se(ie,se)}_u.invert=function(ie,se){return i(se)>Ol?ee.invert(ie,se+(se>0?Js:-Js)):Se.invert(ie,se)};function dc(){return t.geoProjection(_u).scale(152.63)}function Nl(ie,se,de,ve){var Me=F(4*b/(2*de+(1+ie-se/2)*v(2*de)+(ie+se)/2*v(4*de)+se/2*v(6*de))),Ae=F(ve*v(de)*F((1+ie*o(2*de)+se*o(4*de))/(1+ie+se))),Pe=de*nt(1);function Ke(yt){return F(1+ie*o(2*yt)+se*o(4*yt))}function nt(yt){var Pt=yt*de;return(2*Pt+(1+ie-se/2)*v(2*Pt)+(ie+se)/2*v(4*Pt)+se/2*v(6*Pt))/de}function Ze(yt){return Ke(yt)*v(yt)}var at=function(yt,Pt){var Ut=de*be(nt,Pe*v(Pt)/de,Pt/b);isNaN(Ut)&&(Ut=de*p(Pt));var ar=Me*Ke(Ut);return[ar*Ae*yt/b*o(Ut),ar/Ae*v(Ut)]};return at.invert=function(yt,Pt){var Ut=be(Ze,Pt*Ae/Me);return[yt*b/(o(Ut)*Me*Ae*Ke(Ut)),k(de*nt(Ut/de)/Pe)]},de===0&&(Me=F(ve/b),at=function(yt,Pt){return[yt*Me,v(Pt)/Me]},at.invert=function(yt,Pt){return[yt/Me,k(Pt*Me)]}),at}function ja(){var ie=1,se=0,de=45*S,ve=2,Me=t.geoProjectionMutator(Nl),Ae=Me(ie,se,de,ve);return Ae.a=function(Pe){return arguments.length?Me(ie=+Pe,se,de,ve):ie},Ae.b=function(Pe){return arguments.length?Me(ie,se=+Pe,de,ve):se},Ae.psiMax=function(Pe){return 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t=e[0]*R4,r=e[1]*R4,i=Math.cos(r);return[i*Math.cos(t),i*Math.sin(t),Math.sin(r)]}function SVe(e,t){for(var r=0,i=0,n=e.length;i{"use strict";var q1=vi(),mQ=HI(),air=mQ.geoPath,oir=mQ.geoDistance,sir=TVe(),lir=yi(),mE=it(),uir=mE.strTranslate,QI=ni(),gE=Ji(),CVe=Ds(),cir=Ko(),gQ=ji(),{concatExtremes:fir,getAutoRange:DVe,makePadFn:FVe}=Op(),vQ=bf(),hir=cu().prepSelect,dir=cu().clearOutline,pir=cu().selectOnClick,vir=kVe(),oh=fE(),yQ=cm(),{unwrapLonRange:gir}=yQ,PVe=II(),mir=GJ().feature;function IVe(e){this.id=e.id,this.graphDiv=e.graphDiv,this.container=e.container,this.topojsonURL=e.topojsonURL,this.isStatic=e.staticPlot,this.topojsonName=null,this.topojson=null,this.projection=null,this.scope=null,this.viewInitial=null,this.fitScale=null,this.bounds=null,this.midPt=null,this.hasChoropleth=!1,this.traceHash={},this.layers={},this.basePaths={},this.dataPaths={},this.dataPoints={},this.clipDef=null,this.clipRect=null,this.bgRect=null,this.makeFramework()}var dv=IVe.prototype;RVe.exports=function(t){return new IVe(t)};dv.plot=function(e,t,r,i){var n=this;if(i)return n.update(e,t,!0);n._geoCalcData=e,n._fullLayout=t;var a=t[this.id],o=[],s=!1;for(var l in oh.layerNameToAdjective)if(l!=="frame"&&a["show"+l]){s=!0;break}for(var u=!1,c=0;c0&&o._module.calcGeoJSON(a,t)}if(!r){var s=this.updateProjection(e,t);if(s)return;(!this.viewInitial||this.scope!==i.scope)&&this.saveViewInitial(i)}this.scope=i.scope,this.updateBaseLayers(t,i),this.updateDims(t,i),this.updateFx(t,i),cir.generalUpdatePerTraceModule(this.graphDiv,this,e,i);var l=this.layers.frontplot.select(".scatterlayer");this.dataPoints.point=l.selectAll(".point"),this.dataPoints.text=l.selectAll("text"),this.dataPaths.line=l.selectAll(".js-line");var u=this.layers.backplot.select(".choroplethlayer");this.dataPaths.choropleth=u.selectAll("path"),this._render()};dv.updateProjection=function(e,t){var r=this.graphDiv,i=t[this.id],n=t._size,a=i.domain,o=i.projection,s=i.lonaxis,l=i.lataxis,u=s._ax,c=l._ax,f=this.projection=yir(i),h=[[n.l+n.w*a.x[0],n.t+n.h*(1-a.y[1])],[n.l+n.w*a.x[1],n.t+n.h*(1-a.y[0])]],d=i.center||{},p=o.rotation||{},v=s.range||[],m=l.range||[];if(i.fitbounds){u._length=h[1][0]-h[0][0],c._length=h[1][1]-h[0][1],u.range=DVe(r,u),c.range=DVe(r,c);let F=[];for(let j of e){let q=j[0].trace;q.visible===!0&&q._module.fitCoords&&F.push(q._module.fitCoords(j,i))}let P=fir(r,u),R=P.min.reduce((j,{val:q})=>Math.min(j,q),1/0),I=P.max.reduce((j,{val:q})=>Math.max(j,q),-1/0)-R,B=yQ.boundsOfCoords(F.flat()),[O,,$]=B||[],Y=$-O;if(!!B&&(I>360||I<360&&YMath.max(G,j(Q)),0),U=P.max.reduce((G,Q)=>Math.max(G,q(Q)),0),V=u._length-J-U,X=V>u._length/10?Y*u._length/V:Y,H=(O+$)/2;u.range=[H-X/2,H+X/2]}var g=(u.range[0]+u.range[1])/2,w=(c.range[0]+c.range[1])/2;if(i._isScoped)d={lon:g,lat:w};else if(i._isClipped){d={lon:g,lat:w},p={lon:g,lat:w,roll:p.roll};var b=o.type,_=oh.lonaxisSpan[b]/2||180,M=oh.lataxisSpan[b]/2||90;v=[g-_,g+_],m=[w-M,w+M]}else d={lon:g,lat:w},p={lon:g,lat:p.lat,roll:p.roll}}f.center([d.lon-p.lon,d.lat-p.lat]).rotate([-p.lon,-p.lat,p.roll]).parallels(o.parallels);var x=LVe(v,m);f.fitExtent(h,x);var T=this.bounds=f.getBounds(x),A=this.fitScale=f.scale(),y=f.translate();if(f.scaleExtent=()=>{var R;let{minscale:F}=o,P=(R=o.maxscale)!=null?R:1/0;return[A*Math.min(F,P),A*Math.max(F,P)]},i.fitbounds){var E=f.getBounds(LVe(u.range,c.range)),S=Math.min((T[1][0]-T[0][0])/(E[1][0]-E[0][0]),(T[1][1]-T[0][1])/(E[1][1]-E[0][1]));isFinite(S)?f.scale(S*A):mE.warn("Something went wrong during"+this.id+"fitbounds computations.")}else f.scale(o.scale*A);var C=this.midPt=[(T[0][0]+T[1][0])/2,(T[0][1]+T[1][1])/2];if(f.translate([y[0]+(C[0]-y[0]),y[1]+(C[1]-y[1])]).clipExtent(T),i._isAlbersUsa){var k=f([d.lon,d.lat]);if(k){var D=f.translate();f.translate([D[0]-(k[0]-D[0]),D[1]-(k[1]-D[1])])}}};dv.updateBaseLayers=function(e,t){var r=this,i=r.topojson,n=r.layers,a=r.basePaths;function o(h){return h==="lonaxis"||h==="lataxis"}function s(h){return!!oh.lineLayers[h]}function l(h){return!!oh.fillLayers[h]}var u=this.hasChoropleth?oh.layersForChoropleth:oh.layers,c=u.filter(function(h){return s(h)||l(h)?t["show"+h]:o(h)?t[h].showgrid:!0}),f=r.framework.selectAll(".layer").data(c,String);f.exit().each(function(h){delete n[h],delete a[h],q1.select(this).remove()}),f.enter().append("g").attr("class",function(h){return"layer "+h}).each(function(h){var d=n[h]=q1.select(this);h==="bg"?r.bgRect=d.append("rect").style("pointer-events","all"):o(h)?a[h]=d.append("path").style("fill","none"):h==="backplot"?d.append("g").classed("choroplethlayer",!0):h==="frontplot"?d.append("g").classed("scatterlayer",!0):s(h)?a[h]=d.append("path").style("fill","none").style("stroke-miterlimit",2):l(h)&&(a[h]=d.append("path").style("stroke","none"))}),f.order(),f.each(function(h){var d=a[h],p=oh.layerNameToAdjective[h];h==="frame"?d.datum(oh.sphereSVG):s(h)||l(h)?d.datum(mir(i,i.objects[h])):o(h)&&d.datum(xir(h,t,e)).call(QI.stroke,t[h].gridcolor).call(gE.dashLine,t[h].griddash,t[h].gridwidth),s(h)?d.call(QI.stroke,t[p+"color"]).call(gE.dashLine,"",t[p+"width"]):l(h)&&d.call(QI.fill,t[p+"color"])})};dv.updateDims=function(e,t){var r=this.bounds,i=(t.framewidth||0)/2,n=r[0][0]-i,a=r[0][1]-i,o=r[1][0]-n+i,s=r[1][1]-a+i;gE.setRect(this.clipRect,n,a,o,s),this.bgRect.call(gE.setRect,n,a,o,s).call(QI.fill,t.bgcolor),this.xaxis._offset=n,this.xaxis._length=o,this.yaxis._offset=a,this.yaxis._length=s};dv.updateFx=function(e,t){var r=this,i=r.graphDiv,n=r.bgRect,a=e.dragmode,o=e.clickmode;if(r.isStatic)return;function s(){var f=r.viewInitial,h={};for(var d in f)h[r.id+"."+d]=f[d];lir.call("_guiRelayout",i,h),i.emit("plotly_doubleclick",null)}function l(f){return r.projection.invert([f[0]+r.xaxis._offset,f[1]+r.yaxis._offset])}var u=function(f,h){if(h.isRect){var d=f.range={};d[r.id]=[l([h.xmin,h.ymin]),l([h.xmax,h.ymax])]}else{var p=f.lassoPoints={};p[r.id]=h.map(l)}},c={element:r.bgRect.node(),gd:i,plotinfo:{id:r.id,xaxis:r.xaxis,yaxis:r.yaxis,fillRangeItems:u},xaxes:[r.xaxis],yaxes:[r.yaxis],subplot:r.id,clickFn:function(f){f===2&&dir(i)}};if(a==="pan"){n.node().onmousedown=null;let f=vir(r,t);if(n.call(f),!q1.event){let h=r.projection.scale(),[d,p]=r.projection.scaleExtent();(hp)&&f.event(n)}n.on("dblclick.zoom",s),i._context._scrollZoom.geo||n.on("wheel.zoom",null)}else(a==="select"||a==="lasso")&&(n.on(".zoom",null),c.prepFn=function(f,h,d){hir(f,h,d,c,a)},vQ.init(c));n.on("mousemove",function(){var f=r.projection.invert(mE.getPositionFromD3Event());if(!f)return vQ.unhover(i,q1.event);r.xaxis.p2c=function(){return f[0]},r.yaxis.p2c=function(){return f[1]},CVe.hover(i,q1.event,r.id)}),n.on("mouseout",function(){i._dragging||vQ.unhover(i,q1.event)}),n.on("click",function(){a!=="select"&&a!=="lasso"&&(o.indexOf("select")>-1&&pir(q1.event,i,[r.xaxis],[r.yaxis],r.id,c),o.indexOf("event")>-1&&CVe.click(i,q1.event))})};dv.makeFramework=function(){var e=this,t=e.graphDiv,r=t._fullLayout,i="clip"+r._uid+e.id;e.clipDef=r._clips.append("clipPath").attr("id",i),e.clipRect=e.clipDef.append("rect"),e.framework=q1.select(e.container).append("g").attr("class","geo "+e.id).call(gE.setClipUrl,i,t),e.project=function(n){var a=e.projection(n);return a?[a[0]-e.xaxis._offset,a[1]-e.yaxis._offset]:[null,null]},e.xaxis={_id:"x",c2p:function(n){return e.project(n)[0]}},e.yaxis={_id:"y",c2p:function(n){return e.project(n)[1]}},e.mockAxis={type:"linear",showexponent:"all",exponentformat:"B"},gQ.setConvert(e.mockAxis,r)};dv.saveViewInitial=function(e){var t=e.center||{},r=e.projection,i=r.rotation||{};this.viewInitial={fitbounds:e.fitbounds,"projection.scale":r.scale};var n;e._isScoped?n={"center.lon":t.lon,"center.lat":t.lat}:e._isClipped?n={"projection.rotation.lon":i.lon,"projection.rotation.lat":i.lat,"center.lon":t.lon,"center.lat":t.lat}:n={"center.lon":t.lon,"center.lat":t.lat,"projection.rotation.lon":i.lon},mE.extendFlat(this.viewInitial,n)};dv.render=function(e){this._hasMarkerAngles&&e?this.plot(this._geoCalcData,this._fullLayout,[],!0):this._render()};dv._render=function(){var e=this.projection,t=e.getPath(),r;function i(a){var o=e(a.lonlat);return o?uir(o[0],o[1]):null}function n(a){return e.isLonLatOverEdges(a.lonlat)?"none":null}for(r in this.basePaths)this.basePaths[r].attr("d",t);for(r in this.dataPaths)this.dataPaths[r].attr("d",function(a){return t(a.geojson)});for(r in this.dataPoints)this.dataPoints[r].attr("display",n).attr("transform",i)};function yir(e){var t=e.projection,r=t.type,i=oh.projNames[r];i="geo"+mE.titleCase(i);for(var n=mQ[i]||sir[i],a=n(),o=e._isSatellite?Math.acos(1/t.distance)*180/Math.PI:e._isClipped?oh.lonaxisSpan[r]/2:null,s=["center","rotate","parallels","clipExtent"],l=function(f){return f?a:[]},u=0;up}else return!1},a.getPath=function(){return air().projection(a)},a.getBounds=function(f){return a.getPath().bounds(f)},a.precision(oh.precision),e._isSatellite&&a.tilt(t.tilt).distance(t.distance),o&&a.clipAngle(o-oh.clipPad),a}function xir(e,t,r){var i=1e-6,n=2.5,a=t[e],o=oh.scopeDefaults[t.scope],s,l,u;e==="lonaxis"?(s=o.lonaxisRange,l=o.lataxisRange,u=function(w,b){return[w,b]}):e==="lataxis"&&(s=o.lataxisRange,l=o.lonaxisRange,u=function(w,b){return[b,w]});var c={type:"linear",range:[s[0],s[1]-i],tick0:a.tick0,dtick:a.dtick};gQ.setConvert(c,r);var f=gQ.calcTicks(c);!t.isScoped&&e==="lonaxis"&&f.pop();for(var h=f.length,d=new Array(h),p=0;p{"use strict";var B4=Vl(),_ir=us().attributes,bir=Du().dash,z4=fE(),wir=ls().overrideAll,BVe=(qx(),Go(Bx)).default,qVe={range:{valType:"info_array",items:[{valType:"number"},{valType:"number"}]},showgrid:{valType:"boolean",dflt:!1},tick0:{valType:"number",dflt:0},dtick:{valType:"number"},gridcolor:{valType:"color",dflt:B4.lightLine},gridwidth:{valType:"number",min:0,dflt:1},griddash:bir},Tir=OVe.exports=wir({domain:_ir({name:"geo"},{}),fitbounds:{valType:"enumerated",values:[!1,"locations","geojson"],dflt:"locations",editType:"plot"},resolution:{valType:"enumerated",values:[110,50],dflt:110,coerceNumber:!0},scope:{valType:"enumerated",values:BVe(z4.scopeDefaults),dflt:"world"},projection:{type:{valType:"enumerated",values:BVe(z4.projNames)},rotation:{lon:{valType:"number"},lat:{valType:"number"},roll:{valType:"number"}},tilt:{valType:"number",dflt:0},distance:{valType:"number",min:1.001,dflt:2},parallels:{valType:"info_array",items:[{valType:"number"},{valType:"number"}]},scale:{valType:"number",min:0,dflt:1},minscale:{valType:"number",min:0,dflt:0},maxscale:{valType:"number",min:0,dflt:null}},center:{lon:{valType:"number"},lat:{valType:"number"}},visible:{valType:"boolean",dflt:!0},showcoastlines:{valType:"boolean"},coastlinecolor:{valType:"color",dflt:B4.defaultLine},coastlinewidth:{valType:"number",min:0,dflt:1},showland:{valType:"boolean",dflt:!1},landcolor:{valType:"color",dflt:z4.landColor},showocean:{valType:"boolean",dflt:!1},oceancolor:{valType:"color",dflt:z4.waterColor},showlakes:{valType:"boolean",dflt:!1},lakecolor:{valType:"color",dflt:z4.waterColor},showrivers:{valType:"boolean",dflt:!1},rivercolor:{valType:"color",dflt:z4.waterColor},riverwidth:{valType:"number",min:0,dflt:1},showcountries:{valType:"boolean"},countrycolor:{valType:"color",dflt:B4.defaultLine},countrywidth:{valType:"number",min:0,dflt:1},showsubunits:{valType:"boolean"},subunitcolor:{valType:"color",dflt:B4.defaultLine},subunitwidth:{valType:"number",min:0,dflt:1},showframe:{valType:"boolean"},framecolor:{valType:"color",dflt:B4.defaultLine},framewidth:{valType:"number",min:0,dflt:1},bgcolor:{valType:"color",dflt:B4.background},lonaxis:qVe,lataxis:qVe},"plot","from-root");Tir.uirevision={valType:"any",editType:"none"}});var VVe=W((Ojr,UVe)=>{"use strict";var eR=it(),Air=q_(),Mir=_c().getSubplotData,{unwrapLonRange:Sir}=cm(),yE=fE(),Eir=xQ(),NVe=yE.axesNames;UVe.exports=function(t,r,i){Air(t,r,i,{type:"geo",attributes:Eir,handleDefaults:kir,fullData:i,partition:"y"})};function kir(e,t,r,i){var n=Mir(i.fullData,"geo",i.id),a=n.map(function(B){return B.index}),o=r("resolution"),s=r("scope"),l=yE.scopeDefaults[s],u=r("projection.type",l.projType),c=t._isAlbersUsa=u==="albers usa";c&&(s=t.scope="usa");var f=t._isScoped=s!=="world",h=t._isSatellite=u==="satellite",d=t._isConic=u.indexOf("conic")!==-1||u==="albers",p=t._isClipped=!!yE.lonaxisSpan[u];if(e.visible===!1){var v=eR.extendDeep({},t._template);v.showcoastlines=!1,v.showcountries=!1,v.showframe=!1,v.showlakes=!1,v.showland=!1,v.showocean=!1,v.showrivers=!1,v.showsubunits=!1,v.lonaxis&&(v.lonaxis.showgrid=!1),v.lataxis&&(v.lataxis.showgrid=!1),t._template=v}for(var m=r("visible"),g,w=0;wJ[U]!=null)||yE.fitboundsIncompatible.has(u)?t.fitbounds=!1:j.forEach(({dst:J,key:U})=>J&&(J[U]=null))}}});var _Q=W((Njr,jVe)=>{"use strict";var Cir=_c().getSubplotCalcData,Dir=it().counterRegex,Fir=zVe(),O1="geo",GVe=Dir(O1),HVe={};HVe[O1]={valType:"subplotid",dflt:O1,editType:"calc"};function Lir(e){for(var t=e._fullLayout,r=e.calcdata,i=t._subplots[O1],n=0;n{"use strict";$Ve.exports={attributes:I4(),supplyDefaults:xUe(),colorbar:Ac(),formatLabels:wUe(),calc:VJ(),calcGeoJSON:XI().calcGeoJSON,fitCoords:XI().fitCoords,plot:XI().plot,style:aQ(),styleOnSelect:th().styleOnSelect,hoverPoints:pVe(),eventData:gVe(),selectPoints:xVe(),moduleType:"trace",name:"scattergeo",basePlotModule:_Q(),categories:["geo","symbols","showLegend","scatter-like"],meta:{}}});var XVe=W((Vjr,YVe)=>{"use strict";YVe.exports=WVe()});var xE=W((Gjr,JVe)=>{"use 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eGe=W((Hjr,QVe)=>{"use strict";var tR=it(),Oir=Fu(),Nir=xE();QVe.exports=function(t,r,i,n){function a(h,d){return tR.coerce(t,r,Nir,h,d)}var o=a("locations"),s=a("z");if(!(o&&o.length&&tR.isArrayOrTypedArray(s)&&s.length)){r.visible=!1;return}r._length=Math.min(o.length,s.length);var l=a("geojson"),u;(typeof l=="string"&&l!==""||tR.isPlainObject(l))&&(u="geojson-id");var c=a("locationmode",u);c==="geojson-id"&&a("featureidkey"),a("text"),a("hovertext"),a("hovertemplate"),a("hovertemplatefallback");var f=a("marker.line.width");f&&a("marker.line.color"),a("marker.opacity"),Oir(t,r,n,a,{prefix:"",cLetter:"z"}),tR.coerceSelectionMarkerOpacity(r,a)}});var bQ=W((jjr,iGe)=>{"use strict";var tGe=sn(),Uir=Kn().BADNUM,Vir=Zc(),Gir=x1(),Hir=w0();function rGe(e){return e&&typeof e=="string"}iGe.exports=function(t,r){var i=r._length,n=new Array(i),a;r.geojson?a=function(c){return rGe(c)||tGe(c)}:a=rGe;for(var o=0;o{"use strict";var jir=vi(),$ir=ni(),wQ=Ji(),Wir=Jo();function Yir(e,t){t&&nGe(e,t)}function nGe(e,t){var r=t[0].trace,i=t[0].node3,n=i.selectAll(".choroplethlocation"),a=r.marker||{},o=a.line||{},s=Wir.makeColorScaleFuncFromTrace(r);n.each(function(l){jir.select(this).attr("fill",s(l.z)).call($ir.stroke,l.mlc||o.color).call(wQ.dashLine,"",l.mlw||o.width||0).style("opacity",a.opacity)}),wQ.selectedPointStyle(n,r)}function Xir(e,t){var r=t[0].node3,i=t[0].trace;i.selectedpoints?wQ.selectedPointStyle(r.selectAll(".choroplethlocation"),i):nGe(e,t)}aGe.exports={style:Yir,styleOnSelect:Xir}});var iR=W((Wjr,lGe)=>{"use strict";var Zir=vi(),oGe=it(),Ab=cm(),Kir=II().getTopojsonFeatures,sGe=Op().findExtremes,Jir=rR().style;function Qir(e,t,r){var i=t.layers.backplot.select(".choroplethlayer");oGe.makeTraceGroups(i,r,"trace choropleth").each(function(n){var a=Zir.select(this),o=a.selectAll("path.choroplethlocation").data(oGe.identity);o.enter().append("path").classed("choroplethlocation",!0),o.exit().remove(),Jir(e,n)})}function enr(e,t){var 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+ else { + float borderColorAmt = smoothstep(fragBorderColorLevel - delta, fragBorderColorLevel + delta, dist); + float colorAmt = smoothstep(fragColorLevel - delta, fragColorLevel + delta, dist); + + vec4 color = fragBorderColor; + color.a *= borderColorAmt; + color = mix(color, fragColor, colorAmt); + color.a *= opacity; + + gl_FragColor = color; + } + +} +`]),h.vert=mR([`precision highp float; +#define GLSLIFY 1 + +attribute float x, y, xFract, yFract; +attribute float size, borderSize; +attribute vec4 colorId, borderColorId; +attribute float isActive; + +// \`invariant\` effectively turns off optimizations for the position. +// We need this because -fast-math on M1 Macs is re-ordering +// floating point operations in a way that causes floating point +// precision limits to put points in the wrong locations. +invariant gl_Position; + +uniform bool constPointSize; +uniform float pixelRatio; +uniform vec2 scale, scaleFract, translate, translateFract, paletteSize; +uniform sampler2D paletteTexture; + +const float maxSize = 100.; +const float borderLevel = .5; + +varying vec4 fragColor, fragBorderColor; +varying float fragPointSize, fragBorderRadius, fragWidth, fragBorderColorLevel, fragColorLevel; + +float pointSizeScale = (constPointSize) ? 2. : pixelRatio; + +bool isDirect = (paletteSize.x < 1.); + +vec4 getColor(vec4 id) { + return isDirect ? id / 255. : texture2D(paletteTexture, + vec2( + (id.x + .5) / paletteSize.x, + (id.y + .5) / paletteSize.y + ) + ); +} + +void main() { + // ignore inactive points + if (isActive == 0.) return; + + vec2 position = vec2(x, y); + vec2 positionFract = vec2(xFract, yFract); + + vec4 color = getColor(colorId); + vec4 borderColor = getColor(borderColorId); + + float size = size * maxSize / 255.; + float borderSize = borderSize * maxSize / 255.; + + gl_PointSize = 2. * size * pointSizeScale; + fragPointSize = size * pixelRatio; + + vec2 pos = (position + translate) * scale + + (positionFract + translateFract) * scale + + (position + translate) * scaleFract + + (positionFract + translateFract) * scaleFract; + + gl_Position = vec4(pos * 2. - 1., 0., 1.); + + fragColor = color; + fragBorderColor = borderColor; + fragWidth = 1. / gl_PointSize; + + fragBorderColorLevel = clamp(borderLevel - borderLevel * borderSize / size, 0., 1.); + fragColorLevel = clamp(borderLevel + (1. - borderLevel) * borderSize / size, 0., 1.); +} +`]),this.drawMarker=e(h);let d=Object.assign({},f);d.frag=mR([`precision highp float; +#define GLSLIFY 1 + +varying vec4 fragColor, fragBorderColor; +varying float fragBorderRadius, fragWidth; + +uniform float opacity; + +float smoothStep(float edge0, float edge1, float x) { + float t; + t = clamp((x - edge0) / (edge1 - edge0), 0.0, 1.0); + return t * t * (3.0 - 2.0 * t); +} + +void main() { + float radius, alpha = 1.0, delta = fragWidth; + + radius = length(2.0 * gl_PointCoord.xy - 1.0); + + if (radius > 1.0 + delta) { + discard; + } + + alpha -= smoothstep(1.0 - delta, 1.0 + delta, radius); + + float borderRadius = fragBorderRadius; + float ratio = smoothstep(borderRadius - delta, borderRadius + delta, radius); + vec4 color = mix(fragColor, fragBorderColor, ratio); + color.a *= alpha * opacity; + gl_FragColor = color; +} +`]),d.vert=mR([`precision highp float; +#define GLSLIFY 1 + +attribute float x, y, xFract, yFract; +attribute float size, borderSize; +attribute vec4 colorId, borderColorId; +attribute float isActive; + +// \`invariant\` effectively turns off optimizations for the position. +// We need this because -fast-math on M1 Macs is re-ordering +// floating point operations in a way that causes floating point +// precision limits to put points in the wrong locations. +invariant gl_Position; + +uniform bool constPointSize; +uniform float pixelRatio; +uniform vec2 paletteSize, scale, scaleFract, translate, translateFract; +uniform sampler2D paletteTexture; + +const float maxSize = 100.; + +varying vec4 fragColor, fragBorderColor; +varying float fragBorderRadius, fragWidth; + +float pointSizeScale = (constPointSize) ? 2. : pixelRatio; + +bool isDirect = (paletteSize.x < 1.); + +vec4 getColor(vec4 id) { + return isDirect ? id / 255. : texture2D(paletteTexture, + vec2( + (id.x + .5) / paletteSize.x, + (id.y + .5) / paletteSize.y + ) + ); +} + +void main() { + // ignore inactive points + if (isActive == 0.) return; + + vec2 position = vec2(x, y); + vec2 positionFract = vec2(xFract, yFract); + + vec4 color = getColor(colorId); + vec4 borderColor = getColor(borderColorId); + + float size = size * maxSize / 255.; + float borderSize = borderSize * maxSize / 255.; + + gl_PointSize = (size + borderSize) * pointSizeScale; + + vec2 pos = (position + translate) * scale + + (positionFract + translateFract) * scale + + (position + translate) * scaleFract + + (positionFract + translateFract) * scaleFract; + + gl_Position = vec4(pos * 2. - 1., 0., 1.); + + fragBorderRadius = 1. - 2. * borderSize / (size + borderSize); + fragColor = color; + fragBorderColor = borderColor.a == 0. || borderSize == 0. ? vec4(color.rgb, 0.) : borderColor; + fragWidth = 1. / gl_PointSize; +} +`]),this.drawCircle=e(d)}Fc.defaults={color:"black",borderColor:"transparent",borderSize:0,size:12,opacity:1,marker:void 0,viewport:null,range:null,pixelSize:null,count:0,offset:0,bounds:null,positions:[],snap:1e4};Fc.prototype.render=function(){return arguments.length&&this.update(...arguments),this.draw(),this};Fc.prototype.draw=function(){for(var e=arguments.length,t=new Array(e),r=0;r{this.drawItem(a)});return this};Fc.prototype.drawItem=function(e,t){let{groups:r}=this,i=r[e];if(typeof t=="number"&&(e=t,i=r[t],t=null),!(i&&i.count&&i.opacity))return;i.activation[0]&&this.drawCircle(this.getMarkerDrawOptions(0,i,t));let n=[];for(let a=1;a{let f=i[c];if(u===void 0)return f;u===null?u={positions:null}:typeof u=="function"?u={ondraw:u}:typeof u[0]=="number"&&(u={positions:u}),u=jar(u,{positions:"positions data points",snap:"snap cluster lod 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positionFract, vec2 scale, vec2 scaleFract, vec2 translate, vec2 translateFract) { + // the order is important + return position * scale + translate + + positionFract * scale + translateFract + + position * scaleFract + + positionFract * scaleFract; +} + +void main() { + float lineStart = 1. - lineEnd; + float lineOffset = lineTop * 2. - 1.; + + vec2 diff = (bCoord + bCoordFract - aCoord - aCoordFract); + tangent = normalize(diff * scale * viewport.zw); + vec2 normal = vec2(-tangent.y, tangent.x); + + vec2 position = project(aCoord, aCoordFract, scale, scaleFract, translate, translateFract) * lineStart + + project(bCoord, bCoordFract, scale, scaleFract, translate, translateFract) * lineEnd + + + thickness * normal * .5 * lineOffset / viewport.zw; + + gl_Position = vec4(position * 2.0 - 1.0, depth, 1); + + fragColor = color / 255.; +} +`,Ulr=` +precision highp float; + +uniform float dashLength, pixelRatio, thickness, opacity, id; +uniform sampler2D dashTexture; + +varying vec4 fragColor; +varying vec2 tangent; + +void main() { + float alpha = 1.; + + float t = fract(dot(tangent, gl_FragCoord.xy) / dashLength) * .5 + .25; + float dash = texture2D(dashTexture, vec2(t, .5)).r; + + gl_FragColor = fragColor; + gl_FragColor.a *= alpha * opacity * dash; +} +`,Vlr=` +precision highp float; + +attribute vec2 position, positionFract; + +uniform vec4 color; +uniform vec2 scale, scaleFract, translate, translateFract; +uniform float pixelRatio, id; +uniform vec4 viewport; +uniform float opacity; + +varying vec4 fragColor; + +const float MAX_LINES = 256.; + +void main() { + float depth = (MAX_LINES - 4. - id) / (MAX_LINES); + + vec2 position = position * scale + translate + + positionFract * scale + translateFract + + position * scaleFract + + positionFract * scaleFract; + + gl_Position = vec4(position * 2.0 - 1.0, depth, 1); + + fragColor = color / 255.; + fragColor.a *= opacity; +} +`,Glr=` +precision highp float; +varying vec4 fragColor; + +void main() { + gl_FragColor = fragColor; +} +`,Hlr=` +precision highp float; + +attribute vec2 aCoord, bCoord, nextCoord, prevCoord; +attribute vec4 aColor, bColor; +attribute float lineEnd, lineTop; + +uniform vec2 scale, translate; +uniform float thickness, pixelRatio, id, depth; +uniform vec4 viewport; +uniform float miterLimit, miterMode; + +varying vec4 fragColor; +varying vec4 startCutoff, endCutoff; +varying vec2 tangent; +varying vec2 startCoord, endCoord; +varying float enableStartMiter, enableEndMiter; + +const float REVERSE_THRESHOLD = -.875; +const float MIN_DIFF = 1e-6; + +// TODO: possible optimizations: avoid overcalculating all for vertices and calc just one instead +// TODO: precalculate dot products, normalize things beforehead etc. +// TODO: refactor to rectangular algorithm + +float distToLine(vec2 p, vec2 a, vec2 b) { + vec2 diff = b - a; + vec2 perp = normalize(vec2(-diff.y, diff.x)); + return dot(p - a, perp); +} + +bool isNaN( float val ){ + return ( val < 0.0 || 0.0 < val || val == 0.0 ) ? false : true; +} + +void main() { + vec2 aCoord = aCoord, bCoord = bCoord, prevCoord = prevCoord, nextCoord = nextCoord; + + vec2 adjustedScale; + adjustedScale.x = (abs(scale.x) < MIN_DIFF) ? MIN_DIFF : scale.x; + adjustedScale.y = (abs(scale.y) < MIN_DIFF) ? MIN_DIFF : scale.y; + + vec2 scaleRatio = adjustedScale * viewport.zw; + vec2 normalWidth = thickness / scaleRatio; + + float lineStart = 1. - lineEnd; + float lineBot = 1. - lineTop; + + fragColor = (lineStart * aColor + lineEnd * bColor) / 255.; + + if (isNaN(aCoord.x) || isNaN(aCoord.y) || isNaN(bCoord.x) || isNaN(bCoord.y)) return; + + if (aCoord == prevCoord) prevCoord = aCoord + normalize(bCoord - aCoord); + if (bCoord == nextCoord) nextCoord = bCoord - normalize(bCoord - aCoord); + + + vec2 prevDiff = aCoord - prevCoord; + vec2 currDiff = bCoord - aCoord; + vec2 nextDiff = nextCoord - bCoord; + + vec2 prevTangent = normalize(prevDiff * scaleRatio); + vec2 currTangent = normalize(currDiff * scaleRatio); + vec2 nextTangent = normalize(nextDiff * scaleRatio); + + vec2 prevNormal = vec2(-prevTangent.y, prevTangent.x); + vec2 currNormal = vec2(-currTangent.y, currTangent.x); + vec2 nextNormal = vec2(-nextTangent.y, nextTangent.x); + + vec2 startJoinDirection = normalize(prevTangent - currTangent); + vec2 endJoinDirection = normalize(currTangent - nextTangent); + + // collapsed/unidirectional segment cases + // FIXME: there should be more elegant solution + vec2 prevTanDiff = abs(prevTangent - currTangent); + vec2 nextTanDiff = abs(nextTangent - currTangent); + if (max(prevTanDiff.x, prevTanDiff.y) < MIN_DIFF) { + startJoinDirection = currNormal; + } + if (max(nextTanDiff.x, nextTanDiff.y) < MIN_DIFF) { + endJoinDirection = currNormal; + } + if (aCoord == bCoord) { + endJoinDirection = startJoinDirection; + currNormal = prevNormal; + currTangent = prevTangent; + } + + tangent = currTangent; + + //calculate join shifts relative to normals + float startJoinShift = dot(currNormal, startJoinDirection); + float endJoinShift = dot(currNormal, endJoinDirection); + + float startMiterRatio = abs(1. / startJoinShift); + float endMiterRatio = abs(1. / endJoinShift); + + vec2 startJoin = startJoinDirection * startMiterRatio; + vec2 endJoin = endJoinDirection * endMiterRatio; + + vec2 startTopJoin, startBotJoin, endTopJoin, endBotJoin; + startTopJoin = sign(startJoinShift) * startJoin * .5; + startBotJoin = -startTopJoin; + + endTopJoin = sign(endJoinShift) * endJoin * .5; + endBotJoin = -endTopJoin; + + vec2 aTopCoord = aCoord + normalWidth * startTopJoin; + vec2 bTopCoord = bCoord + normalWidth * endTopJoin; + vec2 aBotCoord = aCoord + normalWidth * startBotJoin; + vec2 bBotCoord = bCoord + normalWidth * endBotJoin; + + //miter anti-clipping + float baClipping = distToLine(bCoord, aCoord, aBotCoord) / dot(normalize(normalWidth * endBotJoin), normalize(normalWidth.yx * vec2(-startBotJoin.y, startBotJoin.x))); + float abClipping = distToLine(aCoord, bCoord, bTopCoord) / dot(normalize(normalWidth * startBotJoin), normalize(normalWidth.yx * vec2(-endBotJoin.y, endBotJoin.x))); + + //prevent close to reverse direction switch + bool prevReverse = dot(currTangent, prevTangent) <= REVERSE_THRESHOLD && abs(dot(currTangent, prevNormal)) * min(length(prevDiff), length(currDiff)) < length(normalWidth * currNormal); + bool nextReverse = dot(currTangent, nextTangent) <= REVERSE_THRESHOLD && abs(dot(currTangent, nextNormal)) * min(length(nextDiff), length(currDiff)) < length(normalWidth * currNormal); + + if (prevReverse) { + //make join rectangular + vec2 miterShift = normalWidth * startJoinDirection * miterLimit * .5; + float normalAdjust = 1. - min(miterLimit / startMiterRatio, 1.); + aBotCoord = aCoord + miterShift - normalAdjust * normalWidth * currNormal * .5; + aTopCoord = aCoord + miterShift + normalAdjust * normalWidth * currNormal * .5; + } + else if (!nextReverse && baClipping > 0. && baClipping < length(normalWidth * endBotJoin)) { + //handle miter clipping + bTopCoord -= normalWidth * endTopJoin; + bTopCoord += normalize(endTopJoin * normalWidth) * baClipping; + } + + if (nextReverse) { + //make join rectangular + vec2 miterShift = normalWidth * endJoinDirection * miterLimit * .5; + float normalAdjust = 1. - min(miterLimit / endMiterRatio, 1.); + bBotCoord = bCoord + miterShift - normalAdjust * normalWidth * currNormal * .5; + bTopCoord = bCoord + miterShift + normalAdjust * normalWidth * currNormal * .5; + } + else if (!prevReverse && abClipping > 0. && abClipping < length(normalWidth * startBotJoin)) { + //handle miter clipping + aBotCoord -= normalWidth * startBotJoin; + aBotCoord += normalize(startBotJoin * normalWidth) * abClipping; + } + + vec2 aTopPosition = (aTopCoord) * adjustedScale + translate; + vec2 aBotPosition = (aBotCoord) * adjustedScale + translate; + + vec2 bTopPosition = (bTopCoord) * adjustedScale + translate; + vec2 bBotPosition = (bBotCoord) * adjustedScale + translate; + + //position is normalized 0..1 coord on the screen + vec2 position = (aTopPosition * lineTop + aBotPosition * lineBot) * lineStart + (bTopPosition * lineTop + bBotPosition * lineBot) * lineEnd; + + startCoord = aCoord * scaleRatio + translate * viewport.zw + viewport.xy; + endCoord = bCoord * scaleRatio + translate * viewport.zw + viewport.xy; + + gl_Position = vec4(position * 2.0 - 1.0, depth, 1); + + enableStartMiter = step(dot(currTangent, prevTangent), .5); + enableEndMiter = step(dot(currTangent, nextTangent), .5); + + //bevel miter cutoffs + if (miterMode == 1.) { + if (enableStartMiter == 1.) { + vec2 startMiterWidth = vec2(startJoinDirection) * thickness * miterLimit * .5; + startCutoff = vec4(aCoord, aCoord); + startCutoff.zw += vec2(-startJoinDirection.y, startJoinDirection.x) / scaleRatio; + startCutoff = startCutoff * scaleRatio.xyxy + translate.xyxy * viewport.zwzw; + startCutoff += viewport.xyxy; + startCutoff += startMiterWidth.xyxy; + } + + if (enableEndMiter == 1.) { + vec2 endMiterWidth = vec2(endJoinDirection) * thickness * miterLimit * .5; + endCutoff = vec4(bCoord, bCoord); + endCutoff.zw += vec2(-endJoinDirection.y, endJoinDirection.x) / scaleRatio; + endCutoff = endCutoff * scaleRatio.xyxy + translate.xyxy * viewport.zwzw; + endCutoff += viewport.xyxy; + endCutoff += endMiterWidth.xyxy; + } + } + + //round miter cutoffs + else if (miterMode == 2.) { + if (enableStartMiter == 1.) { + vec2 startMiterWidth = vec2(startJoinDirection) * thickness * abs(dot(startJoinDirection, currNormal)) * .5; + startCutoff = vec4(aCoord, aCoord); + startCutoff.zw += vec2(-startJoinDirection.y, startJoinDirection.x) / scaleRatio; + startCutoff = startCutoff * scaleRatio.xyxy + translate.xyxy * viewport.zwzw; + startCutoff += viewport.xyxy; + startCutoff += startMiterWidth.xyxy; + } + + if (enableEndMiter == 1.) { + vec2 endMiterWidth = vec2(endJoinDirection) * thickness * abs(dot(endJoinDirection, currNormal)) * .5; + endCutoff = vec4(bCoord, bCoord); + endCutoff.zw += vec2(-endJoinDirection.y, endJoinDirection.x) / scaleRatio; + endCutoff = endCutoff * scaleRatio.xyxy + translate.xyxy * viewport.zwzw; + endCutoff += viewport.xyxy; + endCutoff += endMiterWidth.xyxy; + } + } +} +`,jlr=` +precision highp float; + +uniform float dashLength, pixelRatio, thickness, opacity, id, miterMode; +uniform sampler2D dashTexture; + +varying vec4 fragColor; +varying vec2 tangent; +varying vec4 startCutoff, endCutoff; +varying vec2 startCoord, endCoord; +varying float enableStartMiter, enableEndMiter; + +float distToLine(vec2 p, vec2 a, vec2 b) { + vec2 diff = b - a; + vec2 perp = normalize(vec2(-diff.y, diff.x)); + return dot(p - a, perp); +} + +void main() { + float alpha = 1., distToStart, distToEnd; + float cutoff = thickness * .5; + + //bevel miter + if (miterMode == 1.) { + if (enableStartMiter == 1.) { + distToStart = distToLine(gl_FragCoord.xy, startCutoff.xy, startCutoff.zw); + if (distToStart < -1.) { + discard; + return; + } + alpha *= min(max(distToStart + 1., 0.), 1.); + } + + if (enableEndMiter == 1.) { + distToEnd = distToLine(gl_FragCoord.xy, endCutoff.xy, endCutoff.zw); + if (distToEnd < -1.) { + discard; + return; + } + alpha *= min(max(distToEnd + 1., 0.), 1.); + } + } + + // round miter + else if (miterMode == 2.) { + if (enableStartMiter == 1.) { + distToStart = distToLine(gl_FragCoord.xy, startCutoff.xy, startCutoff.zw); + if (distToStart < 0.) { + float radius = length(gl_FragCoord.xy - startCoord); + + if(radius > cutoff + .5) { + discard; + return; + } + + alpha -= smoothstep(cutoff - .5, cutoff + .5, radius); + } + } + + if (enableEndMiter == 1.) { + distToEnd = distToLine(gl_FragCoord.xy, endCutoff.xy, endCutoff.zw); + if (distToEnd < 0.) { + float radius = length(gl_FragCoord.xy - endCoord); + + if(radius > cutoff + .5) { + discard; + return; + } + + alpha -= smoothstep(cutoff - .5, cutoff + .5, radius); + } + } + } + + float t = fract(dot(tangent, gl_FragCoord.xy) / dashLength) * .5 + .25; + float dash = texture2D(dashTexture, vec2(t, .5)).r; + + gl_FragColor = fragColor; + gl_FragColor.a *= alpha * opacity * dash; +} +`;fYe.exports=fs;function fs(e,t){if(!(this instanceof fs))return new fs(e,t);if(typeof 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xr=yr.type;wt.type=Oi[xr]}var Zi=wt.width,Oa=wt.height,ss=wt.channels,Wi=!1;"shape"in yr?(Zi=yr.shape[0],Oa=yr.shape[1],yr.shape.length===3&&(ss=yr.shape[2],Wi=!0)):("radius"in yr&&(Zi=Oa=yr.radius),"width"in yr&&(Zi=yr.width),"height"in yr&&(Oa=yr.height),"channels"in yr&&(ss=yr.channels,Wi=!0)),wt.width=Zi|0,wt.height=Oa|0,wt.channels=ss|0;var dt=!1;if("format"in yr){var St=yr.format,It=wt.internalformat=mi[St];wt.format=pn[It],St in Oi&&("type"in yr||(wt.type=Oi[St])),St in Fr&&(wt.compressed=!0),dt=!0}!Wi&&dt?wt.channels=Vo[wt.format]:Wi&&!dt&&wt.channels!==Es[wt.format]&&(wt.format=wt.internalformat=Es[wt.channels])}}function gi(wt){Be.pixelStorei(Fv,wt.flipY),Be.pixelStorei(Lv,wt.premultiplyAlpha),Be.pixelStorei(Uc,wt.colorSpace),Be.pixelStorei($0,wt.unpackAlignment)}function li(){qr.call(this),this.xOffset=0,this.yOffset=0,this.data=null,this.needsFree=!1,this.element=null,this.needsCopy=!1}function hi(wt,yr){var xr=null;if(X0(yr)?xr=yr:yr&&(Ii(wt,yr),"x"in 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if(hf(xr))wt.element=xr,wt.width=xr.width,wt.height=xr.height,wt.channels=4;else if(zv(xr))wt.element=xr,wt.width=xr.naturalWidth,wt.height=xr.naturalHeight,wt.channels=4;else if(hp(xr))wt.element=xr,wt.width=xr.videoWidth,wt.height=xr.videoHeight,wt.channels=4;else if(Rv(xr)){var Ht=wt.width||xr[0].length,Ft=wt.height||xr.length,Nt=wt.channels;Tr(xr[0][0])?Nt=Nt||xr[0][0].length:Nt=Nt||1;for(var Et=mt.shape(xr),sr=1,Er=0;Er>=Oa,xr.height>>=Oa,hi(xr,Zi[Oa]),wt.mipmask|=1<=0&&!("faces"in yr)&&(wt.genMipmaps=!0)}if("mag"in yr){var Zi=yr.mag;wt.magFilter=Kr[Zi]}var Oa=wt.wrapS,ss=wt.wrapT;if("wrap"in yr){var Wi=yr.wrap;typeof Wi=="string"?Oa=ss=Zr[Wi]:Array.isArray(Wi)&&(Oa=Zr[Wi[0]],ss=Zr[Wi[1]])}else{if("wrapS"in yr){var dt=yr.wrapS;Oa=Zr[dt]}if("wrapT"in yr){var St=yr.wrapT;ss=Zr[St]}}if(wt.wrapS=Oa,wt.wrapT=ss,"anisotropic"in yr){var It=yr.anisotropic;wt.anisotropic=yr.anisotropic}if("mipmap"in yr){var gr=!1;switch(typeof yr.mipmap){case"string":wt.mipmapHint=Br[yr.mipmap],wt.genMipmaps=!0,gr=!0;break;case"boolean":gr=wt.genMipmaps=yr.mipmap;break;case"object":wt.genMipmaps=!1,gr=!0;break;default:}gr&&!("min"in yr)&&(wt.minFilter=Of)}}function Xf(wt,yr){Be.texParameteri(yr,Cv,wt.minFilter),Be.texParameteri(yr,au,wt.magFilter),Be.texParameteri(yr,iu,wt.wrapS),Be.texParameteri(yr,ph,wt.wrapT),gt.ext_texture_filter_anisotropic&&Be.texParameteri(yr,j0,wt.anisotropic),wt.genMipmaps&&(Be.hint(Dv,wt.mipmapHint),Be.generateMipmap(yr))}var kh=0,Su={},Eu=Mt.maxTextureUnits,Ju=Array(Eu).map(function(){return null});function sa(wt){qr.call(this),this.mipmask=0,this.internalformat=Mi,this.id=kh++,this.refCount=1,this.target=wt,this.texture=Be.createTexture(),this.unit=-1,this.bindCount=0,this.texInfo=new os,dr.profile&&(this.stats={size:0})}function mc(wt){Be.activeTexture(mh),Be.bindTexture(wt.target,wt.texture)}function ms(){var wt=Ju[0];wt?Be.bindTexture(wt.target,wt.texture):Be.bindTexture(br,null)}function Zf(wt){var yr=wt.texture,xr=wt.unit,Zi=wt.target;xr>=0&&(Be.activeTexture(mh+xr),Be.bindTexture(Zi,null),Ju[xr]=null),Be.deleteTexture(yr),wt.texture=null,wt.params=null,wt.pixels=null,wt.refCount=0,delete Su[wt.id],wr.textureCount--}e(sa.prototype,{bind:function(){var wt=this;wt.bindCount+=1;var yr=wt.unit;if(yr<0){for(var xr=0;xr0)continue;Zi.unit=-1}Ju[xr]=wt,yr=xr;break}yr>=Eu,dr.profile&&wr.maxTextureUnits>nr)-gr,er.height=er.height||(xr.height>>nr)-Mr,mc(xr),vn(er,br,gr,Mr,nr),ms(),Hi(er),Zi}function ss(Wi,dt){var St=Wi|0,It=dt|0||St;if(St===xr.width&&It===xr.height)return Zi;Zi.width=xr.width=St,Zi.height=xr.height=It,mc(xr);for(var gr=0;xr.mipmask>>gr;++gr){var Mr=St>>gr,nr=It>>gr;if(!Mr||!nr)break;Be.texImage2D(br,gr,xr.format,Mr,nr,0,xr.format,xr.type,null)}return ms(),dr.profile&&(xr.stats.size=Vf(xr.internalformat,xr.type,St,It,!1,!1)),Zi}return Zi(wt,yr),Zi.subimage=Oa,Zi.resize=ss,Zi._reglType="texture2d",Zi._texture=xr,dr.profile&&(Zi.stats=xr.stats),Zi.destroy=function(){xr.decRef()},Zi}function Dh(wt,yr,xr,Zi,Oa,ss){var Wi=new sa(Xr);Su[Wi.id]=Wi,wr.cubeCount++;var dt=new Array(6);function St(Mr,nr,er,Ht,Ft,Nt){var Et,sr=Wi.texInfo;for(os.call(sr),Et=0;Et<6;++Et)dt[Et]=Pa();if(typeof Mr=="number"||!Mr){var Er=Mr|0||1;for(Et=0;Et<6;++Et)qn(dt[Et],Er,Er)}else if(typeof Mr=="object")if(nr)ba(dt[0],Mr),ba(dt[1],nr),ba(dt[2],er),ba(dt[3],Ht),ba(dt[4],Ft),ba(dt[5],Nt);else if(mf(sr,Mr),Ii(Wi,Mr),"faces"in Mr){var Wr=Mr.faces;for(Et=0;Et<6;++Et)Ir(dt[Et],Wi),ba(dt[Et],Wr[Et])}else for(Et=0;Et<6;++Et)ba(dt[Et],Mr);for(Ir(Wi,dt[0]),sr.genMipmaps?Wi.mipmask=(dt[0].width<<1)-1:Wi.mipmask=dt[0].mipmask,Wi.internalformat=dt[0].internalformat,St.width=dt[0].width,St.height=dt[0].height,mc(Wi),Et=0;Et<6;++Et)Al(dt[Et],ti+Et);for(Xf(sr,Xr),ms(),dr.profile&&(Wi.stats.size=Vf(Wi.internalformat,Wi.type,St.width,St.height,sr.genMipmaps,!0)),St.format=jr[Wi.internalformat],St.type=ii[Wi.type],St.mag=Nr[sr.magFilter],St.min=Ai[sr.minFilter],St.wrapS=xi[sr.wrapS],St.wrapT=xi[sr.wrapT],Et=0;Et<6;++Et)Eh(dt[Et]);return St}function It(Mr,nr,er,Ht,Ft){var Nt=er|0,Et=Ht|0,sr=Ft|0,Er=wi();return Ir(Er,Wi),Er.width=0,Er.height=0,hi(Er,nr),Er.width=Er.width||(Wi.width>>sr)-Nt,Er.height=Er.height||(Wi.height>>sr)-Et,mc(Wi),vn(Er,ti+Mr,Nt,Et,sr),ms(),Hi(Er),St}function gr(Mr){var nr=Mr|0;if(nr!==Wi.width){St.width=Wi.width=nr,St.height=Wi.height=nr,mc(Wi);for(var er=0;er<6;++er)for(var Ht=0;Wi.mipmask>>Ht;++Ht)Be.texImage2D(ti+er,Ht,Wi.format,nr>>Ht,nr>>Ht,0,Wi.format,Wi.type,null);return ms(),dr.profile&&(Wi.stats.size=Vf(Wi.internalformat,Wi.type,St.width,St.height,!1,!0)),St}}return St(wt,yr,xr,Zi,Oa,ss),St.subimage=It,St.resize=gr,St._reglType="textureCube",St._texture=Wi,dr.profile&&(St.stats=Wi.stats),St.destroy=function(){Wi.decRef()},St}function Zn(){for(var wt=0;wt>Zi,xr.height>>Zi,0,xr.internalformat,xr.type,null);else for(var Oa=0;Oa<6;++Oa)Be.texImage2D(ti+Oa,Zi,xr.internalformat,xr.width>>Zi,xr.height>>Zi,0,xr.internalformat,xr.type,null);Xf(xr.texInfo,xr.target)})}function qs(){for(var wt=0;wt=0?Eh=!0:Zr.indexOf(os)>=0&&(Eh=!1))),("depthTexture"in sa||"depthStencilTexture"in sa)&&(Ju=!!(sa.depthTexture||sa.depthStencilTexture)),"depth"in sa&&(typeof sa.depth=="boolean"?Al=sa.depth:(kh=sa.depth,Ku=!1)),"stencil"in sa&&(typeof sa.stencil=="boolean"?Ku=sa.stencil:(Su=sa.stencil,Al=!1)),"depthStencil"in sa&&(typeof sa.depthStencil=="boolean"?Al=Ku=sa.depthStencil:(Eu=sa.depthStencil,Al=!1,Ku=!1))}var ms=null,Zf=null,Ch=null,Dh=null;if(Array.isArray(Pa))ms=Pa.map(Fr);else if(Pa)ms=[Fr(Pa)];else for(ms=new Array(Xf),Bn=0;Bn0&&(Hi.depth=hi[0].depth,Hi.stencil=hi[0].stencil,Hi.depthStencil=hi[0].depthStencil),hi[wi]?hi[wi](Hi):hi[wi]=Ir(Hi)}return e(Ri,{width:Bn,height:Bn,color:os})}function vn(Hn){var wi,Hi=Hn|0;if(Hi===Ri.width)return Ri;var Bn=Ri.color;for(wi=0;wi=Bn.byteLength?qn.subdata(Bn):(qn.destroy(),Ir.buffers[Hn]=null)),Ir.buffers[Hn]||(qn=Ir.buffers[Hn]=vr.create(wi,yp,!1,!0)),Hi.buffer=vr.getBuffer(qn),Hi.size=Hi.buffer.dimension|0,Hi.normalized=!1,Hi.type=Hi.buffer.dtype,Hi.offset=0,Hi.stride=0,Hi.divisor=0,Hi.state=1,Ri[Hn]=1}else vr.getBuffer(wi)?(Hi.buffer=vr.getBuffer(wi),Hi.size=Hi.buffer.dimension|0,Hi.normalized=!1,Hi.type=Hi.buffer.dtype,Hi.offset=0,Hi.stride=0,Hi.divisor=0,Hi.state=1):vr.getBuffer(wi.buffer)?(Hi.buffer=vr.getBuffer(wi.buffer),Hi.size=(+wi.size||Hi.buffer.dimension)|0,Hi.normalized=!!wi.normalized||!1,"type"in wi?Hi.type=kr[wi.type]:Hi.type=Hi.buffer.dtype,Hi.offset=(wi.offset||0)|0,Hi.stride=(wi.stride||0)|0,Hi.divisor=(wi.divisor||0)|0,Hi.state=1):"x"in wi&&(Hi.x=+wi.x||0,Hi.y=+wi.y||0,Hi.z=+wi.z||0,Hi.w=+wi.w||0,Hi.state=2)}for(var ba=0;ba1)for(var gi=0;giQt&&(Qt=Sr.stats.uniformsCount)}),Qt},Mt.getMaxAttributesCount=function(){var Qt=0;return Jr.forEach(function(Sr){Sr.stats.attributesCount>Qt&&(Qt=Sr.stats.attributesCount)}),Qt});function Fr(){vr={},wr={};for(var Qt=0;Qt16&&(Mt=rr(Mt,Be.length*8));for(var or=Array(16),vr=Array(16),wr=0;wr<16;wr++)or[wr]=Mt[wr]^909522486,vr[wr]=Mt[wr]^1549556828;var dr=rr(or.concat(Mp(gt)),512+gt.length*8);return Te(rr(vr.concat(dr),768))}function Gc(Be){for(var gt=ty?"0123456789ABCDEF":"0123456789abcdef",Mt="",or,vr=0;vr>>4&15)+gt.charAt(or&15);return Mt}function Tp(Be){for(var gt="ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/",Mt="",or=Be.length,vr=0;vrBe.length*8?Mt+=ry:Mt+=gt.charAt(wr>>>6*(3-dr)&63);return Mt}function xg(Be,gt){var Mt=gt.length,or=Array(),vr,wr,dr,Br,Zr=Array(Math.ceil(Be.length/2));for(vr=0;vr0;){for(Br=Array(),dr=0,vr=0;vr0||wr>0)&&(Br[Br.length]=wr);or[or.length]=dr,Zr=Br}var Kr="";for(vr=or.length-1;vr>=0;vr--)Kr+=gt.charAt(or[vr]);var Jr=Math.ceil(Be.length*8/(Math.log(gt.length)/Math.log(2)));for(vr=Kr.length;vr>>6&31,128|or&63):or<=65535?gt+=String.fromCharCode(224|or>>>12&15,128|or>>>6&63,128|or&63):or<=2097151&&(gt+=String.fromCharCode(240|or>>>18&7,128|or>>>12&63,128|or>>>6&63,128|or&63));return gt}function Mp(Be){for(var gt=Array(Be.length>>2),Mt=0;Mt>5]|=(Be.charCodeAt(Mt/8)&255)<<24-Mt%32;return gt}function Te(Be){for(var gt="",Mt=0;Mt>5]>>>24-Mt%32&255);return gt}function qe(Be,gt){return Be>>>gt|Be<<32-gt}function rt(Be,gt){return Be>>>gt}function Ye(Be,gt,Mt){return Be>^~Be&Mt}function At(Be,gt,Mt){return Be>^Be&Mt^gt&Mt}function Gt(Be){return qe(Be,2)^qe(Be,13)^qe(Be,22)}function Kt(Be){return qe(Be,6)^qe(Be,11)^qe(Be,25)}function cr(Be){return qe(Be,7)^qe(Be,18)^rt(Be,3)}function mr(Be){return qe(Be,17)^qe(Be,19)^rt(Be,10)}var Pr=new Array(1116352408,1899447441,-1245643825,-373957723,961987163,1508970993,-1841331548,-1424204075,-670586216,310598401,607225278,1426881987,1925078388,-2132889090,-1680079193,-1046744716,-459576895,-272742522,264347078,604807628,770255983,1249150122,1555081692,1996064986,-1740746414,-1473132947,-1341970488,-1084653625,-958395405,-710438585,113926993,338241895,666307205,773529912,1294757372,1396182291,1695183700,1986661051,-2117940946,-1838011259,-1564481375,-1474664885,-1035236496,-949202525,-778901479,-694614492,-200395387,275423344,430227734,506948616,659060556,883997877,958139571,1322822218,1537002063,1747873779,1955562222,2024104815,-2067236844,-1933114872,-1866530822,-1538233109,-1090935817,-965641998);function rr(Be,gt){var Mt=new Array(1779033703,-1150833019,1013904242,-1521486534,1359893119,-1694144372,528734635,1541459225),or=new Array(64),vr,wr,dr,Br,Zr,Kr,Jr,un,Oi,mi,Fr,Qt;for(Be[gt>>5]|=128<<24-gt%32,Be[(gt+64>>9<<4)+15]=gt,Oi=0;Oi>16)+(gt>>16)+(Mt>>16);return or<<16|Mt&65535}function pr(Be){return Array.prototype.slice.call(Be)}function Dr(Be){return pr(Be).join("")}function Hr(Be){var gt=Be&&Be.cache,Mt=0,or=[],vr=[],wr=[];function dr(Fr,Qt){var Sr=Qt&&Qt.stable;if(!Sr){for(var jr=0;jr0&&(Fr.push(ii,"="),Fr.push.apply(Fr,pr(arguments)),Fr.push(";")),ii}return e(Qt,{def:jr,toString:function(){return Dr([Sr.length>0?"var "+Sr.join(",")+";":"",Dr(Fr)])}})}function Zr(){var Fr=Br(),Qt=Br(),Sr=Fr.toString,jr=Qt.toString;function ii(Nr,Ai){Qt(Nr,Ai,"=",Fr.def(Nr,Ai),";")}return e(function(){Fr.apply(Fr,pr(arguments))},{def:Fr.def,entry:Fr,exit:Qt,save:ii,set:function(Nr,Ai,xi){ii(Nr,Ai),Fr(Nr,Ai,"=",xi,";")},toString:function(){return Sr()+jr()}})}function Kr(){var Fr=Dr(arguments),Qt=Zr(),Sr=Zr(),jr=Qt.toString,ii=Sr.toString;return e(Qt,{then:function(){return Qt.apply(Qt,pr(arguments)),this},else:function(){return Sr.apply(Sr,pr(arguments)),this},toString:function(){var Nr=ii();return Nr&&(Nr="else{"+Nr+"}"),Dr(["if(",Fr,"){",jr(),"}",Nr])}})}var Jr=Br(),un={};function Oi(Fr,Qt){var Sr=[];function jr(){var pn="a"+Sr.length;return Sr.push(pn),pn}Qt=Qt||0;for(var ii=0;ii":516,notequal:517,"!=":517,"!==":517,gequal:518,">=":518,always:519},Dt={0:0,zero:0,keep:7680,replace:7681,increment:7682,decrement:7683,"increment wrap":34055,"decrement wrap":34056,invert:5386},zt={cw:Z,ccw:ne};function $t(Be){return Array.isArray(Be)||ut(Be)||vt(Be)}function Yt(Be){return Be.sort(function(gt,Mt){return gt===Mh?-1:Mt===Mh?1:gt=1,or>=2,gt)}else if(Mt===ga){var vr=Be.data;return new Lt(vr.thisDep,vr.contextDep,vr.propDep,gt)}else{if(Mt===$a)return new Lt(!1,!1,!1,gt);if(Mt===Ca){for(var wr=!1,dr=!1,Br=!1,Zr=0;Zr=1&&(dr=!0),Jr>=2&&(Br=!0)}else Kr.type===ga&&(wr=wr||Kr.data.thisDep,dr=dr||Kr.data.contextDep,Br=Br||Kr.data.propDep)}return new Lt(wr,dr,Br,gt)}else return new Lt(Mt===En,Mt===on,Mt===ai,gt)}}var pi=new Lt(!1,!1,!1,function(){});function Li(Be,gt,Mt,or,vr,wr,dr,Br,Zr,Kr,Jr,un,Oi,mi,Fr,Qt){var Sr=Kr.Record,jr={add:32774,subtract:32778,"reverse subtract":32779};Mt.ext_blend_minmax&&(jr.min=le,jr.max=fe);var ii=Mt.angle_instanced_arrays,Nr=Mt.webgl_draw_buffers,Ai=Mt.oes_vertex_array_object,xi={dirty:!0,profile:Qt.profile},pn={},qr=[],Ir={},Ii={};function gi(dt){return dt.replace(".","_")}function li(dt,St,It){var gr=gi(dt);qr.push(dt),pn[gr]=xi[gr]=!!It,Ir[gr]=St}function hi(dt,St,It){var gr=gi(dt);qr.push(dt),Array.isArray(It)?(xi[gr]=It.slice(),pn[gr]=It.slice()):xi[gr]=pn[gr]=It,Ii[gr]=St}function Ri(dt){return!!isNaN(dt)}li(xo,Ar),li(aa,ar),hi(fl,"blendColor",[0,0,0,0]),hi(ns,"blendEquationSeparate",[We,We]),hi(po,"blendFuncSeparate",[He,ze,He,ze]),li(di,_i,!0),hi(Sa,"depthFunc",ft),hi(ks,"depthRange",[0,1]),hi(bl,"depthMask",!0),hi(Au,Au,[!0,!0,!0,!0]),li(vf,Ut),hi(Hc,"cullFace",N),hi(Hf,Hf,ne),hi(Yu,Yu,1),li(Th,cn),hi(Ah,"polygonOffset",[0,0]),li(Sp,xn),li(_g,Dn),hi(jv,"sampleCoverage",[1,!1]),li(Mx,Vr),hi($v,"stencilMask",-1),hi(jc,"stencilFunc",[De,0,-1]),hi(iy,"stencilOpSeparate",[z,me,me,me]),hi(Wv,"stencilOpSeparate",[N,me,me,me]),li(bg,rn),hi(Yv,"scissor",[0,0,Be.drawingBufferWidth,Be.drawingBufferHeight]),hi(Mh,Mh,[0,0,Be.drawingBufferWidth,Be.drawingBufferHeight]);var vn={gl:Be,context:Oi,strings:gt,next:pn,current:xi,draw:un,elements:wr,buffer:vr,shader:Jr,attributes:Kr.state,vao:Kr,uniforms:Zr,framebuffer:Br,extensions:Mt,timer:mi,isBufferArgs:$t},Hn={primTypes:ds,compareFuncs:pt,blendFuncs:jt,blendEquations:jr,stencilOps:Dt,glTypes:kr,orientationType:zt};Nr&&(Hn.backBuffer=[N],Hn.drawBuffer=A(or.maxDrawbuffers,function(dt){return dt===0?[0]:A(dt,function(St){return Ot+St})}));var wi=0;function Hi(){var dt=Hr({cache:Fr}),St=dt.link,It=dt.global;dt.id=wi++,dt.batchId="0";var gr=St(vn),Mr=dt.shared={props:"a0"};Object.keys(vn).forEach(function(Nt){Mr[Nt]=It.def(gr,".",Nt)});var nr=dt.next={},er=dt.current={};Object.keys(Ii).forEach(function(Nt){Array.isArray(xi[Nt])&&(nr[Nt]=It.def(Mr.next,".",Nt),er[Nt]=It.def(Mr.current,".",Nt))});var Ht=dt.constants={};Object.keys(Hn).forEach(function(Nt){Ht[Nt]=It.def(JSON.stringify(Hn[Nt]))}),dt.invoke=function(Nt,Et){switch(Et.type){case Yr:var sr=["this",Mr.context,Mr.props,dt.batchId];return Nt.def(St(Et.data),".call(",sr.slice(0,Math.max(Et.data.length+1,4)),")");case ai:return Nt.def(Mr.props,Et.data);case on:return Nt.def(Mr.context,Et.data);case En:return Nt.def("this",Et.data);case ga:return Et.data.append(dt,Nt),Et.data.ref;case $a:return Et.data.toString();case Ca:return Et.data.map(function(Er){return dt.invoke(Nt,Er)})}},dt.attribCache={};var Ft={};return dt.scopeAttrib=function(Nt){var Et=gt.id(Nt);if(Et in Ft)return Ft[Et];var sr=Kr.scope[Et];sr||(sr=Kr.scope[Et]=new Sr);var Er=Ft[Et]=St(sr);return Er},dt}function Bn(dt){var St=dt.static,It=dt.dynamic,gr;if(wg in St){var Mr=!!St[wg];gr=Gr(function(er,Ht){return Mr}),gr.enable=Mr}else if(wg in It){var nr=It[wg];gr=ri(nr,function(er,Ht){return er.invoke(Ht,nr)})}return gr}function qn(dt,St){var It=dt.static,gr=dt.dynamic;if(Ep in It){var Mr=It[Ep];return Mr?(Mr=Br.getFramebuffer(Mr),Gr(function(er,Ht){var Ft=er.link(Mr),Nt=er.shared;Ht.set(Nt.framebuffer,".next",Ft);var Et=Nt.context;return 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b=V1(u.getImageData(0,0,f,f));d.hanging=f-b-1+p-f*.5,u.clearRect(0,0,f,f),u.textBaseline="ideographic",u.fillText(h,0,f);var _=V1(u.getImageData(0,0,f,f));if(d.ideographic=f-_-1+p,c.upper&&(u.clearRect(0,0,f,f),u.textBaseline="top",u.fillText(c.upper,0,0),d.upper=V1(u.getImageData(0,0,f,f)),d.capHeight=d.baseline-d.upper),c.lower&&(u.clearRect(0,0,f,f),u.textBaseline="top",u.fillText(c.lower,0,0),d.lower=V1(u.getImageData(0,0,f,f)),d.xHeight=d.baseline-d.lower),c.tittle&&(u.clearRect(0,0,f,f),u.textBaseline="top",u.fillText(c.tittle,0,0),d.tittle=V1(u.getImageData(0,0,f,f))),c.ascent&&(u.clearRect(0,0,f,f),u.textBaseline="top",u.fillText(c.ascent,0,0),d.ascent=V1(u.getImageData(0,0,f,f))),c.descent&&(u.clearRect(0,0,f,f),u.textBaseline="top",u.fillText(c.descent,0,0),d.descent=yXe(u.getImageData(0,0,f,f))),c.overshoot){u.clearRect(0,0,f,f),u.textBaseline="top",u.fillText(c.overshoot,0,0);var M=yXe(u.getImageData(0,0,f,f));d.overshoot=M-g}for(var x in d)d[x]/=i;return d.em=i,R2.cache[r]=d,mXe(d,s)}function mXe(e,t){var r={};typeof t=="string"&&(t=e[t]);for(var i in e)i!=="em"&&(r[i]=e[i]-t);return r}function V1(e){for(var t=e.height,r=e.data,i=3;i0;i-=4)if(r[i]!==0)return Math.floor((i-3)*.25/t)}});var AXe=W((LYr,TXe)=>{"use strict";var Z4=RYe(),Bur=N1(),qur=zee(),Our=NYe(),Nur=xee(),Vee=ME(),Uur=VYe(),z2=sXe(),Vur=q4(),Gur=uXe(),Hur=Nee(),jur=dXe(),$ur=gXe(),Wur=qu(),Yur=_Xe(),Xur=Sb(),Zur=qee(),bXe=Zur.nextPow2,wXe=new Nur,NR=!1;document.body&&(OR=document.body.appendChild(document.createElement("div")),OR.style.font="italic small-caps bold condensed 16px/2 cursive",getComputedStyle(OR).fontStretch&&(NR=!0),document.body.removeChild(OR));var OR,Xo=function(t){Kur(t)?(t={regl:t},this.gl=t.regl._gl):this.gl=Our(t),this.shader=wXe.get(this.gl),this.shader?this.regl=this.shader.regl:this.regl=t.regl||qur({gl:this.gl}),this.charBuffer=this.regl.buffer({type:"uint8",usage:"stream"}),this.sizeBuffer=this.regl.buffer({type:"float",usage:"stream"}),this.shader||(this.shader=this.createShader(),wXe.set(this.gl,this.shader)),this.batch=[],this.fontSize=[],this.font=[],this.fontAtlas=[],this.draw=this.shader.draw.bind(this),this.render=function(){this.regl._refresh(),this.draw(this.batch)},this.canvas=this.gl.canvas,this.update(Gur(t)?t:{})};Xo.prototype.createShader=function(){var t=this.regl,r=t({blend:{enable:!0,color:[0,0,0,1],func:{srcRGB:"src alpha",dstRGB:"one minus src alpha",srcAlpha:"one minus dst alpha",dstAlpha:"one"}},stencil:{enable:!1},depth:{enable:!1},count:t.prop("count"),offset:t.prop("offset"),attributes:{charOffset:{offset:4,stride:8,buffer:t.this("sizeBuffer")},width:{offset:0,stride:8,buffer:t.this("sizeBuffer")},char:t.this("charBuffer"),position:t.this("position")},uniforms:{atlasSize:function(n,a){return[a.atlas.width,a.atlas.height]},atlasDim:function(n,a){return[a.atlas.cols,a.atlas.rows]},atlas:function(n,a){return a.atlas.texture},charStep:function(n,a){return a.atlas.step},em:function(n,a){return a.atlas.em},color:t.prop("color"),opacity:t.prop("opacity"),viewport:t.this("viewportArray"),scale:t.this("scale"),align:t.prop("align"),baseline:t.prop("baseline"),translate:t.this("translate"),positionOffset:t.prop("positionOffset")},primitive:"points",viewport:t.this("viewport"),vert:` + precision highp float; + attribute float width, charOffset, char; + attribute vec2 position; + uniform float fontSize, charStep, em, align, baseline; + uniform vec4 viewport; + uniform vec4 color; + uniform vec2 atlasSize, atlasDim, scale, translate, positionOffset; + varying vec2 charCoord, charId; + varying float charWidth; + varying vec4 fontColor; + void main () { + vec2 offset = floor(em * (vec2(align + charOffset, baseline) + + vec2(positionOffset.x, -positionOffset.y))) + / (viewport.zw * scale.xy); + + vec2 position = (position + translate) * scale; + position += offset * scale; + + charCoord = position * viewport.zw + viewport.xy; + + gl_Position = vec4(position * 2. - 1., 0, 1); + + gl_PointSize = charStep; + + charId.x = mod(char, atlasDim.x); + charId.y = floor(char / atlasDim.x); + + charWidth = width * em; + + fontColor = color / 255.; + }`,frag:` + precision highp float; + uniform float fontSize, charStep, opacity; + uniform vec2 atlasSize; + uniform vec4 viewport; + uniform sampler2D atlas; + varying vec4 fontColor; + varying vec2 charCoord, charId; + varying float charWidth; + + float lightness(vec4 color) { + return color.r * 0.299 + color.g * 0.587 + color.b * 0.114; + } + + void main () { + vec2 uv = gl_FragCoord.xy - charCoord + charStep * .5; + float halfCharStep = floor(charStep * .5 + .5); + + // invert y and shift by 1px (FF expecially needs that) + uv.y = charStep - uv.y; + + // ignore points outside of character bounding box + float halfCharWidth = ceil(charWidth * .5); + if (floor(uv.x) > halfCharStep + halfCharWidth || + floor(uv.x) < halfCharStep - halfCharWidth) return; + + uv += charId * charStep; + uv = uv / atlasSize; + + vec4 color = fontColor; + vec4 mask = texture2D(atlas, uv); + + float maskY = lightness(mask); + // float colorY = lightness(color); + color.a *= maskY; + color.a *= opacity; + + // color.a += .1; + + // antialiasing, see yiq color space y-channel formula + // color.rgb += (1. - color.rgb) * (1. - mask.rgb); + + gl_FragColor = color; + }`}),i={};return{regl:t,draw:r,atlas:i}};Xo.prototype.update=function(t){var r=this;if(typeof t=="string")t={text:t};else if(!t)return;t=Bur(t,{position:"position positions coord coords coordinates",font:"font fontFace fontface typeface cssFont css-font family fontFamily",fontSize:"fontSize fontsize size font-size",text:"text texts chars characters value values symbols",align:"align alignment textAlign textbaseline",baseline:"baseline textBaseline textbaseline",direction:"dir direction textDirection",color:"color colour fill fill-color fillColor textColor textcolor",kerning:"kerning kern",range:"range dataBox",viewport:"vp viewport viewBox viewbox viewPort",opacity:"opacity alpha transparency visible visibility opaque",offset:"offset positionOffset padding shift indent indentation"},!0),t.opacity!=null&&(Array.isArray(t.opacity)?this.opacity=t.opacity.map(function(K){return parseFloat(K)}):this.opacity=parseFloat(t.opacity)),t.viewport!=null&&(this.viewport=Vur(t.viewport),this.viewportArray=[this.viewport.x,this.viewport.y,this.viewport.width,this.viewport.height]),this.viewport==null&&(this.viewport={x:0,y:0,width:this.gl.drawingBufferWidth,height:this.gl.drawingBufferHeight},this.viewportArray=[this.viewport.x,this.viewport.y,this.viewport.width,this.viewport.height]),t.kerning!=null&&(this.kerning=t.kerning),t.offset!=null&&(typeof t.offset=="number"&&(t.offset=[t.offset,0]),this.positionOffset=Xur(t.offset)),t.direction&&(this.direction=t.direction),t.range&&(this.range=t.range,this.scale=[1/(t.range[2]-t.range[0]),1/(t.range[3]-t.range[1])],this.translate=[-t.range[0],-t.range[1]]),t.scale&&(this.scale=t.scale),t.translate&&(this.translate=t.translate),this.scale||(this.scale=[1/this.viewport.width,1/this.viewport.height]),this.translate||(this.translate=[0,0]),!this.font.length&&!t.font&&(t.font=Xo.baseFontSize+"px sans-serif");var i=!1,n=!1;if(t.font&&(Array.isArray(t.font)?t.font:[t.font]).forEach(function(K,j){if(typeof K=="string")try{K=Z4.parse(K)}catch(ce){K=Z4.parse(Xo.baseFontSize+"px "+K)}else{var q=K.style,J=K.weight,U=K.stretch,V=K.variant;K=Z4.parse(Z4.stringify(K)),q&&(K.style=q),J&&(K.weight=J),U&&(K.stretch=U),V&&(K.variant=V)}var X=Z4.stringify({size:Xo.baseFontSize,family:K.family,stretch:NR?K.stretch:void 0,variant:K.variant,weight:K.weight,style:K.style}),H=Hur(K.size),G=Math.round(H[0]*jur(H[1]));if(G!==r.fontSize[j]&&(n=!0,r.fontSize[j]=G),(!r.font[j]||X!=r.font[j].baseString)&&(i=!0,r.font[j]=Xo.fonts[X],!r.font[j])){var Q=K.family.join(", "),te=[K.style];K.style!=K.variant&&te.push(K.variant),K.variant!=K.weight&&te.push(K.weight),NR&&K.weight!=K.stretch&&te.push(K.stretch),r.font[j]={baseString:X,family:Q,weight:K.weight,stretch:K.stretch,style:K.style,variant:K.variant,width:{},kerning:{},metrics:Yur(Q,{origin:"top",fontSize:Xo.baseFontSize,fontStyle:te.join(" ")})},Xo.fonts[X]=r.font[j]}}),(i||n)&&this.font.forEach(function(K,j){var q=Z4.stringify({size:r.fontSize[j],family:K.family,stretch:NR?K.stretch:void 0,variant:K.variant,weight:K.weight,style:K.style});if(r.fontAtlas[j]=r.shader.atlas[q],!r.fontAtlas[j]){var J=K.metrics;r.shader.atlas[q]=r.fontAtlas[j]={fontString:q,step:Math.ceil(r.fontSize[j]*J.bottom*.5)*2,em:r.fontSize[j],cols:0,rows:0,height:0,width:0,chars:[],ids:{},texture:r.regl.texture()}}t.text==null&&(t.text=r.text)}),typeof t.text=="string"&&t.position&&t.position.length>2){for(var a=Array(t.position.length*.5),o=0;o2){for(var u=!t.position[0].length,c=z2.mallocFloat(this.count*2),f=0,h=0;f1?r.align[j]:r.align[0]:r.align;if(typeof q=="number")return q;switch(q){case"right":case"end":return-K;case"center":case"centre":case"middle":return-K*.5}return 0})),this.baseline==null&&t.baseline==null&&(t.baseline=0),t.baseline!=null&&(this.baseline=t.baseline,Array.isArray(this.baseline)||(this.baseline=[this.baseline]),this.baselineOffset=this.baseline.map(function(K,j){var q=(r.font[j]||r.font[0]).metrics,J=0;return J+=q.bottom*.5,typeof K=="number"?J+=K-q.baseline:J+=-q[K],J*=-1,J})),t.color!=null)if(t.color||(t.color="transparent"),typeof t.color=="string"||!isNaN(t.color))this.color=Vee(t.color,"uint8");else{var F;if(typeof t.color[0]=="number"&&t.color.length>this.counts.length){var P=t.color.length;F=z2.mallocUint8(P);for(var R=(t.color.subarray||t.color.slice).bind(t.color),L=0;L4||this.baselineOffset.length>1||this.align&&this.align.length>1||this.fontAtlas.length>1||this.positionOffset.length>2;if(O){var $=Math.max(this.position.length*.5||0,this.color.length*.25||0,this.baselineOffset.length||0,this.alignOffset.length||0,this.font.length||0,this.opacity.length||0,this.positionOffset.length*.5||0);this.batch=Array($);for(var Y=0;Y1?this.counts[Y]:this.counts[0],offset:this.textOffsets.length>1?this.textOffsets[Y]:this.textOffsets[0],color:this.color?this.color.length<=4?this.color:this.color.subarray(Y*4,Y*4+4):[0,0,0,255],opacity:Array.isArray(this.opacity)?this.opacity[Y]:this.opacity,baseline:this.baselineOffset[Y]!=null?this.baselineOffset[Y]:this.baselineOffset[0],align:this.align?this.alignOffset[Y]!=null?this.alignOffset[Y]:this.alignOffset[0]:0,atlas:this.fontAtlas[Y]||this.fontAtlas[0],positionOffset:this.positionOffset.length>2?this.positionOffset.subarray(Y*2,Y*2+2):this.positionOffset}}else this.count?this.batch=[{count:this.count,offset:0,color:this.color||[0,0,0,255],opacity:Array.isArray(this.opacity)?this.opacity[0]:this.opacity,baseline:this.baselineOffset[0],align:this.alignOffset?this.alignOffset[0]:0,atlas:this.fontAtlas[0],positionOffset:this.positionOffset}]:this.batch=[]}};Xo.prototype.destroy=function(){};Xo.prototype.kerning=!0;Xo.prototype.position={constant:new Float32Array(2)};Xo.prototype.translate=null;Xo.prototype.scale=null;Xo.prototype.font=null;Xo.prototype.text="";Xo.prototype.positionOffset=[0,0];Xo.prototype.opacity=1;Xo.prototype.color=new Uint8Array([0,0,0,255]);Xo.prototype.alignOffset=[0,0];Xo.maxAtlasSize=1024;Xo.atlasCanvas=document.createElement("canvas");Xo.atlasContext=Xo.atlasCanvas.getContext("2d",{alpha:!1});Xo.baseFontSize=64;Xo.fonts={};function Kur(e){return typeof e=="function"&&e._gl&&e.prop&&e.texture&&e.buffer}TXe.exports=Xo});var UR=W((PYr,MXe)=>{"use strict";var Jur=JK(),Qur=zee();MXe.exports=function(t,r,i){var n=t._fullLayout,a=!0;return n._glcanvas.each(function(o){if(o.regl){o.regl.preloadCachedCode(i);return}if(!(o.pick&&!n._has("parcoords"))){try{o.regl=Qur({canvas:this,attributes:{antialias:!o.pick,preserveDrawingBuffer:!0},pixelRatio:t._context.plotGlPixelRatio||window.devicePixelRatio,extensions:r||[],cachedCode:i||{}})}catch(s){a=!1}o.regl||(a=!1),a&&this.addEventListener("webglcontextlost",function(s){t&&t.emit&&t.emit("plotly_webglcontextlost",{event:s,layer:o.key})},!1)}}),a||Jur({container:n._glcontainer.node()}),a}});var Hee=W((Gee,FXe)=>{"use strict";var SXe=HQ(),EXe=wee(),ecr=gYe(),kXe=AXe(),CXe=it(),tcr=u1().selectMode,rcr=UR(),icr=$o(),ncr=jj(),acr=UQ().styleTextSelection,DXe={};function ocr(e,t,r,i){var n=e._size,a=e.width*i,o=e.height*i,s=n.l*i,l=n.b*i,u=n.r*i,c=n.t*i,f=n.w*i,h=n.h*i;return[s+t.domain[0]*f,l+r.domain[0]*h,a-u-(1-t.domain[1])*f,o-c-(1-r.domain[1])*h]}var Gee=FXe.exports=function(t,r,i){if(i.length){var n=t._fullLayout,a=r._scene,o=r.xaxis,s=r.yaxis,l,u;if(a){var c=rcr(t,["ANGLE_instanced_arrays","OES_element_index_uint"],DXe);if(!c){a.init();return}var f=a.count,h=n._glcanvas.data()[0].regl;if(ncr(t,r,i),a.dirty){if((a.line2d||a.error2d)&&!(a.scatter2d||a.fill2d||a.glText)&&h.clear({color:!0,depth:!0}),a.error2d===!0&&(a.error2d=ecr(h)),a.line2d===!0&&(a.line2d=EXe(h)),a.scatter2d===!0&&(a.scatter2d=SXe(h)),a.fill2d===!0&&(a.fill2d=EXe(h)),a.glText===!0)for(a.glText=new Array(f),l=0;la.glText.length){var d=f-a.glText.length;for(l=0;lB&&(isNaN(I[O])||isNaN(I[O+1]));)O-=2;L.positions=I.slice(B,O+2)}return L}),a.line2d.update(a.lineOptions)),a.error2d){var m=(a.errorXOptions||[]).concat(a.errorYOptions||[]).map(function(L){return L||{positions:[],errors:[]}});a.error2d.update(m)}a.scatter2d&&a.scatter2d.update(a.markerOptions),a.fillOrder=CXe.repeat(null,f),a.fill2d&&(a.fillOptions=a.fillOptions.map(function(L,I){var B=i[I];if(!(!L||!B||!B[0]||!B[0].trace)){var O=B[0],$=O.trace,Y=O.t,K=a.lineOptions[I],j,q,J=[];$._ownfill&&J.push(I),$._nexttrace&&J.push(I+1),J.length&&(a.fillOrder[I]=J);var U=[],V=K&&K.positions||Y.positions,X,H;if($.fill==="tozeroy"){for(X=0;XX&&isNaN(V[H+1]);)H-=2;V[X+1]!==0&&(U=[V[X],0]),U=U.concat(V.slice(X,H+2)),V[H+1]!==0&&(U=U.concat([V[H],0]))}else if($.fill==="tozerox"){for(X=0;XX&&isNaN(V[H]);)H-=2;V[X]!==0&&(U=[0,V[X+1]]),U=U.concat(V.slice(X,H+2)),V[H]!==0&&(U=U.concat([0,V[H+1]]))}else if($.fill==="toself"||$.fill==="tonext"){for(U=[],j=0,L.splitNull=!0,q=0;q-1;for(let[L]of i)if(L){var _=L.trace,M=L.t,x=M.index,T=_._length,A=M.x,y=M.y;if(_.selectedpoints||w||b){if(w||(w=!0),_.selectedpoints){var E=a.selectBatch[x]=_.selectedpoints,S={};for(u=0;u{"use strict";var LXe=$He();LXe.plot=Hee();PXe.exports=LXe});var zXe=W((RYr,RXe)=>{"use strict";RXe.exports=IXe()});var jee=W((zYr,NXe)=>{"use strict";var scr=Ns(),OXe=Eo(),BXe=_s().axisHoverFormat,{hovertemplateAttrs:lcr,templatefallbackAttrs:ucr}=Ga(),UE=_E(),ccr=Gl().idRegex,fcr=Da().templatedArray,K4=tn().extendFlat,vm=scr.marker,hcr=vm.line,dcr=K4(OXe("marker.line",{editTypeOverride:"calc"}),{width:K4({},hcr.width,{editType:"calc"}),editType:"calc"}),VR=K4(OXe("marker"),{symbol:vm.symbol,angle:vm.angle,size:K4({},vm.size,{editType:"markerSize"}),sizeref:vm.sizeref,sizemin:vm.sizemin,sizemode:vm.sizemode,opacity:vm.opacity,colorbar:vm.colorbar,line:dcr,editType:"calc"});VR.color.editType=VR.cmin.editType=VR.cmax.editType="style";function qXe(e){return{valType:"info_array",freeLength:!0,editType:"calc",items:{valType:"subplotid",regex:ccr[e],editType:"plot"}}}NXe.exports={dimensions:fcr("dimension",{visible:{valType:"boolean",dflt:!0,editType:"calc"},label:{valType:"string",editType:"calc"},values:{valType:"data_array",editType:"calc+clearAxisTypes"},axis:{type:{valType:"enumerated",values:["linear","log","date","category"],editType:"calc+clearAxisTypes"},matches:{valType:"boolean",dflt:!0,editType:"calc"},editType:"calc+clearAxisTypes"},editType:"calc+clearAxisTypes"}),text:K4({},UE.text,{}),hovertext:K4({},UE.hovertext,{}),hovertemplate:lcr(),hovertemplatefallback:ucr(),xhoverformat:BXe("x"),yhoverformat:BXe("y"),marker:VR,xaxes:qXe("x"),yaxes:qXe("y"),diagonal:{visible:{valType:"boolean",dflt:!0,editType:"calc"},editType:"calc"},showupperhalf:{valType:"boolean",dflt:!0,editType:"calc"},showlowerhalf:{valType:"boolean",dflt:!0,editType:"calc"},selected:{marker:UE.selected.marker,editType:"calc"},unselected:{marker:UE.unselected.marker,editType:"calc"},opacity:UE.opacity}});var GR=W((BYr,UXe)=>{"use strict";UXe.exports=function(e,t,r,i){i||(i=1/0);var n,a;for(n=0;n{"use strict";var $ee=it(),pcr=Xc(),VXe=jee(),vcr=$o(),gcr=bd(),mcr=GR(),ycr=aR().isOpenSymbol;GXe.exports=function(t,r,i,n){function a(d,p){return $ee.coerce(t,r,VXe,d,p)}var o=pcr(t,r,{name:"dimensions",handleItemDefaults:xcr}),s=a("diagonal.visible"),l=a("showupperhalf"),u=a("showlowerhalf"),c=mcr(r,o,"values");if(!c||!s&&!l&&!u){r.visible=!1;return}a("text"),a("hovertext"),a("hovertemplate"),a("hovertemplatefallback"),a("xhoverformat"),a("yhoverformat"),gcr(t,r,i,n,a,{noAngleRef:!0,noLineDash:!0,noStandOff:!0});var f=ycr(r.marker.symbol),h=vcr.isBubble(r);a("marker.line.width",f||h?1:0),_cr(t,r,n,a),$ee.coerceSelectionMarkerOpacity(r,a)};function xcr(e,t){function r(n,a){return $ee.coerce(e,t,VXe.dimensions,n,a)}r("label");var i=r("values");i&&i.length?r("visible"):t.visible=!1,r("axis.type"),r("axis.matches")}function _cr(e,t,r,i){var 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r=t.height-gv.mouse(e)[1]-2*Bl.verticalPadding,i=t.brush.svgBrush;i.wasDragged=!0,i._dragging=!0,i.grabbingBar?i.newExtent=[r-i.grabPoint,r+i.barLength-i.grabPoint].map(t.unitToPaddedPx.invert):i.newExtent=[i.startExtent,t.unitToPaddedPx.invert(r)].sort(tT),t.brush.filterSpecified=!0,i.extent=i.stayingIntervals.concat([i.newExtent]),i.brushCallback(t),JR(e.parentNode)}function dfr(e,t){var r=t.brush,i=r.filter,n=r.svgBrush;n._dragging||(YZe(e,t),WZe(e,t),t.brush.svgBrush.wasDragged=!1),n._dragging=!1;var a=gv.event;a.sourceEvent.stopPropagation();var o=n.grabbingBar;if(n.grabbingBar=!1,n.grabLocation=void 0,t.parent.inBrushDrag=!1,jZe(),!n.wasDragged){n.wasDragged=void 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o=e.selectAll(".highlight").data(KR);o.enter().append("line").classed("highlight",!0).attr("x",-Bl.bar.width/2).attr("stroke-width",Bl.bar.width-Bl.bar.strokeWidth).attr("stroke",Bl.bar.fillColor).attr("opacity",Bl.bar.fillOpacity).attr("stroke-linecap","butt"),o.attr("y1",function(s){return s.height}).call(ite)}function gfr(e,t,r){var i=e.selectAll("."+Bl.cn.axisBrush).data(KR,nfr);i.enter().append("g").classed(Bl.cn.axisBrush,!0),vfr(i,t,r)}function mfr(e){return e.svgBrush.extent.map(function(t){return t.slice()})}function rte(e){e.filterSpecified=!1,e.svgBrush.extent=[[-1/0,1/0]]}function yfr(e){return function(r){var i=r.brush,n=mfr(i),a=n.slice();i.filter.set(a),e()}}function ZZe(e){for(var t=e.slice(),r=[],i,n=t.shift();n;){for(i=n.slice();(n=t.shift())&&n[0]<=i[1];)i[1]=Math.max(i[1],n[1]);r.push(i)}return r.length===1&&r[0][0]>r[0][1]&&(r=[]),r}function xfr(){var e=[],t,r;return{set:function(i){e=i.map(function(n){return n.slice().sort(tT)}).sort(XZe),e.length===1&&e[0][0]===-1/0&&e[0][1]===1/0&&(e=[[0,-1]]),t=ZZe(e),r=e.reduce(function(n,a){return[Math.min(n[0],a[0]),Math.max(n[1],a[1])]},[1/0,-1/0])},get:function(){return e.slice()},getConsolidated:function(){return t},getBounds:function(){return r}}}function _fr(e,t,r,i,n,a){var o=xfr();return o.set(r),{filter:o,filterSpecified:t,svgBrush:{extent:[],brushStartCallback:i,brushCallback:yfr(n),brushEndCallback:a}}}function bfr(e,t){if(Array.isArray(e[0])?(e=e.map(function(i){return i.sort(tT)}),t.multiselect?e=ZZe(e.sort(XZe)):e=[e[0]]):e=[e.sort(tT)],t.tickvals){var r=t.tickvals.slice().sort(tT);if(e=e.map(function(i){var n=[QR(0,r,i[0],[]),QR(1,r,i[1],[])];if(n[1]>n[0])return n}).filter(function(i){return i}),!e.length)return}return e.length>1?e:e[0]}KZe.exports={makeBrush:_fr,ensureAxisBrush:gfr,cleanRanges:bfr}});var eKe=W((iXr,QZe)=>{"use strict";var N2=it(),wfr=bc().hasColorscale,Tfr=Fu(),Afr=us().defaults,Mfr=Xc(),Sfr=ji(),JZe=tte(),Efr=nte(),ate=HE().maxDimensionCount,kfr=GR();function Cfr(e,t,r,i,n){var a=n("line.color",r);if(wfr(e,"line")&&N2.isArrayOrTypedArray(a)){if(a.length)return n("line.colorscale"),Tfr(e,t,i,n,{prefix:"line.",cLetter:"c"}),a.length;t.line.color=r}return 1/0}function Dfr(e,t,r,i){function n(u,c){return N2.coerce(e,t,JZe.dimensions,u,c)}var a=n("values"),o=n("visible");if(a&&a.length||(o=t.visible=!1),o){n("label"),n("tickvals"),n("ticktext"),n("tickformat");var s=n("range");t._ax={_id:"y",type:"linear",showexponent:"all",exponentformat:"B",range:s},Sfr.setConvert(t._ax,i.layout),n("multiselect");var l=n("constraintrange");l&&(t.constraintrange=Efr.cleanRanges(l,t))}}QZe.exports=function(t,r,i,n){function a(c,f){return N2.coerce(t,r,JZe,c,f)}var o=t.dimensions;Array.isArray(o)&&o.length>ate&&(N2.log("parcoords traces support up to "+ate+" dimensions at the moment"),o.splice(ate));var s=Mfr(t,r,{name:"dimensions",layout:n,handleItemDefaults:Dfr}),l=Cfr(t,r,i,n,a);Afr(r,n,a),(!Array.isArray(s)||!s.length)&&(r.visible=!1),kfr(r,s,"values",l);var u=N2.extendFlat({},n.font,{size:Math.round(n.font.size/1.2)});N2.coerceFont(a,"labelfont",u),N2.coerceFont(a,"tickfont",u,{autoShadowDflt:!0}),N2.coerceFont(a,"rangefont",u),a("labelangle"),a("labelside"),a("unselected.line.color"),a("unselected.line.opacity")}});var rKe=W((nXr,tKe)=>{"use strict";var Ffr=it().isArrayOrTypedArray,ote=Jo(),Lfr=G1().wrap;tKe.exports=function(t,r){var i,n;return ote.hasColorscale(r,"line")&&Ffr(r.line.color)?(i=r.line.color,n=ote.extractOpts(r.line).colorscale,ote.calc(t,r,{vals:i,containerStr:"line",cLetter:"c"})):(i=Pfr(r._length),n=[[0,r.line.color],[1,r.line.color]]),Lfr({lineColor:i,cscale:n})};function Pfr(e){for(var t=new Array(e),r=0;r{"use strict";var Ifr=it().isTypedArray;ez.convertTypedArray=function(e){return Ifr(e)?Array.prototype.slice.call(e):e};ez.isOrdinal=function(e){return!!e.tickvals};ez.isVisible=function(e){return e.visible||!("visible"in e)}});var hKe=W((oXr,fKe)=>{"use strict";var Rfr=["precision highp float;","","varying vec4 fragColor;","","attribute vec4 p01_04, p05_08, p09_12, p13_16,"," p17_20, p21_24, p25_28, p29_32,"," p33_36, p37_40, p41_44, p45_48,"," p49_52, p53_56, p57_60, colors;","","uniform mat4 dim0A, dim1A, dim0B, dim1B, dim0C, dim1C, dim0D, dim1D,"," loA, hiA, loB, hiB, loC, hiC, loD, hiD;","","uniform vec2 resolution, viewBoxPos, viewBoxSize;","uniform float maskHeight;","uniform float drwLayer; // 0: context, 1: focus, 2: pick","uniform vec4 contextColor;","uniform sampler2D maskTexture, palette;","","bool isPick = (drwLayer > 1.5);","bool isContext = (drwLayer < 0.5);","","const vec4 ZEROS = vec4(0.0, 0.0, 0.0, 0.0);","const vec4 UNITS = vec4(1.0, 1.0, 1.0, 1.0);","","float val(mat4 p, mat4 v) {"," return dot(matrixCompMult(p, v) * UNITS, UNITS);","}","","float axisY(float ratio, mat4 A, mat4 B, mat4 C, mat4 D) {"," float y1 = val(A, dim0A) + val(B, dim0B) + val(C, dim0C) + val(D, dim0D);"," float y2 = val(A, dim1A) + val(B, dim1B) + val(C, dim1C) + val(D, dim1D);"," return y1 * (1.0 - ratio) + y2 * ratio;","}","","int iMod(int a, int b) {"," return a - b * (a / b);","}","","bool fOutside(float p, float lo, float hi) {"," return (lo < hi) && (lo > p || p > hi);","}","","bool vOutside(vec4 p, vec4 lo, vec4 hi) {"," return ("," fOutside(p[0], lo[0], hi[0]) ||"," fOutside(p[1], lo[1], hi[1]) ||"," fOutside(p[2], lo[2], hi[2]) ||"," fOutside(p[3], lo[3], hi[3])"," );","}","","bool mOutside(mat4 p, mat4 lo, mat4 hi) {"," return ("," vOutside(p[0], lo[0], hi[0]) ||"," vOutside(p[1], lo[1], hi[1]) ||"," vOutside(p[2], lo[2], hi[2]) ||"," vOutside(p[3], lo[3], hi[3])"," );","}","","bool outsideBoundingBox(mat4 A, mat4 B, mat4 C, mat4 D) {"," return mOutside(A, loA, hiA) ||"," mOutside(B, loB, hiB) ||"," mOutside(C, loC, hiC) ||"," mOutside(D, loD, hiD);","}","","bool outsideRasterMask(mat4 A, mat4 B, mat4 C, mat4 D) {"," mat4 pnts[4];"," pnts[0] = A;"," pnts[1] = B;"," pnts[2] = C;"," pnts[3] = D;",""," for(int i = 0; i < 4; ++i) {"," for(int j = 0; j < 4; ++j) {"," for(int k = 0; k < 4; ++k) {"," if(0 == iMod("," int(255.0 * texture2D(maskTexture,"," vec2("," (float(i * 2 + j / 2) + 0.5) / 8.0,"," (pnts[i][j][k] * (maskHeight - 1.0) + 1.0) / maskHeight"," ))[3]"," ) / int(pow(2.0, float(iMod(j * 4 + k, 8)))),"," 2"," )) return true;"," }"," }"," }"," return false;","}","","vec4 position(bool isContext, float v, mat4 A, mat4 B, mat4 C, mat4 D) {"," float x = 0.5 * sign(v) + 0.5;"," float y = axisY(x, A, B, C, D);"," float z = 1.0 - abs(v);",""," z += isContext ? 0.0 : 2.0 * float("," outsideBoundingBox(A, B, C, D) ||"," outsideRasterMask(A, B, C, D)"," );",""," return vec4("," 2.0 * (vec2(x, y) * viewBoxSize + viewBoxPos) / resolution - 1.0,"," z,"," 1.0"," );","}","","void main() {"," mat4 A = mat4(p01_04, p05_08, p09_12, p13_16);"," mat4 B = mat4(p17_20, p21_24, p25_28, p29_32);"," mat4 C = mat4(p33_36, p37_40, p41_44, p45_48);"," mat4 D = mat4(p49_52, p53_56, p57_60, ZEROS);",""," float v = colors[3];",""," gl_Position = position(isContext, v, A, B, C, D);",""," fragColor ="," isContext ? vec4(contextColor) :"," isPick ? vec4(colors.rgb, 1.0) : texture2D(palette, vec2(abs(v), 0.5));","}"].join(` +`),zfr=["precision highp float;","","varying vec4 fragColor;","","void main() {"," gl_FragColor = fragColor;","}"].join(` +`),jE=HE().maxDimensionCount,lKe=it(),iKe=1e-6,tz=2048,Bfr=new Uint8Array(4),nKe=new Uint8Array(4),aKe={shape:[256,1],format:"rgba",type:"uint8",mag:"nearest",min:"nearest"};function qfr(e){e.read({x:0,y:0,width:1,height:1,data:Bfr})}function uKe(e,t,r,i,n){var a=e._gl;a.enable(a.SCISSOR_TEST),a.scissor(t,r,i,n),e.clear({color:[0,0,0,0],depth:1})}function Ofr(e,t,r,i,n,a){var o=a.key;function s(l){var u=Math.min(i,n-l*i);l===0&&(window.cancelAnimationFrame(r.currentRafs[o]),delete r.currentRafs[o],uKe(e,a.scissorX,a.scissorY,a.scissorWidth,a.viewBoxSize[1])),!r.clearOnly&&(a.count=2*u,a.offset=2*l*i,t(a),l*i+u>>8*t)%256/255}function Vfr(e,t,r){for(var i=new Array(e*(jE+4)),n=0,a=0;aP&&(P=A[C].dim1.canvasX,D=C);S===0&&uKe(n,0,0,u.canvasWidth,u.canvasHeight);var R=b(r);for(C=0;C{"use strict";var oc=vi(),mm=it(),ute=mm.isArrayOrTypedArray,yKe=mm.numberFormat,xKe=ni(),_Ke=ji(),Wfr=mm.strRotate,H1=mm.strTranslate,Yfr=uo(),rz=Ji(),dKe=Jo(),hte=G1(),Vd=hte.keyFun,j1=hte.repeat,bKe=hte.unwrap,rT=ste(),Ra=HE(),wKe=nte(),Xfr=hKe();function pKe(e,t,r){return mm.aggNums(e,null,t,r)}function TKe(e,t){return dte(pKe(Math.min,e,t),pKe(Math.max,e,t))}function iz(e){var t=e.range;return t?dte(t[0],t[1]):TKe(e.values,e._length)}function dte(e,t){return(isNaN(e)||!isFinite(e))&&(e=0),(isNaN(t)||!isFinite(t))&&(t=0),e===t&&(e===0?(e-=1,t+=1):(e*=.9,t*=1.1)),[e,t]}function Zfr(e,t){return t?function(r,i){var n=t[i];return n==null?e(r):n}:e}function Kfr(e,t,r,i,n){var a=iz(r);return i?oc.scale.ordinal().domain(i.map(Zfr(yKe(r.tickformat),n))).range(i.map(function(o){var s=(o-a[0])/(a[1]-a[0]);return e-t+s*(2*t-e)})):oc.scale.linear().domain(a).range([e-t,t])}function Jfr(e,t){return oc.scale.linear().range([t,e-t])}function Qfr(e,t){return oc.scale.linear().domain(iz(e)).range([t,1-t])}function ehr(e){if(e.tickvals){var t=iz(e);return oc.scale.ordinal().domain(e.tickvals).range(e.tickvals.map(function(r){return(r-t[0])/(t[1]-t[0])}))}}function thr(e){var t=e.map(function(a){return a[0]}),r=e.map(function(a){let[o,s,l]=xKe.rgbaArray(a[1]);return oc.rgb(o,s,l)}),i=function(a){return function(o){return o[a]}},n="rgb".split("").map(function(a){return oc.scale.linear().clamp(!0).domain(t).range(r.map(i(a)))});return function(a){return n.map(function(o){return o(a)})}}function fte(e){return e.dimensions.some(function(t){return t.brush.filterSpecified})}function rhr(e,t,r){var i=bKe(t),n=i.trace,a=rT.convertTypedArray(i.lineColor),o=n.line,s={color:xKe.normalize(n.unselected.line.color),opacity:n.unselected.line.opacity},l=dKe.extractOpts(o),u=l.reversescale?dKe.flipScale(i.cscale):i.cscale,c=n.domain,f=n.dimensions,h=e.width,d=n.labelangle,p=n.labelside,v=n.labelfont,m=n.tickfont,g=n.rangefont,w=mm.extendDeepNoArrays({},o,{color:a.map(oc.scale.linear().domain(iz({values:a,range:[l.min,l.max],_length:n._length}))),blockLineCount:Ra.blockLineCount,canvasOverdrag:Ra.overdrag*Ra.canvasPixelRatio}),b=Math.floor(h*(c.x[1]-c.x[0])),_=Math.floor(e.height*(c.y[1]-c.y[0])),M=e.margin||{l:80,r:80,t:100,b:80},x=b,T=_;return{key:r,colCount:f.filter(rT.isVisible).length,dimensions:f,tickDistance:Ra.tickDistance,unitToColor:thr(u),lines:w,deselectedLines:s,labelAngle:d,labelSide:p,labelFont:v,tickFont:m,rangeFont:g,layoutWidth:h,layoutHeight:e.height,domain:c,translateX:c.x[0]*h,translateY:e.height-c.y[1]*e.height,pad:M,canvasWidth:x*Ra.canvasPixelRatio+2*w.canvasOverdrag,canvasHeight:T*Ra.canvasPixelRatio,width:x,height:T,canvasPixelRatio:Ra.canvasPixelRatio}}function ihr(e,t,r){var i=r.width,n=r.height,a=r.dimensions,o=r.canvasPixelRatio,s=function(h){return i*h/Math.max(1,r.colCount-1)},l=Ra.verticalPadding/n,u=Jfr(n,Ra.verticalPadding),c={key:r.key,xScale:s,model:r,inBrushDrag:!1},f={};return c.dimensions=a.filter(rT.isVisible).map(function(h,d){var p=Qfr(h,l),v=f[h.label];f[h.label]=(v||0)+1;var m=h.label+(v?"__"+v:""),g=h.constraintrange,w=g&&g.length;w&&!ute(g[0])&&(g=[g]);var b=w?g.map(function(k){return k.map(p)}):[[-1/0,1/0]],_=function(){var k=c;k.focusLayer&&k.focusLayer.render(k.panels,!0);var D=fte(k);!e.contextShown()&&D?(k.contextLayer&&k.contextLayer.render(k.panels,!0),e.contextShown(!0)):e.contextShown()&&!D&&(k.contextLayer&&k.contextLayer.render(k.panels,!0,!0),e.contextShown(!1))},M=h.values;M.length>h._length&&(M=M.slice(0,h._length));var x=h.tickvals,T;function A(k,D){return{val:k,text:T[D]}}function y(k,D){return k.val-D.val}if(ute(x)&&x.length){mm.isTypedArray(x)&&(x=Array.from(x)),T=h.ticktext,!ute(T)||!T.length?T=x.map(yKe(h.tickformat)):T.length>x.length?T=T.slice(0,x.length):x.length>T.length&&(x=x.slice(0,T.length));for(var E=1;E=D||L>=F)return;var I=C.lineLayer.readPixel(R,F-1-L),B=I[3]!==0,O=B?I[2]+256*(I[1]+256*I[0]):null,$={x:R,y:L,clientX:k.clientX,clientY:k.clientY,dataIndex:C.model.key,curveNumber:O};O!==p&&(B?n.hover($):n.unhover&&n.unhover($),p=O)}}),d.style("opacity",function(C){return C.pick?0:1}),s.style("background","rgba(255, 255, 255, 0)");var m=s.selectAll("."+Ra.cn.parcoords).data(h,Vd);m.exit().remove(),m.enter().append("g").classed(Ra.cn.parcoords,!0).style("shape-rendering","crispEdges").style("pointer-events","none"),m.attr("transform",function(C){return H1(C.model.translateX,C.model.translateY)});var g=m.selectAll("."+Ra.cn.parcoordsControlView).data(j1,Vd);g.enter().append("g").classed(Ra.cn.parcoordsControlView,!0),g.attr("transform",function(C){return H1(C.model.pad.l,C.model.pad.t)});var w=g.selectAll("."+Ra.cn.yAxis).data(function(C){return C.dimensions},Vd);w.enter().append("g").classed(Ra.cn.yAxis,!0),g.each(function(C){cte(w,C,u)}),d.each(function(C){if(C.viewModel){!C.lineLayer||n?C.lineLayer=Xfr(this,C):C.lineLayer.update(C),(C.key||C.key===0)&&(C.viewModel[C.key]=C.lineLayer);var k=!C.context||n;C.lineLayer.render(C.viewModel.panels,k)}}),w.attr("transform",function(C){return H1(C.xScale(C.xIndex),0)}),w.call(oc.behavior.drag().origin(function(C){return C}).on("drag",function(C){var k=C.parent;f.linePickActive(!1),C.x=Math.max(-Ra.overdrag,Math.min(C.model.width+Ra.overdrag,oc.event.x)),C.canvasX=C.x*C.model.canvasPixelRatio,w.sort(function(D,F){return D.x-F.x}).each(function(D,F){D.xIndex=F,D.x=C===D?D.x:D.xScale(D.xIndex),D.canvasX=D.x*D.model.canvasPixelRatio}),cte(w,k,u),w.filter(function(D){return Math.abs(C.xIndex-D.xIndex)!==0}).attr("transform",function(D){return H1(D.xScale(D.xIndex),0)}),oc.select(this).attr("transform",H1(C.x,0)),w.each(function(D,F,P){P===C.parent.key&&(k.dimensions[F]=D)}),k.contextLayer&&k.contextLayer.render(k.panels,!1,!fte(k)),k.focusLayer.render&&k.focusLayer.render(k.panels)}).on("dragend",function(C){var k=C.parent;C.x=C.xScale(C.xIndex),C.canvasX=C.x*C.model.canvasPixelRatio,cte(w,k,u),oc.select(this).attr("transform",function(D){return H1(D.x,0)}),k.contextLayer&&k.contextLayer.render(k.panels,!1,!fte(k)),k.focusLayer&&k.focusLayer.render(k.panels),k.pickLayer&&k.pickLayer.render(k.panels,!0),f.linePickActive(!0),n&&n.axesMoved&&n.axesMoved(k.key,k.dimensions.map(function(D){return D.crossfilterDimensionIndex}))})),w.exit().remove();var b=w.selectAll("."+Ra.cn.axisOverlays).data(j1,Vd);b.enter().append("g").classed(Ra.cn.axisOverlays,!0),b.selectAll("."+Ra.cn.axis).remove();var _=b.selectAll("."+Ra.cn.axis).data(j1,Vd);_.enter().append("g").classed(Ra.cn.axis,!0),_.each(function(C){var k=C.model.height/C.model.tickDistance,D=C.domainScale,F=D.domain();oc.select(this).call(oc.svg.axis().orient("left").tickSize(4).outerTickSize(2).ticks(k,C.tickFormat).tickValues(C.ordinal?F:null).tickFormat(function(P){return rT.isOrdinal(C)?P:AKe(C.model.dimensions[C.visibleIndex],P)}).scale(D)),rz.font(_.selectAll("text"),C.model.tickFont)}),_.selectAll(".domain, .tick>line").attr("fill","none").attr("stroke","black").attr("stroke-opacity",.25).attr("stroke-width","1px"),_.selectAll("text").style("cursor","default");var M=b.selectAll("."+Ra.cn.axisHeading).data(j1,Vd);M.enter().append("g").classed(Ra.cn.axisHeading,!0);var x=M.selectAll("."+Ra.cn.axisTitle).data(j1,Vd);x.enter().append("text").classed(Ra.cn.axisTitle,!0).attr("text-anchor","middle").style("cursor","ew-resize").style("pointer-events",a?"none":"auto"),x.text(function(C){return C.label}).each(function(C){var k=oc.select(this);rz.font(k,C.model.labelFont),Yfr.convertToTspans(k,t)}).attr("transform",function(C){var k=gKe(C.model.labelAngle,C.model.labelSide),D=Ra.axisTitleOffset;return(k.dir>0?"":H1(0,2*D+C.model.height))+Wfr(k.degrees)+H1(-D*k.dx,-D*k.dy)}).attr("text-anchor",function(C){var k=gKe(C.model.labelAngle,C.model.labelSide),D=Math.abs(k.dx),F=Math.abs(k.dy);return 2*D>F?k.dir*k.dx<0?"start":"end":"middle"});var T=b.selectAll("."+Ra.cn.axisExtent).data(j1,Vd);T.enter().append("g").classed(Ra.cn.axisExtent,!0);var A=T.selectAll("."+Ra.cn.axisExtentTop).data(j1,Vd);A.enter().append("g").classed(Ra.cn.axisExtentTop,!0),A.attr("transform",H1(0,-Ra.axisExtentOffset));var y=A.selectAll("."+Ra.cn.axisExtentTopText).data(j1,Vd);y.enter().append("text").classed(Ra.cn.axisExtentTopText,!0).call(vKe),y.text(function(C){return mKe(C,!0)}).each(function(C){rz.font(oc.select(this),C.model.rangeFont)});var E=T.selectAll("."+Ra.cn.axisExtentBottom).data(j1,Vd);E.enter().append("g").classed(Ra.cn.axisExtentBottom,!0),E.attr("transform",function(C){return H1(0,C.model.height+Ra.axisExtentOffset)});var S=E.selectAll("."+Ra.cn.axisExtentBottomText).data(j1,Vd);S.enter().append("text").classed(Ra.cn.axisExtentBottomText,!0).attr("dy","0.75em").call(vKe),S.text(function(C){return mKe(C,!1)}).each(function(C){rz.font(oc.select(this),C.model.rangeFont)}),wKe.ensureAxisBrush(b,c,t)}});var vte=W((pte,DKe)=>{"use strict";var ohr=SKe(),shr=UR(),EKe=ste().isVisible,CKe={};function kKe(e,t,r){var i=t.indexOf(r),n=e.indexOf(i);return n===-1&&(n+=t.length),n}function lhr(e,t){return function(i,n){return kKe(e,t,i)-kKe(e,t,n)}}var pte=DKe.exports=function(t,r){var i=t._fullLayout,n=shr(t,[],CKe);if(n){var a={},o={},s={},l=i._size;r.forEach(function(d,p){var v=d[0].trace,m=s[p]=v.index;a[p]=t.data[m].dimensions,o[p]=t.data[m].dimensions.slice()});var u=function(d,p,v){var m=o[d][p],g=v.map(function(T){return T.slice()}),w="dimensions["+p+"].constraintrange",b=i._tracePreGUI[t._fullData[s[d]].uid];if(b[w]===void 0){var _=m.constraintrange;b[w]=_||null}var 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w.categories},ym),v=p.enter().append("g").attr("class","category");p.attr("transform",function(w){return YE(0,w.y)}),v.append("rect").attr("class","catrect").attr("pointer-events","none"),p.select("rect.catrect").attr("fill","none").attr("width",function(w){return w.width}).attr("height",function(w){return w.height}),JKe(v);var m=p.selectAll("rect.bandrect").data(function(w){return w.bands},ym);m.each(function(){U2.raiseToTop(this)}),m.attr("fill",function(w){return w.color});var g=m.enter().append("rect").attr("class","bandrect").attr("stroke-opacity",0).attr("fill",function(w){return w.color}).attr("fill-opacity",0);m.attr("fill",function(w){return w.color}).attr("width",function(w){return w.width}).attr("height",function(w){return w.height}).attr("y",function(w){return w.y}).attr("cursor",function(w){return 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jhr(e){if(!e.parcatsViewModel.dragDimension&&e.parcatsViewModel.hoverinfoItems.indexOf("skip")===-1){U2.raiseToTop(this),bte(za.select(this));var t=KE(e),r=xte(e);if(e.parcatsViewModel.graphDiv.emit("plotly_hover",{points:t,event:za.event,constraints:r}),e.parcatsViewModel.hoverinfoItems.indexOf("none")===-1){var i=za.mouse(this)[0],n=e.parcatsViewModel.graphDiv,a=e.parcatsViewModel.trace,o=n._fullLayout,s=o._paperdiv.node().getBoundingClientRect(),l=e.parcatsViewModel.graphDiv.getBoundingClientRect(),u,c,f;for(f=0;f"),x=za.mouse(n)[0];ZE.loneHover({trace:a,x:p-s.left+l.left,y:v-s.top+l.top,text:M,color:e.model.color,borderColor:"black",fontFamily:'Monaco, "Courier New", monospace',fontSize:10,fontColor:m,idealAlign:xmte.mostReadable(t.model.color)).attr("stroke-width",.3)}function Yhr(e){e.select("rect.catrect").attr("stroke","black").attr("stroke-width",2.5)}function JKe(e){e.select("rect.catrect").attr("stroke","black").attr("stroke-width",1).attr("stroke-opacity",1)}function 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i=za.select(e).datum(),n=i.categoryViewModel.model,a=i.parcatsViewModel.graphDiv,o=za.select(e.parentNode).selectAll("rect.bandrect"),s=[];o.each(function(u){var c=nz(u);c.each(function(f){Array.prototype.push.apply(s,KE(f))})});var l={};l[n.dimensionInd]=n.categoryValue,a.emit(t,{points:s,event:r,constraints:l})}function Ate(e,t,r){var i=za.select(e).datum(),n=i.categoryViewModel.model,a=i.parcatsViewModel.graphDiv,o=nz(i),s=[];o.each(function(u){Array.prototype.push.apply(s,KE(u))});var l={};l[n.dimensionInd]=n.categoryValue,i.rawColor!==void 0&&(l.color=i.rawColor),a.emit(t,{points:s,event:r,constraints:l})}function QKe(e,t,r){e._fullLayout._calcInverseTransform(e);var i=e._fullLayout._invScaleX,n=e._fullLayout._invScaleY,a=za.select(r.parentNode).select("rect.catrect"),o=a.node().getBoundingClientRect(),s=a.datum(),l=s.parcatsViewModel,u=l.model.dimensions[s.model.dimensionInd],c=l.trace,f=o.top+o.height/2,h,d;l.dimensions.length>1&&u.displayInd===l.dimensions.length-1?(h=o.left,d="left"):(h=o.left+o.width,d="right");var p=s.model.count,v=s.model.categoryLabel,m=p/s.parcatsViewModel.model.count,g={countLabel:p,categoryLabel:v,probabilityLabel:m.toFixed(3)},w=[];s.parcatsViewModel.hoverinfoItems.indexOf("count")!==-1&&w.push(["Count:",g.countLabel].join(" ")),s.parcatsViewModel.hoverinfoItems.indexOf("probability")!==-1&&w.push(["P("+g.categoryLabel+"):",g.probabilityLabel].join(" "));var b=w.join("
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t0r(e){var t=e.parcatsViewModel;if(!t.dragDimension&&(_te(t.pathSelection),JKe(t.dimensionSelection.selectAll("g.category")),wte(t.dimensionSelection.selectAll("g.category").selectAll("rect.bandrect")),ZE.loneUnhover(t.graphDiv._fullLayout._hoverlayer.node()),t.pathSelection.sort(yte),t.hoverinfoItems.indexOf("skip")===-1)){var r=e.parcatsViewModel.hoveron,i=this;r==="color"?Ate(i,"plotly_unhover",za.event):Tte(i,"plotly_unhover",za.event)}}function r0r(e){e.parcatsViewModel.arrangement!=="fixed"&&(e.dragDimensionDisplayInd=e.model.displayInd,e.initialDragDimensionDisplayInds=e.parcatsViewModel.model.dimensions.map(function(t){return t.displayInd}),e.dragHasMoved=!1,e.dragCategoryDisplayInd=null,za.select(this).selectAll("g.category").select("rect.catrect").each(function(t){var r=za.mouse(this)[0],i=za.mouse(this)[1];-2<=r&&r<=t.width+2&&-2<=i&&i<=t.height+2&&(e.dragCategoryDisplayInd=t.model.displayInd,e.initialDragCategoryDisplayInds=e.model.categories.map(function(n){return n.displayInd}),t.model.dragY=t.y,U2.raiseToTop(this.parentNode),za.select(this.parentNode).selectAll("rect.bandrect").each(function(n){n.yc.y+c.height/2&&(a.model.displayInd=c.model.displayInd,c.model.displayInd=s),e.dragCategoryDisplayInd=a.model.displayInd}if(e.dragCategoryDisplayInd===null||e.parcatsViewModel.arrangement==="freeform"){n.model.dragX=za.event.x;var f=e.parcatsViewModel.dimensions[r],h=e.parcatsViewModel.dimensions[i];f!==void 0&&n.model.dragXh.x&&(n.model.displayInd=h.model.displayInd,h.model.displayInd=e.dragDimensionDisplayInd),e.dragDimensionDisplayInd=n.model.displayInd}Ste(e.parcatsViewModel),Mte(e.parcatsViewModel),rJe(e.parcatsViewModel),tJe(e.parcatsViewModel)}}function n0r(e){if(e.parcatsViewModel.arrangement!=="fixed"&&e.dragDimensionDisplayInd!==null){za.select(this).selectAll("text").attr("font-weight","normal");var t={},r=eJe(e.parcatsViewModel),i=e.parcatsViewModel.model.dimensions.map(function(h){return 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Bold":" Regular")),o&&(s+=" Italic"),s==="Open Sans Regular Italic"?s="Open Sans Italic":s==="Open Sans Regular Bold"?s="Open Sans Bold":s==="Open Sans Regular Bold Italic"?s="Open Sans Bold Italic":s==="Klokantech Noto Sans Regular Italic"&&(s="Klokantech Noto Sans Italic"),N0r(s)||(s=r);var l=s.split(", ");return l}});var WJe=W((DXr,$Je)=>{"use strict";var W0r=it(),HJe=GJe(),oT=V2().traceLayerPrefix,Gd={cluster:["cluster","clusterCount","circle"],nonCluster:["fill","line","circle","symbol"]};function jJe(e,t,r,i){this.type="scattermap",this.subplot=e,this.uid=t,this.clusterEnabled=r,this.isHidden=i,this.sourceIds={fill:"source-"+t+"-fill",line:"source-"+t+"-line",circle:"source-"+t+"-circle",symbol:"source-"+t+"-symbol",cluster:"source-"+t+"-circle",clusterCount:"source-"+t+"-circle"},this.layerIds={fill:oT+t+"-fill",line:oT+t+"-line",circle:oT+t+"-circle",symbol:oT+t+"-symbol",cluster:oT+t+"-cluster",clusterCount:oT+t+"-cluster-count"},this.below=null}var tk=jJe.prototype;tk.addSource=function(e,t,r){var i={type:"geojson",data:t.geojson};r&&r.enabled&&W0r.extendFlat(i,{cluster:!0,clusterMaxZoom:r.maxzoom});var n=this.subplot.map.getSource(this.sourceIds[e]);n?n.setData(t.geojson):this.subplot.map.addSource(this.sourceIds[e],i)};tk.setSourceData=function(e,t){this.subplot.map.getSource(this.sourceIds[e]).setData(t.geojson)};tk.addLayer=function(e,t,r){var i={type:t.type,id:this.layerIds[e],source:this.sourceIds[e],layout:t.layout,paint:t.paint};t.filter&&(i.filter=t.filter);for(var n=this.layerIds[e],a,o=this.subplot.getMapLayers(),s=0;s=0;M--){var x=_[M];n.removeLayer(u.layerIds[x])}b||n.removeSource(u.sourceIds.circle)}function h(b){for(var _=Gd.nonCluster,M=0;M<_.length;M++){var x=_[M],T=a[x];b||u.addSource(x,T),u.addLayer(x,T,o)}}function d(b){for(var _=Gd.nonCluster,M=_.length-1;M>=0;M--){var x=_[M];n.removeLayer(u.layerIds[x]),b||n.removeSource(u.sourceIds[x])}}function p(b){l?f(b):d(b)}function v(b){s?c(b):h(b)}function m(){for(var b=s?Gd.cluster:Gd.nonCluster,_=0;_=0;i--){var n=r[i];t.removeLayer(this.layerIds[n]),t.removeSource(this.sourceIds[n])}};$Je.exports=function(t,r){var i=r[0].trace,n=i.cluster&&i.cluster.enabled,a=i.visible!==!0,o=new jJe(t,i.uid,n,a),s=HJe(t.gd,r),l=o.below=t.belowLookup["trace-"+i.uid],u,c,f;if(n)for(o.addSource("circle",s.circle,i.cluster),u=0;u{"use strict";var Y0r=Ds(),Ite=it(),X0r=Xw(),Z0r=Ite.fillText,K0r=Kn().BADNUM,J0r=V2().traceLayerPrefix;function Q0r(e,t,r){var i=e.cd,n=i[0].trace,a=e.xa,o=e.ya,s=e.subplot,l=[],u=J0r+n.uid+"-circle",c=n.cluster&&n.cluster.enabled;if(c){var f=s.map.queryRenderedFeatures(null,{layers:[u]});l=f.map(function(A){return A.id})}var h=t>=0?Math.floor((t+180)/360):Math.ceil((t-180)/360),d=h*360,p=t-d;function v(A){var y=A.lonlat;if(y[0]===K0r||c&&l.indexOf(A.i+1)===-1)return 1/0;var E=Ite.modHalf(y[0],360),S=y[1],C=s.project([E,S]),k=C.x-a.c2p([p,S]),D=C.y-o.c2p([E,r]),F=Math.max(3,A.mrc||0);return Math.max(Math.sqrt(k*k+D*D)-F,1-3/F)}if(Y0r.getClosest(i,v,e),e.index!==!1){var m=i[e.index],g=m.lonlat,w=[Ite.modHalf(g[0],360)+d,g[1]],b=a.c2p(w),_=o.c2p(w),M=m.mrc||1;e.x0=b-M,e.x1=b+M,e.y0=_-M,e.y1=_+M;var x={};x[n.subplot]={_subplot:s};var T=n._module.formatLabels(m,n,x);return e.lonLabel=T.lonLabel,e.latLabel=T.latLabel,e.color=X0r(n,m),e.extraText=YJe(n,m,i[0].t.labels),e.hovertemplate=n.hovertemplate,[e]}}function YJe(e,t,r){if(e.hovertemplate)return;var i=t.hi||e.hoverinfo,n=i.split("+"),a=n.indexOf("all")!==-1,o=n.indexOf("lon")!==-1,s=n.indexOf("lat")!==-1,l=t.lonlat,u=[];function c(f){return f+"\xB0"}return a||o&&s?u.push("("+c(l[1])+", "+c(l[0])+")"):o?u.push(r.lon+c(l[0])):s&&u.push(r.lat+c(l[1])),(a||n.indexOf("text")!==-1)&&Z0r(t,e,u),u.join("
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fie(){if(gz==null&&(gz=!1,nB())){let e=new OffscreenCanvas(5,5).getContext("2d",{willReadFrequently:!0});if(e){for(let r=0;r<25;r++){let i=r*4;e.fillStyle=`rgb(${i},${i+1},${i+2})`,e.fillRect(r%5,Math.floor(r/5),1,1)}let t=e.getImageData(0,0,5,5).data;for(let r=0;r<100;r++)if(r%4!=3&&t[r]!==r){gz=!0;break}}}return gz||!1}function hie(){var e=new Nu(9);return Nu!=Float32Array&&(e[1]=0,e[2]=0,e[3]=0,e[5]=0,e[6]=0,e[7]=0),e[0]=1,e[4]=1,e[8]=1,e}function hdr(e){var t=e[0],r=e[1],i=e[2],n=e[3],a=e[4],o=e[5],s=e[6],l=e[7],u=e[8];return t*(u*a-o*l)+r*(-u*n+o*s)+i*(l*n-a*s)}function Det(e,t){var r=Math.sin(t),i=Math.cos(t);return e[0]=i,e[1]=r,e[2]=0,e[3]=-r,e[4]=i,e[5]=0,e[6]=0,e[7]=0,e[8]=1,e}function ddr(e,t){var r=t[0],i=t[1],n=t[2],a=t[3],o=r+r,s=i+i,l=n+n,u=r*o,c=i*o,f=i*s,h=n*o,d=n*s,p=n*l,v=a*o,m=a*s,g=a*l;return e[0]=1-f-p,e[3]=c-g,e[6]=h+m,e[1]=c+g,e[4]=1-u-p,e[7]=d-v,e[2]=h-m,e[5]=d+v,e[8]=1-u-f,e}function Em(){var e=new Nu(16);return Nu!=Float32Array&&(e[1]=0,e[2]=0,e[3]=0,e[4]=0,e[6]=0,e[7]=0,e[8]=0,e[9]=0,e[11]=0,e[12]=0,e[13]=0,e[14]=0),e[0]=1,e[5]=1,e[10]=1,e[15]=1,e}function aB(e){var t=new Nu(16);return t[0]=e[0],t[1]=e[1],t[2]=e[2],t[3]=e[3],t[4]=e[4],t[5]=e[5],t[6]=e[6],t[7]=e[7],t[8]=e[8],t[9]=e[9],t[10]=e[10],t[11]=e[11],t[12]=e[12],t[13]=e[13],t[14]=e[14],t[15]=e[15],t}function Fet(e,t){return e[0]=t[0],e[1]=t[1],e[2]=t[2],e[3]=t[3],e[4]=t[4],e[5]=t[5],e[6]=t[6],e[7]=t[7],e[8]=t[8],e[9]=t[9],e[10]=t[10],e[11]=t[11],e[12]=t[12],e[13]=t[13],e[14]=t[14],e[15]=t[15],e}function Qd(e){return e[0]=1,e[1]=0,e[2]=0,e[3]=0,e[4]=0,e[5]=1,e[6]=0,e[7]=0,e[8]=0,e[9]=0,e[10]=1,e[11]=0,e[12]=0,e[13]=0,e[14]=0,e[15]=1,e}function Bk(e,t){var r=t[0],i=t[1],n=t[2],a=t[3],o=t[4],s=t[5],l=t[6],u=t[7],c=t[8],f=t[9],h=t[10],d=t[11],p=t[12],v=t[13],m=t[14],g=t[15],w=r*s-i*o,b=r*l-n*o,_=r*u-a*o,M=i*l-n*s,x=i*u-a*s,T=n*u-a*l,A=c*v-f*p,y=c*m-h*p,E=c*g-d*p,S=f*m-h*v,C=f*g-d*v,k=h*g-d*m,D=w*k-b*C+_*S+M*E-x*y+T*A;return D?(D=1/D,e[0]=(s*k-l*C+u*S)*D,e[1]=(n*C-i*k-a*S)*D,e[2]=(v*T-m*x+g*M)*D,e[3]=(h*x-f*T-d*M)*D,e[4]=(l*E-o*k-u*y)*D,e[5]=(r*k-n*E+a*y)*D,e[6]=(m*_-p*T-g*b)*D,e[7]=(c*T-h*_+d*b)*D,e[8]=(o*C-s*E+u*A)*D,e[9]=(i*E-r*C-a*A)*D,e[10]=(p*x-v*_+g*w)*D,e[11]=(f*_-c*x-d*w)*D,e[12]=(s*y-o*S-l*A)*D,e[13]=(r*S-i*y+n*A)*D,e[14]=(v*b-p*M-m*w)*D,e[15]=(c*M-f*b+h*w)*D,e):null}function Yb(e,t,r){var i=t[0],n=t[1],a=t[2],o=t[3],s=t[4],l=t[5],u=t[6],c=t[7],f=t[8],h=t[9],d=t[10],p=t[11],v=t[12],m=t[13],g=t[14],w=t[15],b=r[0],_=r[1],M=r[2],x=r[3];return e[0]=b*i+_*s+M*f+x*v,e[1]=b*n+_*l+M*h+x*m,e[2]=b*a+_*u+M*d+x*g,e[3]=b*o+_*c+M*p+x*w,b=r[4],_=r[5],M=r[6],x=r[7],e[4]=b*i+_*s+M*f+x*v,e[5]=b*n+_*l+M*h+x*m,e[6]=b*a+_*u+M*d+x*g,e[7]=b*o+_*c+M*p+x*w,b=r[8],_=r[9],M=r[10],x=r[11],e[8]=b*i+_*s+M*f+x*v,e[9]=b*n+_*l+M*h+x*m,e[10]=b*a+_*u+M*d+x*g,e[11]=b*o+_*c+M*p+x*w,b=r[12],_=r[13],M=r[14],x=r[15],e[12]=b*i+_*s+M*f+x*v,e[13]=b*n+_*l+M*h+x*m,e[14]=b*a+_*u+M*d+x*g,e[15]=b*o+_*c+M*p+x*w,e}function eu(e,t,r){var i=r[0],n=r[1],a=r[2],o,s,l,u,c,f,h,d,p,v,m,g;return t===e?(e[12]=t[0]*i+t[4]*n+t[8]*a+t[12],e[13]=t[1]*i+t[5]*n+t[9]*a+t[13],e[14]=t[2]*i+t[6]*n+t[10]*a+t[14],e[15]=t[3]*i+t[7]*n+t[11]*a+t[15]):(o=t[0],s=t[1],l=t[2],u=t[3],c=t[4],f=t[5],h=t[6],d=t[7],p=t[8],v=t[9],m=t[10],g=t[11],e[0]=o,e[1]=s,e[2]=l,e[3]=u,e[4]=c,e[5]=f,e[6]=h,e[7]=d,e[8]=p,e[9]=v,e[10]=m,e[11]=g,e[12]=o*i+c*n+p*a+t[12],e[13]=s*i+f*n+v*a+t[13],e[14]=l*i+h*n+m*a+t[14],e[15]=u*i+d*n+g*a+t[15]),e}function Rc(e,t,r){var i=r[0],n=r[1],a=r[2];return e[0]=t[0]*i,e[1]=t[1]*i,e[2]=t[2]*i,e[3]=t[3]*i,e[4]=t[4]*n,e[5]=t[5]*n,e[6]=t[6]*n,e[7]=t[7]*n,e[8]=t[8]*a,e[9]=t[9]*a,e[10]=t[10]*a,e[11]=t[11]*a,e[12]=t[12],e[13]=t[13],e[14]=t[14],e[15]=t[15],e}function Xb(e,t,r){var i=Math.sin(r),n=Math.cos(r),a=t[4],o=t[5],s=t[6],l=t[7],u=t[8],c=t[9],f=t[10],h=t[11];return t!==e&&(e[0]=t[0],e[1]=t[1],e[2]=t[2],e[3]=t[3],e[12]=t[12],e[13]=t[13],e[14]=t[14],e[15]=t[15]),e[4]=a*n+u*i,e[5]=o*n+c*i,e[6]=s*n+f*i,e[7]=l*n+h*i,e[8]=u*n-a*i,e[9]=c*n-o*i,e[10]=f*n-s*i,e[11]=h*n-l*i,e}function die(e,t,r){var i=Math.sin(r),n=Math.cos(r),a=t[0],o=t[1],s=t[2],l=t[3],u=t[8],c=t[9],f=t[10],h=t[11];return t!==e&&(e[4]=t[4],e[5]=t[5],e[6]=t[6],e[7]=t[7],e[12]=t[12],e[13]=t[13],e[14]=t[14],e[15]=t[15]),e[0]=a*n-u*i,e[1]=o*n-c*i,e[2]=s*n-f*i,e[3]=l*n-h*i,e[8]=a*i+u*n,e[9]=o*i+c*n,e[10]=s*i+f*n,e[11]=l*i+h*n,e}function km(e,t,r){var i=Math.sin(r),n=Math.cos(r),a=t[0],o=t[1],s=t[2],l=t[3],u=t[4],c=t[5],f=t[6],h=t[7];return t!==e&&(e[8]=t[8],e[9]=t[9],e[10]=t[10],e[11]=t[11],e[12]=t[12],e[13]=t[13],e[14]=t[14],e[15]=t[15]),e[0]=a*n+u*i,e[1]=o*n+c*i,e[2]=s*n+f*i,e[3]=l*n+h*i,e[4]=u*n-a*i,e[5]=c*n-o*i,e[6]=f*n-s*i,e[7]=h*n-l*i,e}function Let(e,t){return e[0]=t[0],e[1]=0,e[2]=0,e[3]=0,e[4]=0,e[5]=t[1],e[6]=0,e[7]=0,e[8]=0,e[9]=0,e[10]=t[2],e[11]=0,e[12]=0,e[13]=0,e[14]=0,e[15]=1,e}function pdr(e,t,r,i,n){var a=1/Math.tan(t/2);if(e[0]=a/r,e[1]=0,e[2]=0,e[3]=0,e[4]=0,e[5]=a,e[6]=0,e[7]=0,e[8]=0,e[9]=0,e[11]=-1,e[12]=0,e[13]=0,e[15]=0,n!=null&&n!==1/0){var o=1/(i-n);e[10]=(n+i)*o,e[14]=2*n*i*o}else e[10]=-1,e[14]=-2*i;return e}function vdr(e,t,r,i,n,a,o){var s=1/(t-r),l=1/(i-n),u=1/(a-o);return e[0]=-2*s,e[1]=0,e[2]=0,e[3]=0,e[4]=0,e[5]=-2*l,e[6]=0,e[7]=0,e[8]=0,e[9]=0,e[10]=2*u,e[11]=0,e[12]=(t+r)*s,e[13]=(n+i)*l,e[14]=(o+a)*u,e[15]=1,e}function Pet(e,t){return e[0]===t[0]&&e[1]===t[1]&&e[2]===t[2]&&e[3]===t[3]&&e[4]===t[4]&&e[5]===t[5]&&e[6]===t[6]&&e[7]===t[7]&&e[8]===t[8]&&e[9]===t[9]&&e[10]===t[10]&&e[11]===t[11]&&e[12]===t[12]&&e[13]===t[13]&&e[14]===t[14]&&e[15]===t[15]}function Iet(e,t){var r=e[0],i=e[1],n=e[2],a=e[3],o=e[4],s=e[5],l=e[6],u=e[7],c=e[8],f=e[9],h=e[10],d=e[11],p=e[12],v=e[13],m=e[14],g=e[15],w=t[0],b=t[1],_=t[2],M=t[3],x=t[4],T=t[5],A=t[6],y=t[7],E=t[8],S=t[9],C=t[10],k=t[11],D=t[12],F=t[13],P=t[14],R=t[15];return 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Vmr(e,t,r){e===1?t.id=r.readVarint():e===2?t.bitmap=r.readBytes():e===3?t.width=r.readVarint():e===4?t.height=r.readVarint():e===5?t.left=r.readSVarint():e===6?t.top=r.readSVarint():e===7&&(t.advance=r.readVarint())}function Git(e){return new Vit(e).readFields(Nmr,[])}function i8(e){return typeof(e==null?void 0:e.renderWithWebGL)=="function"}function Hit(e){let{userImage:t}=e;return!(t!=null&&t.render)||!t.render()?!1:(i8(t.data)||e.data.replace(new Uint8Array(t.data.buffer)),!0)}function hne(e){let t=0,r=0;for(let o of e)t+=o.w*o.h,r=Math.max(r,o.w);e.sort((o,s)=>s.h-o.h);let i=[{x:0,y:0,w:Math.max(Math.ceil(Math.sqrt(t/.95)),r),h:1/0}],n=0,a=0;for(let o of e)for(let s=i.length-1;s>=0;s--){let l=i[s];if(!(o.w>l.w||o.h>l.h)){if(o.x=l.x,o.y=l.y,a=Math.max(a,o.y+o.h),n=Math.max(n,o.x+o.w),o.w===l.w&&o.h===l.h){let u=i.pop();u&&s=r;a--)t.push(a);r=i+1}else{for(let a=r;ae.toCodeUnitIndex(a)),i=tB.isParsed()?tB:null;if(e.sections.length===1)return 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m=v.determineLineBreaks(u,a,t,i,d),g=Oit(v.text)?Ymr(v,m):jmr(v,m),w=[],b={positionedLines:w,text:v.toString(),top:c[1],bottom:c[1],left:c[0],right:c[0],writingMode:f,iconsInText:!1,verticalizable:!1};return iyr(b,t,r,i,g,o,s,l,f,u,h,p),!Hmr(w)&&b}function n8(e){let t=.5,r=.5;switch(e){case"right":case"top-right":case"bottom-right":t=1;break;case"left":case"top-left":case"bottom-left":t=0}switch(e){case"bottom":case"bottom-right":case"bottom-left":r=1;break;case"top":case"top-right":case"top-left":r=0}return{horizontalAlign:t,verticalAlign:r}}function Xmr(e,t,r){let i=t.getMaxScale()*24,{maxImageWidth:n,maxImageHeight:a}=t.getMaxImageSize(e),o=Math.max(i,a*r);return{verticalLineContentWidth:Math.max(i,n*r),horizontalLineContentHeight:o}}function Wit(e){switch(e){case"top":return 0;case"center":return .5;default:return 1}}function Zmr(e,t,r,i){var a;if(e!=null&&e.rect)return e;let n=(a=t[r.fontStack])==null?void 0:a[i];return n?{rect:null,metrics:n.metrics}:null}function Kmr(e,t,r){return!(e===1||!t&&!$B(r)||t&&(une(r)||Bit(r)))}function Oz(e){return new RegExp("\\p{Nd}","u").test(String.fromCodePoint(e))}function Yit(e){return new RegExp("\\p{Lu}","u").test(String.fromCodePoint(e))}function Jmr(e){return/[\p{P}\p{S}]/u.test(String.fromCodePoint(e))}function Qmr(e){let t=e.some(Oz)&&e.every(i=>Oz(i)||Jmr(i)),r=e.length<=3&&e.every(i=>Yit(i)||Oz(i));return t||r}function eyr(e){return(Oz(e)||Yit(e))&&!Bit(e)}function tyr(e,t){let r=!1;for(let i=0;ia.codePointAt(0)),i=r.map($B),n=a=>!i[a]&&!une(r[a])&&!("imageName"in e.getSection(a));for(let a=0;au){let h=Math.ceil(i/u);r*=h/n,n=h}return{x1:t,y1:r,x2:t+i,y2:r+n}}function aet(e,t,r,i,n,a){let o=e.image,s;if(o.content){let m=o.content,g=o.pixelRatio||1;s=[m[0]/g,m[1]/g,o.displaySize[0]-m[2]/g,o.displaySize[1]-m[3]/g]}let l=t.left*a,u=t.right*a,c,f,h,d;r==="width"||r==="both"?(d=n[0]+l-i[3],f=n[0]+u+i[1]):(d=n[0]+(l+u-o.displaySize[0])/2,f=d+o.displaySize[0]);let p=t.top*a,v=t.bottom*a;return 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u=Qit(i,a,o),c=ent(i,n),f=c*o,h=e[0].x===0||e[0].x===l||e[0].y===0||e[0].y===l;t-f=0&&_=0&&M=0&&h+u<=c){let x=new bT(_,M,w,p);x._round(),(!i||Kit(e,x,a,i,n))&&d.push(x)}}f+=g}return!s&&!d.length&&!o&&(d=tnt(e,f/2,r,i,n,a,o,!0,l)),d}function dne(e,t,r,i,n){let a=[];for(let o of e){let s;for(let l=0;l=i&&c.x>=i)&&(u.x>=i?u=new tr(i,u.y+(c.y-u.y)*((i-u.x)/(c.x-u.x)))._round():c.x>=i&&(c=new tr(i,u.y+(c.y-u.y)*((i-u.x)/(c.x-u.x)))._round()),!(u.y>=n&&c.y>=n)&&(u.y>=n?u=new tr(u.x+(c.x-u.x)*((n-u.y)/(c.y-u.y)),n)._round():c.y>=n&&(c=new tr(u.x+(c.x-u.x)*((n-u.y)/(c.y-u.y)),n)._round()),(!s||!u.equals(s[s.length-1]))&&(s=[u],a.push(s)),s.push(c)))))}}return a}function uet(e,t,r,i){let n=[],a=e.image,o=a.pixelRatio,s=a.paddedRect.w-2,l=a.paddedRect.h-2,u={x1:e.left,y1:e.top,x2:e.right,y2:e.bottom},c=a.stretchX||[[0,s]],f=a.stretchY||[[0,l]],h=(D,F)=>D+F[1]-F[0],d=c.reduce(h,0),p=f.reduce(h,0),v=s-d,m=l-p,g=0,w=d,b=0,_=p,M=0,x=v,T=0,A=m;if(a.content&&i){let D=a.content,F=D[2]-D[0],P=D[3]-D[1];(a.textFitWidth||a.textFitHeight)&&(u=Xit(e)),g=Cz(c,0,D[0]),b=Cz(f,0,D[1]),w=Cz(c,D[0],D[2]),_=Cz(f,D[1],D[3]),M=D[0]-g,T=D[1]-b,x=F-w,A=P-_}let y=u.x1,E=u.y1,S=u.x2-y,C=u.y2-E,k=(D,F,P,R)=>{let L=Dz(D.stretch-g,w,S,y),I=Fz(D.fixed-M,x,D.stretch,d),B=Dz(F.stretch-b,_,C,E),O=Fz(F.fixed-T,A,F.stretch,p),$=Dz(P.stretch-g,w,S,y),Y=Fz(P.fixed-M,x,P.stretch,d),K=Dz(R.stretch-b,_,C,E),j=Fz(R.fixed-T,A,R.stretch,p),q=new tr(L,B),J=new tr($,B),U=new tr($,K),V=new tr(L,K),X=new tr(I/o,O/o),H=new tr(Y/o,j/o),G=t*Math.PI/180;if(G){let Ce=Math.sin(G),be=Math.cos(G),he=[be,-Ce,Ce,be];q._matMult(he),J._matMult(he),V._matMult(he),U._matMult(he)}let Q=D.stretch+D.fixed,te=P.stretch+P.fixed,ce=F.stretch+F.fixed,ge=R.stretch+R.fixed;return{tl:q,tr:J,bl:V,br:U,tex:{x:a.paddedRect.x+1+Q,y:a.paddedRect.y+1+ce,w:te-Q,h:ge-ce},writingMode:void 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s;s=e._unevaluatedLayout.getValue("text-radial-offset")===void 0?i.get("text-offset").evaluate(t,{},r).map(u=>u*24):[i.get("text-radial-offset").evaluate(t,{},r)*24,pne];let l=[];for(let u of a)l.push(u,rnt(u,s));return new X1(l)}return null}function byr(e){var c,f;e.bucket.createArrays();let t=512*e.bucket.overscaling;e.bucket.tilePixelRatio=zr/t,e.bucket.compareText={},e.bucket.iconsNeedLinear=!1;let r=e.bucket.layers[0],i=r.layout,n=r._unevaluatedLayout._values,a={layoutIconSize:n["icon-size"].possiblyEvaluate(new Co(e.bucket.zoom+1),e.canonical),layoutTextSize:n["text-size"].possiblyEvaluate(new Co(e.bucket.zoom+1),e.canonical),textMaxSize:n["text-size"].possiblyEvaluate(new Co(18))};if(e.bucket.textSizeData.kind==="composite"){let{minZoom:h,maxZoom:d}=e.bucket.textSizeData;a.compositeTextSizes=[n["text-size"].possiblyEvaluate(new Co(h),e.canonical),n["text-size"].possiblyEvaluate(new Co(d),e.canonical)]}if(e.bucket.iconSizeData.kind==="composite"){let{minZoom:h,maxZoom:d}=e.bucket.iconSizeData;a.compositeIconSizes=[n["icon-size"].possiblyEvaluate(new Co(h),e.canonical),n["icon-size"].possiblyEvaluate(new Co(d),e.canonical)]}let o=i.get("text-line-height")*24,s=i.get("text-rotation-alignment")!=="viewport"&&i.get("symbol-placement")!=="point",l=i.get("text-keep-upright"),u=i.get("text-size");for(let h of e.bucket.features){let d=i.get("text-font").evaluate(h,{},e.canonical).join(","),p=u.evaluate(h,{},e.canonical),v=a.layoutTextSize.evaluate(h,{},e.canonical),m=a.layoutIconSize.evaluate(h,{},e.canonical),g={horizontal:{},vertical:void 0},w=h.text,b=[0,0];if(w){let T=w.toString(),A=i.get("text-letter-spacing").evaluate(h,{},e.canonical)*24,y=ymr(T)?A:0,E=i.get("text-anchor").evaluate(h,{},e.canonical),S=int(r,h,e.canonical);if(!S){let F=i.get("text-radial-offset").evaluate(h,{},e.canonical);b=F?rnt(E,[F*24,pne]):i.get("text-offset").evaluate(h,{},e.canonical).map(P=>P*24)}let C=s?"center":i.get("text-justify").evaluate(h,{},e.canonical),k=i.get("symbol-placement")==="point"?i.get("text-max-width").evaluate(h,{},e.canonical)*24:1/0,D=()=>{e.bucket.allowVerticalPlacement&&Qre(T)&&(g.vertical=kz(w,e.glyphMap,e.glyphPositions,e.imagePositions,d,k,o,E,"left",y,b,2,!0,v,p))};if(!s&&S){let F=new Set;if(C==="auto")for(let R=0;R{R.x<0||R.x>=8192||R.y<0||R.y>=8192||Ayr(e,R,P,r,i,n,k,e.layers[0],e.collisionBoxArray,t.index,t.sourceLayerIndex,e.index,g,[M,M,M,M],A,l,b,x,y,p,t,a,u,c,o)};if(E==="line")for(let P of dne(t.geometry,0,0,zr,zr)){let R=qb(P,D),L=pyr(R,_,T,r.vertical||v,i,24,w,e.overscaling,zr);for(let I of L){let B=v;(!B||!Myr(e,B.text,S,I))&&F(R,I)}}else if(E==="line-center"){for(let P of t.geometry)if(P.length>1){let R=qb(P,D),L=dyr(R,T,r.vertical||v,i,24,w);L&&F(R,L)}}else if(t.type==="Polygon")for(let P of AB(t.geometry,0)){let R=myr(P,16);F(qb(P[0],D,!0),new bT(R.x,R.y,0))}else if(t.type==="LineString")for(let P of t.geometry){let R=qb(P,D);F(R,new bT(R[0].x,R[0].y,0))}else if(t.type==="Point")for(let P of t.geometry)for(let R of P)F([R],new bT(R.x,R.y,0))}function Tyr(e,t){let r=e.length,i=t==null?void 0:t.values;if((i==null?void 0:i.length)>0)for(let n=0;n32640&&Ma(`${e.layerIds[0]}: Value for "text-size" is >= 255. 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Reduce your "text-size".`)),e.addSymbols(e.text,m,w,s,a,o,c,t,u.lineStartIndex,u.lineLength,d,v,l);for(let b of f)h[b]=e.text.placedSymbolArray.length-1;return m.length*4}function nnt(e){for(let t in e)return e[t];return null}function Ayr(e,t,r,i,n,a,o,s,l,u,c,f,h,d,p,v,m,g,w,b,_,M,x,T,A){let y=e.addToLineVertexArray(t,r),E=s.layout.get("symbol-height-offset").evaluate(_,{},T);E>e.maxHeightOffset&&(e.maxHeightOffset=E);let S,C,k,D,F=0,P=0,R=0,L=0,I=-1,B=-1,O={},$=(0,Ire.default)("");if(e.allowVerticalPlacement&&i.vertical){let be=s.layout.get("text-rotate").evaluate(_,{},T)+90,he=i.vertical;k=new Lz(l,t,u,c,f,he,h,d,p,be),o&&(D=new Lz(l,t,u,c,f,o,m,g,p,be))}if(n){let be=s.layout.get("icon-rotate").evaluate(_,{}),he=s.layout.get("icon-text-fit")!=="none",oe=uet(n,be,x,he),Ee=o?uet(o,be,x,he):void 0;C=new Lz(l,t,u,c,f,n,m,g,!1,be),F=oe.length*4;let ye=e.iconSizeData,ue=null;ye.kind==="source"?(ue=[128*s.layout.get("icon-size").evaluate(_,{})],ue[0]>32640&&Ma(`${e.layerIds[0]}: Value for "icon-size" is >= 255. Reduce your "icon-size".`)):ye.kind==="composite"&&(ue=[128*M.compositeIconSizes[0].evaluate(_,{},T),128*M.compositeIconSizes[1].evaluate(_,{},T)],(ue[0]>32640||ue[1]>32640)&&Ma(`${e.layerIds[0]}: Value for "icon-size" is >= 255. Reduce your "icon-size".`)),e.addSymbols(e.icon,oe,ue,b,w,_,0,t,y.lineStartIndex,y.lineLength,-1,T,E),I=e.icon.placedSymbolArray.length-1,Ee&&(P=Ee.length*4,e.addSymbols(e.icon,Ee,ue,b,w,_,2,t,y.lineStartIndex,y.lineLength,-1,T,E),B=e.icon.placedSymbolArray.length-1)}let Y=Object.keys(i.horizontal);for(let be of Y){let he=i.horizontal[be];S||(S=($=(0,Ire.default)(he.text),new Lz(l,t,u,c,f,he,h,d,p,s.layout.get("text-rotate").evaluate(_,{},T))));let oe=he.positionedLines.length===1;if(R+=fet(e,t,he,a,s,p,_,v,E,y,i.vertical?1:3,oe?Y:[be],O,I,M,T),oe)break}i.vertical&&(L+=fet(e,t,i.vertical,a,s,p,_,v,E,y,2,["vertical"],O,B,M,T));let K=S?S.boxStartIndex:e.collisionBoxArray.length,j=S?S.boxEndIndex:e.collisionBoxArray.length,q=k?k.boxStartIndex:e.collisionBoxArray.length,J=k?k.boxEndIndex:e.collisionBoxArray.length,U=C?C.boxStartIndex:e.collisionBoxArray.length,V=C?C.boxEndIndex:e.collisionBoxArray.length,X=D?D.boxStartIndex:e.collisionBoxArray.length,H=D?D.boxEndIndex:e.collisionBoxArray.length,G=-1,Q=(be,he)=>be!=null&&be.circleDiameter?Math.max(be.circleDiameter,he):he;G=Q(S,G),G=Q(k,G),G=Q(C,G),G=Q(D,G);let te=+(G>-1);te&&(G*=A/24),e.glyphOffsetArray.length>=e.maxGlyphs&&Ma("Too many glyphs being rendered in a tile. See https://github.com/mapbox/mapbox-gl-js/issues/2907"),_.sortKey!==void 0&&e.addToSortKeyRanges(e.symbolInstances.length,_.sortKey);let ce=int(s,_,T),[ge,Ce]=Tyr(e.textAnchorOffsets,ce);e.symbolInstances.emplaceBack(t.x,t.y,O.right>=0?O.right:-1,O.center>=0?O.center:-1,O.left>=0?O.left:-1,O.vertical||-1,I,B,$,K,j,q,J,U,V,X,H,u,R,L,F,P,te,0,h,G,ge,Ce,E)}function Myr(e,t,r,i){let n=e.compareText;if(!(t in n))n[t]=[];else{let a=n[t];for(let o=a.length-1;o>=0;o--)if(i.dist(a[o])e&&i in e?String(e[i]):"")}function Iyr(e,t,r,i=1){var a;let n=(a=e.get("icon-padding").evaluate(t,{},r))==null?void 0:a.values;return[n[0]*i,n[1]*i,n[2]*i,n[3]*i]}function snt(e){let t=[],r=e.id;return r===void 0&&t.push(new Qr(`layers.${r}`,null,'missing required property "id"')),e.render===void 0&&t.push(new Qr(`layers.${r}`,null,'missing required method "render"')),e.renderingMode&&e.renderingMode!=="2d"&&e.renderingMode!=="3d"&&t.push(new Qr(`layers.${r}`,null,'property "renderingMode" must be either "2d" or "3d"')),t}function ZB(e,t){if(e.type==="custom")return new Oyr(e,t);switch(e.type){case"background":return new qyr(e,t);case"circle":return new x1r(e,t);case"color-relief":return new L1r(e,t);case"fill":return new cgr(e,t);case"fill-extrusion":return new Cgr(e,t);case"heatmap":return new T1r(e,t);case"hillshade":return new E1r(e,t);case"line":return new Ggr(e,t);case"raster":return new Rvr(e,t);case"symbol":return new Pyr(e,t)}}function Vyr(e,t,r){return!(e<0||e>25||r<0||r>=2**e||t<0||t>=2**e)}function gne(e,t){let{x:r,y:i}=wo.fromLngLat(t);return!(e<0||e>25||i<0||i>=1||r<0||r>=1)}function Vb(e,t,r,i,n){e*=2,e<0&&(e=e*-1-1);let a=1<0;n--){let a=1<>>0;return((t&255)<<24|(t&65280)<<8|t>>>8&65280|t>>>24&255)>>>0}function Zyr(e,t,r,i){let n=i,a=e[t]>>>0,o=e[t+1]>>>0;r[n++]=a>>>0&3,r[n++]=a>>>2&3,r[n++]=a>>>4&3,r[n++]=a>>>6&3,r[n++]=a>>>8&3,r[n++]=a>>>10&3,r[n++]=a>>>12&3,r[n++]=a>>>14&3,r[n++]=a>>>16&3,r[n++]=a>>>18&3,r[n++]=a>>>20&3,r[n++]=a>>>22&3,r[n++]=a>>>24&3,r[n++]=a>>>26&3,r[n++]=a>>>28&3,r[n++]=a>>>30&3,r[n++]=o>>>0&3,r[n++]=o>>>2&3,r[n++]=o>>>4&3,r[n++]=o>>>6&3,r[n++]=o>>>8&3,r[n++]=o>>>10&3,r[n++]=o>>>12&3,r[n++]=o>>>14&3,r[n++]=o>>>16&3,r[n++]=o>>>18&3,r[n++]=o>>>20&3,r[n++]=o>>>22&3,r[n++]=o>>>24&3,r[n++]=o>>>26&3,r[n++]=o>>>28&3,r[n]=o>>>30&3}function Kyr(e,t,r,i){let n=i,a=e[t]>>>0,o=e[t+1]>>>0,s=e[t+2]>>>0;r[n++]=a>>>0&7,r[n++]=a>>>3&7,r[n++]=a>>>6&7,r[n++]=a>>>9&7,r[n++]=a>>>12&7,r[n++]=a>>>15&7,r[n++]=a>>>18&7,r[n++]=a>>>21&7,r[n++]=a>>>24&7,r[n++]=a>>>27&7,r[n++]=(a>>>30|(o&1)<<2)&7,r[n++]=o>>>1&7,r[n++]=o>>>4&7,r[n++]=o>>>7&7,r[n++]=o>>>10&7,r[n++]=o>>>13&7,r[n++]=o>>>16&7,r[n++]=o>>>19&7,r[n++]=o>>>22&7,r[n++]=o>>>25&7,r[n++]=o>>>28&7,r[n++]=(o>>>31|(s&3)<<1)&7,r[n++]=s>>>2&7,r[n++]=s>>>5&7,r[n++]=s>>>8&7,r[n++]=s>>>11&7,r[n++]=s>>>14&7,r[n++]=s>>>17&7,r[n++]=s>>>20&7,r[n++]=s>>>23&7,r[n++]=s>>>26&7,r[n]=s>>>29&7}function Jyr(e,t,r,i){let n=i,a=e[t]>>>0,o=e[t+1]>>>0,s=e[t+2]>>>0,l=e[t+3]>>>0;r[n++]=a>>>0&15,r[n++]=a>>>4&15,r[n++]=a>>>8&15,r[n++]=a>>>12&15,r[n++]=a>>>16&15,r[n++]=a>>>20&15,r[n++]=a>>>24&15,r[n++]=a>>>28&15,r[n++]=o>>>0&15,r[n++]=o>>>4&15,r[n++]=o>>>8&15,r[n++]=o>>>12&15,r[n++]=o>>>16&15,r[n++]=o>>>20&15,r[n++]=o>>>24&15,r[n++]=o>>>28&15,r[n++]=s>>>0&15,r[n++]=s>>>4&15,r[n++]=s>>>8&15,r[n++]=s>>>12&15,r[n++]=s>>>16&15,r[n++]=s>>>20&15,r[n++]=s>>>24&15,r[n++]=s>>>28&15,r[n++]=l>>>0&15,r[n++]=l>>>4&15,r[n++]=l>>>8&15,r[n++]=l>>>12&15,r[n++]=l>>>16&15,r[n++]=l>>>20&15,r[n++]=l>>>24&15,r[n]=l>>>28&15}function Qyr(e,t,r,i){let n=i,a=e[t]>>>0,o=e[t+1]>>>0,s=e[t+2]>>>0,l=e[t+3]>>>0,u=e[t+4]>>>0;r[n++]=a>>>0&31,r[n++]=a>>>5&31,r[n++]=a>>>10&31,r[n++]=a>>>15&31,r[n++]=a>>>20&31,r[n++]=a>>>25&31,r[n++]=(a>>>30|(o&7)<<2)&31,r[n++]=o>>>3&31,r[n++]=o>>>8&31,r[n++]=o>>>13&31,r[n++]=o>>>18&31,r[n++]=o>>>23&31,r[n++]=(o>>>28|(s&1)<<4)&31,r[n++]=s>>>1&31,r[n++]=s>>>6&31,r[n++]=s>>>11&31,r[n++]=s>>>16&31,r[n++]=s>>>21&31,r[n++]=s>>>26&31,r[n++]=(s>>>31|(l&15)<<1)&31,r[n++]=l>>>4&31,r[n++]=l>>>9&31,r[n++]=l>>>14&31,r[n++]=l>>>19&31,r[n++]=l>>>24&31,r[n++]=(l>>>29|(u&3)<<3)&31,r[n++]=u>>>2&31,r[n++]=u>>>7&31,r[n++]=u>>>12&31,r[n++]=u>>>17&31,r[n++]=u>>>22&31,r[n]=u>>>27&31}function e2r(e,t,r,i){let n=i,a=e[t]>>>0,o=e[t+1]>>>0,s=e[t+2]>>>0,l=e[t+3]>>>0,u=e[t+4]>>>0,c=e[t+5]>>>0;r[n++]=a>>>0&63,r[n++]=a>>>6&63,r[n++]=a>>>12&63,r[n++]=a>>>18&63,r[n++]=a>>>24&63,r[n++]=(a>>>30|(o&15)<<2)&63,r[n++]=o>>>4&63,r[n++]=o>>>10&63,r[n++]=o>>>16&63,r[n++]=o>>>22&63,r[n++]=(o>>>28|(s&3)<<4)&63,r[n++]=s>>>2&63,r[n++]=s>>>8&63,r[n++]=s>>>14&63,r[n++]=s>>>20&63,r[n++]=s>>>26&63,r[n++]=l>>>0&63,r[n++]=l>>>6&63,r[n++]=l>>>12&63,r[n++]=l>>>18&63,r[n++]=l>>>24&63,r[n++]=(l>>>30|(u&15)<<2)&63,r[n++]=u>>>4&63,r[n++]=u>>>10&63,r[n++]=u>>>16&63,r[n++]=u>>>22&63,r[n++]=(u>>>28|(c&3)<<4)&63,r[n++]=c>>>2&63,r[n++]=c>>>8&63,r[n++]=c>>>14&63,r[n++]=c>>>20&63,r[n]=c>>>26&63}function t2r(e,t,r,i){let n=i,a=e[t]>>>0,o=e[t+1]>>>0,s=e[t+2]>>>0,l=e[t+3]>>>0,u=e[t+4]>>>0,c=e[t+5]>>>0,f=e[t+6]>>>0;r[n++]=a>>>0&127,r[n++]=a>>>7&127,r[n++]=a>>>14&127,r[n++]=a>>>21&127,r[n++]=(a>>>28|(o&7)<<4)&127,r[n++]=o>>>3&127,r[n++]=o>>>10&127,r[n++]=o>>>17&127,r[n++]=o>>>24&127,r[n++]=(o>>>31|(s&63)<<1)&127,r[n++]=s>>>6&127,r[n++]=s>>>13&127,r[n++]=s>>>20&127,r[n++]=(s>>>27|(l&3)<<5)&127,r[n++]=l>>>2&127,r[n++]=l>>>9&127,r[n++]=l>>>16&127,r[n++]=l>>>23&127,r[n++]=(l>>>30|(u&31)<<2)&127,r[n++]=u>>>5&127,r[n++]=u>>>12&127,r[n++]=u>>>19&127,r[n++]=(u>>>26|(c&1)<<6)&127,r[n++]=c>>>1&127,r[n++]=c>>>8&127,r[n++]=c>>>15&127,r[n++]=c>>>22&127,r[n++]=(c>>>29|(f&15)<<3)&127,r[n++]=f>>>4&127,r[n++]=f>>>11&127,r[n++]=f>>>18&127,r[n]=f>>>25&127}function r2r(e,t,r,i){let n=i,a=e[t]>>>0,o=e[t+1]>>>0,s=e[t+2]>>>0,l=e[t+3]>>>0,u=e[t+4]>>>0,c=e[t+5]>>>0,f=e[t+6]>>>0,h=e[t+7]>>>0;r[n++]=a>>>0&255,r[n++]=a>>>8&255,r[n++]=a>>>16&255,r[n++]=a>>>24&255,r[n++]=o>>>0&255,r[n++]=o>>>8&255,r[n++]=o>>>16&255,r[n++]=o>>>24&255,r[n++]=s>>>0&255,r[n++]=s>>>8&255,r[n++]=s>>>16&255,r[n++]=s>>>24&255,r[n++]=l>>>0&255,r[n++]=l>>>8&255,r[n++]=l>>>16&255,r[n++]=l>>>24&255,r[n++]=u>>>0&255,r[n++]=u>>>8&255,r[n++]=u>>>16&255,r[n++]=u>>>24&255,r[n++]=c>>>0&255,r[n++]=c>>>8&255,r[n++]=c>>>16&255,r[n++]=c>>>24&255,r[n++]=f>>>0&255,r[n++]=f>>>8&255,r[n++]=f>>>16&255,r[n++]=f>>>24&255,r[n++]=h>>>0&255,r[n++]=h>>>8&255,r[n++]=h>>>16&255,r[n]=h>>>24&255}function i2r(e,t,r,i){let n=i,a=e[t]>>>0,o=e[t+1]>>>0,s=e[t+2]>>>0,l=e[t+3]>>>0,u=e[t+4]>>>0,c=e[t+5]>>>0,f=e[t+6]>>>0,h=e[t+7]>>>0,d=e[t+8]>>>0;r[n++]=a>>>0&511,r[n++]=a>>>9&511,r[n++]=a>>>18&511,r[n++]=(a>>>27|(o&15)<<5)&511,r[n++]=o>>>4&511,r[n++]=o>>>13&511,r[n++]=o>>>22&511,r[n++]=(o>>>31|(s&255)<<1)&511,r[n++]=s>>>8&511,r[n++]=s>>>17&511,r[n++]=(s>>>26|(l&7)<<6)&511,r[n++]=l>>>3&511,r[n++]=l>>>12&511,r[n++]=l>>>21&511,r[n++]=(l>>>30|(u&127)<<2)&511,r[n++]=u>>>7&511,r[n++]=u>>>16&511,r[n++]=(u>>>25|(c&3)<<7)&511,r[n++]=c>>>2&511,r[n++]=c>>>11&511,r[n++]=c>>>20&511,r[n++]=(c>>>29|(f&63)<<3)&511,r[n++]=f>>>6&511,r[n++]=f>>>15&511,r[n++]=(f>>>24|(h&1)<<8)&511,r[n++]=h>>>1&511,r[n++]=h>>>10&511,r[n++]=h>>>19&511,r[n++]=(h>>>28|(d&31)<<4)&511,r[n++]=d>>>5&511,r[n++]=d>>>14&511,r[n]=d>>>23&511}function n2r(e,t,r,i){let n=i,a=e[t]>>>0,o=e[t+1]>>>0,s=e[t+2]>>>0,l=e[t+3]>>>0,u=e[t+4]>>>0,c=e[t+5]>>>0,f=e[t+6]>>>0,h=e[t+7]>>>0,d=e[t+8]>>>0,p=e[t+9]>>>0;r[n++]=a>>>0&1023,r[n++]=a>>>10&1023,r[n++]=a>>>20&1023,r[n++]=(a>>>30|(o&255)<<2)&1023,r[n++]=o>>>8&1023,r[n++]=o>>>18&1023,r[n++]=(o>>>28|(s&63)<<4)&1023,r[n++]=s>>>6&1023,r[n++]=s>>>16&1023,r[n++]=(s>>>26|(l&15)<<6)&1023,r[n++]=l>>>4&1023,r[n++]=l>>>14&1023,r[n++]=(l>>>24|(u&3)<<8)&1023,r[n++]=u>>>2&1023,r[n++]=u>>>12&1023,r[n++]=u>>>22&1023,r[n++]=c>>>0&1023,r[n++]=c>>>10&1023,r[n++]=c>>>20&1023,r[n++]=(c>>>30|(f&255)<<2)&1023,r[n++]=f>>>8&1023,r[n++]=f>>>18&1023,r[n++]=(f>>>28|(h&63)<<4)&1023,r[n++]=h>>>6&1023,r[n++]=h>>>16&1023,r[n++]=(h>>>26|(d&15)<<6)&1023,r[n++]=d>>>4&1023,r[n++]=d>>>14&1023,r[n++]=(d>>>24|(p&3)<<8)&1023,r[n++]=p>>>2&1023,r[n++]=p>>>12&1023,r[n]=p>>>22&1023}function a2r(e,t,r,i){let n=i,a=e[t]>>>0,o=e[t+1]>>>0,s=e[t+2]>>>0,l=e[t+3]>>>0,u=e[t+4]>>>0,c=e[t+5]>>>0,f=e[t+6]>>>0,h=e[t+7]>>>0,d=e[t+8]>>>0,p=e[t+9]>>>0,v=e[t+10]>>>0;r[n++]=a>>>0&2047,r[n++]=a>>>11&2047,r[n++]=(a>>>22|(o&1)<<10)&2047,r[n++]=o>>>1&2047,r[n++]=o>>>12&2047,r[n++]=(o>>>23|(s&3)<<9)&2047,r[n++]=s>>>2&2047,r[n++]=s>>>13&2047,r[n++]=(s>>>24|(l&7)<<8)&2047,r[n++]=l>>>3&2047,r[n++]=l>>>14&2047,r[n++]=(l>>>25|(u&15)<<7)&2047,r[n++]=u>>>4&2047,r[n++]=u>>>15&2047,r[n++]=(u>>>26|(c&31)<<6)&2047,r[n++]=c>>>5&2047,r[n++]=c>>>16&2047,r[n++]=(c>>>27|(f&63)<<5)&2047,r[n++]=f>>>6&2047,r[n++]=f>>>17&2047,r[n++]=(f>>>28|(h&127)<<4)&2047,r[n++]=h>>>7&2047,r[n++]=h>>>18&2047,r[n++]=(h>>>29|(d&255)<<3)&2047,r[n++]=d>>>8&2047,r[n++]=d>>>19&2047,r[n++]=(d>>>30|(p&511)<<2)&2047,r[n++]=p>>>9&2047,r[n++]=p>>>20&2047,r[n++]=(p>>>31|(v&1023)<<1)&2047,r[n++]=v>>>10&2047,r[n]=v>>>21&2047}function o2r(e,t,r,i){let n=i,a=e[t]>>>0,o=e[t+1]>>>0,s=e[t+2]>>>0,l=e[t+3]>>>0,u=e[t+4]>>>0,c=e[t+5]>>>0,f=e[t+6]>>>0,h=e[t+7]>>>0,d=e[t+8]>>>0,p=e[t+9]>>>0,v=e[t+10]>>>0,m=e[t+11]>>>0;r[n++]=a>>>0&4095,r[n++]=a>>>12&4095,r[n++]=(a>>>24|(o&15)<<8)&4095,r[n++]=o>>>4&4095,r[n++]=o>>>16&4095,r[n++]=(o>>>28|(s&255)<<4)&4095,r[n++]=s>>>8&4095,r[n++]=s>>>20&4095,r[n++]=l>>>0&4095,r[n++]=l>>>12&4095,r[n++]=(l>>>24|(u&15)<<8)&4095,r[n++]=u>>>4&4095,r[n++]=u>>>16&4095,r[n++]=(u>>>28|(c&255)<<4)&4095,r[n++]=c>>>8&4095,r[n++]=c>>>20&4095,r[n++]=f>>>0&4095,r[n++]=f>>>12&4095,r[n++]=(f>>>24|(h&15)<<8)&4095,r[n++]=h>>>4&4095,r[n++]=h>>>16&4095,r[n++]=(h>>>28|(d&255)<<4)&4095,r[n++]=d>>>8&4095,r[n++]=d>>>20&4095,r[n++]=p>>>0&4095,r[n++]=p>>>12&4095,r[n++]=(p>>>24|(v&15)<<8)&4095,r[n++]=v>>>4&4095,r[n++]=v>>>16&4095,r[n++]=(v>>>28|(m&255)<<4)&4095,r[n++]=m>>>8&4095,r[n]=m>>>20&4095}function s2r(e,t,r,i){let n=i,a=e[t]>>>0,o=e[t+1]>>>0,s=e[t+2]>>>0,l=e[t+3]>>>0,u=e[t+4]>>>0,c=e[t+5]>>>0,f=e[t+6]>>>0,h=e[t+7]>>>0,d=e[t+8]>>>0,p=e[t+9]>>>0,v=e[t+10]>>>0,m=e[t+11]>>>0,g=e[t+12]>>>0,w=e[t+13]>>>0,b=e[t+14]>>>0,_=e[t+15]>>>0;r[n++]=a>>>0&65535,r[n++]=a>>>16&65535,r[n++]=o>>>0&65535,r[n++]=o>>>16&65535,r[n++]=s>>>0&65535,r[n++]=s>>>16&65535,r[n++]=l>>>0&65535,r[n++]=l>>>16&65535,r[n++]=u>>>0&65535,r[n++]=u>>>16&65535,r[n++]=c>>>0&65535,r[n++]=c>>>16&65535,r[n++]=f>>>0&65535,r[n++]=f>>>16&65535,r[n++]=h>>>0&65535,r[n++]=h>>>16&65535,r[n++]=d>>>0&65535,r[n++]=d>>>16&65535,r[n++]=p>>>0&65535,r[n++]=p>>>16&65535,r[n++]=v>>>0&65535,r[n++]=v>>>16&65535,r[n++]=m>>>0&65535,r[n++]=m>>>16&65535,r[n++]=g>>>0&65535,r[n++]=g>>>16&65535,r[n++]=w>>>0&65535,r[n++]=w>>>16&65535,r[n++]=b>>>0&65535,r[n++]=b>>>16&65535,r[n++]=_>>>0&65535,r[n]=_>>>16&65535}function l2r(e,t,r,i){let n=i,a=t;for(let o=0;o<8;o++){let s=e[a++]>>>0;r[n++]=s>>>0&1,r[n++]=s>>>1&1,r[n++]=s>>>2&1,r[n++]=s>>>3&1,r[n++]=s>>>4&1,r[n++]=s>>>5&1,r[n++]=s>>>6&1,r[n++]=s>>>7&1,r[n++]=s>>>8&1,r[n++]=s>>>9&1,r[n++]=s>>>10&1,r[n++]=s>>>11&1,r[n++]=s>>>12&1,r[n++]=s>>>13&1,r[n++]=s>>>14&1,r[n++]=s>>>15&1,r[n++]=s>>>16&1,r[n++]=s>>>17&1,r[n++]=s>>>18&1,r[n++]=s>>>19&1,r[n++]=s>>>20&1,r[n++]=s>>>21&1,r[n++]=s>>>22&1,r[n++]=s>>>23&1,r[n++]=s>>>24&1,r[n++]=s>>>25&1,r[n++]=s>>>26&1,r[n++]=s>>>27&1,r[n++]=s>>>28&1,r[n++]=s>>>29&1,r[n++]=s>>>30&1,r[n++]=s>>>31&1}}function u2r(e,t,r,i){let n=i,a=t;for(let o=0;o<8;o++){let s=e[a++]>>>0,l=e[a++]>>>0;r[n++]=s>>>0&3,r[n++]=s>>>2&3,r[n++]=s>>>4&3,r[n++]=s>>>6&3,r[n++]=s>>>8&3,r[n++]=s>>>10&3,r[n++]=s>>>12&3,r[n++]=s>>>14&3,r[n++]=s>>>16&3,r[n++]=s>>>18&3,r[n++]=s>>>20&3,r[n++]=s>>>22&3,r[n++]=s>>>24&3,r[n++]=s>>>26&3,r[n++]=s>>>28&3,r[n++]=s>>>30&3,r[n++]=l>>>0&3,r[n++]=l>>>2&3,r[n++]=l>>>4&3,r[n++]=l>>>6&3,r[n++]=l>>>8&3,r[n++]=l>>>10&3,r[n++]=l>>>12&3,r[n++]=l>>>14&3,r[n++]=l>>>16&3,r[n++]=l>>>18&3,r[n++]=l>>>20&3,r[n++]=l>>>22&3,r[n++]=l>>>24&3,r[n++]=l>>>26&3,r[n++]=l>>>28&3,r[n++]=l>>>30&3}}function c2r(e,t,r,i){let n=i,a=t;for(let o=0;o<8;o++){let s=e[a++]>>>0,l=e[a++]>>>0,u=e[a++]>>>0;r[n++]=s>>>0&7,r[n++]=s>>>3&7,r[n++]=s>>>6&7,r[n++]=s>>>9&7,r[n++]=s>>>12&7,r[n++]=s>>>15&7,r[n++]=s>>>18&7,r[n++]=s>>>21&7,r[n++]=s>>>24&7,r[n++]=s>>>27&7,r[n++]=(s>>>30|(l&1)<<2)&7,r[n++]=l>>>1&7,r[n++]=l>>>4&7,r[n++]=l>>>7&7,r[n++]=l>>>10&7,r[n++]=l>>>13&7,r[n++]=l>>>16&7,r[n++]=l>>>19&7,r[n++]=l>>>22&7,r[n++]=l>>>25&7,r[n++]=l>>>28&7,r[n++]=(l>>>31|(u&3)<<1)&7,r[n++]=u>>>2&7,r[n++]=u>>>5&7,r[n++]=u>>>8&7,r[n++]=u>>>11&7,r[n++]=u>>>14&7,r[n++]=u>>>17&7,r[n++]=u>>>20&7,r[n++]=u>>>23&7,r[n++]=u>>>26&7,r[n++]=u>>>29&7}}function f2r(e,t,r,i){let n=i,a=t;for(let o=0;o<8;o++){let s=e[a++]>>>0,l=e[a++]>>>0,u=e[a++]>>>0,c=e[a++]>>>0;r[n++]=s>>>0&15,r[n++]=s>>>4&15,r[n++]=s>>>8&15,r[n++]=s>>>12&15,r[n++]=s>>>16&15,r[n++]=s>>>20&15,r[n++]=s>>>24&15,r[n++]=s>>>28&15,r[n++]=l>>>0&15,r[n++]=l>>>4&15,r[n++]=l>>>8&15,r[n++]=l>>>12&15,r[n++]=l>>>16&15,r[n++]=l>>>20&15,r[n++]=l>>>24&15,r[n++]=l>>>28&15,r[n++]=u>>>0&15,r[n++]=u>>>4&15,r[n++]=u>>>8&15,r[n++]=u>>>12&15,r[n++]=u>>>16&15,r[n++]=u>>>20&15,r[n++]=u>>>24&15,r[n++]=u>>>28&15,r[n++]=c>>>0&15,r[n++]=c>>>4&15,r[n++]=c>>>8&15,r[n++]=c>>>12&15,r[n++]=c>>>16&15,r[n++]=c>>>20&15,r[n++]=c>>>24&15,r[n++]=c>>>28&15}}function h2r(e,t,r,i){let n=i,a=t;for(let o=0;o<8;o++){let s=e[a++]>>>0,l=e[a++]>>>0,u=e[a++]>>>0,c=e[a++]>>>0,f=e[a++]>>>0;r[n++]=s>>>0&31,r[n++]=s>>>5&31,r[n++]=s>>>10&31,r[n++]=s>>>15&31,r[n++]=s>>>20&31,r[n++]=s>>>25&31,r[n++]=(s>>>30|(l&7)<<2)&31,r[n++]=l>>>3&31,r[n++]=l>>>8&31,r[n++]=l>>>13&31,r[n++]=l>>>18&31,r[n++]=l>>>23&31,r[n++]=(l>>>28|(u&1)<<4)&31,r[n++]=u>>>1&31,r[n++]=u>>>6&31,r[n++]=u>>>11&31,r[n++]=u>>>16&31,r[n++]=u>>>21&31,r[n++]=u>>>26&31,r[n++]=(u>>>31|(c&15)<<1)&31,r[n++]=c>>>4&31,r[n++]=c>>>9&31,r[n++]=c>>>14&31,r[n++]=c>>>19&31,r[n++]=c>>>24&31,r[n++]=(c>>>29|(f&3)<<3)&31,r[n++]=f>>>2&31,r[n++]=f>>>7&31,r[n++]=f>>>12&31,r[n++]=f>>>17&31,r[n++]=f>>>22&31,r[n++]=f>>>27&31}}function d2r(e,t,r,i){let n=i,a=t;for(let o=0;o<8;o++){let s=e[a++]>>>0,l=e[a++]>>>0,u=e[a++]>>>0,c=e[a++]>>>0,f=e[a++]>>>0,h=e[a++]>>>0;r[n++]=s>>>0&63,r[n++]=s>>>6&63,r[n++]=s>>>12&63,r[n++]=s>>>18&63,r[n++]=s>>>24&63,r[n++]=(s>>>30|(l&15)<<2)&63,r[n++]=l>>>4&63,r[n++]=l>>>10&63,r[n++]=l>>>16&63,r[n++]=l>>>22&63,r[n++]=(l>>>28|(u&3)<<4)&63,r[n++]=u>>>2&63,r[n++]=u>>>8&63,r[n++]=u>>>14&63,r[n++]=u>>>20&63,r[n++]=u>>>26&63,r[n++]=c>>>0&63,r[n++]=c>>>6&63,r[n++]=c>>>12&63,r[n++]=c>>>18&63,r[n++]=c>>>24&63,r[n++]=(c>>>30|(f&15)<<2)&63,r[n++]=f>>>4&63,r[n++]=f>>>10&63,r[n++]=f>>>16&63,r[n++]=f>>>22&63,r[n++]=(f>>>28|(h&3)<<4)&63,r[n++]=h>>>2&63,r[n++]=h>>>8&63,r[n++]=h>>>14&63,r[n++]=h>>>20&63,r[n++]=h>>>26&63}}function p2r(e,t,r,i){let n=i,a=t;for(let o=0;o<8;o++){let s=e[a++]>>>0,l=e[a++]>>>0,u=e[a++]>>>0,c=e[a++]>>>0,f=e[a++]>>>0,h=e[a++]>>>0,d=e[a++]>>>0;r[n++]=s>>>0&127,r[n++]=s>>>7&127,r[n++]=s>>>14&127,r[n++]=s>>>21&127,r[n++]=(s>>>28|(l&7)<<4)&127,r[n++]=l>>>3&127,r[n++]=l>>>10&127,r[n++]=l>>>17&127,r[n++]=l>>>24&127,r[n++]=(l>>>31|(u&63)<<1)&127,r[n++]=u>>>6&127,r[n++]=u>>>13&127,r[n++]=u>>>20&127,r[n++]=(u>>>27|(c&3)<<5)&127,r[n++]=c>>>2&127,r[n++]=c>>>9&127,r[n++]=c>>>16&127,r[n++]=c>>>23&127,r[n++]=(c>>>30|(f&31)<<2)&127,r[n++]=f>>>5&127,r[n++]=f>>>12&127,r[n++]=f>>>19&127,r[n++]=(f>>>26|(h&1)<<6)&127,r[n++]=h>>>1&127,r[n++]=h>>>8&127,r[n++]=h>>>15&127,r[n++]=h>>>22&127,r[n++]=(h>>>29|(d&15)<<3)&127,r[n++]=d>>>4&127,r[n++]=d>>>11&127,r[n++]=d>>>18&127,r[n++]=d>>>25&127}}function v2r(e,t,r,i){let n=i,a=t;for(let o=0;o<8;o++){let s=e[a++]>>>0,l=e[a++]>>>0,u=e[a++]>>>0,c=e[a++]>>>0,f=e[a++]>>>0,h=e[a++]>>>0,d=e[a++]>>>0,p=e[a++]>>>0;r[n++]=s>>>0&255,r[n++]=s>>>8&255,r[n++]=s>>>16&255,r[n++]=s>>>24&255,r[n++]=l>>>0&255,r[n++]=l>>>8&255,r[n++]=l>>>16&255,r[n++]=l>>>24&255,r[n++]=u>>>0&255,r[n++]=u>>>8&255,r[n++]=u>>>16&255,r[n++]=u>>>24&255,r[n++]=c>>>0&255,r[n++]=c>>>8&255,r[n++]=c>>>16&255,r[n++]=c>>>24&255,r[n++]=f>>>0&255,r[n++]=f>>>8&255,r[n++]=f>>>16&255,r[n++]=f>>>24&255,r[n++]=h>>>0&255,r[n++]=h>>>8&255,r[n++]=h>>>16&255,r[n++]=h>>>24&255,r[n++]=d>>>0&255,r[n++]=d>>>8&255,r[n++]=d>>>16&255,r[n++]=d>>>24&255,r[n++]=p>>>0&255,r[n++]=p>>>8&255,r[n++]=p>>>16&255,r[n++]=p>>>24&255}}function g2r(e,t,r,i){let n=i,a=t;for(let o=0;o<128;o++){let s=e[a++]>>>0;r[n++]=s&65535,r[n++]=s>>>16&65535}}function m2r(e,t,r,i,n){let a=oie[n]>>>0,o=t,s=0,l=e[o]>>>0,u=i;for(let c=0;c<8;c++){for(let f=0;f<32;f++)if(s+n<=32){let h=l>>>s&a;r[u+f]=h|0,s+=n,s===32&&(s=0,o++,f!==31&&(l=e[o]>>>0))}else{let h=32-s,d=l>>>s;o++,l=e[o]>>>0;let p=n-h,v=-1>>>32-p>>>0,m=(d|(l&v)<>>0)}}function pnt(){let e=new Uint8Array(y2r);return{dataToBePacked:Array(33),dataPointers:new Int32Array(33),byteContainer:e,byteContainerI32:new Int32Array(e.buffer,e.byteOffset,e.byteLength>>>2),exceptionSizes:new Int32Array(33)}}function x2r(e=16){if(e<0)throw RangeError(`initialEncodedWordCapacity must be >= 0, got ${e}`);let t=Math.max(16,e|0);return{encodedWords:new Uint32Array(t),decoderWorkspace:pnt()}}function _2r(e,t){if(t<=e.encodedWords.length)return e.encodedWords;let r=new Uint32Array(Math.max(16,t*2));return e.encodedWords=r,r}function b2r(e,t,r,i){i.byteContainer.length>>2;if(n.byteOffset&3)for(let s=0;s>>8&255,n[u+2|0]=l>>>16&255,n[u+3|0]=l>>>24&255}else{let s=i.byteContainerI32;(!s||s.buffer!==n.buffer||s.byteOffset!==n.byteOffset||s.length>>2)),s.set(e.subarray(t,t+a))}let o=r&3;if(o>0){let s=e[t+a|0]|0,l=a<<2;for(let u=0;u>>(u<<3)&255}return n}function w2r(e,t,r){let i=e[t++]|0,n=r.dataToBePacked;for(let a=2;a<=32;a=a+1|0){if(!(i>>>a-1&1))continue;if(t>=e.length)throw Error(`FastPFOR decode: truncated exception stream header (bitWidth=${a}, streamWordIndex=${t}, needWords=1, availableWords=${e.length-t}, encodedWords=${e.length})`);let o=e[t++]>>>0,s=Wyr(o),l=o*a+31>>>5;if(t+l>e.length)throw Error(`FastPFOR decode: truncated exception stream (bitWidth=${a}, size=${o}, streamWordIndex=${t}, needWords=${l}, availableWords=${e.length-t}, encodedWords=${e.length})`);let u=n[a];(!u||u.length>>5)|0,r.exceptionSizes[a]=o}return t}function T2r(e,t,r,i,n){switch(n){case 1:l2r(e,t,r,i);break;case 2:u2r(e,t,r,i);break;case 3:c2r(e,t,r,i);break;case 4:f2r(e,t,r,i);break;case 5:h2r(e,t,r,i);break;case 6:d2r(e,t,r,i);break;case 7:p2r(e,t,r,i);break;case 8:v2r(e,t,r,i);break;case 16:g2r(e,t,r,i);break;default:m2r(e,t,r,i,n)}return t+(n<<3)|0}function A2r(e,t,r,i){if(r+2>t)throw Error(`FastPFOR decode: byteContainer underflow at block=${i} (need 2 bytes for [bitWidth, exceptionCount], bytePos=${r}, byteSize=${t})`);let n=e[r++],a=e[r++];if(n>32)throw Error(`FastPFOR decode: invalid bitWidth=${n} at block=${i} (expected 0..32). This likely indicates corrupted or truncated input.`);return{bitWidth:n,exceptionCount:a,bytePosIn:r}}function M2r(e,t,r,i,n,a){if(r+1>t)throw Error(`FastPFOR decode: exception header underflow at block=${a} (need 1 byte for maxBits, bytePos=${r}, byteSize=${t})`);let o=e[r++];if(o32)throw Error(`FastPFOR decode: invalid maxBits=${o} at block=${a} (bitWidth=${i}, expected ${i}..32)`);let s=o-i|0;if(s<1||s>32)throw Error(`FastPFOR decode: invalid exceptionBitWidth=${s} at block=${a} (bitWidth=${i}, maxBits=${o})`);if(r+n>t)throw Error(`FastPFOR decode: exception positions underflow at block=${a} (need=${n}, have=${t-r})`);return{maxBits:o,exceptionBitWidth:s,bytePosIn:r}}function S2r(e,t,r,i,n,a,o,s,l){let{maxBits:u,exceptionBitWidth:c,bytePosIn:f}=M2r(n,a,o,r,i,l);if(o=f,c===1){let m=1<v)throw Error(`FastPFOR decode: exception stream overflow for exceptionBitWidth=${c} (ptr=${p}, need ${i}, size=${v}) at block ${l}`);for(let m=0;m0&&(f=S2r(n,m,p,v,s,l,f,u,h))}if(c!==i)throw Error(`FastPFOR decode: packed region mismatch (pageStart=${t}, packedStart=${r}, consumedPackedEnd=${c}, expectedPackedEnd=${i}, packedWords=${i-r}, encoded.length=${e.length})`)}function k2r(e,t,r,i,n,a){let o=r|0,s=e[o]|0;if(s<=0||o+s>e.length-1)throw Error(`FastPFOR decode: invalid whereMeta=${s} at pageStart=${o} (expected > 0 and pageStart+whereMeta < encoded.length=${e.length})`);let l=o+1|0,u=o+s|0,c=e[u]>>>0,f=c+3>>>2,h=u+1,d=h+f;if(d>=e.length)throw Error(`FastPFOR decode: invalid byteSize=${c} (metaInts=${f}, pageStart=${o}, packedEnd=${u}, byteContainerStart=${h}) causes bitmapPos=${d} out of bounds (encoded.length=${e.length})`);let p=b2r(e,h,c,a),v=c,m=w2r(e,d,a);return a.dataPointers.fill(0),E2r(e,o,l,u,t,i|0,n/256|0,p,v,a),m}function C2r(e,t,r,i,n,a){let o=i+Ane(n,256),s=i,l=r;for(;s!==o;){let u=Math.min(sie,o-s);l=k2r(e,t,l,s,u,a),s=s+u|0}return l}function D2r(e,t,r,i,n,a){if(a===0)return t;let o=0,s=t,l=t+r,u=n,c=n,f=n+a,h=0,d=0;for(;s>>o&255;if(o+=8,s+=o>>>5,o&=31,h|=(p&127)<28)throw Error(`FastPFOR VByte: unterminated value (expected MSB=1 terminator within 5 bytes; shift=${d}, partial=${h}, decoded=${c-u}/${a}, inPos=${s}, inEnd=${l})`)}if(c!==f)throw Error(`FastPFOR VByte: truncated stream (decoded=${c-u}, expected=${a}, consumedWords=${s-t}/${r}, vbyteStart=${t}, vbyteEnd=${l})`);return s}function F2r(e,t,r){let i=0,n=0,a=new Uint32Array(t),o=r!=null?r:pnt();if(e.length>0){let u=e[i]|0;if(i=i+1|0,u&255)throw Error(`FastPFOR decode: invalid alignedLength=${u} (expected multiple of 256)`);if(n+u>a.length)throw Error(`FastPFOR decode: output buffer too small (outPos=${n}, alignedLength=${u}, out.length=${a.length})`);i=C2r(e,a,i,n,u,o),n=n+u|0}let s=e.length-i|0,l=t-n|0;return D2r(e,i,s,a,n,l),a}function L2r(e,t,r,i,n){switch(n){case 2:Zyr(e,t,r,i);return;case 3:Kyr(e,t,r,i);return;case 4:Jyr(e,t,r,i);return;case 5:Qyr(e,t,r,i);return;case 6:e2r(e,t,r,i);return;case 7:t2r(e,t,r,i);return;case 8:r2r(e,t,r,i);return;case 9:i2r(e,t,r,i);return;case 10:n2r(e,t,r,i);return;case 11:a2r(e,t,r,i);return;case 12:o2r(e,t,r,i);return;case 16:s2r(e,t,r,i);return;case 32:for(let u=0;u<32;u=u+1|0)r[i+u|0]=e[t+u|0]|0;return}let a=oie[n]>>>0,o=t,s=0,l=e[o]>>>0;for(let u=0;u<32;u++)if(s+n<=32){let c=l>>>s&a;r[i+u]=c|0,s+=n,s===32&&(s=0,o++,u!==31&&(l=e[o]>>>0))}else{let c=32-s,f=l>>>s;o++,l=e[o]>>>0;let h=oie[n-c]>>>0,d=(f|(l&h)<e.length)throw RangeError(`decodeBigEndianInt32sInto: out of bounds (offset=${t}, byteLength=${r}, bytes.length=${e.length})`);let n=Math.floor(r/4),a=r%4!=0,o=a?n+1:n;if(i.length0){let s=e.byteOffset+t;if(s&3)for(let l=0;l=64)throw Error("Varint too long")}return t.set(n),r}function R2r(e,t,r){let i=new Float64Array(r);for(let n=0;n>4,n<128||(n=t[r.get()],r.increment(),i|=(n&127)<<3,n<128)||(n=t[r.get()],r.increment(),i|=(n&127)<<10,n<128)||(n=t[r.get()],r.increment(),i|=(n&127)<<17,n<128)||(n=t[r.get()],r.increment(),i|=(n&127)<<24,n<128)||(n=t[r.get()],r.increment(),i|=(n&1)<<31,n<128))return i*4294967296+(e>>>0);throw Error("Expected varint not more than 10 bytes")}function q2r(e,t,r,i){return O2r(e,t,r,i,x2r(r>>>2))}function O2r(e,t,r,i,n){let a=i.get();if(r&3)throw Error(`FastPFOR: invalid encodedByteLength=${r} at offset=${a} (encodedBytes.length=${e.length}; expected a multiple of 4 bytes for an int32 big-endian word stream)`);let o=r>>>2,s=_2r(n,o);P2r(e,a,r,s);let l=F2r(s.subarray(0,o),t,n.decoderWorkspace);return i.add(r),l}function Na(e){return e>>>1^-(e&1)}function lf(e){return e>>BigInt(1)^-(e&BigInt(1))}function $2(e){return e%2==1?(e+1)/-2:e/2}function N2r(e){let t=new Int32Array(e.length);for(let r=0;r=4)for(;i=4)for(;i=4)for(;r=4)for(let i=e[0];r=4)for(;i=4)for(;l>>0;for(let r=1;r>>0;return t}function get(e){let t=new BigUint64Array(e.length);t[0]=BigInt.asUintN(64,lf(e[0]));for(let r=1;r>>0,t[1]=Na(e[1])>>>0;for(let r=2;r>>0,t[r+1]=t[r-1]+Na(e[r+1])>>>0;return t}function txr(e,t,r,i){let n=gnt(e,t,r,i);return new Uint32Array(n)}function rxr(e){return e[1]}function ixr(e){return Na(e[1])}function nxr(e){if(e.length===2){let t=Na(e[1]);return[t,t]}return[Na(e[2]),Na(e[3])]}function axr(e){return e[1]}function oxr(e){return lf(e[1])}function sxr(e){if(e.length===2){let t=lf(e[1]);return[t,t]}return[lf(e[2]),lf(e[3])]}function Hs(e,t){let r=vxr(e,t);return r.logicalLevelTechnique1===da.MORTON?dxr(r,e,t):(da.RLE===r.logicalLevelTechnique1||da.RLE===r.logicalLevelTechnique2)&&Kd.NONE!==r.physicalLevelTechnique?pxr(r,e,t):r}function dxr(e,t,r){let i=cf(t,r,2);return{physicalStreamType:e.physicalStreamType,logicalStreamType:e.logicalStreamType,logicalLevelTechnique1:e.logicalLevelTechnique1,logicalLevelTechnique2:e.logicalLevelTechnique2,physicalLevelTechnique:e.physicalLevelTechnique,numValues:e.numValues,byteLength:e.byteLength,decompressedCount:e.decompressedCount,numBits:i[0],coordinateShift:i[1]}}function pxr(e,t,r){let i=cf(t,r,2);return{physicalStreamType:e.physicalStreamType,logicalStreamType:e.logicalStreamType,logicalLevelTechnique1:e.logicalLevelTechnique1,logicalLevelTechnique2:e.logicalLevelTechnique2,physicalLevelTechnique:e.physicalLevelTechnique,numValues:e.numValues,byteLength:e.byteLength,decompressedCount:i[1],runs:i[0],numRleValues:i[1]}}function vxr(e,t){let r=e[t.get()],i=lxr[r>>4],n={};switch(i){case pu.DATA:n={dictionaryType:cxr[r&15]};break;case pu.OFFSET:n={offsetType:fxr[r&15]};break;case pu.LENGTH:n={lengthType:hxr[r&15]}}t.increment();let a=e[t.get()],o=met[a>>5],s=met[a>>2&7],l=uxr[a&3];t.increment();let u=cf(e,t,2),c=u[0],f=u[1];return{physicalStreamType:i,logicalStreamType:n,logicalLevelTechnique1:o,logicalLevelTechnique2:s,physicalLevelTechnique:l,numValues:c,byteLength:f,decompressedCount:c}}function i3(e,t,r){if(!t)return e;let i=t.size(),n=e.constructor,a=new n(i),o=0;for(let s=0;s=o);){let s=e[i.increment()];if(s<=127){let l=s+3,u=e[i.increment()],c=Math.min(a+l,t);n.fill(u,a,c),a=c}else{let l=256-s;for(let u=0;u=12?_xr.decode(e.subarray(t,r)):bxr(e,t,r)}function bxr(e,t,r){let i="",n=t;for(;n239?4:a>223?3:a>191?2:1;if(n+s>r)break;let l,u,c;s===1?a<128&&(o=a):s===2?(l=e[n+1],(l&192)==128&&(o=(a&31)<<6|l&63,o<=127&&(o=null))):s===3?(l=e[n+1],u=e[n+2],(l&192)==128&&(u&192)==128&&(o=(a&15)<<12|(l&63)<<6|u&63,(o<=2047||o>=55296&&o<=57343)&&(o=null))):s===4&&(l=e[n+1],u=e[n+2],c=e[n+3],(l&192)==128&&(u&192)==128&&(c&192)==128&&(o=(a&15)<<18|(l&63)<<12|(u&63)<<6|c&63,(o<=65535||o>=1114112)&&(o=null))),o===null?(o=65533,s=1):o>65535&&(o-=65536,i+=String.fromCharCode(o>>>10&1023|55296),o=56320|o&1023),i+=String.fromCharCode(o),n+=s}return i}function iB(e,t,r,i,n){return Sxr(GT(e,t,r),r,i,n)}function sf(e,t,r,i,n){return Exr(GT(e,t,r),r,i,n)}function W2(e,t,r){return Cxr(GT(e,t,r),r)}function GT(e,t,r){let i=r.physicalLevelTechnique;switch(i){case Kd.FAST_PFOR:return q2r(e,r.numValues,r.byteLength,t);case Kd.VARINT:return cf(e,t,r.numValues);case Kd.NONE:return yxr(e,t,r.numValues);default:throw Error(`Specified physicalLevelTechnique ${i} is not supported (yet).`)}}function f8(e,t,r){let i=r.physicalLevelTechnique;switch(i){case Kd.VARINT:return Mne(e,t,r.numValues);case Kd.NONE:return xxr(e,t,r.numValues);default:throw Error(`Specified physicalLevelTechnique ${i} is not supported (yet).`)}}function wxr(e,t,r){let i=GT(e,t,r);return i.length===1?Na(i[0]):ixr(i)}function kne(e,t,r){let i=GT(e,t,r);return i.length===1?r.logicalLevelTechnique1===da.DELTA?Na(i[0]):i[0]:rxr(i)}function _nt(e,t,r){return nxr(GT(e,t,r))}function bnt(e,t,r){return sxr(Mne(e,t,r.numValues))}function wnt(e,t,r,i){return Ant(f8(e,t,r),r,i)}function Cne(e,t,r,i){return Mnt(f8(e,t,r),r,i)}function Txr(e,t,r,i){let n=Axr(e,t,r,!1);return i?i3(n,i,0):n}function Axr(e,t,r,i){if(r.physicalLevelTechnique===Kd.VARINT)return kxr(R2r(e,t,r.numValues),r,i);let n=f8(e,t,r),a=i?Ant(n,r):Mnt(n,r);return Float64Array.from(a,Number)}function Mxr(e,t,r){let i=f8(e,t,r);return i.length===1?lf(i[0]):oxr(i)}function Tnt(e,t,r){let i=f8(e,t,r);return i.length===1?r.logicalLevelTechnique1===da.DELTA?lf(i[0]):i[0]:axr(i)}function Sxr(e,t,r,i){let n;switch(t.logicalLevelTechnique1){case da.DELTA:if(t.logicalLevelTechnique2===da.RLE){let a=t;if(!i)return J2r(e,a.runs,a.numRleValues);e=lie(e,a.runs,a.numRleValues),n=det(e)}else n=det(e);break;case da.RLE:n=H2r(e,t.runs,t.numRleValues);break;case da.MORTON:Sne(e),n=new Int32Array(e);break;case da.COMPONENTWISE_DELTA:if(r&&!i)return gnt(e,r.scale,r.min,r.max);n=Y2r(e);break;case da.NONE:n=N2r(e);break;default:throw Error(`The specified Logical level technique is not supported: ${t.logicalLevelTechnique1}`)}return i?i3(n,i,0):n}function Exr(e,t,r,i){let n;switch(t.logicalLevelTechnique1){case da.DELTA:if(t.logicalLevelTechnique2===da.RLE){let a=t;n=vet(lie(e,a.runs,a.numRleValues))}else n=vet(e);break;case da.RLE:n=lie(e,t.runs,t.numRleValues);break;case da.MORTON:Sne(e),n=e;break;case da.COMPONENTWISE_DELTA:n=r&&!i?txr(e,r.scale,r.min,r.max):exr(e);break;case da.NONE:n=e;break;default:throw Error(`The specified Logical level technique is not supported: ${t.logicalLevelTechnique1}`)}return i?i3(n,i,0):n}function Ant(e,t,r){let i;switch(t.logicalLevelTechnique1){case da.DELTA:if(t.logicalLevelTechnique2===da.RLE){let n=t;if(!r)return Q2r(e,n.runs,n.numRleValues);e=uie(e,n.runs,n.numRleValues),i=pet(e)}else i=pet(e);break;case da.RLE:i=j2r(e,t.runs,t.numRleValues);break;case da.NONE:i=U2r(e);break;default:throw Error(`The specified Logical level technique is not supported: ${t.logicalLevelTechnique1}`)}return r?i3(i,r,BigInt(0)):i}function Mnt(e,t,r){let i;switch(t.logicalLevelTechnique1){case da.DELTA:if(t.logicalLevelTechnique2===da.RLE){let n=t;i=get(uie(e,n.runs,n.numRleValues))}else i=get(e);break;case da.RLE:i=uie(e,t.runs,t.numRleValues);break;case da.NONE:i=e;break;default:throw Error(`The specified Logical level technique is not supported: ${t.logicalLevelTechnique1}`)}return r?i3(i,r,BigInt(0)):i}function kxr(e,t,r){switch(t.logicalLevelTechnique1){case da.DELTA:if(t.logicalLevelTechnique2===da.RLE){let i=t;e=vnt(e,i.runs,i.numRleValues)}return G2r(e),e;case da.RLE:return Fxr(e,t,r);case da.NONE:return r&&V2r(e),e;default:throw Error(`The specified Logical level technique is not supported: ${t.logicalLevelTechnique1}`)}}function Cxr(e,t){if(t.logicalLevelTechnique1===da.DELTA&&t.logicalLevelTechnique2===da.NONE)return X2r(e);if(t.logicalLevelTechnique1===da.RLE&&t.logicalLevelTechnique2===da.NONE){let r=t;return K2r(e,r.runs,r.numRleValues)}if(t.logicalLevelTechnique1===da.NONE&&t.logicalLevelTechnique2===da.NONE){W2r(e);let r=new Uint32Array(t.numValues+1);return r[0]=0,r.set(e,1),r}if(t.logicalLevelTechnique1===da.DELTA&&t.logicalLevelTechnique2===da.RLE){let r=t,i=Z2r(e,r.runs,r.numRleValues);return Sne(i),new Uint32Array(i)}throw Error("Only delta encoding is supported for transforming length to offset streams yet.")}function JB(e,t,r,i,n="int32"){let a=e.logicalLevelTechnique1;if(a===da.RLE)return e.runs===1?Gs.CONST:Gs.FLAT;if(a!==da.DELTA||e.logicalLevelTechnique2!==da.RLE)return e.numValues===1?Gs.CONST:Gs.FLAT;let o=t instanceof bv?t.size():t,s=e;if(s.numRleValues!==o)return Gs.FLAT;if(s.runs===1)return Gs.SEQUENCE;if(s.runs!==2)return e.numValues===1?Gs.CONST:Gs.FLAT;let l=i.get();if(e.physicalLevelTechnique===Kd.VARINT)return Dxr(r,i,n)?Gs.SEQUENCE:e.numValues===1?Gs.CONST:Gs.FLAT;let u=i.get(),c=new Int32Array(r.buffer,r.byteOffset+u,4);return i.set(l),c[2]===2&&c[3]===2?Gs.SEQUENCE:e.numValues===1?Gs.CONST:Gs.FLAT}function Dxr(e,t,r){let i=new hnt(t.get());if(r==="int64"){let a=Mne(e,i,4);return a[2]===BigInt(2)&&a[3]===BigInt(2)}let n=cf(e,i,4);return n[2]===2&&n[3]===2}function Fxr(e,t,r){return r?$2r(e,t.runs,t.numRleValues):vnt(e,t.runs,t.numRleValues)}function Dne(e,t,r){return{x:yet(e,t)-r,y:yet(e>>1,t)-r}}function yet(e,t){let r=0;for(let i=0;i>i;return r}function Pxr(e){let t=Array(e.numGeometries),r=1,i=1,n=1,a=0,o=0,s=0,l=e.mortonSettings,u=e.topologyVector,c=u.geometryOffsets,f=u.partOffsets,h=u.ringOffsets,d=e.vertexOffsets,p=!d||d.length===0,v=e.containsPolygonGeometry(),m=e.vertexBuffer;for(let g=0;g[M]),r+=b,i+=b}break;case uf.LINESTRING:{let b;v?(b=h[i]-h[i-1],i++):b=f[r]-f[r-1],r++;let _;p?(_=lT(m,o,b,!1),o+=b*2):(_=Rb(e.vertexBufferType,m,d,s,b,!1,l),s+=b),t[a++]=[_],c&&n++}break;case uf.POLYGON:{let b=f[r]-f[r-1];r++;let _=Array(b-1),M,x=h[i]-h[i-1];if(i++,p){M=lT(m,o,x,!0),o+=x*2;for(let T=0;T<_.length;T++)x=h[i]-h[i-1],i++,_[T]=lT(m,o,x,!0),o+=x*2}else{M=Rb(e.vertexBufferType,m,d,s,x,!0,l),s+=x;for(let T=0;T<_.length;T++)x=h[i]-h[i-1],i++,_[T]=Rb(e.vertexBufferType,m,d,s,x,!0,l),s+=x}t[a++]=[M].concat(_),c&&n++}break;case uf.MULTILINESTRING:{let b=c[n]-c[n-1];n++;let _=Array(b);for(let M=0;Mr?t[a++]:1);return i}function bet(e,t,r,i){let n=new Uint32Array(t[t.length-1]+1),a=0;n[0]=a;let o=1,s=0;for(let l=0;l0;)n[a++]=e[u++]}}return n}function Rnt(e,t,r,i,n){var d,p;let a,o,s,l,u,c=n,f,h;for(let v=0;v1&&!d.nullable||p===1&&d.nullable)throw Error(`The number of streams for the child field ${d.name} does not match its nullability. nullibilty: ${d.nullable}, numStreams: ${p}`);let m;if(d.nullable){let w=Hs(e,t);m=new bv(VT(e,w.numValues,w.byteLength,t),w.numValues)}let g=sf(e,t,Hs(e,t),void 0,m);if(s){if(!o)throw Error(`Incomplete shared FSST dictionary for column "${v}"`);c[h++]=new Int(v,g,n,a,o,s,m,f)}else c[h++]=new wT(v,g,n,a,m)}return c}function Jxr(e,t,r,i){let n=Qxr(r);if(i===0)return n.map(c=>new Tet(c,[]));let a=e_r(e,t,i),o=(a.presentStream?a.presentCount:a.lengthStream.length)/n.length,s=[],l=0,u=0;for(let c=0;c{var i;return e.name+((i=r.name)!=null?i:"")})}function e_r(e,t,r){let i=e[t.get()];t.add(1);let n=sf(e,t,Hs(e,t)),a=r-1,o=[];i&Tm.STRING&&(a-=t_r(e,t,o)),a-=r_r(e,t,i,o),a-=i_r(e,t,i,o);let s,l=0;if(i&Tm.PRESENCE){let c=n_r(e,t);s=c.value,l=c.count,a--}let u=new Uint32Array;if(a>0&&(u=sf(e,t,Hs(e,t)),a--),a!==0)throw Error(`Unexpected number of remaining streams while decoding map column: ${a}`);return{lengthStream:n,dictionary:o,presentStream:s,presentCount:l,flattenedValues:u}}function t_r(e,t,r){let i=e[t.get()];t.add(1);let n=Rnt("",e,t,i);if(n)for(let a=0;aa.length)throw Error("Merged map counts underflow while decoding child streams");let d=Array(r),p=i,v=n;for(let w=0;wo.length)throw Error("Map value stream underflow while decoding feature payload");let _=o_r(o,v,b,l);d[w]=_.value,v=_.nextIndex}let m=0;for(let w=i;w=r)throw Error("Unexpected end of map value stream");let n=e[t];if(n===Ob.FALSE)return{value:!1,nextIndex:t+1};if(n===Ob.TRUE)return{value:!0,nextIndex:t+1};if(n===Ob.START_MAP){let a=Aet(e,t,r);return{value:znt(e,t+2,a,i).value,nextIndex:a}}if(n===Ob.START_LIST){let a=Aet(e,t,r),o=[],s=t+2;for(;s=r)throw Error("Missing length for nested map/list payload");let i=e[t+1];if(i<2)throw Error(`Invalid nested payload length: 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parse(t){if(t instanceof Pc)return t;if(typeof t!="string")return;let r=Odr(t);if(r)return new Pc(...r,!1)}get rgb(){let{r:t,g:r,b:i,a:n}=this,a=n||1/0;return this.overwriteGetter("rgb",[t/a,r/a,i/a,n])}get hcl(){return this.overwriteGetter("hcl",Rdr(this.rgb))}get lab(){return this.overwriteGetter("lab",ytt(this.rgb))}overwriteGetter(t,r){return Object.defineProperty(this,t,{value:r}),r}toString(){let[t,r,i,n]=this.rgb;return`rgba(${[t,r,i].map(a=>Math.round(a*255)).join(",")},${n})`}static interpolate(t,r,i,n="rgb"){switch(n){case"rgb":{let[a,o,s,l]=AT(t.rgb,r.rgb,i);return new Pc(a,o,s,l,!1)}case"hcl":{let[a,o,s,l]=t.hcl,[u,c,f,h]=r.hcl,d,p;if(!isNaN(a)&&!isNaN(u)){let b=u-a;u>a&&b>180?b-=360:u180&&(b+=360),d=a+i*b}else isNaN(a)?isNaN(u)?d=NaN:(d=u,(s===1||s===0)&&(p=c)):(d=a,(f===1||f===0)&&(p=o));let[v,m,g,w]=zdr([d,p!=null?p:X2(o,c,i),X2(s,f,i),X2(l,h,i)]);return new Pc(v,m,g,w,!1)}case"lab":{let[a,o,s,l]=xtt(AT(t.lab,r.lab,i));return new Pc(a,o,s,l,!1)}}}},Pc.black=new Pc(0,0,0,1),Pc.white=new Pc(1,1,1,1),Pc.transparent=new Pc(0,0,0,0),Pc.red=new Pc(1,0,0,1),Pc),Vdr=["bottom","center","top"],ere=class{constructor(e,t,r,i,n,a){this.text=e,this.image=t,this.scale=r,this.fontStack=i,this.textColor=n,this.verticalAlign=a}},Mm=class Iz{constructor(t){this.sections=t}static fromString(t){return new Iz([new ere(t,null,null,null,null,null)])}isEmpty(){return this.sections.length===0||!this.sections.some(t=>t.text.length!==0||t.image&&t.image.name.length!==0)}static factory(t){return t instanceof Iz?t:Iz.fromString(t)}toString(){return this.sections.length===0?"":this.sections.map(t=>t.text).join("")}},Q1=class lk{constructor(t){this.values=t.slice()}static parse(t){if(t instanceof lk)return t;if(typeof t=="number")return new lk([t,t,t,t]);if(Array.isArray(t)&&!(t.length<1||t.length>4)){for(let r of t)if(typeof r!="number")return;switch(t.length){case 1:t=[t[0],t[0],t[0],t[0]];break;case 2:t=[t[0],t[1],t[0],t[1]];break;case 3:t=[t[0],t[1],t[2],t[1]]}return new lk(t)}}toString(){return JSON.stringify(this.values)}static interpolate(t,r,i){return new lk(AT(t.values,r.values,i))}},eg=class uk{constructor(t){this.values=t.slice()}static parse(t){if(t instanceof uk)return t;if(typeof t=="number")return new uk([t]);if(Array.isArray(t)){for(let r of t)if(typeof r!="number")return;return new uk(t)}}toString(){return JSON.stringify(this.values)}static interpolate(t,r,i){return new uk(AT(t.values,r.values,i))}},Xd=class ck{constructor(t){this.values=t.slice()}static parse(t){if(t instanceof ck)return t;if(typeof t=="string"){let i=ea.parse(t);return i?new ck([i]):void 0}if(!Array.isArray(t))return;let r=[];for(let i of t){if(typeof i!="string")return;let n=ea.parse(i);if(!n)return;r.push(n)}return new ck(r)}toString(){return JSON.stringify(this.values)}static interpolate(t,r,i,n="rgb"){let a=[];if(t.values.length!=r.values.length)throw Error(`colorArray: Arrays have mismatched length (${t.values.length} vs. ${r.values.length}), cannot interpolate.`);for(let o=0;o=s)return r.error('Input/output pairs for "step" expressions must be arranged with input values in strictly ascending order.',u);let f=r.parse(l,c,a);if(!f)return null;a||(a=f.type),n.push([s,f])}return new Att(a,i,n,r.key)}evaluate(t){let r=this.labels,i=this.outputs;if(r.length===1)return i[0].evaluate(t);let n=this.input.evaluate(t);if(n<=r[0])return i[0].evaluate(t);let a=r.length;return n>=r[a-1]?i[a-1].evaluate(t):i[TB(r,n,this.key)].evaluate(t)}eachChild(t){t(this.input);for(let r of this.outputs)t(r)}outputDefined(){return this.outputs.every(t=>t.outputDefined())}};Zd=class tre{constructor(t,r,i,n,a,o){this.type=t,this.operator=r,this.interpolation=i,this.input=n,this.key=o,this.labels=[],this.outputs=[];for(let[s,l]of a)this.labels.push(s),this.outputs.push(l)}static interpolationFactor(t,r,i,n){let a=0;if(t.name==="exponential")a=Vte(r,t.base,i,n);else if(t.name==="linear")a=Vte(r,1,i,n);else if(t.name==="cubic-bezier"){let o=t.controlPoints;a=jdr(o[0],o[1],o[2],o[3])(Vte(r,1,i,n))}return a}static parse(t,r){let[i,n,a,...o]=t;if(!Array.isArray(n)||n.length===0)return r.error("Expected an interpolation type expression.",1);if(n[0]==="linear")n={name:"linear"};else if(n[0]==="exponential"){let u=n[1];if(typeof u!="number")return r.error("Exponential interpolation requires a numeric base.",1,1);n={name:"exponential",base:u}}else if(n[0]==="cubic-bezier"){let u=n.slice(1);if(u.length!==4||u.some(c=>typeof c!="number"||c<0||c>1))return r.error("Cubic bezier interpolation requires four numeric arguments with values between 0 and 1.",1);n={name:"cubic-bezier",controlPoints:u}}else return r.error(`Unknown interpolation type ${String(n[0])}`,1,0);if(t.length-1<4)return r.error(`Expected at least 4 arguments, but found only ${t.length-1}.`);if((t.length-1)%2!=0)return r.error("Expected an even number of arguments.");if(a=r.parse(a,2,Ei),!a)return null;let s=[],l=null;(i==="interpolate-hcl"||i==="interpolate-lab")&&r.expectedType!=wk?l=xv:r.expectedType&&r.expectedType.kind!=="value"&&(l=r.expectedType);for(let u=0;u=c)return r.error('Input/output pairs for "interpolate" expressions must be arranged with input values in strictly ascending order.',h);let p=r.parse(f,d,l);if(!p)return null;l||(l=p.type),s.push([c,p])}return!G2(l,Ei)&&!G2(l,yB)&&!G2(l,xv)&&!G2(l,_B)&&!G2(l,bB)&&!G2(l,wk)&&!G2(l,wB)&&!G2(l,Lf(Ei))?r.error(`Type ${ml(l)} is not interpolatable.`):new tre(l,i,n,a,s,r.key)}evaluate(t){let r=this.labels,i=this.outputs;if(r.length===1)return i[0].evaluate(t);let n=this.input.evaluate(t);if(n<=r[0])return i[0].evaluate(t);let a=r.length;if(n>=r[a-1])return i[a-1].evaluate(t);let o=TB(r,n,this.key),s=r[o],l=r[o+1],u=tre.interpolationFactor(this.interpolation,n,s,l),c=i[o].evaluate(t),f=i[o+1].evaluate(t);switch(this.operator){case"interpolate":switch(this.type.kind){case"number":return X2(c,f,u);case"color":return ea.interpolate(c,f,u);case"padding":return Q1.interpolate(c,f,u);case"colorArray":return Xd.interpolate(c,f,u);case"numberArray":return eg.interpolate(c,f,u);case"variableAnchorOffsetCollection":return X1.interpolate(c,f,u,this.key);case"array":return AT(c,f,u);case"projectionDefinition":return Lm.interpolate(c,f,u)}case"interpolate-hcl":switch(this.type.kind){case"color":return ea.interpolate(c,f,u,"hcl");case"colorArray":return Xd.interpolate(c,f,u,"hcl")}case"interpolate-lab":switch(this.type.kind){case"color":return ea.interpolate(c,f,u,"lab");case"colorArray":return Xd.interpolate(c,f,u,"lab")}}}eachChild(t){t(this.input);for(let r of this.outputs)t(r)}outputDefined(){return this.outputs.every(t=>t.outputDefined())}};$s={color:ea.interpolate,number:X2,padding:Q1.interpolate,numberArray:eg.interpolate,colorArray:Xd.interpolate,variableAnchorOffsetCollection:X1.interpolate,array:AT},Mtt=class Stt{constructor(t){this.type=Wk,this.sections=t}static parse(t,r){if(t.length<2)return r.error("Expected at least one argument.");let i=t[1];if(!Array.isArray(i)&&typeof i=="object")return r.error("First argument must be an image or text section.");let n=[],a=!1;for(let o=1;o<=t.length-1;++o){let s=t[o];if(a&&typeof s=="object"&&!Array.isArray(s)){a=!1;let l=null;if(s["font-scale"]&&(l=r.parse(s["font-scale"],1,Ei),!l))return null;let u=null;if(s["text-font"]&&(u=r.parse(s["text-font"],1,Lf(la)),!u))return null;let c=null;if(s["text-color"]&&(c=r.parse(s["text-color"],1,xv),!c))return null;let f=null;if(s["vertical-align"]){if(typeof s["vertical-align"]=="string"&&!Vdr.includes(s["vertical-align"]))return r.error(`'vertical-align' must be one of: 'bottom', 'center', 'top' but found '${s["vertical-align"]}' instead.`);if(f=r.parse(s["vertical-align"],1,la),!f)return null}let h=n[n.length-1];h.scale=l,h.font=u,h.textColor=c,h.verticalAlign=f}else{let l=r.parse(t[o],1,ha);if(!l)return null;let 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i=1,n,a=t[0];if(a==="array"){let s;if(t.length>2){let u=t[1];if(typeof u!="string"||!(u in yz)||u==="object")return r.error('The item type argument of "array" must be one of string, number, boolean',1);s=yz[u],i++}else s=ha;let l;if(t.length>3){if(t[2]!==null&&(typeof t[2]!="number"||t[2]<0||t[2]!==Math.floor(t[2])))return r.error('The length argument to "array" must be a positive integer literal',2);l=t[2],i++}n=Lf(s,l)}else{if(!yz[a])throw Error(`Types doesn't contain name = ${a}`);n=yz[a]}let o=[];for(;it.outputDefined())}},uQe={"to-boolean":La,"to-color":xv,"to-number":Ei,"to-string":la},pT=class Ctt{constructor(t,r,i){this.type=t,this.args=r,this.key=i}static parse(t,r){if(t.length<2)return r.error("Expected at least one argument.");let i=t[0];if(!uQe[i])throw Error(`Can't parse ${i} as it is not part of the known types`);if((i==="to-boolean"||i==="to-string")&&t.length!==2)return r.error("Expected one argument.");let n=uQe[i],a=[];for(let o=1;o4?`Invalid rgba value 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al(`Expected first argument to be of type boolean, string, number or null, but found ${ml(Ql(r))} instead.`,this.key);let n;if(this.fromIndex&&(n=this.fromIndex.evaluate(t)),Ub(i,["string"])){let a=i.indexOf(r,n);return a===-1?-1:[...i.slice(0,a)].length}if(Ub(i,["array"]))return i.indexOf(r,n);throw new al(`Expected second argument to be of type array or string, but found ${ml(Ql(i))} instead.`,this.key)}eachChild(t){t(this.needle),t(this.haystack),this.fromIndex&&t(this.fromIndex)}outputDefined(){return!1}},Jdr=class ztt{constructor(t,r,i,n,a,o){this.inputType=t,this.type=r,this.input=i,this.cases=n,this.outputs=a,this.otherwise=o}static parse(t,r){if(t.length<5)return r.error(`Expected at least 4 arguments, but found only ${t.length-1}.`);if(t.length%2!=1)return r.error("Expected an even number of arguments.");let i,n;r.expectedType&&r.expectedType.kind!=="value"&&(n=r.expectedType);let a={},o=[];for(let u=2;u2**53-1)return h.error(`Branch labels must be integers no larger than 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this._globalState&&(e=kT(e,this._globalState)),this._evaluator.globals=e,this._evaluator.feature=t,this._evaluator.featureState=r,this._evaluator.canonical=i,this._evaluator.availableImages=n||null,this._evaluator.formattedSection=a,this.expression.evaluate(this._evaluator)}evaluate(e,t,r,i,n,a){this._globalState&&(e=kT(e,this._globalState)),this._evaluator.globals=e,this._evaluator.feature=t||null,this._evaluator.featureState=r||null,this._evaluator.canonical=i,this._evaluator.availableImages=n||null,this._evaluator.formattedSection=a||null;try{let o=this.expression.evaluate(this._evaluator);if(o==null||typeof o=="number"&&o!==o)return this._defaultValue;if(this._enumValues&&!(o in this._enumValues))throw new al(`Expected value to be one of ${Object.keys(this._enumValues).map(s=>JSON.stringify(s)).join(", ")}, but found ${JSON.stringify(o)} instead.`,"");return o}catch(o){let s=o instanceof al?o.path:"",l=`${s}|${o.message}`;return this._warningHistory[l]||(this._warningHistory[l]=!0,typeof console<"u"&&console.warn(art(this._rootKey,s,o.message,this._defaultValue))),this._defaultValue}}};Ek=class{constructor(e,t,r){this.kind=e,this._styleExpression=t,this.isStateDependent=e!=="constant"&&!Mk(t.expression),this.globalStateRefs=Kk(t.expression),this._globalState=r}evaluateWithoutErrorHandling(e,t,r,i,n,a){return this._globalState&&(e=kT(e,this._globalState)),this._styleExpression.evaluateWithoutErrorHandling(e,t,r,i,n,a)}evaluate(e,t,r,i,n,a){return this._globalState&&(e=kT(e,this._globalState)),this._styleExpression.evaluate(e,t,r,i,n,a)}},$z=class{constructor(e,t,r,i,n){this.kind=e,this.zoomStops=r,this._styleExpression=t,this.isStateDependent=e!=="camera"&&!Mk(t.expression),this.globalStateRefs=Kk(t.expression),this.interpolationType=i,this._globalState=n}evaluateWithoutErrorHandling(e,t,r,i,n,a){return this._globalState&&(e=kT(e,this._globalState)),this._styleExpression.evaluateWithoutErrorHandling(e,t,r,i,n,a)}evaluate(e,t,r,i,n,a){return this._globalState&&(e=kT(e,this._globalState)),this._styleExpression.evaluate(e,t,r,i,n,a)}interpolationFactor(e,t,r){return this.interpolationType?Zd.interpolationFactor(this.interpolationType,e,t,r):0}};lrt=class urt{constructor(t,r,i){this.isStateDependent=!1,this.globalStateRefs=new Set,this._globalState=null,ort(r),this._parameters=t,this._specification=i,this._rootKey=r,this._defaultValue=crt(i),this._warningHistory={};let n=irt(this._parameters,this._specification);this.kind=n.kind,this.interpolationFactor=n.interpolationFactor,this.zoomStops=n.zoomStops,this.interpolationType=n.interpolationType,this._innerEvaluate=n.evaluate}evaluate(t,r){try{return this._innerEvaluate(t,r)}catch(i){let n=i instanceof Error?i.message:String(i),a=`|${n}`;return this._warningHistory[a]||(this._warningHistory[a]=!0,typeof console<"u"&&console.warn(art(this._rootKey,"",n,this._defaultValue))),this._defaultValue}}static deserialize(t){return new urt(t._parameters,t._rootKey,t._specification)}static serialize(t){return{_parameters:t._parameters,_specification:t._specification,_rootKey:t._rootKey}}};ovr={type:"boolean",default:!1,transition:!1,"property-type":"data-driven",expression:{interpolated:!1,parameters:["zoom","feature"]}};TQe={promoteId:dvr};AQe=1114111,Avr=/^u\+(?:([0-9a-f]{1,6})(?:-([0-9a-f]{1,6}))?|([0-9a-f]{0,5}\?{1,6}))$/i;MQe={"*"(){return[]},array:Hie,boolean:uvr,number:FB,color:ure,constants:prt,enum:kk,filter:jie,function:vrt,layer:_rt,object:I0,source:brt,light:wrt,sky:Trt,terrain:Art,projection:_vr,projectionDefinition:bvr,string:J2,formatted:pvr,resolvedImage:vvr,padding:gvr,numberArray:mvr,colorArray:yvr,variableAnchorOffsetCollection:xvr,sprite:Mrt,state:Srt,fontFaces:Ert};P0.source=jd(Hd(brt)),P0.sprite=jd(Hd(Mrt)),P0.glyphs=jd(Hd(krt)),P0.fontFaces=jd(Hd(Ert)),P0.light=jd(Hd(wrt)),P0.sky=jd(Hd(Trt)),P0.terrain=jd(Hd(Art)),P0.state=jd(Hd(Srt)),P0.layer=jd(Hd(_rt)),P0.filter=jd(Hd(jie)),P0.paintProperty=jd(Hd(yrt)),P0.layoutProperty=jd(Hd(xrt));Svr={type:"enum","property-type":"data-constant",expression:{interpolated:!1,parameters:["global-state"]},values:{visible:{},none:{}},transition:!1,default:"visible"},Evr=class{constructor(e,t,r){this._rootKey=t,this._globalState=r,this.setValue(e)}evaluate(){var e;return(e=this._literalValue)!=null?e:this._compiledValue.evaluate({})}setValue(e){if(e==null||e==="visible"||e==="none"){this._literalValue=e==="none"?"none":"visible",this._compiledValue=void 0,this._globalStateRefs=new Set;return}let t=DB(e,this._rootKey,Svr,this._globalState);if(t.result==="error")throw this._literalValue="visible",this._compiledValue=void 0,Error(t.value.map(r=>`${r.key}: ${r.message}`).join(", "));this._literalValue=void 0,this._compiledValue=t.value,this._globalStateRefs=Kk(t.value.expression)}getGlobalStateRefs(){return this._globalStateRefs}};ch=P0,$ie=new Set(Object.keys(_r).filter(e=>e.startsWith("source_")).map(e=>e.slice(7).replaceAll("_","-")));fre=class Drt{constructor(t,r,i){let n=this.cells=[];if(t instanceof ArrayBuffer){this.arrayBuffer=t;let o=new Int32Array(this.arrayBuffer);t=o[0],r=o[1],i=o[2],this.d=r+2*i;for(let u=0;u=f[d+0]&&n>=f[d+1])?(s[h]=!0,o.push(c[h])):s[h]=!1}}}_forEachCell(t,r,i,n,a,o,s,l){let u=this._convertToCellCoord(t),c=this._convertToCellCoord(r),f=this._convertToCellCoord(i),h=this._convertToCellCoord(n);for(let d=u;d<=f;d++)for(let p=c;p<=h;p++){let v=this.d*p+d;if((!l||l(this._convertFromCellCoord(d),this._convertFromCellCoord(p),this._convertFromCellCoord(d+1),this._convertFromCellCoord(p+1)))&&a.call(this,t,r,i,n,v,o,s,l))return}}_convertFromCellCoord(t){return(t-this.padding)/this.scale}_convertToCellCoord(t){return Math.max(0,Math.min(this.d-1,Math.floor(t*this.scale)+this.padding))}toArrayBuffer(){if(this.arrayBuffer)return this.arrayBuffer;let t=this.cells,r=3+this.cells.length+1+1,i=0;for(let o of this.cells)i+=o.length;let n=new Int32Array(r+i+this.keys.length+this.bboxes.length);n[0]=this.extent,n[1]=this.n,n[2]=this.padding;let a=r;for(let o=0;or?(this.lastIntegerZoom=r+1,this.lastIntegerZoomTime=t):this.lastFloorZoomthis.zoomHistory.lastIntegerZoom?{fromScale:2,toScale:1,t:t+(1-t)*r}:{fromScale:.5,toScale:1,t:1-(1-r)*t}}},PB="-transition",IB=class{constructor(e,t,r,i){this.property=e,this.value=t,this.expression=tvr(t===void 0?e.specification.default:t,r,e.specification,i)}isDataDriven(){return this.expression.kind==="source"||this.expression.kind==="composite"}getGlobalStateRefs(){return this.expression.globalStateRefs||new Set}possiblyEvaluate(e,t,r){return this.property.possiblyEvaluate(this,e,t,r)}},hre=class{constructor(e,t,r){this.property=e,this.value=new IB(e,void 0,t,r)}transitioned(e,t){return new SQe(this.property,this.value,t,ln({},e.transition,this.transition),e.now)}untransitioned(){return new 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i=this.getTransition(t);i!==void 0&&(e[`${t}${PB}`]=i)}return e}transitioned(e,t){let r=new EQe(this._properties);for(let i of Object.keys(this._values))r._values[i]=this._values[i].transitioned(e,t._values[i]);return r}untransitioned(){let e=new EQe(this._properties);for(let t of Object.keys(this._values))e._values[t]=this._values[t].untransitioned();return e}},SQe=class{constructor(e,t,r,i,n){this.property=e,this.value=t,this.begin=n+i.delay||0,this.end=this.begin+i.duration||0,e.specification.transition&&(i.delay||i.duration)&&(this.prior=r)}possiblyEvaluate(e,t,r){let i=e.now||0,n=this.value.possiblyEvaluate(e,t,r),a=this.prior;if(!a)return n;if(i>this.end||this.value.isDataDriven())return this.prior=null,n;if(ii.zoomHistory.lastIntegerZoom?{from:e,to:t}:{from:r,to:t}}interpolate(e){return e}},Irt=class{constructor(e,t){this.specification=e,this.name=t}possiblyEvaluate(e,t,r,i){if(e.value!==void 0){if(e.expression.kind==="constant"){let n=e.expression.evaluate(t,null,{},r,i);return this._calculate(n,n,n,t)}return this._calculate(e.expression.evaluate(new Co(Math.floor(t.zoom-1),t)),e.expression.evaluate(new Co(Math.floor(t.zoom),t)),e.expression.evaluate(new Co(Math.floor(t.zoom+1),t)),t)}}_calculate(e,t,r,i){return i.zoom>i.zoomHistory.lastIntegerZoom?{from:e,to:t}:{from:r,to:t}}interpolate(e){return e}},zB=class{constructor(e,t){this.specification=e,this.name=t}possiblyEvaluate(e,t,r,i){return!!e.expression.evaluate(t,null,{},r,i)}interpolate(){return!1}},uc=class{constructor(e){this.properties=e,this.defaultPropertyValues={},this.defaultTransitionablePropertyValues={},this.defaultTransitioningPropertyValues={},this.defaultPossiblyEvaluatedValues={},this.overridableProperties=[];for(let t in e){let r=e[t];r.specification.overridable&&this.overridableProperties.push(t);let i=this.defaultPropertyValues[t]=new IB(r,void 0,r.name,void 0),n=this.defaultTransitionablePropertyValues[t]=new hre(r,r.name,void 0);this.defaultTransitioningPropertyValues[t]=n.untransitioned(),this.defaultPossiblyEvaluatedValues[t]=i.possiblyEvaluate({})}}};Ui("DataDrivenProperty",Sn),Ui("DataConstantProperty",Fi),Ui("CrossFadedDataDrivenProperty",Ck),Ui("CrossFadedProperty",Irt),Ui("ColorRampProperty",zB);CQe=" is a PAINT property not a LAYOUT property. Use get/setPaintProperty instead?",Wte=" is a LAYOUT property not a PAINT property. Use get/setLayoutProperty instead?",Av=class extends mu{constructor(e,t,r){if(super(),this.id=e.id,this.type=e.type,this._globalState=r,this._featureFilter={filter:()=>!0,needGeometry:!1,getGlobalStateRefs:()=>new Set},this._visibilityExpression=kvr(this.visibility,`layers[${this.id}].layout.visibility`,r),e.type!=="custom"&&(this.metadata=e.metadata,this.minzoom=e.minzoom,this.maxzoom=e.maxzoom,e.type!=="background"&&(this.source=e.source,this.sourceLayer=e["source-layer"],this.filter=e.filter,this._featureFilter=CT(e.filter,`layers[${this.id}].filter`,r)),t.layout&&(this._unevaluatedLayout=new Fvr(t.layout,`layers[${this.id}].layout`,r)),t.paint)){this._transitionablePaint=new Jk(t.paint,`layers[${this.id}].paint`,r);for(let i in e.paint)this.setPaintProperty(i,e.paint[i],{validate:!1});for(let i in e.layout)this.setLayoutProperty(i,e.layout[i],{validate:!1});this._transitioningPaint=this._transitionablePaint.untransitioned(),this.paint=new RB(t.paint)}}setFilter(e){this.filter=e,this._featureFilter=CT(e,`layers[${this.id}].filter`,this._globalState)}getCrossfadeParameters(){return this._crossfadeParameters}getLayoutProperty(e){var t;if(e==="visibility")return this.visibility;if((t=this._transitionablePaint)!=null&&t.hasProperty(e))throw Error(e+CQe);if(!this._unevaluatedLayout)throw Error(`Cannot get layout property "${e}" on layer type "${this.type}" which has no layout properties.`);return this._unevaluatedLayout.getValue(e)}getLayoutAffectingGlobalStateRefs(){let e=new Set;for(let t of this._visibilityExpression.getGlobalStateRefs())e.add(t);if(this._unevaluatedLayout)for(let t in this._unevaluatedLayout._values){let r=this._unevaluatedLayout._values[t];for(let i of r.getGlobalStateRefs())e.add(i)}for(let t of this._featureFilter.getGlobalStateRefs())e.add(t);return e}getPaintAffectingGlobalStateRefs(){var t;let e=new globalThis.Map;if(this._transitionablePaint)for(let r in this._transitionablePaint._values){let i=this._transitionablePaint._values[r].value;for(let n of i.getGlobalStateRefs()){let a=(t=e.get(n))!=null?t:[];a.push({name:r,value:i.value}),e.set(n,a)}}return e}getVisibilityAffectingGlobalStateRefs(){return this._visibilityExpression.getGlobalStateRefs()}setLayoutProperty(e,t,r={}){var i;if(e==="visibility"){this.visibility=t,this._visibilityExpression.setValue(t),this.recalculateVisibility();return}if((i=this._transitionablePaint)!=null&&i.hasProperty(e)){this.fire(new An(Error(e+CQe)));return}t!=null&&this._validate(ch.layoutProperty,`layers.${this.id}.layout.${e}`,e,t,r)||this._unevaluatedLayout.setValue(e,t)}getPaintProperty(e){var t,r;if(e.endsWith("-transition")){let i=e.slice(0,-11);if(i==="visibility"||(t=this._unevaluatedLayout)!=null&&t.hasProperty(i))throw Error(e+Wte);return this._transitionablePaint.getTransition(i)}if(e==="visibility"||(r=this._unevaluatedLayout)!=null&&r.hasProperty(e))throw Error(e+Wte);return this._transitionablePaint.getValue(e)}setPaintProperty(e,t,r={}){var i;if(e==="visibility"||(i=this._unevaluatedLayout)!=null&&i.hasProperty(e))return this.fire(new An(Error(e+Wte))),!1;if(t!=null&&this._validate(ch.paintProperty,`layers.${this.id}.paint.${e}`,e,t,r))return!1;if(e.endsWith("-transition"))return this._transitionablePaint.setTransition(e.slice(0,-11),t||void 0),!1;{let n=this._transitionablePaint._values[e],a=n.property.specification["property-type"]==="cross-faded-data-driven",o=n.value.isDataDriven(),s=n.value;this._transitionablePaint.setValue(e,t),this._handleSpecialPaintPropertyUpdate(e);let l=this._transitionablePaint._values[e].value;return l.isDataDriven()||o||a||this._handleOverridablePaintPropertyUpdate(e,s,l)}}_handleSpecialPaintPropertyUpdate(e){}_handleOverridablePaintPropertyUpdate(e,t,r){return!1}isHidden(e=this.minzoom,t=!1){return this.minzoom&&e<(t?Math.floor(this.minzoom):this.minzoom)||this.maxzoom&&e>=this.maxzoom?!0:this._evaluatedVisibility==="none"}updateTransitions(e){this._transitioningPaint=this._transitionablePaint.transitioned(e,this._transitioningPaint)}hasTransition(){return this._transitioningPaint.hasTransition()}recalculateVisibility(){this._evaluatedVisibility=this._visibilityExpression.evaluate()}recalculate(e,t){e.getCrossfadeParameters&&(this._crossfadeParameters=e.getCrossfadeParameters()),this._unevaluatedLayout&&(this.layout=this._unevaluatedLayout.possiblyEvaluate(e,void 0,t)),this.paint=this._transitioningPaint.possiblyEvaluate(e,void 0,t)}serialize(){var t,r;let e={id:this.id,type:this.type,source:this.source,"source-layer":this.sourceLayer,metadata:this.metadata,minzoom:this.minzoom,maxzoom:this.maxzoom,filter:this.filter,layout:(t=this._unevaluatedLayout)==null?void 0:t.serialize(),paint:(r=this._transitionablePaint)==null?void 0:r.serialize()};return this.visibility&&(e.layout||(e.layout={}),e.layout.visibility=this.visibility),bie(e,(i,n)=>i!==void 0&&!(n==="layout"&&!Object.keys(i).length)&&!(n==="paint"&&!Object.keys(i).length))}_validate(e,t,r,i,n={}){return qT(this,e,{key:t,layerType:this.type,objectKey:r,value:i},n)}is3D(){return!1}isTileClipped(){return!1}hasOffscreenPass(){return!1}resize(){}isStateDependent(){for(let e in this.paint._values){let t=this.paint.get(e);if(t instanceof Yd&&ET(t.property.specification)&&(t.value.kind==="source"||t.value.kind==="composite")&&t.value.isStateDependent)return!0}return!1}},Pvr=()=>Lvr||(Lvr=new uc({"raster-opacity":new Fi(_r.paint_raster["raster-opacity"],"raster-opacity"),"raster-hue-rotate":new Fi(_r.paint_raster["raster-hue-rotate"],"raster-hue-rotate"),"raster-brightness-min":new Fi(_r.paint_raster["raster-brightness-min"],"raster-brightness-min"),"raster-brightness-max":new Fi(_r.paint_raster["raster-brightness-max"],"raster-brightness-max"),"raster-saturation":new Fi(_r.paint_raster["raster-saturation"],"raster-saturation"),"raster-contrast":new Fi(_r.paint_raster["raster-contrast"],"raster-contrast"),resampling:new Fi(_r.paint_raster.resampling,"resampling"),"raster-resampling":new Fi(_r.paint_raster["raster-resampling"],"raster-resampling"),"raster-fade-duration":new Fi(_r.paint_raster["raster-fade-duration"],"raster-fade-duration")})),Ivr={get paint(){return Pvr()}},BB=e=>e.type==="raster",Rvr=class extends Av{constructor(e,t){super(e,Ivr,t)}},zvr={Int8:Int8Array,Uint8:Uint8Array,Int16:Int16Array,Uint16:Uint16Array,Int32:Int32Array,Uint32:Uint32Array,Float32:Float32Array},Qk=class{constructor(e,t){this._structArray=e,this._pos1=t*this.size,this._pos2=this._pos1/2,this._pos4=this._pos1/4,this._pos8=this._pos1/8}},yl=class{constructor(){this.isTransferred=!1,this.capacity=-1,this.resize(0)}static serialize(e,t){return e._trim(),t&&(e.isTransferred=!0,t.push(e.arrayBuffer)),{length:e.length,arrayBuffer:e.arrayBuffer}}static deserialize(e){let t=Object.create(this.prototype);return t.arrayBuffer=e.arrayBuffer,t.length=e.length,t.capacity=e.arrayBuffer.byteLength/t.bytesPerElement,t._refreshViews(),t}_trim(){this.length!==this.capacity&&(this.capacity=this.length,this.arrayBuffer=this.arrayBuffer.slice(0,this.length*this.bytesPerElement),this._refreshViews())}clear(){this.length=0}resize(e){this.reserve(e),this.length=e}reserve(e){if(e>this.capacity){this.capacity=Math.max(e,Math.floor(this.capacity*5),128),this.arrayBuffer=new ArrayBuffer(this.capacity*this.bytesPerElement);let t=this.uint8;this._refreshViews(),t&&this.uint8.set(t)}}_refreshViews(){throw Error("_refreshViews() must be implemented by each concrete StructArray layout")}freeBufferAfterUpload(){this.arrayBuffer=new ArrayBuffer(0),this._refreshViews()}};Dk=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(e,t){let r=this.length;return this.resize(r+1),this.emplace(r,e,t)}emplace(e,t,r){let i=e*2;return this.int16[i+0]=t,this.int16[i+1]=r,e}};Dk.prototype.bytesPerElement=4,Ui("StructArrayLayout2i4",Dk);Xz=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(e,t,r){let i=this.length;return this.resize(i+1),this.emplace(i,e,t,r)}emplace(e,t,r,i){let n=e*3;return this.int16[n+0]=t,this.int16[n+1]=r,this.int16[n+2]=i,e}};Xz.prototype.bytesPerElement=6,Ui("StructArrayLayout3i6",Xz);dre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(e,t,r,i){let n=this.length;return this.resize(n+1),this.emplace(n,e,t,r,i)}emplace(e,t,r,i,n){let a=e*4;return this.int16[a+0]=t,this.int16[a+1]=r,this.int16[a+2]=i,this.int16[a+3]=n,e}};dre.prototype.bytesPerElement=8,Ui("StructArrayLayout4i8",dre);pre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(e,t,r,i,n,a){let o=this.length;return this.resize(o+1),this.emplace(o,e,t,r,i,n,a)}emplace(e,t,r,i,n,a,o){let s=e*6;return this.int16[s+0]=t,this.int16[s+1]=r,this.int16[s+2]=i,this.int16[s+3]=n,this.int16[s+4]=a,this.int16[s+5]=o,e}};pre.prototype.bytesPerElement=12,Ui("StructArrayLayout2i4i12",pre);vre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(e,t,r,i,n,a){let o=this.length;return this.resize(o+1),this.emplace(o,e,t,r,i,n,a)}emplace(e,t,r,i,n,a,o){let s=e*4,l=e*8;return this.int16[s+0]=t,this.int16[s+1]=r,this.uint8[l+4]=i,this.uint8[l+5]=n,this.uint8[l+6]=a,this.uint8[l+7]=o,e}};vre.prototype.bytesPerElement=8,Ui("StructArrayLayout2i4ub8",vre);Fk=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(e,t){let r=this.length;return this.resize(r+1),this.emplace(r,e,t)}emplace(e,t,r){let i=e*2;return this.float32[i+0]=t,this.float32[i+1]=r,e}};Fk.prototype.bytesPerElement=8,Ui("StructArrayLayout2f8",Fk);gre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer)}emplaceBack(e,t,r,i,n,a,o,s,l,u){let c=this.length;return this.resize(c+1),this.emplace(c,e,t,r,i,n,a,o,s,l,u)}emplace(e,t,r,i,n,a,o,s,l,u,c){let f=e*10;return this.uint16[f+0]=t,this.uint16[f+1]=r,this.uint16[f+2]=i,this.uint16[f+3]=n,this.uint16[f+4]=a,this.uint16[f+5]=o,this.uint16[f+6]=s,this.uint16[f+7]=l,this.uint16[f+8]=u,this.uint16[f+9]=c,e}};gre.prototype.bytesPerElement=20,Ui("StructArrayLayout10ui20",gre);mre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer)}emplaceBack(e,t,r,i,n,a,o,s){let l=this.length;return this.resize(l+1),this.emplace(l,e,t,r,i,n,a,o,s)}emplace(e,t,r,i,n,a,o,s,l){let u=e*8;return this.uint16[u+0]=t,this.uint16[u+1]=r,this.uint16[u+2]=i,this.uint16[u+3]=n,this.uint16[u+4]=a,this.uint16[u+5]=o,this.uint16[u+6]=s,this.uint16[u+7]=l,e}};mre.prototype.bytesPerElement=16,Ui("StructArrayLayout8ui16",mre);yre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(e,t,r,i,n,a,o,s,l,u,c,f,h){let d=this.length;return this.resize(d+1),this.emplace(d,e,t,r,i,n,a,o,s,l,u,c,f,h)}emplace(e,t,r,i,n,a,o,s,l,u,c,f,h,d){let p=e*14,v=e*7;return this.int16[p+0]=t,this.int16[p+1]=r,this.int16[p+2]=i,this.int16[p+3]=n,this.uint16[p+4]=a,this.uint16[p+5]=o,this.uint16[p+6]=s,this.uint16[p+7]=l,this.int16[p+8]=u,this.int16[p+9]=c,this.int16[p+10]=f,this.int16[p+11]=h,this.float32[v+6]=d,e}};yre.prototype.bytesPerElement=28,Ui("StructArrayLayout4i4ui4i1f28",yre);xre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(e,t,r){let i=this.length;return this.resize(i+1),this.emplace(i,e,t,r)}emplace(e,t,r,i){let n=e*3;return this.float32[n+0]=t,this.float32[n+1]=r,this.float32[n+2]=i,e}};xre.prototype.bytesPerElement=12,Ui("StructArrayLayout3f12",xre);_re=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint32=new Uint32Array(this.arrayBuffer)}emplaceBack(e){let t=this.length;return this.resize(t+1),this.emplace(t,e)}emplace(e,t){let r=e*1;return this.uint32[r+0]=t,e}};_re.prototype.bytesPerElement=4,Ui("StructArrayLayout1ul4",_re);bre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer),this.uint32=new Uint32Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer)}emplaceBack(e,t,r,i,n,a,o,s,l){let u=this.length;return this.resize(u+1),this.emplace(u,e,t,r,i,n,a,o,s,l)}emplace(e,t,r,i,n,a,o,s,l,u){let c=e*10,f=e*5;return this.int16[c+0]=t,this.int16[c+1]=r,this.int16[c+2]=i,this.int16[c+3]=n,this.int16[c+4]=a,this.int16[c+5]=o,this.uint32[f+3]=s,this.uint16[c+8]=l,this.uint16[c+9]=u,e}};bre.prototype.bytesPerElement=20,Ui("StructArrayLayout6i1ul2ui20",bre);wre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(e,t,r,i,n,a){let o=this.length;return this.resize(o+1),this.emplace(o,e,t,r,i,n,a)}emplace(e,t,r,i,n,a,o){let s=e*6;return this.int16[s+0]=t,this.int16[s+1]=r,this.int16[s+2]=i,this.int16[s+3]=n,this.int16[s+4]=a,this.int16[s+5]=o,e}};wre.prototype.bytesPerElement=12,Ui("StructArrayLayout2i2i2i12",wre);Tre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(e,t,r,i,n){let a=this.length;return this.resize(a+1),this.emplace(a,e,t,r,i,n)}emplace(e,t,r,i,n,a){let o=e*4,s=e*8;return this.float32[o+0]=t,this.float32[o+1]=r,this.float32[o+2]=i,this.int16[s+6]=n,this.int16[s+7]=a,e}};Tre.prototype.bytesPerElement=16,Ui("StructArrayLayout2f1f2i16",Tre);Are=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(e,t,r,i,n,a){let o=this.length;return this.resize(o+1),this.emplace(o,e,t,r,i,n,a)}emplace(e,t,r,i,n,a,o){let s=e*16,l=e*4,u=e*8;return this.uint8[s+0]=t,this.uint8[s+1]=r,this.float32[l+1]=i,this.float32[l+2]=n,this.int16[u+6]=a,this.int16[u+7]=o,e}};Are.prototype.bytesPerElement=16,Ui("StructArrayLayout2ub2f2i16",Are);Zz=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer)}emplaceBack(e,t,r){let i=this.length;return this.resize(i+1),this.emplace(i,e,t,r)}emplace(e,t,r,i){let n=e*3;return this.uint16[n+0]=t,this.uint16[n+1]=r,this.uint16[n+2]=i,e}};Zz.prototype.bytesPerElement=6,Ui("StructArrayLayout3ui6",Zz);Mre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer),this.uint32=new Uint32Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(e,t,r,i,n,a,o,s,l,u,c,f,h,d,p,v,m,g){let w=this.length;return this.resize(w+1),this.emplace(w,e,t,r,i,n,a,o,s,l,u,c,f,h,d,p,v,m,g)}emplace(e,t,r,i,n,a,o,s,l,u,c,f,h,d,p,v,m,g,w){let b=e*26,_=e*13,M=e*52;return this.int16[b+0]=t,this.int16[b+1]=r,this.uint16[b+2]=i,this.uint16[b+3]=n,this.uint32[_+2]=a,this.uint32[_+3]=o,this.uint32[_+4]=s,this.uint16[b+10]=l,this.uint16[b+11]=u,this.uint16[b+12]=c,this.float32[_+7]=f,this.float32[_+8]=h,this.uint8[M+36]=d,this.uint8[M+37]=p,this.uint8[M+38]=v,this.uint32[_+10]=m,this.int16[b+22]=g,this.float32[_+12]=w,e}};Mre.prototype.bytesPerElement=52,Ui("StructArrayLayout2i2ui3ul3ui2f3ub1ul1i1f52",Mre);Sre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer),this.uint32=new Uint32Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(e,t,r,i,n,a,o,s,l,u,c,f,h,d,p,v,m,g,w,b,_,M,x,T,A,y,E,S,C){let k=this.length;return this.resize(k+1),this.emplace(k,e,t,r,i,n,a,o,s,l,u,c,f,h,d,p,v,m,g,w,b,_,M,x,T,A,y,E,S,C)}emplace(e,t,r,i,n,a,o,s,l,u,c,f,h,d,p,v,m,g,w,b,_,M,x,T,A,y,E,S,C,k){let D=e*34,F=e*17;return this.int16[D+0]=t,this.int16[D+1]=r,this.int16[D+2]=i,this.int16[D+3]=n,this.int16[D+4]=a,this.int16[D+5]=o,this.int16[D+6]=s,this.int16[D+7]=l,this.uint16[D+8]=u,this.uint16[D+9]=c,this.uint16[D+10]=f,this.uint16[D+11]=h,this.uint16[D+12]=d,this.uint16[D+13]=p,this.uint16[D+14]=v,this.uint16[D+15]=m,this.uint16[D+16]=g,this.uint16[D+17]=w,this.uint16[D+18]=b,this.uint16[D+19]=_,this.uint16[D+20]=M,this.uint16[D+21]=x,this.uint16[D+22]=T,this.uint32[F+12]=A,this.float32[F+13]=y,this.float32[F+14]=E,this.uint16[D+30]=S,this.uint16[D+31]=C,this.float32[F+16]=k,e}};Sre.prototype.bytesPerElement=68,Ui("StructArrayLayout8i15ui1ul2f2ui1f68",Sre);Kz=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(e){let t=this.length;return this.resize(t+1),this.emplace(t,e)}emplace(e,t){let r=e*1;return this.float32[r+0]=t,e}};Kz.prototype.bytesPerElement=4,Ui("StructArrayLayout1f4",Kz);Ere=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(e,t,r){let i=this.length;return this.resize(i+1),this.emplace(i,e,t,r)}emplace(e,t,r,i){let n=e*6,a=e*3;return this.uint16[n+0]=t,this.float32[a+1]=r,this.float32[a+2]=i,e}};Ere.prototype.bytesPerElement=12,Ui("StructArrayLayout1ui2f12",Ere);kre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint32=new Uint32Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer)}emplaceBack(e,t,r){let i=this.length;return this.resize(i+1),this.emplace(i,e,t,r)}emplace(e,t,r,i){let n=e*2,a=e*4;return this.uint32[n+0]=t,this.uint16[a+2]=r,this.uint16[a+3]=i,e}};kre.prototype.bytesPerElement=8,Ui("StructArrayLayout1ul2ui8",kre);Cre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer)}emplaceBack(e,t){let r=this.length;return this.resize(r+1),this.emplace(r,e,t)}emplace(e,t,r){let i=e*2;return this.uint16[i+0]=t,this.uint16[i+1]=r,e}};Cre.prototype.bytesPerElement=4,Ui("StructArrayLayout2ui4",Cre);Dre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer)}emplaceBack(e){let t=this.length;return this.resize(t+1),this.emplace(t,e)}emplace(e,t){let r=e*1;return this.uint16[r+0]=t,e}};Dre.prototype.bytesPerElement=2,Ui("StructArrayLayout1ui2",Dre);Fre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(e,t,r,i){let n=this.length;return this.resize(n+1),this.emplace(n,e,t,r,i)}emplace(e,t,r,i,n){let a=e*4;return this.float32[a+0]=t,this.float32[a+1]=r,this.float32[a+2]=i,this.float32[a+3]=n,e}};Fre.prototype.bytesPerElement=16,Ui("StructArrayLayout4f16",Fre);Rrt=class extends Qk{get anchorPointX(){return this._structArray.int16[this._pos2+0]}get anchorPointY(){return this._structArray.int16[this._pos2+1]}get x1(){return this._structArray.int16[this._pos2+2]}get y1(){return this._structArray.int16[this._pos2+3]}get x2(){return this._structArray.int16[this._pos2+4]}get y2(){return this._structArray.int16[this._pos2+5]}get featureIndex(){return this._structArray.uint32[this._pos4+3]}get sourceLayerIndex(){return this._structArray.uint16[this._pos2+8]}get bucketIndex(){return this._structArray.uint16[this._pos2+9]}get anchorPoint(){return new tr(this.anchorPointX,this.anchorPointY)}};Rrt.prototype.size=20;Xie=class extends bre{get(e){return new Rrt(this,e)}};Ui("CollisionBoxArray",Xie);zrt=class extends Qk{get anchorX(){return this._structArray.int16[this._pos2+0]}get anchorY(){return this._structArray.int16[this._pos2+1]}get glyphStartIndex(){return this._structArray.uint16[this._pos2+2]}get numGlyphs(){return this._structArray.uint16[this._pos2+3]}get vertexStartIndex(){return this._structArray.uint32[this._pos4+2]}get lineStartIndex(){return this._structArray.uint32[this._pos4+3]}get lineLength(){return this._structArray.uint32[this._pos4+4]}get segment(){return this._structArray.uint16[this._pos2+10]}get lowerSize(){return this._structArray.uint16[this._pos2+11]}get upperSize(){return this._structArray.uint16[this._pos2+12]}get lineOffsetX(){return this._structArray.float32[this._pos4+7]}get lineOffsetY(){return this._structArray.float32[this._pos4+8]}get writingMode(){return this._structArray.uint8[this._pos1+36]}get placedOrientation(){return this._structArray.uint8[this._pos1+37]}set placedOrientation(e){this._structArray.uint8[this._pos1+37]=e}get hidden(){return this._structArray.uint8[this._pos1+38]}set hidden(e){this._structArray.uint8[this._pos1+38]=e}get crossTileID(){return this._structArray.uint32[this._pos4+10]}set crossTileID(e){this._structArray.uint32[this._pos4+10]=e}get associatedIconIndex(){return this._structArray.int16[this._pos2+22]}get heightOffset(){return this._structArray.float32[this._pos4+12]}};zrt.prototype.size=52;Brt=class extends Mre{get(e){return new zrt(this,e)}};Ui("PlacedSymbolArray",Brt);qrt=class extends Qk{get anchorX(){return this._structArray.int16[this._pos2+0]}get anchorY(){return this._structArray.int16[this._pos2+1]}get rightJustifiedTextSymbolIndex(){return this._structArray.int16[this._pos2+2]}get centerJustifiedTextSymbolIndex(){return this._structArray.int16[this._pos2+3]}get leftJustifiedTextSymbolIndex(){return this._structArray.int16[this._pos2+4]}get verticalPlacedTextSymbolIndex(){return this._structArray.int16[this._pos2+5]}get placedIconSymbolIndex(){return this._structArray.int16[this._pos2+6]}get verticalPlacedIconSymbolIndex(){return this._structArray.int16[this._pos2+7]}get key(){return this._structArray.uint16[this._pos2+8]}get textBoxStartIndex(){return this._structArray.uint16[this._pos2+9]}get textBoxEndIndex(){return this._structArray.uint16[this._pos2+10]}get verticalTextBoxStartIndex(){return this._structArray.uint16[this._pos2+11]}get verticalTextBoxEndIndex(){return this._structArray.uint16[this._pos2+12]}get iconBoxStartIndex(){return this._structArray.uint16[this._pos2+13]}get iconBoxEndIndex(){return this._structArray.uint16[this._pos2+14]}get verticalIconBoxStartIndex(){return this._structArray.uint16[this._pos2+15]}get verticalIconBoxEndIndex(){return this._structArray.uint16[this._pos2+16]}get featureIndex(){return this._structArray.uint16[this._pos2+17]}get numHorizontalGlyphVertices(){return this._structArray.uint16[this._pos2+18]}get numVerticalGlyphVertices(){return this._structArray.uint16[this._pos2+19]}get numIconVertices(){return this._structArray.uint16[this._pos2+20]}get numVerticalIconVertices(){return this._structArray.uint16[this._pos2+21]}get useRuntimeCollisionCircles(){return this._structArray.uint16[this._pos2+22]}get crossTileID(){return this._structArray.uint32[this._pos4+12]}set crossTileID(e){this._structArray.uint32[this._pos4+12]=e}get textBoxScale(){return this._structArray.float32[this._pos4+13]}get collisionCircleDiameter(){return this._structArray.float32[this._pos4+14]}get textAnchorOffsetStartIndex(){return this._structArray.uint16[this._pos2+30]}get textAnchorOffsetEndIndex(){return this._structArray.uint16[this._pos2+31]}get heightOffset(){return this._structArray.float32[this._pos4+16]}};qrt.prototype.size=68;Ort=class extends Sre{get(e){return new qrt(this,e)}};Ui("SymbolInstanceArray",Ort);Nrt=class extends Kz{getoffsetX(e){return this.float32[e*1+0]}};Ui("GlyphOffsetArray",Nrt);Urt=class extends Xz{getx(e){return this.int16[e*3+0]}gety(e){return this.int16[e*3+1]}gettileUnitDistanceFromAnchor(e){return this.int16[e*3+2]}};Ui("SymbolLineVertexArray",Urt);Vrt=class extends Qk{get textAnchor(){return this._structArray.uint16[this._pos2+0]}get textOffset0(){return this._structArray.float32[this._pos4+1]}get textOffset1(){return this._structArray.float32[this._pos4+2]}};Vrt.prototype.size=12;Grt=class extends Ere{get(e){return new Vrt(this,e)}};Ui("TextAnchorOffsetArray",Grt);Hrt=class extends Qk{get featureIndex(){return this._structArray.uint32[this._pos4+0]}get sourceLayerIndex(){return this._structArray.uint16[this._pos2+2]}get bucketIndex(){return this._structArray.uint16[this._pos2+3]}};Hrt.prototype.size=8;jrt=class extends kre{get(e){return new Hrt(this,e)}};Ui("FeatureIndexArray",jrt);Pm=class extends Dk{},$rt=class extends Xz{},Wrt=class extends dre{},qvr=class extends Dk{},Ovr=class extends Dk{},Nvr=class extends pre{},Uvr=class extends vre{},Vvr=class extends Fk{},sT=class extends gre{},FQe=class extends mre{},Gvr=class extends yre{},Hvr=class extends xre{},jvr=class extends _re{},LQe=class extends wre{},Yrt=class extends Tre{},$vr=class extends Are{},Xrt=class extends Zz{},Mv=class extends Zz{},Lre=class extends Cre{},Zrt=class extends Dre{},Pre=ol([{name:"a_pos",components:2,type:"Int16"}],4),Wvr=Pre.members;Pre.size,Pre.alignment;Ws=class hT{constructor(t=[]){this._forceNewSegmentOnNextPrepare=!1,this.segments=t}prepareSegment(t,r,i,n){let a=this.segments[this.segments.length-1];return t>hT.MAX_VERTEX_ARRAY_LENGTH&&Ma(`Max vertices per segment is ${hT.MAX_VERTEX_ARRAY_LENGTH}: bucket requested ${t}. Consider using the \`fillLargeMeshArrays\` function if you require meshes with more than ${hT.MAX_VERTEX_ARRAY_LENGTH} vertices.`),this._forceNewSegmentOnNextPrepare||!a||a.vertexLength+t>hT.MAX_VERTEX_ARRAY_LENGTH||a.sortKey!==n?this.createNewSegment(r,i,n):a}createNewSegment(t,r,i){let n={vertexOffset:t.length,primitiveOffset:r.length,vertexLength:0,primitiveLength:0,vaos:{}};return i!==void 0&&(n.sortKey=i),this._forceNewSegmentOnNextPrepare=!1,this.segments.push(n),n}getOrCreateLatestSegment(t,r,i){return this.prepareSegment(0,t,r,i)}forceNewSegmentOnNextPrepare(){this._forceNewSegmentOnNextPrepare=!0}get(){return this.segments}destroy(){for(let t of this.segments)for(let r in t.vaos)t.vaos[r].destroy()}static simpleSegment(t,r,i,n){return new hT([{vertexOffset:t,primitiveOffset:r,vertexLength:i,primitiveLength:n,vaos:{},sortKey:0}])}};Ws.MAX_VERTEX_ARRAY_LENGTH=2**16-1,Ui("SegmentVector",Ws);Yvr=ol([{name:"a_pattern_from",components:4,type:"Uint16"},{name:"a_pattern_to",components:4,type:"Uint16"},{name:"a_pixel_ratio_from",components:1,type:"Uint16"},{name:"a_pixel_ratio_to",components:1,type:"Uint16"}]),Xvr=ol([{name:"a_dasharray_from",components:4,type:"Uint16"},{name:"a_dasharray_to",components:4,type:"Uint16"}]),Zvr=cie(((e,t)=>{function r(i,n){for(var a=i.length&3,o=i.length-a,s=n,l,u=3432918353,c=461845907,f,h=0;h>>16)*u&65535)<<16)&4294967295,f=f<<15|f>>>17,f=(f&65535)*c+(((f>>>16)*c&65535)<<16)&4294967295,s^=f,s=s<<13|s>>>19,l=(s&65535)*5+(((s>>>16)*5&65535)<<16)&4294967295,s=(l&65535)+27492+(((l>>>16)+58964&65535)<<16);switch(f=0,a){case 3:f^=(i.charCodeAt(h+2)&255)<<16;case 2:f^=(i.charCodeAt(h+1)&255)<<8;case 1:f^=i.charCodeAt(h)&255,f=(f&65535)*u+(((f>>>16)*u&65535)<<16)&4294967295,f=f<<15|f>>>17,f=(f&65535)*c+(((f>>>16)*c&65535)<<16)&4294967295,s^=f}return s^=i.length,s^=s>>>16,s=(s&65535)*2246822507+(((s>>>16)*2246822507&65535)<<16)&4294967295,s^=s>>>13,s=(s&65535)*3266489909+(((s>>>16)*3266489909&65535)<<16)&4294967295,s^=s>>>16,s>>>0}t!==void 0&&(t.exports=r)})),Kvr=cie(((e,t)=>{function r(i,n){for(var a=i.length,o=n^a,s=0,l;a>=4;)l=i.charCodeAt(s)&255|(i.charCodeAt(++s)&255)<<8|(i.charCodeAt(++s)&255)<<16|(i.charCodeAt(++s)&255)<<24,l=(l&65535)*1540483477+(((l>>>16)*1540483477&65535)<<16),l^=l>>>24,l=(l&65535)*1540483477+(((l>>>16)*1540483477&65535)<<16),o=(o&65535)*1540483477+(((o>>>16)*1540483477&65535)<<16)^l,a-=4,++s;switch(a){case 3:o^=(i.charCodeAt(s+2)&255)<<16;case 2:o^=(i.charCodeAt(s+1)&255)<<8;case 1:o^=i.charCodeAt(s)&255,o=(o&65535)*1540483477+(((o>>>16)*1540483477&65535)<<16)}return o^=o>>>13,o=(o&65535)*1540483477+(((o>>>16)*1540483477&65535)<<16),o^=o>>>15,o>>>0}t.exports=r})),Ire=cdr(cie(((e,t)=>{var r=Zvr(),i=Kvr();t.exports=r,t.exports.murmur3=r,t.exports.murmur2=i}))(),1),Krt=class Jrt{constructor(){this.ids=[],this.positions=[],this.indexed=!1}add(t,r,i,n){this.ids.push(IQe(t)),this.positions.push(r,i,n)}getPositions(t){if(!this.indexed)throw Error("Trying to get index, but feature positions are not indexed");let r=IQe(t),i=0,n=this.ids.length-1;for(;i>1;this.ids[o]>=r?n=o:i=o+1}let a=[];for(;this.ids[i]===r;){let o=this.positions[3*i],s=this.positions[3*i+1],l=this.positions[3*i+2];a.push({index:o,start:s,end:l}),i++}return a}static serialize(t,r){let i=new Float64Array(t.ids),n=new Uint32Array(t.positions);return Rre(i,n,0,i.length-1),r&&r.push(i.buffer,n.buffer),{ids:i,positions:n}}static deserialize(t){let r=new Jrt;return r.ids=t.ids,r.positions=t.positions,r.indexed=!0,r}};Ui("FeaturePositionMap",Krt);Im=class{constructor(e,t){this.gl=e.gl,this.location=t}},wn=class extends Im{constructor(e,t){super(e,t),this.current=0}set(e){this.current!==e&&(this.current=e,this.gl.uniform1i(this.location,e))}},qi=class extends Im{constructor(e,t){super(e,t),this.current=0}set(e){this.current!==e&&(this.current=e,this.gl.uniform1f(this.location,e))}},pa=class extends Im{constructor(e,t){super(e,t),this.current=[0,0]}set(e){(e[0]!==this.current[0]||e[1]!==this.current[1])&&(this.current=e,this.gl.uniform2f(this.location,e[0],e[1]))}},Rf=class extends Im{constructor(e,t){super(e,t),this.current=[0,0,0]}set(e){(e[0]!==this.current[0]||e[1]!==this.current[1]||e[2]!==this.current[2])&&(this.current=e,this.gl.uniform3f(this.location,e[0],e[1],e[2]))}},OT=class extends Im{constructor(e,t){super(e,t),this.current=[0,0,0,0]}set(e){(e[0]!==this.current[0]||e[1]!==this.current[1]||e[2]!==this.current[2]||e[3]!==this.current[3])&&(this.current=e,this.gl.uniform4f(this.location,e[0],e[1],e[2],e[3]))}},Rm=class extends Im{constructor(e,t){super(e,t),this.current=ea.transparent}set(e){(e.r!==this.current.r||e.g!==this.current.g||e.b!==this.current.b||e.a!==this.current.a)&&(this.current=e,this.gl.uniform4f(this.location,e.r,e.g,e.b,e.a))}},Zie=class extends Im{constructor(e,t){super(e,t),this.current=[]}set(e){if(e!=this.current){this.current=e;let t=new Float32Array(e.length*4);for(let r=0;r`u_${i}`),this.type=r}setUniform(e,t,r){e.set(r.constantOr(this.value))}getBinding(e,t,r){return this.type==="color"?new Rm(e,t):new qi(e,t)}},zb=class{constructor(e,t){this.uniformNames=t.map(r=>`u_${r}`),this.patternFrom=null,this.patternTo=null,this.pixelRatioFrom=1,this.pixelRatioTo=1}setConstantPatternPositions(e,t){this.pixelRatioFrom=t.pixelRatio,this.pixelRatioTo=e.pixelRatio,this.patternFrom=t.tlbr,this.patternTo=e.tlbr}setConstantDashPositions(e,t){this.dashTo=[0,e.y,e.height,e.width],this.dashFrom=[0,t.y,t.height,t.width]}setUniform(e,t,r,i){let n=null;i==="u_pattern_to"?n=this.patternTo:i==="u_pattern_from"?n=this.patternFrom:i==="u_dasharray_to"?n=this.dashTo:i==="u_dasharray_from"?n=this.dashFrom:i==="u_pixel_ratio_to"?n=this.pixelRatioTo:i==="u_pixel_ratio_from"&&(n=this.pixelRatioFrom),n!==null&&e.set(n)}getBinding(e,t,r){return r.startsWith("u_pattern")||r.startsWith("u_dasharray_")?new OT(e,t):new qi(e,t)}},xm=class{constructor(e,t,r,i){this.expression=e,this.type=r,this.maxValue=0,this.paintVertexAttributes=t.map(n=>({name:`a_${n}`,type:"Float32",components:r==="color"?2:1,offset:0})),this.paintVertexArray=new i}populatePaintArray(e,t,r){let i=this.paintVertexArray.length,n=this.expression.evaluate(new Co(0,r),t,{},r.canonical,[],r.formattedSection);this.paintVertexArray.resize(e),this._setPaintValue(i,e,n)}updatePaintArray(e,t,r,i,n){let a=this.expression.evaluate(new Co(0,n),r,i);this._setPaintValue(e,t,a)}_setPaintValue(e,t,r){if(this.type==="color"){let i=zre(r);for(let n=e;n`u_${o}_t`),this.type=r,this.useIntegerZoom=i,this.zoom=n,this.maxValue=0,this.paintVertexAttributes=t.map(o=>({name:`a_${o}`,type:"Float32",components:r==="color"?4:2,offset:0})),this.paintVertexArray=new a}populatePaintArray(e,t,r){let i=this.expression.evaluate(new Co(this.zoom,r),t,{},r.canonical,[],r.formattedSection),n=this.expression.evaluate(new Co(this.zoom+1,r),t,{},r.canonical,[],r.formattedSection),a=this.paintVertexArray.length;this.paintVertexArray.resize(e),this._setPaintValue(a,e,i,n)}updatePaintArray(e,t,r,i,n){let a=this.expression.evaluate(new Co(this.zoom,n),r,i),o=this.expression.evaluate(new Co(this.zoom+1,n),r,i);this._setPaintValue(e,t,a,o)}_setPaintValue(e,t,r,i){if(this.type==="color"){let n=zre(r),a=zre(i);for(let o=e;o`#define HAS_UNIFORM_${i}`))}return e}getBinderAttributes(){let e=[];for(let t in this.binders){let r=this.binders[t];if(r instanceof xm||r instanceof mv)for(let i of r.paintVertexAttributes)e.push(i.name);else if(r instanceof j2){let i=r.getVertexAttributes();for(let n of i)e.push(n.name)}}return e}getBinderUniforms(){let e=[];for(let t in this.binders){let r=this.binders[t];if(r instanceof hk||r instanceof zb||r instanceof mv)for(let i of r.uniformNames)e.push(i)}return e}getPaintVertexBuffers(){return this._buffers}getUniforms(e,t){let r=[];for(let i in this.binders){let n=this.binders[i];if(n instanceof hk||n instanceof zb||n instanceof mv){for(let a of n.uniformNames)if(t[a]){let o=n.getBinding(e,t[a],a);r.push({name:a,property:i,binding:o})}}}return r}setUniforms(e,t,r,i){for(let{name:n,property:a,binding:o}of t)this.binders[a].setUniform(o,i,r.get(a),n)}updatePaintBuffers(e){this._buffers=[];for(let t in this.binders){let r=this.binders[t];if(e&&r instanceof j2){let i=e.fromScale===2?r.zoomInPaintVertexBuffer:r.zoomOutPaintVertexBuffer;i&&this._buffers.push(i)}else(r instanceof xm||r instanceof mv)&&r.paintVertexBuffer&&this._buffers.push(r.paintVertexBuffer)}}upload(e){for(let t in this.binders){let r=this.binders[t];(r instanceof xm||r instanceof mv||r instanceof j2)&&r.upload(e)}this.updatePaintBuffers()}destroy(){for(let e in this.binders){let t=this.binders[e];(t instanceof xm||t instanceof mv||t instanceof j2)&&t.destroy()}}},$b=class{constructor(e,t,r=()=>!0){this.programConfigurations={};for(let i of e)this.programConfigurations[i.id]=new tit(i,t,r);this.needsUpload=!1,this._featureMap=new Krt,this._bufferOffset=0}populatePaintArrays(e,t,r,i){for(let n in this.programConfigurations)this.programConfigurations[n].populatePaintArrays(e,t,i);t.id!==void 0&&this._featureMap.add(t.id,r,this._bufferOffset,e),this._bufferOffset=e,this.needsUpload=!0}updatePaintArrays(e,t,r,i){for(let n of r)this.needsUpload=this.programConfigurations[n.id].updatePaintArrays(e,this._featureMap,t,n,i)||this.needsUpload}get(e){return this.programConfigurations[e]}upload(e){if(this.needsUpload){for(let t in this.programConfigurations)this.programConfigurations[t].upload(e);this.needsUpload=!1}}destroy(){for(let e in this.programConfigurations)this.programConfigurations[e].destroy()}};Ui("ConstantBinder",hk),Ui("CrossFadedConstantBinder",zb),Ui("SourceExpressionBinder",xm),Ui("CrossFadedPatternBinder",Qrt),Ui("CrossFadedDasharrayBinder",eit),Ui("CompositeExpressionBinder",mv),Ui("ProgramConfiguration",tit,{omit:["_buffers"]}),Ui("ProgramConfigurationSet",$b);Bre=2**14-1,zQe=-Bre-1;BQe=-32768;Jie=class{constructor(e){this.zoom=e.zoom,this.overscaling=e.overscaling,this.layers=e.layers,this.layerIds=this.layers.map(t=>t.id),this.index=e.index,this.hasDependencies=!1,this.layoutVertexArray=new qvr,this.indexArray=new Mv,this.segments=new Ws,this.programConfigurations=new $b(e.layers,e.zoom),this.stateDependentLayerIds=this.layers.filter(t=>t.isStateDependent()).map(t=>t.id)}populate(e,t,r){let i=this.layers[0],n=[],a=null,o=!1,s=i.type==="heatmap";if(i.type==="circle"){let f=i;a=f.layout.get("circle-sort-key"),o=!a.isConstant(),s||(s=f.paint.get("circle-pitch-alignment")==="map")}let l=s?t.subdivisionGranularity.circle:1,u=new Co(this.zoom),c=this.layers[0]._featureFilter.needGeometry;for(let{feature:f,id:h,index:d,sourceLayerIndex:p}of e){let v=tx(f,c);if(!this.layers[0]._featureFilter.filter(u,v,r))continue;let m=o?a.evaluate(v,{},r):void 0,g={id:h,properties:f.properties,type:f.type,sourceLayerIndex:p,index:d,geometry:c?v.geometry:Qb(f),patterns:{},sortKey:m};n.push(g)}o&&n.sort((f,h)=>f.sortKey-h.sortKey);for(let f of n){let{geometry:h,index:d,sourceLayerIndex:p}=f,v=e[d].feature;this.addFeature(f,h,d,r,l),t.featureIndex.insert(v,h,d,p,this.index)}}update(e,t,r){this.stateDependentLayers.length&&this.programConfigurations.updatePaintArrays(e,t,this.stateDependentLayers,{imagePositions:r})}addFeatures(e){}isEmpty(){return this.layoutVertexArray.length===0}uploadPending(){return!this.uploaded||this.programConfigurations.needsUpload}upload(e){this.uploaded||(this.layoutVertexBuffer=e.createVertexBuffer(this.layoutVertexArray,Wvr),this.indexBuffer=e.createIndexBuffer(this.indexArray)),this.programConfigurations.upload(e),this.uploaded=!0}destroy(){this.layoutVertexBuffer&&(this.layoutVertexBuffer.destroy(),this.indexBuffer.destroy(),this.programConfigurations.destroy(),this.segments.destroy())}addFeature(e,t,r,i,n=1){let a;switch(n){case 1:a=[0,7];break;case 3:a=[0,2,5,7];break;case 5:a=[0,1,3,4,6,7];break;case 7:a=[0,1,2,3,4,5,6,7];break;default:throw Error(`Invalid circle bucket granularity: ${n}; valid values are 1, 3, 5, 7.`)}let o=a.length;for(let s of t)for(let l of s){let u=l.x,c=l.y;if(u<0||u>=8192||c<0||c>=8192)continue;let f=this.segments.prepareSegment(o*o,this.layoutVertexArray,this.indexArray,e.sortKey),h=f.vertexLength;for(let d=0;dp1r||(p1r=new uc({"circle-sort-key":new Sn(_r.layout_circle["circle-sort-key"],"circle-sort-key")})),m1r=()=>g1r||(g1r=new uc({"circle-radius":new Sn(_r.paint_circle["circle-radius"],"circle-radius"),"circle-color":new Sn(_r.paint_circle["circle-color"],"circle-color"),"circle-blur":new Sn(_r.paint_circle["circle-blur"],"circle-blur"),"circle-opacity":new Sn(_r.paint_circle["circle-opacity"],"circle-opacity"),"circle-translate":new Fi(_r.paint_circle["circle-translate"],"circle-translate"),"circle-translate-anchor":new Fi(_r.paint_circle["circle-translate-anchor"],"circle-translate-anchor"),"circle-pitch-scale":new Fi(_r.paint_circle["circle-pitch-scale"],"circle-pitch-scale"),"circle-pitch-alignment":new Fi(_r.paint_circle["circle-pitch-alignment"],"circle-pitch-alignment"),"circle-stroke-width":new Sn(_r.paint_circle["circle-stroke-width"],"circle-stroke-width"),"circle-stroke-color":new Sn(_r.paint_circle["circle-stroke-color"],"circle-stroke-color"),"circle-stroke-opacity":new Sn(_r.paint_circle["circle-stroke-opacity"],"circle-stroke-opacity")})),y1r={get paint(){return m1r()},get layout(){return v1r()}},ait=e=>e.type==="circle",x1r=class extends Av{constructor(e,t){super(e,y1r,t)}createBucket(e){return new Jie(e)}queryRadius(e){let t=e;return yT("circle-radius",this,t)+yT("circle-stroke-width",this,t)+OB(this.paint.get("circle-translate"))}queryIntersectsFeature({queryGeometry:e,feature:t,featureState:r,geometry:i,transform:n,pixelsToTileUnits:a,unwrappedTileID:o,getElevation:s}){let l=NB(e,this.paint.get("circle-translate"),this.paint.get("circle-translate-anchor"),-n.bearingInRadians,a),u=this.paint.get("circle-radius").evaluate(t,r)+this.paint.get("circle-stroke-width").evaluate(t,r),c=this.paint.get("circle-pitch-scale"),f=this.paint.get("circle-pitch-alignment"),h,d;return f==="map"?(h=l,d=u*a):(h=d1r(l,n,o,s),d=u),nit({queryGeometry:h,size:d,transform:n,unwrappedTileID:o,getElevation:s,pitchAlignment:f,pitchScale:c},i)}},oit=class extends Jie{};Ui("HeatmapBucket",oit,{omit:["layers"]});b1r=()=>_1r||(_1r=new uc({"heatmap-radius":new Sn(_r.paint_heatmap["heatmap-radius"],"heatmap-radius"),"heatmap-weight":new Sn(_r.paint_heatmap["heatmap-weight"],"heatmap-weight"),"heatmap-intensity":new Fi(_r.paint_heatmap["heatmap-intensity"],"heatmap-intensity"),"heatmap-color":new zB(_r.paint_heatmap["heatmap-color"],"heatmap-color"),"heatmap-opacity":new Fi(_r.paint_heatmap["heatmap-opacity"],"heatmap-opacity")})),w1r={get paint(){return b1r()}};UB=class lit{constructor(t,r){rne(this,t,1,r)}resize(t){sit(this,t,1)}clone(){return new lit({width:this.width,height:this.height},new Uint8Array(this.data))}static copy(t,r,i,n,a){ine(t,r,i,n,a,1)}},As=class uit{constructor(t,r){rne(this,t,4,r)}resize(t){sit(this,t,4)}replace(t,r){r?this.data.set(t):this.data=t instanceof Uint8ClampedArray?new Uint8Array(t.buffer):t}clone(){return new uit({width:this.width,height:this.height},new Uint8Array(this.data))}static copy(t,r,i,n,a){ine(t,r,i,n,a,4)}setPixel(t,r,i){let n=(t*this.width+r)*4;this.data[n+0]=Math.round(i.r*255/i.a),this.data[n+1]=Math.round(i.g*255/i.a),this.data[n+2]=Math.round(i.b*255/i.a),this.data[n+3]=Math.round(i.a*255)}};Ui("AlphaImage",UB),Ui("RGBAImage",As);e8="big-fb",cit=e=>e.type==="heatmap",T1r=class extends Av{createBucket(e){return new oit(e)}constructor(e,t){super(e,w1r,t),this.heatmapFbos=new Map,this._updateColorRamp()}_handleSpecialPaintPropertyUpdate(e){e==="heatmap-color"&&this._updateColorRamp()}_updateColorRamp(){let e=this._transitionablePaint._values["heatmap-color"].value.expression;this.colorRamp=nne({expression:e,evaluationKey:"heatmapDensity",image:this.colorRamp}),this.colorRampTexture=null}resize(){this.heatmapFbos.has("big-fb")&&this.heatmapFbos.delete(e8)}queryRadius(e){return yT("heatmap-radius",this,e)}queryIntersectsFeature({queryGeometry:e,feature:t,featureState:r,geometry:i,transform:n,pixelsToTileUnits:a,unwrappedTileID:o,getElevation:s}){return nit({queryGeometry:e,size:this.paint.get("heatmap-radius").evaluate(t,r)*a,transform:n,unwrappedTileID:o,getElevation:s},i)}hasOffscreenPass(){return this.paint.get("heatmap-opacity")!==0&&!this.isHidden()}},M1r=()=>A1r||(A1r=new uc({"hillshade-illumination-direction":new Fi(_r.paint_hillshade["hillshade-illumination-direction"],"hillshade-illumination-direction"),"hillshade-illumination-altitude":new Fi(_r.paint_hillshade["hillshade-illumination-altitude"],"hillshade-illumination-altitude"),"hillshade-illumination-anchor":new Fi(_r.paint_hillshade["hillshade-illumination-anchor"],"hillshade-illumination-anchor"),"hillshade-exaggeration":new Fi(_r.paint_hillshade["hillshade-exaggeration"],"hillshade-exaggeration"),"hillshade-shadow-color":new Fi(_r.paint_hillshade["hillshade-shadow-color"],"hillshade-shadow-color"),"hillshade-highlight-color":new Fi(_r.paint_hillshade["hillshade-highlight-color"],"hillshade-highlight-color"),"hillshade-accent-color":new Fi(_r.paint_hillshade["hillshade-accent-color"],"hillshade-accent-color"),"hillshade-method":new Fi(_r.paint_hillshade["hillshade-method"],"hillshade-method"),resampling:new Fi(_r.paint_hillshade.resampling,"resampling")})),S1r={get paint(){return M1r()}},fit=e=>e.type==="hillshade",E1r=class extends Av{constructor(e,t){super(e,S1r,t),this.recalculate({zoom:0,zoomHistory:{}},void 0)}getIlluminationProperties(){let e=this.paint.get("hillshade-illumination-direction").values,t=this.paint.get("hillshade-illumination-altitude").values,r=this.paint.get("hillshade-highlight-color").values,i=this.paint.get("hillshade-shadow-color").values,n=Math.max(e.length,t.length,r.length,i.length);e=e.concat(Array(n-e.length).fill(e.at(-1))),t=t.concat(Array(n-t.length).fill(t.at(-1))),r=r.concat(Array(n-r.length).fill(r.at(-1))),i=i.concat(Array(n-i.length).fill(i.at(-1)));let a=t.map(js);return{directionRadians:e.map(js),altitudeRadians:a,shadowColor:i,highlightColor:r}}hasOffscreenPass(){return this.paint.get("hillshade-exaggeration")!==0&&!this.isHidden()}},C1r=()=>k1r||(k1r=new uc({"color-relief-opacity":new Fi(_r["paint_color-relief"]["color-relief-opacity"],"color-relief-opacity"),"color-relief-color":new zB(_r["paint_color-relief"]["color-relief-color"],"color-relief-color"),resampling:new Fi(_r["paint_color-relief"].resampling,"resampling")})),D1r={get paint(){return C1r()}};vu=class{constructor(e,t,r,i){this.context=e,this.format=r,this.texture=e.gl.createTexture(),this._ownedHandle=this.texture,this.update(t,i)}update(e,t,r){var u;let{width:i,height:n}=e,a=(((u=this.size)==null?void 0:u[0])!==i||this.size[1]!==n)&&!r,{context:o}=this,{gl:s}=o;this.useMipmap=!!(t!=null&&t.useMipmap),a&&this.size&&this.format===s.RGBA&&(s.deleteTexture(this.texture),this.texture=s.createTexture(),this._ownedHandle=this.texture,this.magFilter=void 0,this.minFilter=void 0,this.wrap=void 0),s.bindTexture(s.TEXTURE_2D,this.texture),o.pixelStoreUnpackFlipY.set(!1),o.pixelStoreUnpack.set(1);let l=this.format===s.RGBA&&(t==null?void 0:t.premultiply)!==!1;if(a)if(this.size=[i,n],this.format===s.RGBA&&i>0&&n>0){let c=this.useMipmap?Math.floor(Math.log2(Math.max(i,n)))+1:1;if(s.texStorage2D(s.TEXTURE_2D,c,s.RGBA8,i,n),wz(e)){o.pixelStoreUnpackPremultiplyAlpha.set(!1);let{data:f}=e;l&&f&&(f=Yte(f)),f&&s.texSubImage2D(s.TEXTURE_2D,0,0,0,i,n,s.RGBA,s.UNSIGNED_BYTE,f)}else o.pixelStoreUnpackPremultiplyAlpha.set(l),s.texSubImage2D(s.TEXTURE_2D,0,0,0,s.RGBA,s.UNSIGNED_BYTE,e)}else wz(e)?(o.pixelStoreUnpackPremultiplyAlpha.set(!1),this._uploadRawData(e,l,i,n,s)):(o.pixelStoreUnpackPremultiplyAlpha.set(l),this._uploadDomImage(e,s));else{let{x:c,y:f}=r||{x:0,y:0};wz(e)?(o.pixelStoreUnpackPremultiplyAlpha.set(!1),this._updateRawData(e,l,c,f,i,n,s)):(o.pixelStoreUnpackPremultiplyAlpha.set(l),this._updateDomImage(e,c,f,s))}this.useMipmap&&!(wz(e)&&e.data===null)&&s.generateMipmap(s.TEXTURE_2D),o.pixelStoreUnpackFlipY.setDefault(),o.pixelStoreUnpack.setDefault(),o.pixelStoreUnpackPremultiplyAlpha.setDefault()}_uploadDomImage(e,t){t.texImage2D(t.TEXTURE_2D,0,this.format,this.format,t.UNSIGNED_BYTE,e)}_uploadRawData(e,t,r,i,n){let{data:a}=e;t&&a&&(a=Yte(a)),n.texImage2D(n.TEXTURE_2D,0,this.format,r,i,0,this.format,n.UNSIGNED_BYTE,a)}_updateDomImage(e,t,r,i){i.texSubImage2D(i.TEXTURE_2D,0,t,r,i.RGBA,i.UNSIGNED_BYTE,e)}_updateRawData(e,t,r,i,n,a,o){let{data:s}=e;t&&s&&(s=Yte(s)),o.texSubImage2D(o.TEXTURE_2D,0,r,i,n,a,o.RGBA,o.UNSIGNED_BYTE,s)}bind(e,t,r){let{context:i}=this,{gl:n}=i;this.texture!==this._ownedHandle&&(this.texture=this._ownedHandle),n.bindTexture(n.TEXTURE_2D,this.texture),(r===n.LINEAR_MIPMAP_NEAREST||r===n.LINEAR_MIPMAP_LINEAR)&&!this.useMipmap&&(r=n.LINEAR);let a=r||e;e!==this.magFilter&&(n.texParameteri(n.TEXTURE_2D,n.TEXTURE_MAG_FILTER,e),this.magFilter=e),a!==this.minFilter&&(n.texParameteri(n.TEXTURE_2D,n.TEXTURE_MIN_FILTER,a),this.minFilter=a),t!==this.wrap&&(n.texParameteri(n.TEXTURE_2D,n.TEXTURE_WRAP_S,t),n.texParameteri(n.TEXTURE_2D,n.TEXTURE_WRAP_T,t),this.wrap=t)}generateMipmap(){if(!this.useMipmap)return;let{gl:e}=this.context;e.bindTexture(e.TEXTURE_2D,this.texture),e.generateMipmap(e.TEXTURE_2D)}destroy(){let{gl:e}=this.context;e.deleteTexture(this.texture),this.texture=null,this._ownedHandle=null}},F1r=(Am=class{constructor(t,r,i,n=1,a=1,o=1,s=0){if(this.uid=t,r.height!==r.width)throw RangeError("DEM tiles must be square");if(i&&!["mapbox","terrarium","custom"].includes(i)){Ma(`"${i}" is not a valid encoding type. Valid types include "mapbox", "terrarium" and "custom".`);return}this.stride=r.height;let l=this.dim=r.height-4;switch(this.data=new Uint32Array(r.data.buffer),Am.byteViewCache.set(this,new Uint8Array(this.data.buffer)),i){case"terrarium":this.redFactor=256,this.greenFactor=1,this.blueFactor=1/256,this.baseShift=32768;break;case"custom":this.redFactor=n,this.greenFactor=a,this.blueFactor=o,this.baseShift=s;break;default:this.redFactor=6553.6,this.greenFactor=25.6,this.blueFactor=.1,this.baseShift=1e4}for(let c=-2;c=l)&&this.data.copyWithin(this._idx(0,c),f,f+l),this.data.fill(this.data[f],this._idx(-2,c),this._idx(0,c)),this.data.fill(this.data[f+l-1],this._idx(l,c),this._idx(l+1,c)+1)}let u=this._getByteView();this.min=2**53-1,this.max=-(2**53-1);for(let c=0;cthis.max&&(this.max=d),d=this.dim||n<-1||n>=this.dim)throw RangeError(`Out of range source coordinates for DEM data. x: ${t}, y: ${r}, dim: ${this.dim}`);let a=this._getByteView(),o=((n+2)*this.stride+i+2)*4,s=this.stride*4,l=t-i,u=r-n,c=this._unpackAtIndex(a,o),f=this._unpackAtIndex(a,o+4),h=this._unpackAtIndex(a,o+s),d=this._unpackAtIndex(a,o+s+4);return c*(1-l)*(1-u)+f*l*(1-u)+h*(1-l)*u+d*l*u}getUnpackVector(){return[this.redFactor,this.greenFactor,this.blueFactor,this.baseShift]}_idx(t,r){if(t<-2||t>=this.dim+2||r<-2||r>=this.dim+2)throw RangeError(`Out of range source coordinates for DEM data. x: ${t}, y: ${r}, dim: ${this.dim}`);return(r+2)*this.stride+(t+2)}unpack(t,r,i){return t*this.redFactor+r*this.greenFactor+i*this.blueFactor-this.baseShift}pack(t){return hit(t,this.getUnpackVector())}getPixels(){return new As({width:this.stride,height:this.stride},this._getByteView())}backfillBorder(t,r,i){if(this.dim!==t.dim)throw Error("dem dimension mismatch");let n=r*this.dim,a=r*this.dim+this.dim,o=i*this.dim,s=i*this.dim+this.dim;switch(r){case-1:n=a-2;break;case 1:a=n+2}switch(i){case-1:o=s-2;break;case 1:s=o+2}let l=-r*this.dim,u=-i*this.dim;for(let c=o;ce.type==="color-relief",L1r=class extends Av{constructor(e,t){super(e,D1r,t)}_createColorRamp(e){let t={elevationStops:[],colorStops:[]},r=this._transitionablePaint._values["color-relief-color"].value.expression;if(r instanceof Ek&&r._styleExpression.expression instanceof Zd){this.colorRampExpression=r;let a=r._styleExpression.expression;t.elevationStops=a.labels,t.colorStops=[];for(let o of t.elevationStops)t.colorStops.push(a.evaluate({globals:{elevation:o}}))}if(t.elevationStops.length<1&&(t.elevationStops=[0],t.colorStops=[ea.transparent]),t.elevationStops.length<2&&(t.elevationStops.push(t.elevationStops[0]+1),t.colorStops.push(t.colorStops[0])),t.elevationStops.length<=e)return t;let i={elevationStops:[],colorStops:[]},n=(t.elevationStops.length-1)/(e-1);for(let a=0;ae)throw Error("Min granularity must not be greater than base granularity.");this._baseZoomGranularity=e,this._minGranularity=t}getGranularityForZoomLevel(e){let t=1<32767||t>32767)throw Error("Vertex coordinates are out of signed 16 bit integer range.");let r=Math.round(e)|0,i=Math.round(t)|0,n=this._getKey(r,i);if(this._vertexDictionary.has(n))return this._vertexDictionary.get(n);let a=this._vertexBuffer.length/2;return this._vertexDictionary.set(n,a),this._vertexBuffer.push(r,i),a}_subdivideTrianglesScanline(e){if(this._granularity<2)return tgr(this._vertexBuffer,e);let t=[],r=e.length;for(let i=0;i=1||_<=0)||m&&(ln)){c>=i&&c<=n&&a.push(r[(o+1)%3]);continue}if(!m&&b>0){let T=s+d*b,A=l+p*b;a.push(this._vertexToIndex(T,A))}let M=s+d*Math.max(b,0),x=s+d*Math.min(_,1);if(v||this._generateIntraEdgeVertices(a,s,l,u,c,M,x),!m&&_<1){let T=s+d*_,A=l+p*_;a.push(this._vertexToIndex(T,A))}(m||c>=i&&c<=n)&&a.push(r[(o+1)%3]),!m&&(c<=i||c>=n)&&this._generateInterEdgeVertices(a,s,l,u,c,f,h,x,i,n)}return a}_generateIntraEdgeVertices(e,t,r,i,n,a,o){let s=i-t,l=n-r,u=l===0,c=u?Math.min(t,i):Math.min(a,o),f=u?Math.max(t,i):Math.max(a,o),h=Math.floor(c/this._granularityCellSize)+1,d=Math.ceil(f/this._granularityCellSize)-1;if(u?t=h;p--){let v=p*this._granularityCellSize,m=r+l*(v-t)/s;e.push(this._vertexToIndex(v,m))}}_generateInterEdgeVertices(e,t,r,i,n,a,o,s,l,u){let c=n-r,f=a-i,h=o-n,d=(l-n)/h,p=(u-n)/h,v=Math.min(d,p),m=Math.max(d,p),g=i+f*v,w=Math.floor(Math.min(g,s)/this._granularityCellSize)+1,b=Math.ceil(Math.max(g,s)/this._granularityCellSize)-1,_=s=1||m<=0){let T=t-a,A=r-o,y=(l-o)/A,E=(u-o)/A,S=a+T*Math.min(y,E);w=Math.floor(Math.min(S,s)/this._granularityCellSize)+1,b=Math.ceil(Math.max(S,s)/this._granularityCellSize)-1,_=s0?u:l;if(_)for(let T=w;T<=b;T++){let A=T*this._granularityCellSize;e.push(this._vertexToIndex(A,x))}else for(let T=b;T>=w;T--){let A=T*this._granularityCellSize;e.push(this._vertexToIndex(A,x))}}_generateOutline(e){let t=[];for(let r of e){let i=qb(r,this._granularity,!0),n=this._pointArrayToIndices(i),a=[];for(let o=1;on==(a===-32768)?(e.push(r),e.push(t),e.push(this._vertexToIndex(i,a)),e.push(this._vertexToIndex(n,a)),e.push(r),e.push(this._vertexToIndex(i,a))):(e.push(t),e.push(r),e.push(this._vertexToIndex(i,a)),e.push(r),e.push(this._vertexToIndex(n,a)),e.push(this._vertexToIndex(i,a)))}_fillPoles(e,t,r){let i=this._vertexBuffer,n=zr,a=e.length;for(let o=2;o=2&&((o=this._canonical)==null?void 0:o.z)===0&&(n=this._removeTrianglesOutsideTileX(n),a=a.map(s=>this._removeLinesOutsideTileX(s))),{verticesFlattened:this._vertexBuffer,indicesTriangles:n,indicesLineList:a}}_vertexOutsideTileX(e){let t=this._vertexBuffer[e*2];return t<0||t>8192}_removeTrianglesOutsideTileX(e){let t=[];for(let r=0;rt.id),this.index=e.index,this.hasDependencies=!1,this.sdfPatterns={},this.patternFeatures=[],this.layoutVertexArray=new Ovr,this.indexArray=new Mv,this.indexArray2=new Lre,this.programConfigurations=new $b(e.layers,e.zoom),this.segments=new Ws,this.segments2=new Ws,this.stateDependentLayerIds=this.layers.filter(t=>t.isStateDependent()).map(t=>t.id)}populate(e,t,r){this.hasDependencies=Jz("fill",this.layers,t);let i=this.layers[0].layout.get("fill-sort-key"),n=!i.isConstant(),a=[],o=new Co(this.zoom),s=this.layers[0]._featureFilter.needGeometry;for(let{feature:l,id:u,index:c,sourceLayerIndex:f}of e){let h=tx(l,s);if(!this.layers[0]._featureFilter.filter(o,h,r))continue;let d=n?i.evaluate(h,{},r,t.availableImages):void 0,p={id:u,properties:l.properties,type:l.type,sourceLayerIndex:f,index:c,geometry:s?h.geometry:Qb(l),patterns:{},sortKey:d};a.push(p)}n&&a.sort((l,u)=>l.sortKey-u.sortKey);for(let l of a){let{geometry:u,index:c,sourceLayerIndex:f}=l;if(this.hasDependencies){let d=ane("fill",this.layers,l,{zoom:this.zoom},t);this.patternFeatures.push(d)}else this.addFeature(l,u,c,r,{},t.subdivisionGranularity);let h=e[c].feature;t.featureIndex.insert(h,u,c,f,this.index)}}update(e,t,r){this.stateDependentLayers.length&&this.programConfigurations.updatePaintArrays(e,t,this.stateDependentLayers,{imagePositions:r})}addFeatures({options:e,canonical:t,patternPositions:r,patternMap:i}){this.detectSdfPatterns(i);for(let n of this.patternFeatures)this.addFeature(n,n.geometry,n.index,t,r,e.subdivisionGranularity)}detectSdfPatterns(e){for(let t of this.patternFeatures)for(let r in t.patterns){let i=t.patterns[r];this.recordSdfPattern(r,e[i.min]),this.recordSdfPattern(r,e[i.mid]),this.recordSdfPattern(r,e[i.max])}for(let t of this.layers){let r=t.paint.get("fill-pattern").constantOr(null);r&&(this.recordSdfPattern(t.id,e[r.from.toString()]),this.recordSdfPattern(t.id,e[r.to.toString()]))}}recordSdfPattern(e,t){if(!t)return;let r=t.sdf===!0,i=this.sdfPatterns[e];i===void 0?this.sdfPatterns[e]=r:i!==r&&Ma(`Style sheet warning: Cannot mix SDF and non-SDF fill patterns in layer "${e}"`)}isEmpty(){return this.layoutVertexArray.length===0}uploadPending(){return!this.uploaded||this.programConfigurations.needsUpload}upload(e){this.uploaded||(this.layoutVertexBuffer=e.createVertexBuffer(this.layoutVertexArray,P1r),this.indexBuffer=e.createIndexBuffer(this.indexArray),this.indexBuffer2=e.createIndexBuffer(this.indexArray2)),this.programConfigurations.upload(e),this.uploaded=!0}destroy(){this.layoutVertexBuffer&&(this.layoutVertexBuffer.destroy(),this.indexBuffer.destroy(),this.indexBuffer2.destroy(),this.programConfigurations.destroy(),this.segments.destroy(),this.segments2.destroy())}addFeature(e,t,r,i,n,a){for(let o of AB(t,500)){let s=yit(o,i,a.fill.getGranularityForZoomLevel(i.z)),l=this.layoutVertexArray;xit((u,c)=>{l.emplaceBack(u,c)},this.segments,this.layoutVertexArray,this.indexArray,s.verticesFlattened,s.indicesTriangles,this.segments2,this.indexArray2,s.indicesLineList)}this.programConfigurations.populatePaintArrays(this.layoutVertexArray.length,e,r,{imagePositions:n,canonical:i})}};Ui("FillBucket",_it,{omit:["layers","patternFeatures"]});ogr=()=>agr||(agr=new uc({"fill-sort-key":new Sn(_r.layout_fill["fill-sort-key"],"fill-sort-key")})),lgr=()=>sgr||(sgr=new uc({"fill-antialias":new Fi(_r.paint_fill["fill-antialias"],"fill-antialias"),"fill-opacity":new Sn(_r.paint_fill["fill-opacity"],"fill-opacity"),"fill-layer-opacity":new Fi(_r.paint_fill["fill-layer-opacity"],"fill-layer-opacity"),"fill-color":new Sn(_r.paint_fill["fill-color"],"fill-color"),"fill-outline-color":new Sn(_r.paint_fill["fill-outline-color"],"fill-outline-color"),"fill-translate":new Fi(_r.paint_fill["fill-translate"],"fill-translate"),"fill-translate-anchor":new Fi(_r.paint_fill["fill-translate-anchor"],"fill-translate-anchor"),"fill-pattern":new Ck(_r.paint_fill["fill-pattern"],"fill-pattern")})),ugr={get paint(){return lgr()},get layout(){return ogr()}},bit=e=>e.type==="fill",cgr=class extends Av{constructor(e,t){super(e,ugr,t)}recalculate(e,t){super.recalculate(e,t);let r=this.paint._values["fill-outline-color"];r.value.kind==="constant"&&r.value.value===void 0&&(this.paint._values["fill-outline-color"]=this.paint._values["fill-color"])}createBucket(e){return new _it(e)}queryRadius(){return OB(this.paint.get("fill-translate"))}queryIntersectsFeature({queryGeometry:e,geometry:t,transform:r,pixelsToTileUnits:i}){return rit(NB(e,this.paint.get("fill-translate"),this.paint.get("fill-translate-anchor"),-r.bearingInRadians,i),t)}isTileClipped(){return!0}},Wre=ol([{name:"a_pos",components:2,type:"Int16"},{name:"a_normal_ed",components:4,type:"Int16"}],4),fgr=ol([{name:"a_centroid",components:2,type:"Int16"}],4),hgr=Wre.members;Wre.size,Wre.alignment;Jd=class Yre{constructor(){this.minX=1/0,this.maxX=-1/0,this.minY=1/0,this.maxY=-1/0}extend(t){return this.minX=Math.min(this.minX,t.x),this.minY=Math.min(this.minY,t.y),this.maxX=Math.max(this.maxX,t.x),this.maxY=Math.max(this.maxY,t.y),this}expandBy(t){return this.minX-=t,this.minY-=t,this.maxX+=t,this.maxY+=t,(this.minX>this.maxX||this.minY>this.maxY)&&(this.minX=1/0,this.maxX=-1/0,this.minY=1/0,this.maxY=-1/0),this}shrinkBy(t){return this.expandBy(-t)}map(t){let r=new Yre;return r.extend(t(new tr(this.minX,this.minY))),r.extend(t(new tr(this.maxX,this.minY))),r.extend(t(new tr(this.minX,this.maxY))),r.extend(t(new tr(this.maxX,this.maxY))),r}static fromPoints(t){let r=new Yre;for(let i of t)r.extend(i);return r}contains(t){return t.x>=this.minX&&t.x<=this.maxX&&t.y>=this.minY&&t.y<=this.maxY}empty(){return this.minX>this.maxX}width(){return this.maxX-this.minX}height(){return this.maxY-this.minY}covers(t){return!this.empty()&&!t.empty()&&t.minX>=this.minX&&t.maxX<=this.maxX&&t.minY>=this.minY&&t.maxY<=this.maxY}intersects(t){return!this.empty()&&!t.empty()&&t.minX<=this.maxX&&t.maxX>=this.minX&&t.minY<=this.maxY&&t.maxY>=this.minY}},wit=Jd.fromPoints([new tr(0,0),new tr(zr,zr)]);t8=class{constructor(e,t,r,i,n){for(this.properties=Object.create(null),this.extent=r,this.type=0,this.id=void 0,this._pbf=e,this._geometry=-1,this._keys=i,this._values=n;e.pos>3,a===0)continue}if(a--,n===1)o+=e.readSVarint(),s+=e.readSVarint(),i&&r.push(i),i=[new tr(o,s)];else if(n===2)o+=e.readSVarint(),s+=e.readSVarint(),i&&i.push(new tr(o,s));else if(n===7)i&&i.push(i[0].clone());else throw Error(`unknown command ${n}`)}return i&&r.push(i),r}bbox(){if(this._geometry<0)throw Error("feature has no geometry");let e=this._pbf;e.pos=this._geometry;let t=e.readVarint()+e.pos,r=1,i=0,n=0,a=0,o=1/0,s=-1/0,l=1/0,u=-1/0;for(;e.pos>3,i===0)continue}if(i--,r===1||r===2)n+=e.readSVarint(),a+=e.readSVarint(),ns&&(s=n),au&&(u=a);else if(r!==7)throw Error(`unknown command ${r}`)}return[o,l,s,u]}toGeoJSON(e,t,r){let i=this.extent*2**r,n=this.extent*e,a=this.extent*t,o=this.loadGeometry();function s(f){return[(f.x+n)*360/i-180,360/Math.PI*Math.atan(Math.exp((1-(f.y+a)*2/i)*Math.PI))-90]}function l(f){return f.map(s)}let u;if(this.type===1){let f=[];for(let d of o)f.push(d[0]);let h=l(f);u=f.length===1?{type:"Point",coordinates:h[0]}:{type:"MultiPoint",coordinates:h}}else if(this.type===2){let f=o.map(l);u=f.length===1?{type:"LineString",coordinates:f[0]}:{type:"MultiLineString",coordinates:f}}else if(this.type===3){let f=Tit(o),h=[];for(let d of f)h.push(d.map(l));u=h.length===1?{type:"Polygon",coordinates:h[0]}:{type:"MultiPolygon",coordinates:h}}else throw Error("unknown feature type");let c={type:"Feature",geometry:u,properties:this.properties};return this.id!=null&&(c.id=this.id),c}};t8.types=["Unknown","Point","LineString","Polygon"];pgr=class{constructor(e,t){for(this.version=1,this.name="",this.extent=4096,this.length=0,this._pbf=e,this._keys=[],this._values=[],this._features=[],t===void 0&&(t=e.length);e.pos=this._features.length)throw Error("feature index out of bounds");this._pbf.pos=this._features[e];let t=this._pbf.readVarint()+this._pbf.pos;return new t8(this._pbf,t,this.extent,this._keys,this._values)}};ggr=class{constructor(e,t=e.length){let r=Object.create(null);for(;e.pos90||this.lat<-90)throw Error("Invalid LngLat latitude value: must be between -90 and 90")}wrap(){return new dk(B0(this.lng,-180,180),this.lat)}toArray(){return[this.lng,this.lat]}toString(){return`LngLat(${this.lng}, ${this.lat})`}distanceTo(t){let r=Math.PI/180,i=this.lat*r,n=t.lat*r,a=Math.sin(i)*Math.sin(n)+Math.cos(i)*Math.cos(n)*Math.cos((t.lng-this.lng)*r);return zf*Math.acos(Math.min(a,1))}static convert(t){if(t instanceof dk)return t;if(Array.isArray(t)&&(t.length===2||t.length===3))return new dk(Number(t[0]),Number(t[1]));if(!Array.isArray(t)&&typeof t=="object"&&t)return new dk(Number("lng"in t?t.lng:t.lon),Number(t.lat));throw Error("`LngLatLike` argument must be specified as a LngLat instance, an object {lng: , lat: }, an object {lon: , lat: }, or an array of [, ]")}},Ait=2*Math.PI*zf;wo=class Sit{constructor(t,r,i=0){this.x=+t,this.y=+r,this.z=+i}static fromLngLat(t,r=0){let i=mn.convert(t);return new Sit(e3(i.lng),t3(i.lat),rx(r,i.lat))}toLngLat(){return new mn(GB(this.x),LT(this.y))}toAltitude(){return one(this.z,this.y)}meterInMercatorCoordinateUnits(){return 1/Ait*mgr(LT(this.y))}},ix=89.25;Xte=8192;kit=class{constructor(e){this.zoom=e.zoom,this.overscaling=e.overscaling,this.layers=e.layers,this.layerIds=this.layers.map(t=>t.id),this.index=e.index,this.hasDependencies=!1,this.layoutVertexArray=new Nvr,this.centroidVertexArray=new Pm,this.indexArray=new Mv,this.programConfigurations=new $b(e.layers,e.zoom),this.segments=new Ws,this.stateDependentLayerIds=this.layers.filter(t=>t.isStateDependent()).map(t=>t.id)}populate(e,t,r){this.features=[],this.hasDependencies=Jz("fill-extrusion",this.layers,t);let i=new Co(this.zoom),n=this.layers[0],a=n.layout.get("fill-extrusion-rounded-corner-distance"),o=n._featureFilter.needGeometry;for(let{feature:s,id:l,index:u,sourceLayerIndex:c}of e){let f=tx(s,o);if(!n._featureFilter.filter(i,f,r))continue;let h=o?f.geometry:Qb(s),d={id:l,sourceLayerIndex:c,index:u,geometry:a>0?GQe(h,a,r):h,properties:s.properties,type:s.type,patterns:{}};this.hasDependencies?this.features.push(ane("fill-extrusion",this.layers,d,{zoom:this.zoom},t)):this.addFeature(d,d.geometry,u,r,{},t.subdivisionGranularity),t.featureIndex.insert(s,d.geometry,u,c,this.index,!0)}}addFeatures({options:e,canonical:t,patternPositions:r}){for(let i of this.features){let{geometry:n}=i;this.addFeature(i,n,i.index,t,r,e.subdivisionGranularity)}}update(e,t,r){this.stateDependentLayers.length&&this.programConfigurations.updatePaintArrays(e,t,this.stateDependentLayers,{imagePositions:r})}isEmpty(){return this.layoutVertexArray.length===0&&this.centroidVertexArray.length===0}uploadPending(){return!this.uploaded||this.programConfigurations.needsUpload}upload(e){this.uploaded||(this.layoutVertexBuffer=e.createVertexBuffer(this.layoutVertexArray,hgr),this.centroidVertexBuffer=e.createVertexBuffer(this.centroidVertexArray,fgr.members,!0),this.indexBuffer=e.createIndexBuffer(this.indexArray)),this.programConfigurations.upload(e),this.uploaded=!0}destroy(){this.layoutVertexBuffer&&(this.layoutVertexBuffer.destroy(),this.indexBuffer.destroy(),this.programConfigurations.destroy(),this.segments.destroy(),this.centroidVertexBuffer.destroy())}addFeature(e,t,r,i,n,a){let o=this.layers[0],s=o.layout?o.layout.get("fill-extrusion-rounded-corner-distance"):0,l=s>0?GQe(t,s,i):t;for(let u of AB(l,500)){let c={x:0,y:0,sampleCount:0},f=this.layoutVertexArray.length;this.processPolygon(c,i,e,u,a);let h=this.layoutVertexArray.length-f,d=Math.floor(c.x/c.sampleCount),p=Math.floor(c.y/c.sampleCount);for(let v=0;v{ok(u,c,f,0,0,1,1,0)},this.segments,this.layoutVertexArray,this.indexArray,l.verticesFlattened,l.indicesTriangles)}_generateSideFaces(e,t){let r=0;for(let i=1;iWs.MAX_VERTEX_ARRAY_LENGTH&&(t.segment=this.segments.prepareSegment(4,this.layoutVertexArray,this.indexArray));let o=n.sub(a)._perp()._unit(),s=a.dist(n);r+s>32768&&(r=0),ok(this.layoutVertexArray,n.x,n.y,o.x,o.y,0,0,r),ok(this.layoutVertexArray,n.x,n.y,o.x,o.y,0,1,r),r+=s,ok(this.layoutVertexArray,a.x,a.y,o.x,o.y,0,0,r),ok(this.layoutVertexArray,a.x,a.y,o.x,o.y,0,1,r);let l=t.segment.vertexLength;this.indexArray.emplaceBack(l,l+2,l+1),this.indexArray.emplaceBack(l+1,l+2,l+3),t.segment.vertexLength+=4,t.segment.primitiveLength+=2}}};Ui("FillExtrusionBucket",kit,{omit:["layers","features"]});Mgr=()=>Agr||(Agr=new uc({"fill-extrusion-rounded-corner-distance":new Fi(_r["layout_fill-extrusion"]["fill-extrusion-rounded-corner-distance"],"fill-extrusion-rounded-corner-distance")})),Egr=()=>Sgr||(Sgr=new uc({"fill-extrusion-opacity":new Fi(_r["paint_fill-extrusion"]["fill-extrusion-opacity"],"fill-extrusion-opacity"),"fill-extrusion-color":new Sn(_r["paint_fill-extrusion"]["fill-extrusion-color"],"fill-extrusion-color"),"fill-extrusion-translate":new Fi(_r["paint_fill-extrusion"]["fill-extrusion-translate"],"fill-extrusion-translate"),"fill-extrusion-translate-anchor":new Fi(_r["paint_fill-extrusion"]["fill-extrusion-translate-anchor"],"fill-extrusion-translate-anchor"),"fill-extrusion-pattern":new Ck(_r["paint_fill-extrusion"]["fill-extrusion-pattern"],"fill-extrusion-pattern"),"fill-extrusion-height":new Sn(_r["paint_fill-extrusion"]["fill-extrusion-height"],"fill-extrusion-height"),"fill-extrusion-base":new Sn(_r["paint_fill-extrusion"]["fill-extrusion-base"],"fill-extrusion-base"),"fill-extrusion-vertical-gradient":new Fi(_r["paint_fill-extrusion"]["fill-extrusion-vertical-gradient"],"fill-extrusion-vertical-gradient")})),kgr={get paint(){return Egr()},get layout(){return Mgr()}},Cit=e=>e.type==="fill-extrusion",Cgr=class extends Av{constructor(e,t){super(e,kgr,t)}createBucket(e){return new kit(e)}queryRadius(){return OB(this.paint.get("fill-extrusion-translate"))}is3D(){return!0}queryIntersectsFeature({queryGeometry:e,feature:t,featureState:r,geometry:i,transform:n,pixelsToTileUnits:a,pixelPosMatrix:o}){let s=NB(e,this.paint.get("fill-extrusion-translate"),this.paint.get("fill-extrusion-translate-anchor"),-n.bearingInRadians,a),l=this.paint.get("fill-extrusion-height").evaluate(t,r),u=this.paint.get("fill-extrusion-base").evaluate(t,r),c=Lgr(s,o,0),f=Fgr(i,u,l,o),h=f[0],d=f[1];return Dgr(h,d,c)}};IXr=new Uint32Array(96),Pgr="geojsonvt_clip_start",Igr="geojsonvt_clip_end",Zre=ol([{name:"a_pos_normal",components:2,type:"Int16"},{name:"a_data",components:4,type:"Uint8"}],4),Rgr=Zre.members;Zre.size,Zre.alignment;Kre=ol([{name:"a_uv_x",components:1,type:"Float32"},{name:"a_split_index",components:1,type:"Float32"}]),zgr=Kre.members;Kre.size,Kre.alignment;Bgr=Math.cos(75/2*(Math.PI/180)),Dit=1/2,jQe=2**14/Dit,Fit=class{constructor(e){this.zoom=e.zoom,this.overscaling=e.overscaling,this.layers=e.layers,this.layerIds=this.layers.map(t=>t.id),this.index=e.index,this.hasDependencies=!1,this.patternFeatures=[],this.lineClipsArray=[],this.gradients={};for(let t of this.layers)this.gradients[t.id]={};this.layoutVertexArray=new Uvr,this.layoutVertexArray2=new Vvr,this.indexArray=new Mv,this.programConfigurations=new $b(e.layers,e.zoom),this.segments=new Ws,this.maxLineLength=0,this.stateDependentLayerIds=this.layers.filter(t=>t.isStateDependent()).map(t=>t.id)}populate(e,t,r){this.hasDependencies=Jz("line",this.layers,t)||this.hasLineDasharray(this.layers);let i=this.layers[0].layout.get("line-sort-key"),n=!i.isConstant(),a=[],o=new Co(this.zoom),s=this.layers[0]._featureFilter.needGeometry;for(let{feature:l,id:u,index:c,sourceLayerIndex:f}of e){let h=tx(l,s);if(!this.layers[0]._featureFilter.filter(o,h,r))continue;let d=n?i.evaluate(h,{},r):void 0,p={id:u,properties:l.properties,type:l.type,sourceLayerIndex:f,index:c,geometry:s?h.geometry:Qb(l),patterns:{},dashes:{},sortKey:d};a.push(p)}n&&a.sort((l,u)=>l.sortKey-u.sortKey);for(let l of a){let{geometry:u,index:c,sourceLayerIndex:f}=l;this.hasDependencies?(Jz("line",this.layers,t)?ane("line",this.layers,l,{zoom:this.zoom},t):this.hasLineDasharray(this.layers)&&this.addLineDashDependencies(this.layers,l,this.zoom,t),this.patternFeatures.push(l)):this.addFeature(l,u,c,r,{},{},t.subdivisionGranularity);let h=e[c].feature;t.featureIndex.insert(h,u,c,f,this.index)}}update(e,t,r,i){this.stateDependentLayers.length&&this.programConfigurations.updatePaintArrays(e,t,this.stateDependentLayers,{imagePositions:r,dashPositions:i})}addFeatures({options:e,canonical:t,patternPositions:r,dashPositions:i}){for(let n of this.patternFeatures)this.addFeature(n,n.geometry,n.index,t,r,i,e.subdivisionGranularity)}isEmpty(){return this.layoutVertexArray.length===0}uploadPending(){return!this.uploaded||this.programConfigurations.needsUpload}upload(e){this.uploaded||(this.layoutVertexArray2.length!==0&&(this.layoutVertexBuffer2=e.createVertexBuffer(this.layoutVertexArray2,zgr)),this.layoutVertexBuffer=e.createVertexBuffer(this.layoutVertexArray,Rgr),this.indexBuffer=e.createIndexBuffer(this.indexArray)),this.programConfigurations.upload(e),this.uploaded=!0}destroy(){this.layoutVertexBuffer&&(this.layoutVertexBuffer.destroy(),this.indexBuffer.destroy(),this.programConfigurations.destroy(),this.segments.destroy())}lineFeatureClips(e){if(e.properties&&Object.hasOwn(e.properties,"geojsonvt_clip_start")&&Object.hasOwn(e.properties,"geojsonvt_clip_end"))return{start:+e.properties[Pgr],end:+e.properties[Igr]}}addFeature(e,t,r,i,n,a,o){let s=this.layers[0].layout,l=s.get("line-join").evaluate(e,{}),u=s.get("line-cap").evaluate(e,{}),c=s.get("line-miter-limit").evaluate(e,{}),f=s.get("line-round-limit").evaluate(e,{});this.lineClips=this.lineFeatureClips(e);for(let h of t)this.addLine(h,e,l,u,c,f,i,o);this.programConfigurations.populatePaintArrays(this.layoutVertexArray.length,e,r,{imagePositions:n,dashPositions:a,canonical:i})}addLine(e,t,r,i,n,a,o,s){this.distance=0,this.scaledDistance=0,this.totalDistance=0;let l=o?s.line.getGranularityForZoomLevel(o.z):1;if(e=qb(e,l),this.lineClips){this.lineClipsArray.push(this.lineClips);for(let b=0;b=2&&e[c-1].equals(e[c-2]);)c--;let f=0;for(;f0;if(y&&b>f){let k=p.dist(v);if(k>2*h){let D=p.sub(p.sub(v)._mult(h/k)._round());this.updateDistance(v,D),this.addCurrentVertex(D,g,0,0,d),v=D}}let S=v&&m,C=S?r:u?"butt":i;if(S&&C==="round"&&(Tn&&(C="bevel"),C==="bevel"&&(T>2&&(C="flipbevel"),T100)_=w.mult(-1);else{let k=T*g.add(w).mag()/g.sub(w).mag();_._perp()._mult(k*(E?-1:1))}this.addCurrentVertex(p,_,0,0,d),this.addCurrentVertex(p,_.mult(-1),0,0,d)}else if(C==="bevel"||C==="fakeround"){let k=-Math.sqrt(T*T-1),D=E?k:0,F=E?0:k;if(v&&this.addCurrentVertex(p,g,D,F,d),C==="fakeround"){let P=Math.round(A*180/Math.PI/20);for(let R=1;R2*h){let D=p.add(m.sub(p)._mult(h/k)._round());this.updateDistance(p,D),this.addCurrentVertex(D,w,0,0,d),p=D}}}}addCurrentVertex(e,t,r,i,n,a=!1){let o=t.x+t.y*r,s=t.y-t.x*r,l=-t.x+t.y*i,u=-t.y-t.x*i;this.addHalfVertex(e,o,s,a,!1,r,n),this.addHalfVertex(e,l,u,a,!0,-i,n),this.distance>jQe/2&&this.totalDistance===0&&(this.distance=0,this.updateScaledDistance(),this.addCurrentVertex(e,t,r,i,n,a))}addHalfVertex({x:e,y:t},r,i,n,a,o,s){let l=(this.lineClips?this.scaledDistance*(jQe-1):this.scaledDistance)*Dit;if(this.layoutVertexArray.emplaceBack((e<<1)+ +!!n,(t<<1)+ +!!a,Math.round(63*r)+128,Math.round(63*i)+128,(o===0?0:o<0?-1:1)+1|(l&63)<<2,l>>6),this.lineClips){let c=(this.scaledDistance-this.lineClips.start)/(this.lineClips.end-this.lineClips.start);this.layoutVertexArray2.emplaceBack(c,this.lineClipsArray.length)}let u=s.vertexLength++;this.e1>=0&&this.e2>=0&&(this.indexArray.emplaceBack(this.e1,u,this.e2),s.primitiveLength++),a?this.e2=u:this.e1=u}updateScaledDistance(){this.scaledDistance=this.lineClips?this.lineClips.start+(this.lineClips.end-this.lineClips.start)*this.distance/this.totalDistance:this.distance}updateDistance(e,t){this.distance+=e.dist(t),this.updateScaledDistance()}hasLineDasharray(e){for(let t of e){let r=t.paint.get("line-dasharray");if(r&&!r.isConstant())return!0}return!1}addLineDashDependencies(e,t,r,i){for(let n of e){let a=n.paint.get("line-dasharray");if(!a||a.value.kind==="constant")continue;let o=n.layout.get("line-cap").evaluate(t,{})==="round",s={dasharray:a.value.evaluate({zoom:r-1},t,{}),round:o},l={dasharray:a.value.evaluate({zoom:r},t,{}),round:o},u={dasharray:a.value.evaluate({zoom:r+1},t,{}),round:o},c=`${s.dasharray.join(",")},${s.round}`,f=`${l.dasharray.join(",")},${l.round}`,h=`${u.dasharray.join(",")},${u.round}`;i.dashDependencies[c]=s,i.dashDependencies[f]=l,i.dashDependencies[h]=u,t.dashes[n.id]={min:c,mid:f,max:h}}}};Ui("LineBucket",Fit,{omit:["layers","patternFeatures"]});Ogr=()=>qgr||(qgr=new uc({"line-cap":new Sn(_r.layout_line["line-cap"],"line-cap"),"line-join":new Sn(_r.layout_line["line-join"],"line-join"),"line-miter-limit":new Sn(_r.layout_line["line-miter-limit"],"line-miter-limit"),"line-round-limit":new Sn(_r.layout_line["line-round-limit"],"line-round-limit"),"line-sort-key":new Sn(_r.layout_line["line-sort-key"],"line-sort-key")})),Ugr=()=>Ngr||(Ngr=new uc({"line-opacity":new Sn(_r.paint_line["line-opacity"],"line-opacity"),"line-layer-opacity":new Fi(_r.paint_line["line-layer-opacity"],"line-layer-opacity"),"line-color":new Sn(_r.paint_line["line-color"],"line-color"),"line-translate":new Fi(_r.paint_line["line-translate"],"line-translate"),"line-translate-anchor":new Fi(_r.paint_line["line-translate-anchor"],"line-translate-anchor"),"line-width":new Sn(_r.paint_line["line-width"],"line-width"),"line-gap-width":new Sn(_r.paint_line["line-gap-width"],"line-gap-width"),"line-offset":new Sn(_r.paint_line["line-offset"],"line-offset"),"line-blur":new Sn(_r.paint_line["line-blur"],"line-blur"),"line-dasharray":new Ck(_r.paint_line["line-dasharray"],"line-dasharray"),"line-pattern":new Ck(_r.paint_line["line-pattern"],"line-pattern"),"line-gradient":new zB(_r.paint_line["line-gradient"],"line-gradient")})),$Qe={get paint(){return Ugr()},get layout(){return Ogr()}},Vgr=class extends Sn{possiblyEvaluate(e,t){return t=new 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t=e,r=WQe(yT("line-width",this,t),yT("line-gap-width",this,t)),i=yT("line-offset",this,t);return r/2+Math.abs(i)+OB(this.paint.get("line-translate"))}queryIntersectsFeature({queryGeometry:e,feature:t,featureState:r,geometry:i,transform:n,pixelsToTileUnits:a}){let o=NB(e,this.paint.get("line-translate"),this.paint.get("line-translate-anchor"),-n.bearingInRadians,a),s=a/2*WQe(this.paint.get("line-width").evaluate(t,r),this.paint.get("line-gap-width").evaluate(t,r)),l=this.paint.get("line-offset").evaluate(t,r);return 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WB(a,n),n.hasRenderCallback&&this.haveRenderCallbacks.push(i)}}patchUpdatedImages(e,t){if(e.dispatchRenderCallbacks(this.haveRenderCallbacks),this.patchedUpdateVersion!==e.updateVersion){this.patchedUpdateVersion=e.updateVersion;for(let r in this.iconPositions)this.patchUpdatedImage(this.iconPositions[r],e.getImage(r),t);for(let r in this.patternPositions)this.patchUpdatedImage(this.patternPositions[r],e.getImage(r),t)}}patchUpdatedImage(e,t,r){var l;if(!e||!t||!e.needsFirstWebGLRender&&e.version===t.version)return;e.needsFirstWebGLRender=!1,e.version=t.version;let[i,n]=e.tl,a=(l=t.userImage)==null?void 0:l.data;if(!i8(a)){r.update(t.data,void 0,{x:i,y:n});return}let{width:o,height:s}=t.data;r.context.setCustomLayerDefaults(),a.renderWithWebGL({gl:r.context.gl,texture:r.texture,x:i,y:n,width:o,height:s}),r.context.setDirty()}};Ui("ImagePosition",WB),Ui("ImageAtlas",Gmr);jit=(function(e){return e[e.none=0]="none",e[e.horizontal=1]="horizontal",e[e.vertical=2]="vertical",e[e.horizontalOnly=3]="horizontalOnly",e})(jit||{});iet=new RegExp("^\\p{gc=M}$","u");oet=32640;bT=class Zit extends tr{constructor(t,r,i,n){super(t,r),this.angle=i,n!==void 0&&(this.segment=n)}clone(){return new Zit(this.x,this.y,this.angle,this.segment)}};Ui("Anchor",bT);Lz=class{constructor(e,t,r,i,n,a,o,s,l,u){var c;if(this.boxStartIndex=e.length,l){let f=a.top,h=a.bottom,d=a.collisionPadding;d&&(f-=d[1],h+=d[3]);let p=h-f;p>0&&(p=Math.max(10,p),this.circleDiameter=p)}else{let f=(c=a.image)!=null&&c.content&&(a.image.textFitWidth||a.image.textFitHeight)?Xit(a):{x1:a.left,y1:a.top,x2:a.right,y2:a.bottom};f.y1=f.y1*o-s[0],f.y2=f.y2*o+s[2],f.x1=f.x1*o-s[3],f.x2=f.x2*o+s[1];let h=a.collisionPadding;if(h&&(f.x1-=h[0]*o,f.y1-=h[1]*o,f.x2+=h[2]*o,f.y2+=h[3]*o),u){let d=new tr(f.x1,f.y1),p=new tr(f.x2,f.y1),v=new tr(f.x1,f.y2),m=new tr(f.x2,f.y2),g=u*Math.PI/180;d._rotate(g),p._rotate(g),v._rotate(g),m._rotate(g),f.x1=Math.min(d.x,p.x,v.x,m.x),f.x2=Math.max(d.x,p.x,v.x,m.x),f.y1=Math.min(d.y,p.y,v.y,m.y),f.y2=Math.max(d.y,p.y,v.y,m.y)}e.emplaceBack(t.x,t.y,f.x1,f.y1,f.x2,f.y2,r,i,n)}this.boxEndIndex=e.length}},gyr=class{constructor(e=[],t=(r,i)=>ri)){if(this.data=e,this.length=this.data.length,this.compare=t,this.length>0)for(let r=(this.length>>1)-1;r>=0;r--)this._down(r)}push(e){this.data.push(e),this._up(this.length++)}pop(){if(this.length===0)return;let e=this.data[0],t=this.data.pop();return--this.length>0&&(this.data[0]=t,this._down(0)),e}peek(){return this.data[0]}_up(e){let{data:t,compare:r}=this,i=t[e];for(;e>0;){let n=e-1>>1,a=t[n];if(r(i,a)>=0)break;t[e]=a,e=n}t[e]=i}_down(e){let{data:t,compare:r}=this,i=this.length>>1,n=t[e];for(;e=0)break;t[e]=t[a],e=a}t[e]=n}};dT=class{constructor(e,t,r,i){this.p=new tr(e,t),this.h=r,this.d=xyr(this.p,i),this.max=this.d+this.h*Math.SQRT2}};XB=(function(e){return e[e.center=1]="center",e[e.left=2]="left",e[e.right=3]="right",e[e.top=4]="top",e[e.bottom=5]="bottom",e[e["top-left"]=6]="top-left",e[e["top-right"]=7]="top-right",e[e["bottom-left"]=8]="bottom-left",e[e["bottom-right"]=9]="bottom-right",e})({}),pne=1/0;Syr=[{name:"a_fade_opacity",components:1,type:"Uint8",offset:0}];iie=class{constructor(e){this.layoutVertexArray=new Gvr,this.indexArray=new Mv,this.programConfigurations=e,this.segments=new Ws,this.dynamicLayoutVertexArray=new Hvr,this.opacityVertexArray=new jvr,this.hasVisibleVertices=!1,this.placedSymbolArray=new Brt}isEmpty(){return this.layoutVertexArray.length===0&&this.indexArray.length===0&&this.dynamicLayoutVertexArray.length===0&&this.opacityVertexArray.length===0}upload(e,t,r,i){this.isEmpty()||(r&&(this.layoutVertexBuffer=e.createVertexBuffer(this.layoutVertexArray,Hgr.members),this.indexBuffer=e.createIndexBuffer(this.indexArray,t),this.dynamicLayoutVertexBuffer=e.createVertexBuffer(this.dynamicLayoutVertexArray,jgr.members,!0),this.opacityVertexBuffer=e.createVertexBuffer(this.opacityVertexArray,Syr,!0),this.opacityVertexBuffer.itemSize=1),(r||i)&&this.programConfigurations.upload(e))}destroy(){this.layoutVertexBuffer&&(this.layoutVertexBuffer.destroy(),this.indexBuffer.destroy(),this.programConfigurations.destroy(),this.segments.destroy(),this.dynamicLayoutVertexBuffer.destroy(),this.opacityVertexBuffer.destroy())}};Ui("SymbolBuffers",iie);nie=class{constructor(e,t,r){this.layoutVertexArray=new e,this.layoutAttributes=t,this.indexArray=new r,this.segments=new Ws,this.collisionVertexArray=new $vr}upload(e){this.layoutVertexBuffer=e.createVertexBuffer(this.layoutVertexArray,this.layoutAttributes),this.indexBuffer=e.createIndexBuffer(this.indexArray),this.collisionVertexBuffer=e.createVertexBuffer(this.collisionVertexArray,$gr.members,!0)}destroy(){this.layoutVertexBuffer&&(this.layoutVertexBuffer.destroy(),this.indexBuffer.destroy(),this.segments.destroy(),this.collisionVertexBuffer.destroy())}};Ui("CollisionBuffers",nie);s8=class{constructor(e){this.collisionBoxArray=e.collisionBoxArray,this.zoom=e.zoom,this.overscaling=e.overscaling,this.layers=e.layers,this.layerIds=this.layers.map(o=>o.id),this.index=e.index,this.pixelRatio=e.pixelRatio,this.sourceLayerIndex=e.sourceLayerIndex,this.hasDependencies=!0,this.hasRTLText=!1,this.maxHeightOffset=0,this.sortKeyRanges=[],this.collisionCircleArray=[],this.maxGlyphs=65535;let t=this.layers[0]._unevaluatedLayout._values;this.textSizeData=set(this.zoom,t["text-size"]),this.iconSizeData=set(this.zoom,t["icon-size"]);let r=this.layers[0].layout,i=r.get("symbol-sort-key"),n=r.get("symbol-z-order");this.canOverlap=zk(r,"text-overlap","text-allow-overlap")!=="never"||zk(r,"icon-overlap","icon-allow-overlap")!=="never"||r.get("text-ignore-placement")||r.get("icon-ignore-placement"),this.sortFeaturesByKey=n!=="viewport-y"&&!i.isConstant();let a=n==="viewport-y"||n==="auto"&&!this.sortFeaturesByKey;this.sortFeaturesByY=a&&this.canOverlap,r.get("symbol-placement")==="point"&&(this.writingModes=r.get("text-writing-mode").map(o=>jit[o])),this.stateDependentLayerIds=this.layers.filter(o=>o.isStateDependent()).map(o=>o.id),this.sourceID=e.sourceID}createArrays(){this.text=new iie(new $b(this.layers,this.zoom,e=>e.startsWith("text"))),this.icon=new iie(new $b(this.layers,this.zoom,e=>e.startsWith("icon"))),this.glyphOffsetArray=new Nrt,this.lineVertexArray=new Urt,this.symbolInstances=new Ort,this.textAnchorOffsets=new Grt}calculateGlyphDependencies(e,t,r,i,n){var l;let a=(i||this.allowVerticalPlacement)&&n,o=cne.fromFeature(e,r),s=o.graphemes();for(let u=0;u0)&&(a.value.kind!=="constant"||a.value.value.length>0),u=s.value.kind!=="constant"||!!s.value.value||Object.keys(s.parameters).length>0,c=n.get("symbol-sort-key");if(this.features=[],!l&&!u)return;let f=t.iconDependencies,h=t.glyphDependencies,d=t.availableImages,p=new Co(this.zoom);for(let{feature:m,id:g,index:w,sourceLayerIndex:b}of e){let _=i._featureFilter.needGeometry,M=tx(m,_);if(!i._featureFilter.filter(p,M,r))continue;_||(M.geometry=Qb(m));let x;if(l){let E=i.getValueAndResolveTokens("text-field",M,r,d),S=Mm.factory(E);this.hasRTLText||(this.hasRTLText=Eyr(S)),x=vmr(S,i,M)}let T;if(u){let E=i.getValueAndResolveTokens("icon-image",M,r,d);T=E instanceof Z1?E:Z1.fromString(E)}if(!x&&!T)continue;let A=this.sortFeaturesByKey?c.evaluate(M,{},r):void 0,y={id:g,text:x,icon:T,index:w,sourceLayerIndex:b,geometry:M.geometry,properties:m.properties,type:t8.types[m.type],sortKey:A};if(this.features.push(y),T&&(f[T.name]=!0),x){let E=a.evaluate(M,{},r).join(","),S=n.get("text-rotation-alignment")!=="viewport"&&n.get("symbol-placement")!=="point";this.allowVerticalPlacement=(v=this.writingModes)==null?void 0:v.includes(2);let C=Qre(x.toString());this.calculateGlyphDependencies(x,h,E,S,C);for(let k of x.sections)k.image&&(f[k.image.name]=!0)}}n.get("symbol-placement")==="line"&&(this.features=gmr(this.features)),this.sortFeaturesByKey&&this.features.sort((m,g)=>m.sortKey-g.sortKey)}update(e,t,r){this.stateDependentLayers.length&&(this.text.programConfigurations.updatePaintArrays(e,t,this.layers,{imagePositions:r}),this.icon.programConfigurations.updatePaintArrays(e,t,this.layers,{imagePositions:r}))}addFeatures({options:e,canonical:t,glyphMap:r,glyphPositions:i,iconMap:n,iconPositions:a,showCollisionBoxes:o}){byr({bucket:this,glyphMap:r,glyphPositions:i,imageMap:n,imagePositions:a,showCollisionBoxes:o,canonical:t,subdivisionGranularity:e.subdivisionGranularity})}isEmpty(){return this.symbolInstances.length===0}uploadPending(){return!this.uploaded||this.text.programConfigurations.needsUpload||this.icon.programConfigurations.needsUpload}upload(e){!this.uploaded&&this.hasDebugData()&&(this.textCollisionBox.upload(e),this.iconCollisionBox.upload(e)),this.text.upload(e,this.sortFeaturesByY,!this.uploaded,this.text.programConfigurations.needsUpload),this.icon.upload(e,this.sortFeaturesByY,!this.uploaded,this.icon.programConfigurations.needsUpload),this.uploaded=!0}destroyDebugData(){this.textCollisionBox.destroy(),this.iconCollisionBox.destroy()}destroy(){this.text.destroy(),this.icon.destroy(),this.hasDebugData()&&this.destroyDebugData()}addToLineVertexArray(e,t){let r=this.lineVertexArray.length;if(e.segment!==void 0){let i=e.dist(t[e.segment+1]),n=e.dist(t[e.segment]),a={};for(let o=e.segment+1;o=0;o--)a[o]={x:t[o].x,y:t[o].y,tileUnitDistanceFromAnchor:n},o>0&&(n+=t[o-1].dist(t[o]));for(let o=0;o0}hasIconData(){return this.icon.segments.get().length>0}hasDebugData(){return this.textCollisionBox&&this.iconCollisionBox}hasTextCollisionBoxData(){return this.hasDebugData()&&this.textCollisionBox.segments.get().length>0}hasIconCollisionBoxData(){return this.hasDebugData()&&this.iconCollisionBox.segments.get().length>0}addIndicesForPlacedSymbol(e,t){let r=e.placedSymbolArray.get(t),i=r.vertexStartIndex+r.numGlyphs*4;for(let n=r.vertexStartIndex;ni[o]-i[s]||n[s]-n[o]),a}addToSortKeyRanges(e,t){let r=this.sortKeyRanges[this.sortKeyRanges.length-1];(r==null?void 0:r.sortKey)===t?r.symbolInstanceEnd=e+1:this.sortKeyRanges.push({sortKey:t,symbolInstanceStart:e,symbolInstanceEnd:e+1})}sortFeatures(e){if(this.sortFeaturesByY&&this.sortedAngle!==e&&!(this.text.segments.get().length>1||this.icon.segments.get().length>1)){this.symbolInstanceIndexes=this.getSortedSymbolIndexes(e),this.sortedAngle=e,this.text.indexArray.clear(),this.icon.indexArray.clear(),this.featureSortOrder=[];for(let t of this.symbolInstanceIndexes){let r=this.symbolInstances.get(t);this.featureSortOrder.push(r.featureIndex);let i=[r.rightJustifiedTextSymbolIndex,r.centerJustifiedTextSymbolIndex,r.leftJustifiedTextSymbolIndex];for(let n=0;n=0&&i.indexOf(a)===n&&this.addIndicesForPlacedSymbol(this.text,a)}r.verticalPlacedTextSymbolIndex>=0&&this.addIndicesForPlacedSymbol(this.text,r.verticalPlacedTextSymbolIndex),r.placedIconSymbolIndex>=0&&this.addIndicesForPlacedSymbol(this.icon,r.placedIconSymbolIndex),r.verticalPlacedIconSymbolIndex>=0&&this.addIndicesForPlacedSymbol(this.icon,r.verticalPlacedIconSymbolIndex)}this.text.indexBuffer&&this.text.indexBuffer.updateData(this.text.indexArray),this.icon.indexBuffer&&this.icon.indexBuffer.updateData(this.icon.indexArray)}}};Ui("SymbolBucket",s8,{omit:["layers","collisionBoxArray","features","compareText"]});Dyr=()=>Cyr||(Cyr=new uc({"symbol-placement":new Fi(_r.layout_symbol["symbol-placement"],"symbol-placement"),"symbol-spacing":new Fi(_r.layout_symbol["symbol-spacing"],"symbol-spacing"),"symbol-avoid-edges":new Fi(_r.layout_symbol["symbol-avoid-edges"],"symbol-avoid-edges"),"symbol-sort-key":new Sn(_r.layout_symbol["symbol-sort-key"],"symbol-sort-key"),"symbol-z-order":new Fi(_r.layout_symbol["symbol-z-order"],"symbol-z-order"),"icon-allow-overlap":new Fi(_r.layout_symbol["icon-allow-overlap"],"icon-allow-overlap"),"icon-overlap":new Fi(_r.layout_symbol["icon-overlap"],"icon-overlap"),"icon-ignore-placement":new Fi(_r.layout_symbol["icon-ignore-placement"],"icon-ignore-placement"),"icon-optional":new Fi(_r.layout_symbol["icon-optional"],"icon-optional"),"icon-rotation-alignment":new Sn(_r.layout_symbol["icon-rotation-alignment"],"icon-rotation-alignment"),"icon-size":new Sn(_r.layout_symbol["icon-size"],"icon-size"),"icon-text-fit":new Fi(_r.layout_symbol["icon-text-fit"],"icon-text-fit"),"icon-text-fit-padding":new Fi(_r.layout_symbol["icon-text-fit-padding"],"icon-text-fit-padding"),"icon-image":new Sn(_r.layout_symbol["icon-image"],"icon-image"),"icon-rotate":new Sn(_r.layout_symbol["icon-rotate"],"icon-rotate"),"icon-padding":new Sn(_r.layout_symbol["icon-padding"],"icon-padding"),"icon-keep-upright":new Fi(_r.layout_symbol["icon-keep-upright"],"icon-keep-upright"),"icon-offset":new Sn(_r.layout_symbol["icon-offset"],"icon-offset"),"icon-anchor":new Sn(_r.layout_symbol["icon-anchor"],"icon-anchor"),"icon-pitch-alignment":new Fi(_r.layout_symbol["icon-pitch-alignment"],"icon-pitch-alignment"),"text-pitch-alignment":new Fi(_r.layout_symbol["text-pitch-alignment"],"text-pitch-alignment"),"text-rotation-alignment":new Fi(_r.layout_symbol["text-rotation-alignment"],"text-rotation-alignment"),"text-field":new Sn(_r.layout_symbol["text-field"],"text-field"),"text-font":new Sn(_r.layout_symbol["text-font"],"text-font"),"text-size":new Sn(_r.layout_symbol["text-size"],"text-size"),"text-max-width":new Sn(_r.layout_symbol["text-max-width"],"text-max-width"),"text-line-height":new Fi(_r.layout_symbol["text-line-height"],"text-line-height"),"text-letter-spacing":new Sn(_r.layout_symbol["text-letter-spacing"],"text-letter-spacing"),"text-justify":new Sn(_r.layout_symbol["text-justify"],"text-justify"),"text-radial-offset":new Sn(_r.layout_symbol["text-radial-offset"],"text-radial-offset"),"text-variable-anchor":new Fi(_r.layout_symbol["text-variable-anchor"],"text-variable-anchor"),"text-variable-anchor-offset":new Sn(_r.layout_symbol["text-variable-anchor-offset"],"text-variable-anchor-offset"),"text-anchor":new Sn(_r.layout_symbol["text-anchor"],"text-anchor"),"text-max-angle":new Fi(_r.layout_symbol["text-max-angle"],"text-max-angle"),"text-writing-mode":new Fi(_r.layout_symbol["text-writing-mode"],"text-writing-mode"),"text-rotate":new Sn(_r.layout_symbol["text-rotate"],"text-rotate"),"text-padding":new Fi(_r.layout_symbol["text-padding"],"text-padding"),"text-keep-upright":new Fi(_r.layout_symbol["text-keep-upright"],"text-keep-upright"),"text-transform":new Sn(_r.layout_symbol["text-transform"],"text-transform"),"text-offset":new Sn(_r.layout_symbol["text-offset"],"text-offset"),"text-allow-overlap":new Fi(_r.layout_symbol["text-allow-overlap"],"text-allow-overlap"),"text-overlap":new Fi(_r.layout_symbol["text-overlap"],"text-overlap"),"text-ignore-placement":new Fi(_r.layout_symbol["text-ignore-placement"],"text-ignore-placement"),"text-optional":new Fi(_r.layout_symbol["text-optional"],"text-optional"),"symbol-height-offset":new Sn(_r.layout_symbol["symbol-height-offset"],"symbol-height-offset"),"symbol-height-anchor":new Fi(_r.layout_symbol["symbol-height-anchor"],"symbol-height-anchor")})),Lyr=()=>Fyr||(Fyr=new uc({"icon-opacity":new Sn(_r.paint_symbol["icon-opacity"],"icon-opacity"),"icon-color":new Sn(_r.paint_symbol["icon-color"],"icon-color"),"icon-halo-color":new Sn(_r.paint_symbol["icon-halo-color"],"icon-halo-color"),"icon-halo-width":new Sn(_r.paint_symbol["icon-halo-width"],"icon-halo-width"),"icon-halo-blur":new Sn(_r.paint_symbol["icon-halo-blur"],"icon-halo-blur"),"icon-translate":new Fi(_r.paint_symbol["icon-translate"],"icon-translate"),"icon-translate-anchor":new Fi(_r.paint_symbol["icon-translate-anchor"],"icon-translate-anchor"),"text-opacity":new Sn(_r.paint_symbol["text-opacity"],"text-opacity"),"text-color":new Sn(_r.paint_symbol["text-color"],"text-color",{runtimeType:xv,getOverride:e=>e.textColor,hasOverride:e=>!!e.textColor}),"text-halo-color":new Sn(_r.paint_symbol["text-halo-color"],"text-halo-color"),"text-halo-width":new Sn(_r.paint_symbol["text-halo-width"],"text-halo-width"),"text-halo-blur":new Sn(_r.paint_symbol["text-halo-blur"],"text-halo-blur"),"text-translate":new Fi(_r.paint_symbol["text-translate"],"text-translate"),"text-translate-anchor":new Fi(_r.paint_symbol["text-translate-anchor"],"text-translate-anchor")})),Zte={get paint(){return Lyr()},get layout(){return Dyr()}},ant=class{constructor(e){if(e.property.overrides===void 0)throw Error("overrides must be provided to instantiate FormatSectionOverride class");this.type=e.property.overrides?e.property.overrides.runtimeType:$k,this.defaultValue=e}evaluate(e){if(e.formattedSection){let t=this.defaultValue.property.overrides;if(t!=null&&t.hasOverride(e.formattedSection))return t.getOverride(e.formattedSection)}return e.feature&&e.featureState?this.defaultValue.evaluate(e.feature,e.featureState):this.defaultValue.property.specification.default}eachChild(e){if(!this.defaultValue.isConstant()){let t=this.defaultValue.value;e(t._styleExpression.expression)}}outputDefined(){return!1}serialize(){return null}};Ui("FormatSectionOverride",ant,{omit:["defaultValue"]});vne=e=>e.type==="symbol",Pyr=class aie extends Av{constructor(t,r){super(t,Zte,r)}recalculate(t,r){super.recalculate(t,r);let i=this.layout.get("icon-rotation-alignment");if((i.value.kind!=="constant"||i.value.value==="auto")&&(this.layout._values["icon-rotation-alignment"]=new Yd(i.property,{kind:"constant",value:this.layout.get("symbol-placement")==="point"?"viewport":"map"},i.parameters)),this.layout.get("text-rotation-alignment")==="auto"&&(this.layout.get("symbol-placement")==="point"?this.layout._values["text-rotation-alignment"]="viewport":this.layout._values["text-rotation-alignment"]="map"),this.layout.get("text-pitch-alignment")==="auto"&&(this.layout._values["text-pitch-alignment"]=this.layout.get("text-rotation-alignment")==="map"?"map":"viewport"),this.layout.get("icon-pitch-alignment")==="auto"&&(this.layout._values["icon-pitch-alignment"]=this.layout.get("icon-rotation-alignment").constantOr("viewport")),this.layout.get("symbol-placement")==="point"){let n=this.layout.get("text-writing-mode");if(n){let a=[];for(let o of n)a.includes(o)||a.push(o);this.layout._values["text-writing-mode"]=a}else this.layout._values["text-writing-mode"]=["horizontal"]}this._setPaintOverrides()}getValueAndResolveTokens(t,r,i,n){let a=this.layout.get(t).evaluate(r,{},i,n),o=this._unevaluatedLayout._values[t];return!o.isDataDriven()&&!CB(o.value)&&a?kyr(r.properties,a):a}createBucket(t){return new s8(t)}queryRadius(){return 0}queryIntersectsFeature(){throw Error("Should take a different path in FeatureIndex")}_setPaintOverrides(){for(let t of Zte.paint.overridableProperties){if(!aie.hasPaintOverride(this.layout,t))continue;let r=this.paint.get(t),i=new Uie(new ant(r),`layers[${this.id}].paint.${r.property.name}`,r.property.specification),n=null;n=r.value.kind==="constant"||r.value.kind==="source"?new Ek("source",i):new $z("composite",i,r.value.zoomStops),this.paint._values[t]=new Yd(r.property,n,r.parameters)}}_handleOverridablePaintPropertyUpdate(t,r,i){return!this.layout||r.isDataDriven()||i.isDataDriven()?!1:aie.hasPaintOverride(this.layout,t)}static hasPaintOverride(t,r){let i=t.get("text-field"),n=Zte.paint.properties[r],a=!1,o=s=>{var l;for(let u of s)if((l=n.overrides)!=null&&l.hasOverride(u)){a=!0;return}};if(i.value.kind==="constant"&&i.value.value instanceof Mm)o(i.value.value.sections);else if(i.value.kind==="source"||i.value.kind==="composite"){let s=u=>{if(!a)if(u instanceof ST&&Ql(u.value)===Wk){let c=u.value;o(c.sections)}else u instanceof Mtt?o(u.sections):u.eachChild(s)},l=i.value;l._styleExpression&&s(l._styleExpression.expression)}return a}};zyr=()=>Ryr||(Ryr=new uc({"background-color":new Fi(_r.paint_background["background-color"],"background-color"),"background-pattern":new Irt(_r.paint_background["background-pattern"],"background-pattern"),"background-opacity":new Fi(_r.paint_background["background-opacity"],"background-opacity")})),Byr={get paint(){return zyr()}},ont=e=>e.type==="background",qyr=class extends Av{constructor(e,t){super(e,Byr,t)}};lnt=e=>e.type==="custom",Oyr=class extends Av{constructor(e,t){super(e,{},t),this.onAdd=r=>{this.implementation.onAdd&&this.implementation.onAdd(r,r.painter.context.gl)},this.onRemove=r=>{this.implementation.onRemove&&this.implementation.onRemove(r,r.painter.context.gl)},this.implementation=e}is3D(){return this.implementation.renderingMode==="3d"}hasOffscreenPass(){return this.implementation.prerender!==void 0}recalculate(){}updateTransitions(){}hasTransition(){return!1}serialize(){throw Error("Custom layers cannot be serialized")}};Nyr=class{constructor(e){this._methodToThrottle=e,this._triggered=!1,this._channel=new MessageChannel,this._channel.port2.onmessage=()=>{this._triggered=!1,this._methodToThrottle()}}trigger(){var e;this._triggered||(this._triggered=!0,(e=this._channel)==null||e.port1.postMessage(!0))}remove(){delete this._channel,this._methodToThrottle=()=>{}}},Uyr={once:!0},unt=class{constructor(e,t){this.target=e,this.mapId=t,this.resolveRejects={},this.tasks={},this.taskQueue=[],this.abortControllers={},this.messageHandlers={},this.invoker=new Nyr(()=>this.process()),this.subscription=Nz(this.target,"message",r=>this.receive(r),!1),this.globalScope=Hb(self)?e:window}registerMessageHandler(e,t){this.messageHandlers[e]=t}unregisterMessageHandler(e){delete this.messageHandlers[e]}sendAsync(e,t){return new Promise((r,i)=>{let n=Math.round(Math.random()*1e18).toString(36).substring(0,10),a=t?Nz(t.signal,"abort",()=>{a==null||a.unsubscribe(),delete this.resolveRejects[n];let l={id:n,type:"",origin:location.origin,targetMapId:e.targetMapId,sourceMapId:this.mapId};this.target.postMessage(l),i(new RT(t.signal.reason))},Uyr):null;this.resolveRejects[n]={resolve:l=>{a==null||a.unsubscribe(),r(l)},reject:l=>{a==null||a.unsubscribe(),i(l)}};let o=[],s=ma(fn({},e),{id:n,sourceMapId:this.mapId,origin:location.origin,data:xk(e.data,o)});this.target.postMessage(s,{transfer:o})})}receive(e){let t=e.data,r=t.id,i=["file://","resource://android","null"],n=[t.origin,location.origin],a=t.origin===location.origin,o=n.some(s=>i.includes(s));if((a||o)&&!(t.targetMapId&&this.mapId!==t.targetMapId)){if(t.type===""){delete this.tasks[r];let s=this.abortControllers[r];delete this.abortControllers[r],s&&s.abort();return}if(Hb(self)||t.mustQueue){this.tasks[r]=t,this.taskQueue.push(r),this.invoker.trigger();return}this.processTask(r,t)}}process(){if(this.taskQueue.length===0)return;let e=this.taskQueue.shift(),t=this.tasks[e];delete this.tasks[e],this.taskQueue.length>0&&this.invoker.trigger(),t&&this.processTask(e,t)}processTask(e,t){return Ki(this,null,function*(){if(t.type===""){let n=this.resolveRejects[e];if(delete this.resolveRejects[e],!n)return;t.error?n.reject(Ic(_k(t.error))):n.resolve(_k(t.data));return}if(!this.messageHandlers[t.type]){this.completeTask(e,null,null);return}let r=_k(t.data),i=new AbortController;this.abortControllers[e]=i;try{let n=yield this.messageHandlers[t.type](t.sourceMapId,r,i);this.completeTask(e,null,n)}catch(n){this.completeTask(e,Ic(n))}})}completeTask(e,t,r){let i=[];delete this.abortControllers[e];let n={id:e,type:"",sourceMapId:this.mapId,origin:location.origin,error:t?xk(t):null,data:xk(r,i)};this.target.postMessage(n,{transfer:i})}remove(){this.invoker.remove(),this.subscription.unsubscribe()}};l8=class{constructor(e,t,r){if(!Vyr(e,t,r))throw Error(`x=${t}, y=${r}, z=${e} outside of bounds. 0<=x<${2**e}, 0<=y<${2**e} 0<=z<=25 `);this.z=e,this.x=t,this.y=r,this.key=Vb(0,e,e,t,r)}equals(e){return this.z===e.z&&this.x===e.x&&this.y===e.y}url(e,t,r){let i=Gyr(this.x,this.y,this.z),n=Hyr(this.z,this.x,this.y);return e[(this.x+this.y)%e.length].replace(/{prefix}/g,(this.x%16).toString(16)+(this.y%16).toString(16)).replace(/{z}/g,String(this.z)).replace(/{x}/g,String(this.x)).replace(/{y}/g,String(r==="tms"?2**this.z-this.y-1:this.y)).replace(/{ratio}/g,t>1?"@2x":"").replace(/{quadkey}/g,n).replace(/{bbox-epsg-3857}/g,i)}isChildOf(e){let t=this.z-e.z;return t>0&&e.x===this.x>>t&&e.y===this.y>>t}getTilePoint(e){let t=2**this.z;return new tr((e.x*t-this.x)*zr,(e.y*t-this.y)*zr)}toString(){return`${this.z}/${this.x}/${this.y}`}},u8=class{constructor(e,t){this.wrap=e,this.canonical=t,this.key=Vb(e,t.z,t.z,t.x,t.y)}},Bc=class $d{constructor(t,r,i,n,a){if(this.terrainRttPosMatrix32f=null,t= z; overscaledZ = ${t}; z = ${i}`);this.overscaledZ=t,this.wrap=r,this.canonical=new l8(i,+n,+a),this.key=Vb(r,t,i,n,a)}clone(){return new $d(this.overscaledZ,this.wrap,this.canonical.z,this.canonical.x,this.canonical.y)}equals(t){return this.overscaledZ===t.overscaledZ&&this.wrap===t.wrap&&this.canonical.equals(t.canonical)}scaledTo(t){if(t>this.overscaledZ)throw Error(`targetZ > this.overscaledZ; targetZ = ${t}; overscaledZ = ${this.overscaledZ}`);let r=this.canonical.z-t;return t>this.canonical.z?new $d(t,this.wrap,this.canonical.z,this.canonical.x,this.canonical.y):new $d(t,this.wrap,t,this.canonical.x>>r,this.canonical.y>>r)}isOverscaled(){return this.overscaledZ>this.canonical.z}calculateScaledKey(t,r){if(t>this.overscaledZ)throw Error(`targetZ > this.overscaledZ; targetZ = ${t}; overscaledZ = ${this.overscaledZ}`);let i=this.canonical.z-t;return t>this.canonical.z?Vb(this.wrap*+r,t,this.canonical.z,this.canonical.x,this.canonical.y):Vb(this.wrap*+r,t,t,this.canonical.x>>i,this.canonical.y>>i)}isChildOf(t){if(t.wrap!==this.wrap||this.overscaledZ-t.overscaledZ<=0)return!1;if(t.overscaledZ===0)return this.overscaledZ>0;let r=this.canonical.z-t.canonical.z;return r<0?!1:t.canonical.x===this.canonical.x>>r&&t.canonical.y===this.canonical.y>>r}children(t){if(this.overscaledZ>=t)return[new $d(this.overscaledZ+1,this.wrap,this.canonical.z,this.canonical.x,this.canonical.y)];let r=this.canonical.z+1,i=this.canonical.x*2,n=this.canonical.y*2;return[new $d(r,this.wrap,r,i,n),new $d(r,this.wrap,r,i+1,n),new $d(r,this.wrap,r,i,n+1),new $d(r,this.wrap,r,i+1,n+1)]}isLessThan(t){return this.wrapt.wrap?!1:this.overscaledZt.overscaledZ?!1:this.canonical.xt.canonical.x?!1:this.canonical.y=0&&t=0&&r=u)return null;let f=this.canonical.x+n,h=this.wrap;return f<0?(h-=Math.ceil(-f/u),f=(f%u+u)%u):f>=u&&(h+=Math.floor(f/u),f%=u),{tileID:new $d(this.overscaledZ,h,l,f,c),x:o,y:s}}};Kte=Math.PI*6378137;Ui("CanonicalTileID",l8),Ui("OverscaledTileID",Bc,{omit:["terrainRttPosMatrix32f"]});c8="_geojsonTileLayer",jyr=class{constructor(e){this._stringToNumber={},this._numberToString=[];for(let t=0;t=this._numberToString.length)throw Error(`Out of bounds. Index requested n=${e} can't be >= this._numberToString.length ${this._numberToString.length}`);return this._numberToString[e]}},yne=class{constructor(e,t,r,i,n){this.type="Feature",this._vectorTileFeature=e,this._x=r,this._y=i,this._z=t;for(let a in e.properties)typeof e.properties[a]=="string"&&e.properties[a].startsWith("__$json__:")&&(e.properties[a]=JSON.parse(e.properties[a].slice(10)));this.properties=e.properties,this.id=n}projectPoint(e,t,r,i){return[(e.x+t)*360/i-180,360/Math.PI*Math.atan(Math.exp((1-(e.y+r)*2/i)*Math.PI))-90]}projectLine(e,t,r,i){return e.map(n=>this.projectPoint(n,t,r,i))}get geometry(){if(this._geometry)return this._geometry;let e=this._vectorTileFeature,t=e.extent*2**this._z,r=e.extent*this._x,i=e.extent*this._y,n=e.loadGeometry();switch(e.type){case 1:{let a=[];for(let s of n)a.push(s[0]);let o=this.projectLine(a,r,i,t);this._geometry=a.length===1?{type:"Point",coordinates:o[0]}:{type:"MultiPoint",coordinates:o};break}case 2:{let a=n.map(o=>this.projectLine(o,r,i,t));this._geometry=a.length===1?{type:"LineString",coordinates:a[0]}:{type:"MultiLineString",coordinates:a};break}case 3:{let a=Tit(n),o=[];for(let s of a)o.push(s.map(l=>this.projectLine(l,r,i,t)));this._geometry=o.length===1?{type:"Polygon",coordinates:o[0]}:{type:"MultiPolygon",coordinates:o};break}default:throw Error(`unknown feature type: ${e.type}`)}return this._geometry}set geometry(e){this._geometry=e}toJSON(){let e={geometry:this.geometry};for(let t in this)t!=="_geometry"&&t!=="_vectorTileFeature"&&t!=="_x"&&t!=="_y"&&t!=="_z"&&(e[t]=this[t]);return e}},r3=class{constructor(e,t,r){this._name=e,this.dataBuffer=t,typeof r=="number"?this._size=r:(this.nullabilityBuffer=r,this._size=r.size())}getValue(e){return this.nullabilityBuffer&&!this.nullabilityBuffer.get(e)?null:this.getValueFromBuffer(e)}has(e){var t;return((t=this.nullabilityBuffer)==null?void 0:t.get(e))||!this.nullabilityBuffer}get name(){return this._name}get size(){return this._size}},KB=class extends r3{},xne=class extends KB{getValueFromBuffer(e){return this.dataBuffer[e]}},_ne=class extends KB{getValueFromBuffer(e){return this.dataBuffer[e]}},cnt=class extends r3{constructor(e,t,r,i){super(e,t,i),this.delta=r}},bne=class extends cnt{constructor(e,t,r,i,n){super(e,n?Int32Array.of(t):Uint32Array.of(t),r,i)}getValueFromBuffer(e){return this.dataBuffer[0]+e*this.delta}},wne=class extends r3{constructor(e,t,r,i){super(e,i?Int32Array.of(t):Uint32Array.of(t),r)}getValueFromBuffer(e){return this.dataBuffer[0]}},$yr=class{constructor(e,t,r,i,n=4096){if(this._name=e,this._geometryVector=t,this._idVector=r,this._propertyVectors=i,this._extent=n,e.length===0)throw Error("Missing layer name")}get name(){return this._name}get idVector(){return this._idVector}get geometryVector(){return this._geometryVector}get propertyVectors(){var e;return(e=this._propertyVectors)!=null?e:[]}getPropertyVector(e){return this.propertyVectorsMap||(this.propertyVectorsMap=new Map(this.propertyVectors.map(t=>[t.name,t]))),this.propertyVectorsMap.get(e)}get numFeatures(){return this.geometryVector.numGeometries}get extent(){return this._extent}getFeatures(){let e=[],t=this.geometryVector.getGeometries();for(let r=0;r>>32-e;oie=Tne,dnt=65536;sie=Yyr(dnt),y2r=3*sie/256+sie|0;(function(e){e.PRESENT="PRESENT",e.DATA="DATA",e.OFFSET="OFFSET",e.LENGTH="LENGTH"})(pu||(pu={}));(function(e){e.NONE="NONE",e.SINGLE="SINGLE",e.SHARED="SHARED",e.VERTEX="VERTEX",e.MORTON="MORTON",e.FSST="FSST"})(sh||(sh={}));(function(e){e.VERTEX="VERTEX",e.INDEX="INDEX",e.STRING="STRING",e.KEY="KEY"})(wm||(wm={}));(function(e){e.VAR_BINARY="VAR_BINARY",e.GEOMETRIES="GEOMETRIES",e.PARTS="PARTS",e.RINGS="RINGS",e.TRIANGLES="TRIANGLES",e.SYMBOL="SYMBOL",e.DICTIONARY="DICTIONARY"})(lc||(lc={}));lxr=[pu.PRESENT,pu.DATA,pu.OFFSET,pu.LENGTH],met=[da.NONE,da.DELTA,da.COMPONENTWISE_DELTA,da.RLE,da.MORTON],uxr=[Kd.NONE,Kd.FAST_PFOR,Kd.VARINT],cxr=[sh.NONE,sh.SINGLE,sh.SHARED,sh.VERTEX,sh.MORTON,sh.FSST],fxr=[wm.VERTEX,wm.INDEX,wm.STRING,wm.KEY],hxr=[lc.VAR_BINARY,lc.GEOMETRIES,lc.PARTS,lc.RINGS,lc.TRIANGLES,lc.SYMBOL,lc.DICTIONARY];(function(e){e[e.FLAT=0]="FLAT",e[e.CONST=1]="CONST",e[e.SEQUENCE=2]="SEQUENCE",e[e.DICTIONARY=3]="DICTIONARY",e[e.FSST_DICTIONARY=4]="FSST_DICTIONARY"})(Gs||(Gs={}));bv=class{constructor(e,t){this.values=e,this._size=t}get(e){let t=Math.floor(e/8),r=e%8;return(this.values[t]>>r&1)==1}set(e,t){let r=Math.floor(e/8),i=e%8;this.values[r]=this.values[r]|+!!t<>r&1}size(){return this._size}getBuffer(){return this.values}};_xr=new TextDecoder;Snt=class extends KB{getValueFromBuffer(e){return this.dataBuffer[e]}},Ent=class extends cnt{constructor(e,t,r,i,n){super(e,n?BigInt64Array.of(t):BigUint64Array.of(t),r,i)}getValueFromBuffer(e){return this.dataBuffer[0]+BigInt(e)*this.delta}};(function(e){e[e.POINT=0]="POINT",e[e.LINESTRING=1]="LINESTRING",e[e.POLYGON=2]="POLYGON",e[e.MULTIPOINT=3]="MULTIPOINT",e[e.MULTILINESTRING=4]="MULTILINESTRING",e[e.MULTIPOLYGON=5]="MULTIPOLYGON"})(uf||(uf={}));(function(e){e[e.POINT=0]="POINT",e[e.LINESTRING=1]="LINESTRING",e[e.POLYGON=2]="POLYGON"})(Lxr||(Lxr={}));(function(e){e[e.MORTON=0]="MORTON",e[e.VEC_2=1]="VEC_2",e[e.VEC_3=2]="VEC_3"})(n3||(n3={}));knt=class{constructor(e,t,r,i,n){this._vertexBufferType=e,this._topologyVector=t,this._vertexOffsets=r,this._vertexBuffer=i,this._mortonSettings=n}get vertexBufferType(){return this._vertexBufferType}get topologyVector(){return this._topologyVector}get vertexOffsets(){return this._vertexOffsets}get vertexBuffer(){return this._vertexBuffer}getSimpleEncodedVertex(e){let t=this.vertexOffsets?this.vertexOffsets[e]*2:e*2;return[this.vertexBuffer[t],this.vertexBuffer[t+1]]}getVertex(e){if(this.vertexOffsets&&this.mortonSettings){let r=this.vertexOffsets[e],i=this.vertexBuffer[r],n=Dne(i,this.mortonSettings.numBits,this.mortonSettings.coordinateShift);return[n.x,n.y]}let t=this.vertexOffsets?this.vertexOffsets[e]*2:e*2;return[this.vertexBuffer[t],this.vertexBuffer[t+1]]}getGeometries(){return Pxr(this)}get mortonSettings(){return this._mortonSettings}};Cnt=class extends knt{constructor(e,t,r,i,n,a,o){super(r,i,n,a,o),this._numGeometries=e,this._geometryType=t}geometryType(e){return this._geometryType}get numGeometries(){return this._numGeometries}containsPolygonGeometry(){return this._geometryType===uf.POLYGON||this._geometryType===uf.MULTIPOLYGON}containsSingleGeometryType(){return!0}};Fnt=class extends knt{constructor(e,t,r,i,n,a){super(e,r,i,n,a),this._geometryTypes=t}geometryType(e){return this._geometryTypes[e]}get numGeometries(){return this._geometryTypes.length}containsPolygonGeometry(){for(let e=0;ema(fn({},r),{[i.name]:new S_r(i)}),{})}},k_r=class{constructor(e,t){this.tileID=e,this.x=e.canonical.x,this.y=e.canonical.y,this.z=e.canonical.z,this.grid=new fre(zr,16,0),this.grid3D=new fre(zr,16,0),this.featureIndexArray=new jrt,this.promoteId=t}insert(e,t,r,i,n,a){let o=this.featureIndexArray.length;this.featureIndexArray.emplaceBack(r,i,n);let s=a?this.grid3D:this.grid;for(let l of t){let u=[1/0,1/0,-1/0,-1/0];for(let c of l)u[0]=Math.min(u[0],c.x),u[1]=Math.min(u[1],c.y),u[2]=Math.max(u[2],c.x),u[3]=Math.max(u[3],c.y);u[0]<8192&&u[1]<8192&&u[2]>=0&&u[3]>=0&&s.insert(o,u[0],u[1],u[2],u[3])}}loadVTLayers(){return this.vtLayers||(this.encoding==="mlt"?this.vtLayers=new E_r(this.rawTileData).layers:this.vtLayers=new ggr(new Vit(this.rawTileData)).layers,this.sourceLayerCoder=new jyr(this.vtLayers?Object.keys(this.vtLayers).sort():[c8])),this.vtLayers}query(e,t,r,i){this.loadVTLayers();let n=e.params,a=zr/e.tileSize/e.scale,o=CT(n.filter,"queryRenderedFeatures filter",n.globalState),s=e.queryGeometry,l=e.queryPadding*a,u=Jd.fromPoints(s),c=this.grid.query(u.minX-l,u.minY-l,u.maxX+l,u.maxY+l),f=Jd.fromPoints(e.cameraQueryGeometry).expandBy(l),h=this.grid3D.query(f.minX,f.minY,f.maxX,f.maxY,(v,m,g,w)=>a1r(e.cameraQueryGeometry,v-l,m-l,g+l,w+l));for(let v of h)c.push(v);c.sort(D_r);let d={},p;for(let v of c){if(v===p)continue;p=v;let m=this.featureIndexArray.get(v),g=null;this.loadMatchingFeature(d,m.bucketIndex,m.sourceLayerIndex,m.featureIndex,o,n.layers,n.availableImages,t,r,i,(w,b,_)=>(g||(g=Qb(w)),b.queryIntersectsFeature({queryGeometry:s,feature:w,featureState:_,geometry:g,zoom:this.z,transform:e.transform,pixelsToTileUnits:a,pixelPosMatrix:e.pixelPosMatrix,unwrappedTileID:this.tileID.toUnwrapped(),getElevation:e.getElevation})))}return d}loadMatchingFeature(e,t,r,i,n,a,o,s,l,u,c){let f=this.bucketLayerIDs[t];if(a&&!f.some(v=>a.has(v)))return;let h=this.sourceLayerCoder.decode(r),d=this.vtLayers[h].feature(i);if(n.needGeometry){let v=tx(d,!0);if(!n.filter(new Co(this.tileID.overscaledZ),v,this.tileID.canonical))return}else if(!n.filter(new Co(this.tileID.overscaledZ),d))return;let p=this.getId(d,h);for(let v of f){if(a&&!a.has(v))continue;let m=s[v];if(!m)continue;let g={};p&&u&&(g=u.getState(m.sourceLayer||"_geojsonTileLayer",p));let w=ln({},l[v]);w.paint=Eet(w.paint,m.paint,d,g,o),w.layout=Eet(w.layout,m.layout,d,g,o);let b=!c||c(d,m,g);if(!b)continue;let _=new yne(d,this.z,this.x,this.y,p);_.layer=w;let M=e[v];M===void 0&&(M=e[v]=[]),M.push({featureIndex:i,feature:_,intersectionZ:b})}}lookupSymbolFeatures(e,t,r,i,n,a,o,s){let l={};this.loadVTLayers();let u=CT(n.filterSpec,"queryRenderedFeatures symbol filter",n.globalState);for(let c of e)this.loadMatchingFeature(l,r,i,c,u,a,o,s,t);return l}hasLayer(e){for(let t of this.bucketLayerIDs)for(let r of t)if(e===r)return!0;return!1}getId(e,t){var i;let r=e.id;if(this.promoteId){let n=typeof 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r=t.tileID.canonical.x-e.tileID.canonical.x,i=t.tileID.canonical.y-e.tileID.canonical.y,n=2**e.tileID.canonical.z,a=t.tileID.key;(r!==0||i!==0)&&(Math.abs(i)>1||(Math.abs(r)>1&&(Math.abs(r+n)===1?r+=n:Math.abs(r-n)===1&&(r-=n)),t.dem&&e.dem&&(e.dem.backfillBorder(t.dem,r,i),(o=e.neighboringTiles)!=null&&o[a]&&(e.neighboringTiles[a].backfilled=!0))))}function mq(e,t,r,i,n){return n?e?e(t,r)+i:i===0?void 0:i:i}function iq(e,t){let r=!0;return e==="always"||(e==="never"||t==="never")&&(r=!1),r}function f3r(e,t){let r=1/(t[0]*t[0]+t[1]*t[1]+t[2]*t[2]),i=1/(t[8]*t[8]+t[9]*t[9]+t[10]*t[10]),n=t[0]*r,a=t[4]*r,o=t[8]*i,s=t[1]*r,l=t[5]*r,u=t[9]*i,c=t[2]*r,f=t[6]*r,h=t[10]*i;e[0]=n,e[1]=a,e[2]=o,e[4]=s,e[5]=l,e[6]=u,e[8]=c,e[9]=f,e[10]=h;let d=t[12],p=t[13],v=t[14];return e[12]=-n*d-s*p-c*v,e[13]=-a*d-l*p-f*v,e[14]=-o*d-u*p-h*v,e[3]=0,e[7]=0,e[11]=0,e[15]=1,e}function h3r(e,t){return 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o=i[0]-100,s=i[1]-100,l=i[2]-100,u=i[3]-100;e.emplaceBack(+!!t,+!!r,n||0,a||0,o,s),e.emplaceBack(+!!t,+!!r,n||0,a||0,l,s),e.emplaceBack(+!!t,+!!r,n||0,a||0,l,u),e.emplaceBack(+!!t,+!!r,n||0,a||0,o,u)}function dat(e){if(e.opacity===0&&!e.placed)return 0;if(e.opacity===1&&e.placed)return 4294967295;let t=+!!e.placed,r=Math.floor(e.opacity*127);return r*S3r+t*E3r+r*k3r+t*C3r+r*512+t*256+r*2+t}function lae(e,t,r,i,n,a){if(n-i<=r)return;let o=i+n>>1;Sot(e,t,o,i,n,a),lae(e,t,r,i,o-1,1-a),lae(e,t,r,o+1,n,1-a)}function Sot(e,t,r,i,n,a){for(;n>i;){if(n-i>600){let u=n-i+1,c=r-i+1,f=Math.log(u),h=.5*Math.exp(2*f/3),d=.5*Math.sqrt(f*h*(u-h)/u)*(c-u/2<0?-1:1);Sot(e,t,r,Math.max(i,Math.floor(r-c*h/u+d)),Math.min(n,Math.floor(r+(u-c)*h/u+d)),a)}let o=t[2*r+a],s=i,l=n;for(v8(e,t,i,r),t[2*n+a]>o&&v8(e,t,i,n);so;)l--}t[2*i+a]===o?v8(e,t,i,l):(l++,v8(e,t,l,n)),l<=r&&(i=l+1),r<=l&&(n=l-1)}}function v8(e,t,r,i){Bne(e,r,i),Bne(t,2*r,2*i),Bne(t,2*r+1,2*i+1)}function Bne(e,t,r){let 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unpack_mix_${v}(a_${d}, u_${d}_t); +#else + ${f} ${h} ${d} = u_${d}; +#endif +`:c==="define"?` +#ifndef HAS_UNIFORM_u_${d} +uniform lowp float u_${d}_t; +layout(location = ${s++}) in ${f} ${p} a_${d}; +#else +uniform ${f} ${h} u_${d}; +#endif +`:v==="vec4"?` +#ifndef HAS_UNIFORM_u_${d} + ${f} ${h} ${d} = a_${d}; +#else + ${f} ${h} ${d} = u_${d}; +#endif +`:` +#ifndef HAS_UNIFORM_u_${d} + ${f} ${h} ${d} = unpack_mix_${v}(a_${d}, u_${d}_t); +#else + ${f} ${h} ${d} = u_${d}; +#endif +`}),{fragmentSource:e,vertexSource:t,staticAttributes:i,staticUniforms:o}}function wq(e,t){if(!e.renderWorldCopies||e.lngRange)return;let r=t.lng-e.center.lng;t.lng+=r>180?-360:r<-180?360:0}function mat(e){return Math.max(0,Math.floor(e))}function Lae(e,t,r,i){if(i<0||i>=1)return xat;let n=Math.floor(r),a=r-n;for(let o of e.zooms){let s=1<n;a++){let o=(r+i)/2;t(e,o)?i=o:r=o}return{lo:r,hi:i}}function yq(e,t){return Lae(e.index,e.exaggeration,(e.near[0]+t*e.dx)/e.worldSize,(e.near[1]+t*e.dy)/e.worldSize)}function aq(e,t){return Fot(yq(e,t),e.near[2]+t*e.dz)}function Iot(){Ma("Map cannot fit within canvas with the given bounds, padding, and/or offset.")}function Rot(e){if(e.useSlerp)if(e.k<1){let t=Aie(e.startEulerAngles.roll,e.startEulerAngles.pitch,e.startEulerAngles.bearing),r=Aie(e.endEulerAngles.roll,e.endEulerAngles.pitch,e.endEulerAngles.bearing),i=new Float64Array(4);vk(i,t,r,e.k);let n=rtt(i);e.tr.setRoll(n.roll),e.tr.setPitch(n.pitch),e.tr.setBearing(n.bearing)}else e.tr.setRoll(e.endEulerAngles.roll),e.tr.setPitch(e.endEulerAngles.pitch),e.tr.setBearing(e.endEulerAngles.bearing);else e.tr.setRoll($s.number(e.startEulerAngles.roll,e.endEulerAngles.roll,e.k)),e.tr.setPitch($s.number(e.startEulerAngles.pitch,e.endEulerAngles.pitch,e.k)),e.tr.setBearing($s.number(e.startEulerAngles.bearing,e.endEulerAngles.bearing,e.k))}function zot(e,t,r,i,n){let a=n.padding,o=Sv(n.worldSize,r.getNorthWest()),s=Sv(n.worldSize,r.getNorthEast()),l=Sv(n.worldSize,r.getSouthEast()),u=Sv(n.worldSize,r.getSouthWest()),c=js(-i),f=o.rotate(c),h=s.rotate(c),d=l.rotate(c),p=u.rotate(c),v=new tr(Math.max(f.x,h.x,p.x,d.x),Math.max(f.y,h.y,p.y,d.y)),m=new tr(Math.min(f.x,h.x,p.x,d.x),Math.min(f.y,h.y,p.y,d.y)),g=v.sub(m),w=n.width-(a.left+a.right+t.left+t.right),b=n.height-(a.top+a.bottom+t.top+t.bottom),_=w/g.x,M=b/g.y;if(M<0||_<0){Iot();return}let x=Math.min(zc(n.scale*Math.min(_,M)),e.maxZoom),T=tr.convert(e.offset),A=(t.left-t.right)/2,y=(t.top-t.bottom)/2,E=new tr(A,y).rotate(js(i)),S=T.add(E).mult(n.scale/If(x));return{center:NT(n.worldSize,o.add(l).div(2).sub(S)),zoom:x,bearing:i}}function qot(e){let t=YT(e.worldSize,e.center.lat);return 2*Math.PI*t}function Z3r(e,t,r){let i=Vu(t),n=Vu(r),a=gu(i,n),o=Math.acos(a),s=qot(e);return o/(2*Math.PI)*s}function K3r(e,t){return[K2(e*Math.PI*2+Math.PI,Math.PI*2),2*Math.atan(Math.exp(Math.PI-t*Math.PI*2))-Math.PI*.5]}function J3r(e,t){let r=Math.cos(t),i=new Float64Array(3);return i[0]=Math.sin(e)*r,i[1]=Math.sin(t),i[2]=Math.cos(e)*r,i}function nx(e,t,r,i,n){let a=1/(1<1e-6){let i=e[0]/r,n=e[2]/r,a=Math.acos(n),o=(i>0?a:-a)/Math.PI*180;return new mn(B0(o,-180,180),t)}return new mn(0,t)}function Q3r(e,t){return cB(Cm(),-e.lng,-e.lat,t)}function ewr(e){let t=e[0],r=e[1],i=e[2],n=e[3];return{lng:-Math.atan2(2*(n*t+r*i),1-2*(t*t+r*r))*180/Math.PI,lat:-Math.asin(Jn(2*(n*r-i*t),-1,1))*180/Math.PI,bearing:Math.atan2(2*(n*i+t*r),1-2*(r*r+i*i))*180/Math.PI}}function bat(e,t){let r=e.cameraPosition,i=K1(r);if(i<=1)return e.screenPointToLocation(t);let n=Do();Pf(n,r);let a=e.getRayDirectionFromPixel(t),o=-gu(a,n),s=Do();qk(s,a,n,o);let l=K1(s);if(l<1e-9)return e.screenPointToLocation(t);let u=Math.atan2(l,o),c=Math.asin(1/i)*.9;if(u=0?90:-90,s=e.locationToScreenPoint(new mn(0,o)),l=t.x-s.x,u=t.y-s.y,c=l*l+u*u,f=Jn(1-(Tv-Math.abs(a))/12,0,1),h=f*f*(3-2*f),d=K2(i-n+180,360)-180,p=0;if(h>0&&r){let v=(l*r.y-u*r.x)/Math.max(c,400);p=(o>0?1:-1)*v*180/Math.PI}return n+(1-h)*d+h*p}function iwr(e){let t=Do();return t[0]=e[0]*-e[3],t[1]=e[1]*-e[3],t[2]=e[2]*-e[3],{center:t,radius:Math.sqrt(1-e[3]*e[3])}}function nwr(e,t,r){let i=Do();J1(i,r,e);let n=Do();return qk(n,e,i,t/Ok(i)),n}function Mq(e){return Math.cos(e*Math.PI/180)}function qc(e,t){let r=Mq(e),i=Mq(t);return zc(i/r)}function awr(e,t){return 360/qot({worldSize:e,center:{lat:t}})}function owr(e,t){let r=e.rotate(t.bearingInRadians),i=t.zoom+qc(t.center.lat,0),n=Kb(1/Mq(t.center.lat),1/Mq(Math.min(Math.abs(t.center.lat),60)),Gk(i,7,3,0,1)),a=awr(t.worldSize,t.center.lat);return new mn(t.center.lng-r.x*a*n,Jn(t.center.lat+r.y*a,-Tv,Tv))}function Nne(e){let t=.5*e,r=Math.sin(t),i=Math.cos(t);return Math.log(r+i)-Math.log(i-r)}function wat(e,t,r,i){let n=e.lat+r*i;if(Math.abs(r)>1){let a=e.lat+r,o=(Math.sign(a)===Math.sign(e.lat)?Math.abs(e.lat):-Math.abs(e.lat))*Math.PI/180,s=Math.abs(e.lat+r)*Math.PI/180,l=Nne(o+i*(s-o)),u=Nne(o),c=Nne(s),f=(l-u)/(c-u),h=e.lng+t*f;return new mn(h,n)}{let a=e.lng+t*i;return new mn(a,n)}}function oq(e,t,r=1){let i=gu(e,t),n=r*r,a=Do(),o=Do();Ps(o,t,i),J1(a,e,o);let s=n-gu(a,a);if(s<0)return null;let l=gu(e,e)-n,u=-i+(i<0?1:-1)*Math.sqrt(s),c=l/u,f=u;return{tMin:Math.min(c,f),tMax:Math.max(c,f)}}function xq(e,t,r){let i=e-t;return i<0?-i:Math.max(0,i-r)}function Vne(e,t,r,i,n){let a=e-r,o;return o=a<0?Math.min(-a,1+a-n):a>n?Math.min(Math.max(a-n,0),1-a):0,Math.max(o,xq(t,i,n))}function Tat(e,t){let r=1/0,i=-1/0;for(let n of t){let a=gu(e,n);r=Math.min(r,a),i=Math.max(i,a)}return{min:r,max:i}}function Vot(e,t){let r=Do();qk(r,e.origin,e.direction,t);let i=K1(r),n=Do();Ps(n,r,1/i);let a=w8(n),o=wo.fromLngLat(a),s=new wo(o.x,Jn(o.y,0,.999999999)),l=Lae(e.index,e.exaggeration,s.x,s.y),u=Math.abs(a.lat)>85.051129?0:l.elevation;return{sample:ma(fn({},l),{elevation:u}),radius:i,mercator:s}}function Mat(e,t){let{sample:r,radius:i}=Vot(e,t);return Fot(r,(i-1)*zf)}function uwr(e,t,r){let i={constrainOverride:t};if(Array.isArray(e)){let n=new _at({type:e},r);return{projection:n,transform:new Sat(i),cameraHelper:new Eat(n)}}switch(e){case"mercator":return{projection:new uae,transform:new Tq(i),cameraHelper:new Aq};case"globe":{let n=new _at({type:["interpolate",["linear"],["zoom"],11,"vertical-perspective",12,"mercator"]},{});return{projection:n,transform:new Sat(i),cameraHelper:new Eat(n)}}case"vertical-perspective":return{projection:new Bot,transform:new Not(i),cameraHelper:new Hot};default:return Ma(`Unknown projection name: ${e}. Falling back to mercator projection.`),{projection:new uae,transform:new Tq(i),cameraHelper:new Aq}}}function ywr(e,t){for(let[r,i]of Object.entries(Cq)){let n=e.getUniformBlockIndex(t,r);n!==e.INVALID_INDEX&&e.uniformBlockBinding(t,n,i)}}function Pae(e){let t={},r=0;for(let{name:i,type:n}of e){let[a,o]=xwr[n];r=Math.ceil(r/o)*o,t[i]=r,r+=a}return{offsets:t,contentWords:r,sizeWords:Math.ceil(r/4)*4}}function _wr(e){return new Iae(e,Cq.ProjectionUBO,jot)}function bwr(e,t){let r=e.pending;r.set(t.mainMatrix,HT.u_projection_matrix),r.set(t.fallbackMatrix,HT.u_projection_fallback_matrix),r.set(t.tileMercatorCoords,HT.u_projection_tile_mercator_coords),r.set(t.clippingPlane,HT.u_projection_clipping_plane),r[HT.u_projection_transition]=t.projectionTransition,e.pendingWords[HT.u_projection_clip_antimeridian]=+!!t.clipAntimeridian,e.upload()}function wwr(e){return new Iae(e,Cq.TerrainUBO,$ot)}function Twr(e,t){let r=e.pending;r.set(t.u_terrain_matrix,sq.u_terrain_matrix),r.set(t.u_terrain_unpack,sq.u_terrain_unpack),r[sq.u_terrain_dim]=t.u_terrain_dim,r[sq.u_terrain_exaggeration]=t.u_terrain_exaggeration,e.upload()}function Gne(e){let t=[];for(let r of e){if(r===null)continue;let i=r.split(" ");t.push(i.pop())}return t}function Awr(e,t){let r=new Set([e.INT,e.INT_VEC2,e.INT_VEC3,e.INT_VEC4,e.UNSIGNED_INT,e.UNSIGNED_INT_VEC2,e.UNSIGNED_INT_VEC3,e.UNSIGNED_INT_VEC4]),i=new Set,n=e.getProgramParameter(t,e.ACTIVE_ATTRIBUTES);for(let a=0;a>16,s>>16],u_pixel_coord_lower:[o&65535,s&65535]}}function Swr(e,t,r,i){let n=r.patternAtlas.getPattern(e.from.toString()),a=r.patternAtlas.getPattern(e.to.toString()),{width:o,height:s}=r.patternAtlas.getPixelSize(),l=2**i.tileID.overscaledZ,u=i.tileSize*2**r.transform.tileZoom/l,c=u*(i.tileID.canonical.x+i.tileID.wrap*l),f=u*i.tileID.canonical.y;return{u_image:0,u_pattern_tl_a:n.tl,u_pattern_br_a:n.br,u_pattern_tl_b:a.tl,u_pattern_br_b:a.br,u_texsize:[o,s],u_mix:t.t,u_pattern_size_a:n.displaySize,u_pattern_size_b:a.displaySize,u_scale_a:t.fromScale,u_scale_b:t.toScale,u_tile_units_to_pixels:1/Zh(i,1,r.transform.tileZoom),u_pixel_coord_upper:[c>>16,f>>16],u_pixel_coord_lower:[c&65535,f&65535]}}function $wr(e,t){let r=2**t.canonical.z,i=t.canonical.y;return[new wo(0,i/r).toLngLat().lat,new wo(0,(i+1)/r).toLngLat().lat]}function Rae(e,t){return 1/Zh(e,1,t.tileZoom)}function Jot(e,t,r){return Dm(e.transform,t,r.paint.get("line-translate"),r.paint.get("line-translate-anchor"))}function r4r(e){return new Iae(e,Cq.FrameUBO,tst)}function i4r(e,t){let r=e.pending,{transform:i}=t,n=t.context.gl;r[q0.u_units_to_pixels]=1/i.pixelsToGLUnits[0],r[q0.u_units_to_pixels+1]=1/i.pixelsToGLUnits[1],r[q0.u_world_size]=n.drawingBufferWidth,r[q0.u_world_size+1]=n.drawingBufferHeight,r[q0.u_camera_to_center_distance]=i.cameraToCenterDistance,r[q0.u_symbol_fade_change]=t.options.fadeDuration?t.symbolFadeChange:1,r[q0.u_aspect_ratio]=i.width/i.height,r[q0.u_device_pixel_ratio]=t.pixelRatio,r[q0.u_viewport_size]=i.width,r[q0.u_viewport_size+1]=i.height,r[q0.u_pixel_extrude_scale]=1/i.width,r[q0.u_pixel_extrude_scale+1]=1/i.height,r[q0.u_pitch]=i.pitch/360*2*Math.PI,e.upload()}function Fat(e,t,r,i,n){var g,w;let a=e.context,o=e.transform,s=a.gl,l=e.useProgram("collisionBox"),u=[],c=0,f=0;for(let b of i){let _=t.getTile(b).getBucket(r);if(!_)continue;let M=n?_.textCollisionBox:_.iconCollisionBox,x=_.collisionCircleArray;x.length>0&&(u.push({circleArray:x,circleOffset:f,coord:b}),c+=x.length/4,f=c),M&&l.draw(a,s.LINES,Ba.disabled,Fo.disabled,e.colorModeForRenderPass(),To.disabled,null,(g=e.style.map.terrain)==null?void 0:g.getTerrainData(b),o.getProjectionData({overscaledTileID:b,applyGlobeMatrix:!0,applyTerrainMatrix:!0}),r.id,M.layoutVertexBuffer,M.indexBuffer,M.segments,null,e.transform.zoom,null,null,M.collisionVertexBuffer)}if(!n||!u.length)return;let h=e.useProgram("collisionCircle"),d=new Yrt;d.resize(c*4),d._trim();let p=0;for(let b of u)for(let _=0;_c.getElevation(p,A,y):void 0;f4r(m,f,h,l,u,_,x,w,M,Dm(u,v,o,s),p.toUnwrapped(),T,r.layout.get("symbol-height-anchor")==="ground")}}}function c4r(e,t,r,i,n,a){let o=t.tileAnchorPoint.add(new tr(t.translation[0],t.translation[1]));if(t.pitchWithMap){let s=i.mult(a);r||(s=s.rotate(-n));let l=o.add(s);return Cae(l.x,l.y,t.pitchedLabelPlaneMatrix,c3(t,l.x,l.y)).point}if(r){let s=f3(t.tileAnchorPoint.x+1,t.tileAnchorPoint.y,t).point.sub(e),l=Math.atan(s.y/s.x)+(s.x<0?Math.PI:0);return e.add(i.rotate(l))}return e.add(i)}function f4r(e,t,r,i,n,a,o,s,l,u,c,f,h){let d=e.text.placedSymbolArray,p=e.text.dynamicLayoutVertexArray,v=e.icon.dynamicLayoutVertexArray,m={};p.clear();for(let g=0;g=0&&(m[w.associatedIconIndex]={shiftedAnchor:R,angle:L})}}if(l){v.clear();let g=e.icon.placedSymbolArray;for(let w=0;we.style.map.terrain.getElevation(D,pe,we):void 0;m3r(P,e,n,G,xe,g,u,r.layout.get("text-rotation-alignment")==="map",D.toUnwrapped(),v.width,v.height,te,re)}let oe=n&&T||Ce,Ee=g?G:e.transform.clipSpaceToPixelsMatrix,ye=w||oe?o4r:Ee,ue=I&&r.paint.get(n?"text-halo-width":"icon-halo-width").constantOr(1)!==0,ee;ee=I?P.iconsInText?u5r(B.kind,Y,b,g,w,oe,e,ye,Q,te,j,q,y,be,he):est(B.kind,Y,b,g,w,oe,e,ye,Q,te,n,j,ue,y,be,he):Qot(B.kind,Y,b,g,w,oe,e,ye,Q,te,n,j,y,be,he);let ae={program:$,buffers:R,uniformValues:ee,projectionData:ce,atlasTexture:J,atlasTextureIcon:V,atlasInterpolation:U,atlasInterpolationIcon:X,isSDF:I,hasHalo:ue};if(_&&P.canOverlap){M=!0;let xe=R.segments.get();for(let re of xe)A.push({segments:new Ws([re]),sortKey:re.sortKey,state:ae,terrainData:K})}else A.push({segments:R.segments,sortKey:0,state:ae,terrainData:K})}M&&A.sort((D,F)=>D.sortKey-F.sortKey);let E=(k=r.paint.get(n?"text-halo-width":"icon-halo-width").constantOr(null))!=null?k:1/0,S=r.layout.get("text-letter-spacing").constantOr(0)*24<0||E>1;for(let D of A){let F=D.state;d.activeTexture.set(p.TEXTURE0),F.atlasTexture.bind(F.atlasInterpolation,p.CLAMP_TO_EDGE),F.atlasTextureIcon&&(d.activeTexture.set(p.TEXTURE1),F.atlasTextureIcon&&F.atlasTextureIcon.bind(F.atlasInterpolationIcon,p.CLAMP_TO_EDGE));let P=F.isSDF&&F.hasHalo;if(P){let R=F.uniformValues;R.u_is_halo=1,S&&(R.u_is_plain=0,Pat(F.buffers,D.segments,r,e,F.program,x,c,f,R,F.projectionData,D.terrainData),R.u_is_halo=0,R.u_is_plain=1)}Pat(F.buffers,D.segments,r,e,F.program,x,c,f,F.uniformValues,F.projectionData,D.terrainData),P&&!S&&(F.uniformValues.u_is_halo=0)}}function Pat(e,t,r,i,n,a,o,s,l,u,c){let f=i.context,h=f.gl;n.draw(f,h.TRIANGLES,a,o,s,To.backCCW,l,c,u,r.id,e.layoutVertexBuffer,e.indexBuffer,t,r.paint,i.transform.zoom,e.programConfigurations.get(r.id),e.dynamicLayoutVertexBuffer,e.opacityVertexBuffer)}function d4r(e,t,r,i,n){var w;if(n.currentPass!=="translucent")return;let{isRenderingToTexture:a}=n,o=r.paint.get("circle-opacity"),s=r.paint.get("circle-stroke-width"),l=r.paint.get("circle-stroke-opacity"),u=!r.layout.get("circle-sort-key").isConstant();if(o.constantOr(1)===0&&(s.constantOr(1)===0||l.constantOr(1)===0))return;let c=e.context,f=c.gl,h=e.transform,d=e.getDepthModeForSublayer(0,Ba.ReadOnly),p=Fo.disabled,v=e.colorModeForRenderPass(),m=[],g=h.getCircleRadiusCorrection();for(let b of i){let _=t.getTile(b),M=_.getBucket(r);if(!M)continue;let x=r.paint.get("circle-translate"),T=r.paint.get("circle-translate-anchor"),A=Dm(h,_,x,T),y=M.programConfigurations.get(r.id),E=e.useProgram("circle",y),S=M.layoutVertexBuffer,C=M.indexBuffer,k=(w=e.style.map.terrain)==null?void 0:w.getTerrainData(b),D={programConfiguration:y,program:E,layoutVertexBuffer:S,indexBuffer:C,uniformValues:qwr(e,_,r,A,g),terrainData:k,projectionData:h.getProjectionData({overscaledTileID:b,applyGlobeMatrix:!a,applyTerrainMatrix:!0})};if(u){let F=M.segments.get();for(let P of F)m.push({segments:new Ws([P]),sortKey:P.sortKey,state:D})}else m.push({segments:M.segments,sortKey:0,state:D})}u&&m.sort((b,_)=>b.sortKey-_.sortKey);for(let b of m){let{programConfiguration:_,program:M,layoutVertexBuffer:x,indexBuffer:T,uniformValues:A,terrainData:y,projectionData:E}=b.state,S=b.segments;M.draw(c,f.TRIANGLES,d,p,v,To.backCCW,A,y,E,r.id,x,T,S,r.paint,e.transform.zoom,_)}}function p4r(e,t,r,i,n){if(r.paint.get("heatmap-opacity")===0)return;let a=e.context,{isRenderingToTexture:o,isRenderingGlobe:s}=n;if(e.style.map.terrain){for(let l of i){let u=t.getTile(l);t.hasRenderableParent(l)||(n.currentPass==="offscreen"?m4r(e,u,r,l,s):n.currentPass==="translucent"&&y4r(e,r,l,o,s))}a.viewport.set([0,0,e.width,e.height])}else n.currentPass==="offscreen"?v4r(e,t,r,i):n.currentPass==="translucent"&&g4r(e,r)}function v4r(e,t,r,i){let n=e.context,a=n.gl,o=e.transform,s=Fo.disabled,l=new ql([a.ONE,a.ONE],ea.transparent,[!0,!0,!0,!0]);x4r(n,e,r),n.clear({color:ea.transparent});for(let u of i){if(t.hasRenderableParent(u))continue;let c=t.getTile(u),f=c.getBucket(r);if(!f)continue;let h=f.programConfigurations.get(r.id),d=e.useProgram("heatmap",h),p=o.getProjectionData({overscaledTileID:u,applyGlobeMatrix:!0,applyTerrainMatrix:!1}),v=o.getCircleRadiusCorrection();d.draw(n,a.TRIANGLES,Ba.disabled,s,l,To.backCCW,Zot(c,o.zoom,r.paint.get("heatmap-intensity"),v),null,p,r.id,f.layoutVertexBuffer,f.indexBuffer,f.segments,r.paint,o.zoom,h)}n.viewport.set([0,0,e.width,e.height])}function g4r(e,t){let r=e.context,i=r.gl;r.setColorMode(e.colorModeForRenderPass());let n=t.heatmapFbos.get(e8);n&&(r.activeTexture.set(i.TEXTURE0),i.bindTexture(i.TEXTURE_2D,n.colorAttachment.get()),r.activeTexture.set(i.TEXTURE1),ist(r,t).bind(i.LINEAR,i.CLAMP_TO_EDGE),e.useProgram("heatmapTexture").draw(r,i.TRIANGLES,Ba.disabled,Fo.disabled,e.colorModeForRenderPass(),To.disabled,Kot(e,t,0,1),null,null,t.id,e.viewportBuffer,e.quadTriangleIndexBuffer,e.viewportSegments,t.paint,e.transform.zoom))}function m4r(e,t,r,i,n){let a=e.context,o=a.gl,s=Fo.disabled,l=new ql([o.ONE,o.ONE],ea.transparent,[!0,!0,!0,!0]),u=t.getBucket(r);if(!u)return;let c=i.key,f=r.heatmapFbos.get(c);f||(f=rst(a,t.tileSize,t.tileSize),r.heatmapFbos.set(c,f)),a.bindFramebuffer.set(f.framebuffer),a.viewport.set([0,0,t.tileSize,t.tileSize]),a.clear({color:ea.transparent});let h=u.programConfigurations.get(r.id),d=e.useProgram("heatmap",h,!n),p=e.transform.getProjectionData({overscaledTileID:t.tileID,applyGlobeMatrix:!0,applyTerrainMatrix:!0}),v=e.style.map.terrain.getTerrainData(i);d.draw(a,o.TRIANGLES,Ba.disabled,s,l,To.disabled,Zot(t,e.transform.zoom,r.paint.get("heatmap-intensity"),1),v,p,r.id,u.layoutVertexBuffer,u.indexBuffer,u.segments,r.paint,e.transform.zoom,h)}function y4r(e,t,r,i,n){let a=e.context,o=a.gl,s=e.transform;a.setColorMode(e.colorModeForRenderPass());let l=ist(a,t),u=r.key,c=t.heatmapFbos.get(u);if(!c)return;a.activeTexture.set(o.TEXTURE0),o.bindTexture(o.TEXTURE_2D,c.colorAttachment.get()),a.activeTexture.set(o.TEXTURE1),l.bind(o.LINEAR,o.CLAMP_TO_EDGE);let f=s.getProjectionData({overscaledTileID:r,applyTerrainMatrix:n,applyGlobeMatrix:!i});e.useProgram("heatmapTexture").draw(a,o.TRIANGLES,Ba.disabled,Fo.disabled,e.colorModeForRenderPass(),To.disabled,Kot(e,t,0,1),null,f,t.id,e.rasterBoundsBuffer,e.quadTriangleIndexBuffer,e.rasterBoundsSegments,t.paint,s.zoom),c.destroy(),t.heatmapFbos.delete(u)}function x4r(e,t,r){let i=e.gl;e.activeTexture.set(i.TEXTURE1),e.viewport.set([0,0,t.width/4,t.height/4]);let n=r.heatmapFbos.get(e8);n?(i.bindTexture(i.TEXTURE_2D,n.colorAttachment.get()),e.bindFramebuffer.set(n.framebuffer)):(n=rst(e,t.width/4,t.height/4),r.heatmapFbos.set(e8,n))}function rst(e,t,r){let i=e.gl,n=i.createTexture();i.bindTexture(i.TEXTURE_2D,n),i.texParameteri(i.TEXTURE_2D,i.TEXTURE_WRAP_S,i.CLAMP_TO_EDGE),i.texParameteri(i.TEXTURE_2D,i.TEXTURE_WRAP_T,i.CLAMP_TO_EDGE),i.texParameteri(i.TEXTURE_2D,i.TEXTURE_MIN_FILTER,i.LINEAR),i.texParameteri(i.TEXTURE_2D,i.TEXTURE_MAG_FILTER,i.LINEAR),i.texStorage2D(i.TEXTURE_2D,1,i.RGBA16F,t,r);let a=e.createFramebuffer(t,r,!1,!1);return a.colorAttachment.set(n),a}function ist(e,t){return t.colorRampTexture||(t.colorRampTexture=new vu(e,t.colorRamp,e.gl.RGBA)),t.colorRampTexture}function nst(e,t,r,i){let n=e.context,a=n.bindFramebuffer.get(),o=n.viewport.get(),[,,s,l]=o;return _4r(e,s,l),n.viewport.set([0,0,s,l]),n.clear({color:ea.transparent,depth:1,stencil:0}),e.currentStencilSource=void 0,e.renderTileClippingMasks(t,r,i),{compositeTarget:a,compositeViewport:o}}function _4r(e,t,r){let i=e.context.gl;if(!e.layerOpacityFbo){let a=e.context.createFramebuffer(t,r,!0,!0),o=i.createTexture();i.bindTexture(i.TEXTURE_2D,o),i.texParameteri(i.TEXTURE_2D,i.TEXTURE_WRAP_S,i.CLAMP_TO_EDGE),i.texParameteri(i.TEXTURE_2D,i.TEXTURE_WRAP_T,i.CLAMP_TO_EDGE),i.texParameteri(i.TEXTURE_2D,i.TEXTURE_MIN_FILTER,i.LINEAR),i.texParameteri(i.TEXTURE_2D,i.TEXTURE_MAG_FILTER,i.LINEAR),i.texImage2D(i.TEXTURE_2D,0,i.RGBA,t,r,0,i.RGBA,i.UNSIGNED_BYTE,null),a.colorAttachment.set(o),a.depthAttachment.set(e.context.createRenderbuffer(i.DEPTH_STENCIL,t,r)),e.layerOpacityFbo=a,e.context.bindFramebuffer.set(e.layerOpacityFbo.framebuffer);return}if(e.layerOpacityFbo.width===t&&e.layerOpacityFbo.height===r){e.context.bindFramebuffer.set(e.layerOpacityFbo.framebuffer);return}let n=e.layerOpacityFbo;i.bindTexture(i.TEXTURE_2D,n.colorAttachment.get()),i.texImage2D(i.TEXTURE_2D,0,i.RGBA,t,r,0,i.RGBA,i.UNSIGNED_BYTE,null),e.context.bindRenderbuffer.set(n.depthAttachment.get()),i.renderbufferStorage(i.RENDERBUFFER,i.DEPTH_STENCIL,t,r),e.context.bindRenderbuffer.set(null),n.width=t,n.height=r,e.context.bindFramebuffer.set(n.framebuffer)}function ast(e,t,r,i){let n=e.context,a=n.gl;n.bindFramebuffer.set(r.compositeTarget),n.viewport.set(r.compositeViewport),n.activeTexture.set(a.TEXTURE0),a.bindTexture(a.TEXTURE_2D,e.layerOpacityFbo.colorAttachment.get()),e.useProgram("layerOpacity").draw(n,a.TRIANGLES,Ba.disabled,Fo.disabled,e.colorModeForRenderPass(),To.disabled,a5r(t,0),null,null,i.id,e.viewportBuffer,e.quadTriangleIndexBuffer,e.viewportSegments,i.paint,e.transform.zoom),e.currentStencilSource=void 0}function ost(e,t,r,i,n,a,o,s){let l=256;if(n.stepInterpolant){let u=t.getSource().maxzoom,c=o.canonical.z===u?Math.ceil(1<e.options.anisotropicFilterPitch&&p.texParameterf(p.TEXTURE_2D,d.extTextureFilterAnisotropic.TEXTURE_MAX_ANISOTROPY_EXT,d.extTextureFilterAnisotropicMax);let F=e.getTerrainDataForTile(A,c),P=m.getProjectionData({overscaledTileID:A,aligned:b,applyGlobeMatrix:!c,applyTerrainMatrix:!0}),R=zbr(k,C,D.fadeMix,r,s,l),L=f!=null?f:g.getMeshFromTileID(d,A.canonical,a,o,"raster"),I=n?n[A.overscaledZ]:Fo.disabled;v.draw(d,p.TRIANGLES,y,I,w,u?To.frontCCW:To.backCCW,R,F,P,r.id,L.vertexBuffer,L.indexBuffer,L.segments)}}function L4r(e,t,r,i){let n={parentTile:null,parentScaleBy:1,parentTopLeft:[0,0],fadeValues:{tileOpacity:1,parentTileOpacity:1,fadeMix:{opacity:1,mix:0}}};if(r===0||i)return n;if(e.fadingParentID){let a=t.getLoadedTile(e.fadingParentID);if(!a)return n;let o=2**(a.tileID.overscaledZ-e.tileID.overscaledZ);return{parentTile:a,parentScaleBy:o,parentTopLeft:[e.tileID.canonical.x*o%1,e.tileID.canonical.y*o%1],fadeValues:P4r(e,a,r)}}return e.selfFading?{parentTile:null,parentScaleBy:1,parentTopLeft:[0,0],fadeValues:I4r(e,r)}:n}function P4r(e,t,r){let i=Oo(),n=(i-e.timeAdded)/r,a=(i-t.timeAdded)/r,o=e.fadingDirection===1,s=Jn(n,0,1),l=Jn(1-a,0,1),u=o?s:l;return{tileOpacity:u,parentTileOpacity:o?l:s,fadeMix:{opacity:1,mix:1-u}}}function I4r(e,t){let r=(Oo()-e.timeAdded)/t,i=Jn(r,0,1);return{tileOpacity:i,fadeMix:{opacity:i,mix:0}}}function R4r(e,t,r,i,n){let a=r.paint.get("background-color"),o=r.paint.get("background-opacity");if(o===0)return;let{isRenderingToTexture:s}=n,l=e.context,u=l.gl,c=e.style.projection,f=e.transform,h=f.tileSize,d=r.paint.get("background-pattern");if(e.isPatternMissing(d))return;let p=!d&&a.a===1&&o===1&&e.opaquePassEnabledForLayer()?"opaque":"translucent";if(n.currentPass!==p)return;let v=Fo.disabled,m=e.getDepthModeForSublayer(0,p==="opaque"?Ba.ReadWrite:Ba.ReadOnly),g=e.colorModeForRenderPass(),w=e.useProgram(d?"backgroundPattern":"background"),b=i||ZT(f,{tileSize:h,terrain:e.style.map.terrain});d&&(l.activeTexture.set(u.TEXTURE0),e.patternAtlas.bind(e.context));let _=r.getCrossfadeParameters();for(let M of b){let x=f.getProjectionData({overscaledTileID:M,applyGlobeMatrix:!s,applyTerrainMatrix:!0}),T=d?d5r(o,e,d,{tileID:M,tileSize:h},_):h5r(o,a),A=e.getTerrainDataForTile(M,s),y=c.getMeshFromTileID(l,M.canonical,!1,!0,"raster");w.draw(l,u.TRIANGLES,m,v,g,To.backCCW,T,A,x,r.id,y.vertexBuffer,y.indexBuffer,y.segments)}}function U4r(e){let t=e.transform.padding;Bat(e,e.transform.height-(t.top||0),3,z4r),Bat(e,t.bottom||0,3,B4r),qat(e,t.left||0,3,q4r),qat(e,e.transform.width-(t.right||0),3,O4r);let r=e.transform.centerPoint;V4r(e,r.x,e.transform.height-r.y,N4r)}function V4r(e,t,r,i){Sq(e,t-1,r-10,2,20,i),Sq(e,t-10,r-1,20,2,i)}function Bat(e,t,r,i){Sq(e,0,t+r/2,e.transform.width,r,i)}function qat(e,t,r,i){Sq(e,t-r/2,0,r,e.transform.height,i)}function Sq(e,t,r,i,n,a){let o=e.context,s=o.gl;s.enable(s.SCISSOR_TEST),s.scissor(t*e.pixelRatio,r*e.pixelRatio,i*e.pixelRatio,n*e.pixelRatio),o.clear({color:a}),s.disable(s.SCISSOR_TEST)}function G4r(e,t,r){for(let i of r)H4r(e,t,i)}function H4r(e,t,r){var g,w;let i=e.context,n=i.gl,a=e.useProgram("debug"),o=Ba.disabled,s=Fo.disabled,l=e.colorModeForRenderPass(),u="$debug",c=(g=e.style.map.terrain)==null?void 0:g.getTerrainData(r);i.activeTexture.set(n.TEXTURE0);let f=((w=t.getTileByID(r.key).latestRawTileData)==null?void 0:w.byteLength)||0,h=Math.floor(f/1024),d=t.getTile(r).tileSize,p=512/Math.min(d,512)*(r.overscaledZ/e.transform.zoom)*.5,v=r.canonical.toString();r.overscaledZ!==r.canonical.z&&(v+=` => ${r.overscaledZ}`),j4r(e,`${v} ${h}kB`);let m=e.transform.getProjectionData({overscaledTileID:r,applyGlobeMatrix:!0,applyTerrainMatrix:!0});a.draw(i,n.TRIANGLES,o,s,ql.alphaBlended,To.disabled,kat(ea.transparent,p),null,m,u,e.debugBuffer,e.quadTriangleIndexBuffer,e.debugSegments),a.draw(i,n.LINE_STRIP,o,s,l,To.disabled,kat(ea.red),c,m,u,e.debugBuffer,e.tileBorderIndexBuffer,e.debugSegments)}function j4r(e,t){e.initDebugOverlayCanvas();let r=e.debugOverlayCanvas,i=e.context.gl,n=e.debugOverlayCanvas.getContext("2d");n.clearRect(0,0,r.width,r.height),n.shadowColor="white",n.shadowBlur=2,n.lineWidth=1.5,n.strokeStyle="white",n.textBaseline="top",n.font="bold 36px Open Sans, sans-serif",n.fillText(t,5,5),n.strokeText(t,5,5),e.debugOverlayTexture.update(r),e.debugOverlayTexture.bind(i.LINEAR,i.CLAMP_TO_EDGE)}function $4r(e,t){let r=null,i=Object.values(e._layers).flatMap(s=>s.source&&!s.isHidden(t)?[e.tileManagers[s.source]]:[]),n=i.filter(s=>s.getSource().type==="vector"),a=i.filter(s=>s.getSource().type!=="vector"),o=s=>{(!r||r.getSource().maxzoom{var d;return l.getProjectionData({overscaledTileID:new Bc(h.tileID.canonical.z,(d=h.tileID.wrap)!=null?d:0,h.tileID.canonical.z,h.tileID.canonical.x,h.tileID.canonical.y),aligned:h.aligned,applyGlobeMatrix:h.applyGlobeMatrix,applyTerrainMatrix:h.applyTerrainMatrix})}},f=o.renderingMode?o.renderingMode:"2d";if(i.currentPass==="offscreen"){let h=o.prerender;h&&(e.setCustomLayerDefaults(),a.setColorMode(e.colorModeForRenderPass()),h.call(o,a.gl,c),a.setDirty(),e.setBaseState())}else if(i.currentPass==="translucent"){e.setCustomLayerDefaults(),a.setColorMode(e.colorModeForRenderPass()),a.setStencilMode(Fo.disabled);let h=f==="3d"?e.getDepthModeFor3D():e.getDepthModeForSublayer(0,Ba.ReadOnly);a.setDepthMode(h),o.render(a.gl,c),a.setDirty(),e.setBaseState(),a.bindFramebuffer.set(null)}}function Y4r(e,t){let r=e.context,i=r.gl,n=e.transform,a=ql.unblended,o=new Ba(i.LEQUAL,Ba.ReadWrite,[0,1]),s=t.tileManager.getRenderableTiles(),l=e.useProgram("terrainDepth");r.bindFramebuffer.set(t.getFramebuffer().framebuffer),r.viewport.set([0,0,e.width/devicePixelRatio,e.height/devicePixelRatio]),r.clear({color:ea.white,depth:1});for(let u of s){let c=t.getTerrainMesh(u.tileID),f=t.getTerrainData(u.tileID),h=n.getProjectionData({overscaledTileID:u.tileID,applyTerrainMatrix:!1,applyGlobeMatrix:!0}),d=mwr(t.getSkirtLength(n.zoom));l.draw(r,i.TRIANGLES,o,Fo.disabled,a,To.backCCW,d,f,h,"terrain",c.vertexBuffer,c.indexBuffer,c.segments)}r.bindFramebuffer.set(null),r.viewport.set([0,0,e.width,e.height])}function X4r(e,t,r,i){let{isRenderingGlobe:n}=i,a=e.context,o=a.gl,s=e.transform,l=e.colorModeForRenderPass(),u=e.getDepthModeFor3D(),c=e.useProgram("terrain");a.bindFramebuffer.set(null),a.viewport.set([0,0,e.width,e.height]);for(let f of r){let h=t.getTerrainMesh(f.tileID),d=e.renderToTexture.getTexture(f),p=t.getTerrainData(f.tileID);a.activeTexture.set(o.TEXTURE0),d.bind(o.LINEAR,o.CLAMP_TO_EDGE,o.LINEAR_MIPMAP_LINEAR);let v=t.getSkirtLength(s.zoom),m=s.calculateFogMatrix(f.tileID.toUnwrapped()),g=gwr(v,m,e.style.sky,s.pitch,n),w=s.getProjectionData({overscaledTileID:f.tileID,applyTerrainMatrix:!1,applyGlobeMatrix:!0});c.draw(a,o.TRIANGLES,u,Fo.disabled,l,To.backCCW,g,p,w,"terrain",h.vertexBuffer,h.indexBuffer,h.segments)}}function ust(e,t){if(!t.mesh){let r=new Pm;r.emplaceBack(-1,-1),r.emplaceBack(1,-1),r.emplaceBack(1,1),r.emplaceBack(-1,1);let i=new Mv;i.emplaceBack(0,1,2),i.emplaceBack(0,2,3),t.mesh=new 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0:i.width)||(this.fire(new An(Error(`Image "${e}" has invalid "stretchX" value`))),r=!1),this._validateStretch(t.stretchY,i==null?void 0:i.height)||(this.fire(new An(Error(`Image "${e}" has invalid "stretchY" value`))),r=!1),this._validateContent(t.content,t)||(this.fire(new An(Error(`Image "${e}" has invalid "content" value`))),r=!1),r}_validateStretch(e,t){if(!e)return!0;let r=0;for(let i of e){if(i[0]=e[1]}updateImage(e,t,r=!0){var n;let i=this.images[e];if(r){let a=i.data||i.spriteData;if(a.width!==t.data.width||a.height!==t.data.height)throw Error(`size mismatch between old image (${a.width}x${a.height}) and new image (${t.data.width}x${t.data.height}).`)}t.version=((n=i.version)!=null?n:0)+1,this.images[e]=t,this.updateVersion++}removeImage(e){var r;let t=this.images[e];t&&(delete this.images[e],this._imagesIds=null,(r=t.userImage)!=null&&r.onRemove&&t.userImage.onRemove())}listImages(){var e;return(e=this._imagesIds)!=null||(this._imagesIds=Object.keys(this.images)),this._imagesIds}_getSpriteImageId(e,t){return e==="default"?t:`${e}:${t}`}setSpriteImages(e,t){var o;let r=(o=this._spriteImagesIds[e])!=null?o:[],i=[];for(let s in t){let l=this._getSpriteImageId(e,s);i.push(l),l in this.images?this.updateImage(l,t[s],!1):this.addImage(l,t[s])}let n=new Set(i),a=r.filter(s=>!n.has(s));for(let s of a)this.removeImage(s);return this._spriteImagesIds[e]=i,{loaded:i,removed:a}}removeSpriteImages(e){var r;let t=(r=this._spriteImagesIds[e])!=null?r:[];for(let i of t)this.removeImage(i);return delete this._spriteImagesIds[e],t}removeAllSpriteImages(){let e=Object.values(this._spriteImagesIds).flat();for(let t of e)this.removeImage(t);return this._spriteImagesIds={},e}setMissingImageResolver(e){this.missingImageResolver=e}getImages(e){return new Promise((t,r)=>{let i=!0;if(!this.isLoaded())for(let n of e)this.images[n]||(i=!1);this.isLoaded()||i?t(this._getImagesForIds(e)):this.requestors.push({ids:e,promiseResolve:t})})}_getImagesForIds(e){return Ki(this,null,function*(){var n;let t=new Set(e.filter(a=>!this.getImage(a))),r=this.missingImageResolver;r&&(yield Promise.allSettled(Array.from(t,a=>r(a))));let i={};for(let a of e){let o=this.getImage(a);o&&(t.delete(a),i[a]={data:o.data.clone(),pixelRatio:o.pixelRatio,sdf:o.sdf,version:o.version,stretchX:o.stretchX,stretchY:o.stretchY,content:o.content,textFitWidth:o.textFitWidth,textFitHeight:o.textFitHeight,hasRenderCallback:!!((n=o.userImage)!=null&&n.render),isWebGLImage:o.isWebGLImage})}for(let a of t)this.fire(new Jat({id:a})),Ma(`Image "${a}" could not be loaded. 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t=this._imageManager.getImage(e);if(!t)return null;let r=this._entries[e];if((r==null?void 0:r.image)!==t){let i={w:t.data.width+2,h:t.data.height+2,x:0,y:0};this._entries[e]={bin:i,position:new WB(i,t),image:t}}else if(r.position.version!==t.version)r.position.version=t.version;else return r.position;return this._update(),this._entries[e].position}bind(e){let t=e.gl;this._texture?this._dirty&&(this._dirty=(this._texture.update(this._image),!1)):(this._texture=new vu(e,this._image,t.RGBA),this._dirty=!1),this._texture.bind(t.LINEAR,t.CLAMP_TO_EDGE)}_update(){for(let n in this._entries)this._imageManager.getImage(n)||delete this._entries[n];let e=[];for(let n in this._entries)e.push(this._entries[n].bin);let{w:t,h:r}=hne(e),i=this._image;i.resize({width:t||1,height:r||1});for(let n in this._entries){let{bin:a}=this._entries[n],o=a.x+1,s=a.y+1,l=this._entries[n].image.data,u=l.width,c=l.height;As.copy(l,i,{x:0,y:0},{x:o,y:s},{width:u,height:c}),As.copy(l,i,{x:0,y:c-1},{x:o,y:s-1},{width:u,height:1}),As.copy(l,i,{x:0,y:0},{x:o,y:s+c},{width:u,height:1}),As.copy(l,i,{x:u-1,y:0},{x:o-1,y:s},{width:1,height:c}),As.copy(l,i,{x:0,y:0},{x:o+u,y:s},{width:1,height:c})}this._dirty=!0}},tae=1114111,X_r={start:0,end:tae},Z_r=0;Q_r=class{constructor(e){this.requestManager=e,this._faces={},this._registered=new Set}setFontFaces(e){this._unregisterAll(),this._faces={};for(let[t,r]of Object.entries(e!=null?e:{})){let i=Array.isArray(r)?r:[r];this._faces[t]=i.map(n=>this._declareFontFace(t,n)).filter(n=>n!==null)}}hasFontFaces(){return Object.keys(this._faces).length>0}getFontFamily(e,t){return Ki(this,null,function*(){var r,i;for(let n of e.split(","))for(let a of(r=this._faces[n.trim()])!=null?r:[])if(J_r(a,t)&&((i=a.loaded)!=null||(a.loaded=this._loadFontFace(a)),yield a.loaded))return a.family;return null})}_declareFontFace(e,t){let r=typeof t=="string"?{url:t}:t;if(typeof(r==null?void 0:r.url)!="string")return Ma(`Ignoring the font face declared for "${e}": it has no URL.`),null;let i=`maplibre-gl-font-face-${Z_r++}`,n=r["unicode-range"];if(!(n!=null&&n.length))return{url:r.url,ranges:[X_r],family:i};let a=[];for(let o of n){let s=K_r(o);if(!s){Ma(`Ignoring the unicode range "${o}" of the font face at ${r.url}: it is not a valid range.`);continue}a.push(s)}return a.length?{url:r.url,ranges:a,family:i}:null}_loadFontFace(e){return Ki(this,null,function*(){if(typeof FontFace>"u"||typeof document>"u"||!document.fonts)return Ma(`Ignoring the font face at ${e.url}: this environment has no CSS Font Loading API.`),!1;let t;try{return t=new FontFace(e.family,yield this._downloadFontFile(e.url)),Object.values(this._faces).some(r=>r.includes(e))?(document.fonts.add(t),this._registered.add(t),yield t.load(),!0):!1}catch(r){return t&&this._unregister(t),Ma(`Ignoring the font face at ${e.url}: ${Ic(r).message}`),!1}})}_downloadFontFile(e){return Ki(this,null,function*(){let t=yield this.requestManager.transformRequest(e,"Glyphs"),r=yield Sie(t,new AbortController);if(!(r!=null&&r.data))throw Error(`the response was empty for the font file at ${e}`);return r.data})}_unregister(e){var t;(t=document.fonts)==null||t.delete(e),this._registered.delete(e)}_unregisterAll(){var e;for(let t of this._registered)(e=document.fonts)==null||e.delete(t);this._registered.clear()}destroy(){this._unregisterAll(),this._faces={}}},rae=1e20,xae=new Float64Array(256);for(let e=0;e<256;e++){let t=.5-(e/255)**.45454545454545453;xae[e]=t*Math.abs(t)}xae[255]=-1e20;ebr=class{constructor({fontSize:e=24,buffer:t=3,radius:r=8,cutoff:i=.25,fontFamily:n="sans-serif",fontWeight:a="normal",fontStyle:o="normal",lang:s=null}={}){this.buffer=t,this.radius=r,this.cutoff=i,this.lang=s;let l=this.size=e+t*4,u=this._createCanvas(l),c=this.ctx=u.getContext("2d",{willReadFrequently:!0});c.font=`${o} ${a} ${e}px ${n}`,c.textBaseline="alphabetic",c.textAlign="left",c.fillStyle="black",this.gridOuter=new Float64Array(l*l),this.gridInner=new Float64Array(l*l),this.f=new Float64Array(l),this.z=new Float64Array(l+1),this.v=new Uint16Array(l)}_createCanvas(e){if(typeof OffscreenCanvas<"u")return new OffscreenCanvas(e,e);let t=document.createElement("canvas");return t.width=t.height=e,t}draw(e){let{width:t,actualBoundingBoxAscent:r,actualBoundingBoxDescent:i,actualBoundingBoxLeft:n,actualBoundingBoxRight:a}=this.ctx.measureText(e),o=Math.ceil(r),s=Math.floor(-n),l=Math.max(0,Math.min(this.size-this.buffer,Math.ceil(a)-s)),u=Math.max(0,Math.min(this.size-this.buffer,o+Math.ceil(i))),c=l+2*this.buffer,f=u+2*this.buffer,h=Math.max(c*f,0),d=new Uint8ClampedArray(h),p={data:d,width:c,height:f,glyphWidth:l,glyphHeight:u,glyphTop:o,glyphLeft:s,glyphAdvance:t};if(l===0||u===0)return p;let{ctx:v,buffer:m,gridInner:g,gridOuter:w}=this;this.lang&&(v.lang=this.lang),v.clearRect(m,m,l,u),v.fillText(e,m-s,m+o);let b=v.getImageData(m,m,l,u);w.fill(rae,0,h),g.fill(0,0,h);let _=3;for(let A=0;A{let r=new ebr(e);return r.buffer=t,r},ibr=class{constructor(e,t,r,i=rbr){this.requestManager=e,this.localIdeographFontFamily=t,this.entries={},this.lang=r,this.fontFaceManager=new Q_r(e),this.createRasterizer=i}setURL(e){this.url=e}setFontFaces(e){this.fontFaceManager.setFontFaces(e),this.entries={}}getGlyphs(e){return Ki(this,null,function*(){let t=[];for(let n in e)for(let a of e[n])t.push(this._getAndCacheGlyphsPromise(n,a));let r=yield Promise.all(t),i={};for(let{stack:n,id:a,glyph:o}of r)i[n]||(i[n]={}),i[n][a]=o&&{id:o.id,bitmap:o.bitmap.clone(),metrics:o.metrics};return i})}_getAndCacheGlyphsPromise(e,t){return Ki(this,null,function*(){var o,s;(s=(o=this.entries)[e])!=null||(o[e]={glyphs:{},requests:{},ranges:{}});let r=this.entries[e],i=r.glyphs[t];if(i!==void 0)return{stack:e,id:t,glyph:i};let n=t.codePointAt(0),a=this.fontFaceManager.hasFontFaces()?yield this.fontFaceManager.getFontFamily(e,n):null;return a?(i=r.glyphs[t]=yield this._drawGlyph(r,e,t,a),{stack:e,id:t,glyph:i}):!this.url||r8(t)||this._charUsesLocalIdeographFontFamily(n)?(i=r.glyphs[t]=yield this._drawGlyph(r,e,t),{stack:e,id:t,glyph:i}):yield this._downloadAndCacheRangePromise(e,t)})}_downloadAndCacheRangePromise(e,t){return Ki(this,null,function*(){var a;let r=t.codePointAt(0),i=this.entries[e],n=Math.floor(r/256);if(i.ranges[n])return{stack:e,id:t,glyph:null};(a=i.requests)[n]||(a[n]=this._loadGlyphRange(e,n));try{let o=yield i.requests[n];for(let s in o)i.glyphs[String.fromCodePoint(+s)]=o[+s];return i.ranges[n]=!0,{stack:e,id:t,glyph:o[r]||null}}catch(o){let s=i.glyphs[t]=yield this._drawGlyph(i,e,t);return this._warnOnMissingGlyphRange(s,n,r,Ic(o)),{stack:e,id:t,glyph:s}}})}_loadGlyphRange(e,t){return Ki(this,null,function*(){let r=t*256,i=r+255,n=yield this.requestManager.transformRequest(this.url.replace("{fontstack}",e).replace("{range}",`${r}-${i}`),"Glyphs"),a=yield Sie(n,new AbortController);if(!(a!=null&&a.data))throw Error(`Could not load glyph range. range: ${t}, ${r}-${i}`);let o={};for(let s of Git(a.data))o[s.id]=s;return o})}_warnOnMissingGlyphRange(e,t,r,i){let n=t*256,a=n+255,o=r.toString(16).padStart(4,"0").toUpperCase();Ma(`Unable to load glyph range ${t}, ${n}-${a}. 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a=t===tbr&&this.localIdeographFontFamily!==""&&this._charUsesLocalIdeographFontFamily(r.codePointAt(0)),o=a?this.localIdeographFontFamily:t;if(n)return(c=e.clusterTinySDFs)!=null||(e.clusterTinySDFs={}),(f=e.clusterTinySDFs)[o]||(f[o]=this._createTinySDF(o,!0,3)),e.clusterTinySDFs[o];let s=a?"ideographTinySDF":"tinySDF";return e[s]||(e[s]=this._createTinySDF(o)),e[s]}_createTinySDF(e,t=!0,r=1){return Ki(this,null,function*(){var s;let i=e?e.split(","):[];i.push("sans-serif");let n=i.map(l=>/[-\w]+/.test(l)?l:`'${CSS.escape(l)}'`).join(","),a=t?this._fontWeight(i[0]):void 0,o=t?this._fontStyle(i[0]):"normal";if(typeof document<"u"&&((s=document.fonts)!=null&&s.load))try{yield document.fonts.load(`${o} ${a||"normal"} 48px ${n}`)}catch(l){Ma(`Failed to load font "${n}": ${Ic(l).message}`)}return this.createRasterizer({fontSize:48,buffer:Math.max(6,Math.ceil(48*(r-1)/4)),radius:16,cutoff:.25,fontFamily:n,fontWeight:a,fontStyle:o,lang:this.lang},6)})}_fontStyle(e){return/italic/i.test(e)?"italic":/oblique/i.test(e)?"oblique":"normal"}_fontWeight(e){let t={thin:100,hairline:100,"extra light":200,"ultra light":200,light:300,normal:400,regular:400,medium:500,semibold:600,demibold:600,bold:700,"extra bold":800,"ultra bold":800,black:900,heavy:900,"extra black":950,"ultra black":950},r;for(let[i,n]of Object.entries(t))RegExp(`\\b${i}\\b`,"i").test(e)&&(r=`${n}`);return r}destroy(){for(let e in this.entries){let t=this.entries[e];t.tinySDF=null,t.ideographTinySDF=null,t.fontFaceTinySDFs={},t.glyphs={},t.requests={},t.ranges={}}this.entries={},this.fontFaceManager.destroy()}},abr=()=>nbr||(nbr=new uc({anchor:new Fi(_r.light.anchor,"anchor"),position:new Fi(_r.light.position,"position"),color:new Fi(_r.light.color,"color"),intensity:new Fi(_r.light.intensity,"intensity")})),obr=class extends mu{constructor(e,t){super(),this._transitionable=new Jk(abr(),"light",t),this.setLight(e),this._transitioning=this._transitionable.untransitioned()}getLight(){return this._transitionable.serialize()}getCartesianPosition(){return Zet(this.properties.get("position"))}setLight(e,t={}){if(!this._validate(ch.light,e,t))for(let r in e){let i=e[r];r.endsWith("-transition")?this._transitionable.setTransition(r.slice(0,-PB.length),i):this._transitionable.setValue(r,i)}}updateTransitions(e){this._transitioning=this._transitionable.transitioned(e,this._transitioning)}hasTransition(){return this._transitioning.hasTransition()}recalculate(e){this.properties=this._transitioning.possiblyEvaluate(e)}_validate(e,t,r){return qT(this,e,{value:t},r)}},lbr=()=>sbr||(sbr=new uc({"sky-color":new Fi(_r.sky["sky-color"],"sky-color"),"horizon-color":new Fi(_r.sky["horizon-color"],"horizon-color"),"fog-color":new Fi(_r.sky["fog-color"],"fog-color"),"fog-ground-blend":new Fi(_r.sky["fog-ground-blend"],"fog-ground-blend"),"horizon-fog-blend":new Fi(_r.sky["horizon-fog-blend"],"horizon-fog-blend"),"sky-horizon-blend":new Fi(_r.sky["sky-horizon-blend"],"sky-horizon-blend"),"atmosphere-blend":new Fi(_r.sky["atmosphere-blend"],"atmosphere-blend")})),ubr=class extends mu{constructor(e,t){super(),this._transitionable=new Jk(lbr(),"sky",t),this.setSky(e),this._transitioning=this._transitionable.untransitioned(),this.recalculate(new Co(0))}setSky(e,t={}){if(!this._validate(ch.sky,e,t)){e||(e={"sky-color":"transparent","horizon-color":"transparent","fog-color":"transparent","fog-ground-blend":1,"atmosphere-blend":0});for(let r in e){let i=e[r];r.endsWith("-transition")?this._transitionable.setTransition(r.slice(0,-PB.length),i):this._transitionable.setValue(r,i)}}}getSky(){return this._transitionable.serialize()}updateTransitions(e){this._transitioning=this._transitionable.transitioned(e,this._transitioning)}hasTransition(){return this._transitioning.hasTransition()}recalculate(e){this.properties=this._transitioning.possiblyEvaluate(e)}_validate(e,t,r={}){return qT(this,e,{value:t},r)}calculateFogBlendOpacity(e){return e<60?0:e<70?(e-60)/10:1}},cbr=class{constructor(e,t){this.width=e,this.height=t,this.nextRow=0,this.data=new Uint8Array(this.width*this.height),this.dashEntry={}}getDash(e,t){var i;let r=e.join(",")+String(t);return(i=this.dashEntry)[r]||(i[r]=this.addDash(e,t)),this.dashEntry[r]}getDashRanges(e,t,r){let i=e.length%2==1,n=[],a=i?-e[e.length-1]*r:0,o=e[0]*r,s=!0;n.push({left:a,right:o,isDash:s,zeroLength:e[0]===0});let l=e[0];for(let u=1;u1&&(l=e[++s]);let c=Math.abs(u-l.left),f=Math.abs(u-l.right),h=Math.min(c,f),d,p=n/r*(i+1);if(l.isDash){let v=i-Math.abs(p);d=Math.sqrt(h*h+v*v)}else d=i-Math.sqrt(h*h+p*p);this.data[o+u]=Math.max(0,Math.min(255,d+128))}}}addRegularDash(e){for(let o=e.length-1;o>=0;--o){let s=e[o],l=e[o+1];s.zeroLength?e.splice(o,1):(l==null?void 0:l.isDash)===s.isDash&&(l.left=s.left,e.splice(o,1))}let t=e[0],r=e[e.length-1];t.isDash===r.isDash&&(t.left=r.left-this.width,r.right=t.right+this.width);let i=this.width*this.nextRow,n=0,a=e[n];for(let o=0;o1&&(a=e[++n]);let s=Math.abs(o-a.left),l=Math.abs(o-a.right),u=Math.min(s,l),c=a.isDash?u:-u;this.data[i+o]=Math.max(0,Math.min(255,c+128))}}addDash(e,t){let r=t?7:0,i=2*r+1;if(this.nextRow+i>this.height)return Ma("LineAtlas out of space"),null;let n=0;for(let o of e)n+=o;if(n!==0){let o=this.width/n,s=this.getDashRanges(e,this.width,o);t?this.addRoundDash(s,o,r):this.addRegularDash(s)}let a={y:this.nextRow+r,height:2*r,width:n};return this.nextRow+=i,this.dirty=!0,a}bind(e){let t=e.gl;this.texture?(t.bindTexture(t.TEXTURE_2D,this.texture),this.dirty&&(this.dirty=!1,t.texSubImage2D(t.TEXTURE_2D,0,0,0,this.width,this.height,t.ALPHA,t.UNSIGNED_BYTE,this.data))):(this.texture=t.createTexture(),t.bindTexture(t.TEXTURE_2D,this.texture),t.texParameteri(t.TEXTURE_2D,t.TEXTURE_WRAP_S,t.REPEAT),t.texParameteri(t.TEXTURE_2D,t.TEXTURE_WRAP_T,t.REPEAT),t.texParameteri(t.TEXTURE_2D,t.TEXTURE_MIN_FILTER,t.LINEAR),t.texParameteri(t.TEXTURE_2D,t.TEXTURE_MAG_FILTER,t.LINEAR),t.texImage2D(t.TEXTURE_2D,0,t.ALPHA,this.width,this.height,0,t.ALPHA,t.UNSIGNED_BYTE,this.data))}};_ae="maplibre_preloaded_worker_pool",kq=class tot{constructor(){this.active={},this.workersPromise=null}acquire(t){return Ki(this,null,function*(){if(this.active[t]=!0,!this.workersPromise){let r=[];for(;r.length{for(let n of i)n.terminate()})}}isPreloaded(){return!!this.active[_ae]}numActive(){return Object.keys(this.active).length}},gbr=Math.floor(fh.hardwareConcurrency/2);kq.workerCount=Jet(globalThis)?Math.max(Math.min(gbr,3),1):1;rot=class{constructor(e,t){this.workerPool=e,this.actors=[],this.currentActor=0,this.id=t,this.removed=!1,this.actorsPromise=this.initActors(t)}initActors(e){return Ki(this,null,function*(){let t=yield this.workerPool.acquire(e);if(this.removed)return[];if(this.actors=t.map((r,i)=>{let n=new unt(r,e);return n.name=`Worker ${i}`,n}),!this.actors.length)throw Error("No actors found");return this.actors})}broadcast(e,t){return Ki(this,null,function*(){let r=yield this.actorsPromise;return Promise.all(r.map(i=>i.sendAsync({type:e,data:t})))})}getActor(){return Ki(this,null,function*(){let e=yield this.actorsPromise;return this.currentActor=(this.currentActor+1)%e.length,e[this.currentActor]})}waitForInitComplete(){return Ki(this,null,function*(){this.actors.length===0&&(yield this.actorsPromise)})}getReadyActor(){return this.currentActor=(this.currentActor+1)%this.actors.length,this.actors[this.currentActor]}remove(e=!0){this.removed=!0;for(let t of this.actors)t.remove();this.actors=[],e&&this.workerPool.release(this.id)}registerMessageHandler(e,t){return Ki(this,null,function*(){let r=yield this.actorsPromise;for(let i of r)i.registerMessageHandler(e,t)})}unregisterMessageHandler(e){return Ki(this,null,function*(){let t=yield this.actorsPromise;for(let r of t)r.unregisterMessageHandler(e)})}};Ev=class zm{constructor(t,r){t&&(r?this.setSouthWest(t).setNorthEast(r):Array.isArray(t)&&(t.length===4?this.setSouthWest([t[0],t[1]]).setNorthEast([t[2],t[3]]):this.setSouthWest(t[0]).setNorthEast(t[1])))}setNorthEast(t){return this._ne=t instanceof mn?new mn(t.lng,t.lat):mn.convert(t),this}setSouthWest(t){return this._sw=t instanceof mn?new mn(t.lng,t.lat):mn.convert(t),this}extend(t){let r=this._sw,i=this._ne,n,a;if(t instanceof mn)n=t,a=t;else if(t instanceof zm){if(n=t._sw,a=t._ne,!n||!a)return this}else{if(Array.isArray(t)){if(t.length===4||t.every(Array.isArray)){let o=t;return this.extend(zm.convert(o))}{let o=t;return this.extend(mn.convert(o))}}return t&&("lng"in t||"lon"in t)&&"lat"in t?this.extend(mn.convert(t)):this}return!r&&!i?(this._sw=new mn(n.lng,n.lat),this._ne=new mn(a.lng,a.lat)):(r.lng=Math.min(n.lng,r.lng),r.lat=Math.min(n.lat,r.lat),i.lng=Math.max(a.lng,i.lng),i.lat=Math.max(a.lat,i.lat)),this}getCenter(){return new mn((this._sw.lng+this._ne.lng)/2,(this._sw.lat+this._ne.lat)/2)}getSouthWest(){return this._sw}getNorthEast(){return this._ne}getNorthWest(){return new mn(this.getWest(),this.getNorth())}getSouthEast(){return new mn(this.getEast(),this.getSouth())}getWest(){return this._sw.lng}getSouth(){return this._sw.lat}getEast(){return this._ne.lng}getNorth(){return this._ne.lat}toArray(){return[this._sw.toArray(),this._ne.toArray()]}toString(){return`LngLatBounds(${this._sw.toString()}, ${this._ne.toString()})`}isEmpty(){return!(this._sw&&this._ne)}contains(t){let{lng:r,lat:i}=mn.convert(t),n=this._sw.lat<=i&&i<=this._ne.lat,a=this._sw.lng<=r&&r<=this._ne.lng;return this._sw.lng>this._ne.lng&&(a=this._sw.lng>=r&&r>=this._ne.lng),n&&a}intersects(t){if(t=zm.convert(t),!(t.getNorth()>=this.getSouth()&&t.getSouth()<=this.getNorth()))return!1;let r=Math.abs(this.getEast()-this.getWest()),i=Math.abs(t.getEast()-t.getWest());if(r>=360||i>=360)return!0;let n=B0(this.getWest(),-180,180),a=B0(this.getEast(),-180,180),o=B0(t.getWest(),-180,180),s=B0(t.getEast(),-180,180),l=n>a,u=o>s;return l&&u?!0:l?s>=n||o<=a:u?a>=o||n<=s:o<=a&&s>=n}static convert(t){return t instanceof zm||!t?t:new zm(t)}static fromLngLat(t,r=0){let i=360*r/40075017,n=i/Math.cos(Math.PI/180*t.lat);return new zm(new mn(t.lng-n,t.lat-i),new mn(t.lng+n,t.lat+i))}adjustAntiMeridian(){let t=new mn(this._sw.lng,this._sw.lat),r=new mn(this._ne.lng,this._ne.lat);return t.lng>r.lng?new zm(t,new mn(r.lng+360,r.lat)):new zm(t,r)}},oot=class{constructor(e,t,r){this.bounds=Ev.convert(this.validateBounds(e)),this.minzoom=t||0,this.maxzoom=r||24}validateBounds(e){return!Array.isArray(e)||e.length!==4?[-180,-90,180,90]:[Math.max(-180,e[0]),Math.max(-90,e[1]),Math.min(180,e[2]),Math.min(90,e[3])]}contains(e){let t=2**e.z,r={minX:Math.floor(e3(this.bounds.getWest())*t),minY:Math.floor(t3(this.bounds.getNorth())*t),maxX:Math.ceil(e3(this.bounds.getEast())*t),maxY:Math.ceil(t3(this.bounds.getSouth())*t)};return e.x>=r.minX&&e.x=r.minY&&e.y{this.tiles=e,this._options.tiles=e}),this}setUrl(e){return this.setSourceProperty(()=>{this.url=e,this._options.url=e}),this}onRemove(){this._tileJSONRequest&&(this._tileJSONRequest=(this._tileJSONRequest.abort(),null))}serialize(){return ln({},this._options)}loadTile(e){return Ki(this,null,function*(){let t=e.tileID.canonical.url(this.tiles,this.map.getPixelRatio(),this.scheme),r={request:yield this.map._requestManager.transformRequest(t,"Tile"),uid:e.uid,tileID:e.tileID,zoom:e.tileID.overscaledZ,tileSize:this.tileSize*e.tileID.overscaleFactor(),type:this.type,source:this.id,pixelRatio:this.map.getPixelRatio(),showCollisionBoxes:this.map.showCollisionBoxes,promoteId:this.promoteId,subdivisionGranularity:this.map.style.projection.subdivisionGranularity,encoding:this.encoding,overzoomParameters:yield this._getOverzoomParameters(e),etag:e.etag};r.request.collectResourceTiming=this._collectResourceTiming,yield this.dispatcher.waitForInitComplete();let i="RT";if(!e.actor||e.state==="expired")e.actor=this.dispatcher.getReadyActor(),i="LT";else if(e.state==="loading")return new Promise((n,a)=>{e.reloadPromise={resolve:n,reject:a}});e.abortController=new AbortController;try{let n=yield e.actor.sendAsync({type:i,data:r},e.abortController);if(delete e.abortController,e.aborted)return;this._afterTileLoadWorkerResponse(e,n);let a={};return n!=null&&n.etagUnmodified&&(a.unmodified=!0),a}catch(n){if(delete e.abortController,e.aborted||Fm(n))return;if(n&&n.status!==404)throw n;this._afterTileLoadWorkerResponse(e,null)}})}_getOverzoomParameters(e){return Ki(this,null,function*(){if(e.tileID.canonical.z<=this.maxzoom||this.map._zoomLevelsToOverscale===void 0)return;let t=e.tileID.scaledTo(this.maxzoom).canonical,r=t.url(this.tiles,this.map.getPixelRatio(),this.scheme);return{maxZoomTileID:t,overzoomRequest:yield this.map._requestManager.transformRequest(r,"Tile")}})}_afterTileLoadWorkerResponse(e,t){if(t!=null&&t.resourceTiming&&(e.resourceTiming=t.resourceTiming),t&&this.map._refreshExpiredTiles&&e.setExpiryData(t),e.etag=t==null?void 0:t.etag,e.loadVectorData(t,this.map.painter),e.reloadPromise){let r=e.reloadPromise;e.reloadPromise=null,this.loadTile(e).then(r.resolve).catch(r.reject)}}abortTile(e){return Ki(this,null,function*(){e.abortController&&(e.abortController.abort(),delete e.abortController),e.actor&&(yield e.actor.sendAsync({type:"AT",data:{uid:e.uid,type:this.type,source:this.id}}))})}unloadTile(e){return Ki(this,null,function*(){e.unloadVectorData(),e.actor&&(yield e.actor.sendAsync({type:"RMT",data:{uid:e.uid,type:this.type,source:this.id}}))})}hasTransition(){return!1}},Tae=class extends mu{constructor(e,t,r,i){super(),this.id=e,this.dispatcher=r,this.setEventedParent(i),this.type="raster",this.minzoom=0,this.maxzoom=22,this.roundZoom=!0,this.scheme="xyz",this.tileSize=512,this._loaded=!1,this._premultiplyAlpha=!0,this._options=ln({type:"raster"},t),ln(this,IT(t,["url","scheme","tileSize"]))}load(e=!1){return Ki(this,null,function*(){this._loaded=!1,this.fire(new Is("dataloading")),this._tileJSONRequest=new AbortController;try{let t=yield aot(this._options,this.map._requestManager,this._tileJSONRequest,this.map._ownerWindow);this._tileJSONRequest=null,this._loaded=!0,t&&(ln(this,t),t.bounds&&(this.tileBounds=new oot(t.bounds,this.minzoom,this.maxzoom)),this.fire(new Is("data",{sourceDataType:"metadata"})),this.fire(new Is("data",{sourceDataType:"content",sourceDataChanged:e})))}catch(t){this._tileJSONRequest=null,this._loaded=!0,Fm(t)||this.fire(new An(Ic(t)))}})}loaded(){return this._loaded}onAdd(e){this.map=e,this.load()}onRemove(){this._tileJSONRequest&&(this._tileJSONRequest=(this._tileJSONRequest.abort(),null))}setSourceProperty(e){this._tileJSONRequest&&(this._tileJSONRequest=(this._tileJSONRequest.abort(),null)),e(),this.load(!0)}setTiles(e){return this.setSourceProperty(()=>{this.tiles=e,this._options.tiles=e}),this}setUrl(e){return this.setSourceProperty(()=>{this.url=e,this._options.url=e}),this}serialize(){return ln({},this._options)}setPremultiplyAlpha(e){return this._premultiplyAlpha===e||this.setSourceProperty(()=>{this._premultiplyAlpha=e}),this}hasTile(e){return!this.tileBounds||this.tileBounds.contains(e.canonical)}loadTile(e){return Ki(this,null,function*(){var n;let t=e.tileID.canonical.url(this.tiles,this.map.getPixelRatio(),this.scheme),r=this._premultiplyAlpha,i=r?void 0:{premultiplyAlpha:"none"};e.abortController=new AbortController;try{let a=yield rg.transformAndGetImage(this.map._requestManager,t,"Tile",e.abortController,this.map._refreshExpiredTiles,i);if(delete e.abortController,e.aborted){e.state="unloaded";return}if(a){this.map._refreshExpiredTiles&&(a.cacheControl||a.expires)&&e.setExpiryData({cacheControl:a.cacheControl,expires:a.expires});let o=this.map.painter.context,s=o.gl,l=(n=a.data)!=null?n:new As({width:1,height:1},new Uint8Array(4));e.texture=this.map.painter.getTileTexture(l.width),e.texture?e.texture.update(l,{useMipmap:!0,premultiply:r}):(e.texture=new vu(o,l,s.RGBA,{useMipmap:!0,premultiply:r}),e.texture.bind(s.LINEAR,s.CLAMP_TO_EDGE,s.LINEAR_MIPMAP_NEAREST)),e.state="loaded"}}catch(a){if(delete e.abortController,e.aborted)e.state="unloaded";else if(a)throw e.state="errored",a}})}abortTile(e){return Ki(this,null,function*(){e.abortController&&(e.abortController.abort(),delete e.abortController)})}unloadTile(e){return Ki(this,null,function*(){e.texture&&this.map.painter.saveTileTexture(e.texture)})}hasTransition(){return!1}},lot=class extends Tae{constructor(e,t,r,i){super(e,t,r,i),this.type="raster-dem",this.maxzoom=22,this._options=ln({type:"raster-dem"},t),this.encoding=t.encoding||"mapbox",this.redFactor=t.redFactor,this.greenFactor=t.greenFactor,this.blueFactor=t.blueFactor,this.baseShift=t.baseShift}loadTile(e){return Ki(this,null,function*(){let t=e.tileID.canonical.url(this.tiles,this.map.getPixelRatio(),this.scheme);e.neighboringTiles=this._getNeighboringTiles(e.tileID),e.abortController=new AbortController;try{let r=yield rg.transformAndGetImage(this.map._requestManager,t,"Tile",e.abortController,this.map._refreshExpiredTiles,{colorSpaceConversion:"none"});if(delete e.abortController,e.aborted){e.state="unloaded";return}if(r){if(this.map._refreshExpiredTiles&&(r.cacheControl||r.expires)&&e.setExpiryData({cacheControl:r.cacheControl,expires:r.expires}),!r.data){e.state="loaded";return}let i=r.data,n=ex(i)&&nB()?i:yield this.readImageNow(i),a={type:this.type,uid:e.uid,source:this.id,rawImageData:n,encoding:this.encoding,redFactor:this.redFactor,greenFactor:this.greenFactor,blueFactor:this.blueFactor,baseShift:this.baseShift};if(e.actor&&e.state!=="expired"&&e.state!=="reloading")return;yield this.dispatcher.waitForInitComplete(),(!e.actor||e.state==="expired")&&(e.actor=this.dispatcher.getReadyActor()),e.dem=yield e.actor.sendAsync({type:"LDT",data:a}),e.needsHillshadePrepare=!0,e.needsTerrainPrepare=!0,e.needsColorReliefPrepare=!0,e.state="loaded"}}catch(r){if(delete e.abortController,e.aborted)e.state="unloaded";else if(r)throw e.state="errored",r}})}readImageNow(e){return Ki(this,null,function*(){if(typeof VideoFrame<"u"&&fie()){let t=e.width+4,r=e.height+4;try{return new As({width:t,height:r},yield ttt(e,-2,-2,t,r))}catch(i){}}return fh.getImageData(e,2)})}_getNeighboringTiles(e){let t=e.canonical,r=2**t.z,i=(t.x-1+r)%r,n=t.x===0?e.wrap-1:e.wrap,a=(t.x+1+r)%r,o=t.x+1===r?e.wrap+1:e.wrap,s={};return s[new Bc(e.overscaledZ,n,t.z,i,t.y).key]={backfilled:!1},s[new Bc(e.overscaledZ,o,t.z,a,t.y).key]={backfilled:!1},t.y>0&&(s[new Bc(e.overscaledZ,n,t.z,i,t.y-1).key]={backfilled:!1},s[new Bc(e.overscaledZ,e.wrap,t.z,t.x,t.y-1).key]={backfilled:!1},s[new Bc(e.overscaledZ,o,t.z,a,t.y-1).key]={backfilled:!1}),t.y+1Jnt(t))}}shouldReloadTile(e,{affectedBounds:t}){if(e.state==="loading")return!0;if(e.state==="unloaded")return!1;let{buffer:r,extent:i}=this.workerOptions.geojsonVtOptions,n=Ibr(e.tileID.canonical,r/i);for(let a of t)if(n.intersects(a))return!0;return!1}loaded(){return!this._isUpdatingWorker&&!this._hasPendingWorkerUpdate()}loadTile(e){return Ki(this,null,function*(){let t=e.actor?"RT":"LT";e.actor=yield this.actorPromise;let r={type:this.type,uid:e.uid,tileID:e.tileID,zoom:e.tileID.overscaledZ,maxZoom:this.maxzoom,tileSize:this.tileSize,source:this.id,pixelRatio:this.map.getPixelRatio(),showCollisionBoxes:this.map.showCollisionBoxes,promoteId:this.promoteId,subdivisionGranularity:this.map.style.projection.subdivisionGranularity};e.abortController=new AbortController;try{let i=yield(yield this.actorPromise).sendAsync({type:t,data:r},e.abortController);delete e.abortController,e.unloadVectorData(),e.aborted||e.loadVectorData(i,this.map.painter,t==="RT")}catch(i){if(delete e.abortController,e.aborted||Fm(i))return;throw i}})}abortTile(e){return Ki(this,null,function*(){e.abortController&&(e.abortController.abort(),delete e.abortController),e.aborted=!0})}unloadTile(e){return Ki(this,null,function*(){e.unloadVectorData(),yield(yield this.actorPromise).sendAsync({type:"RMT",data:{uid:e.uid,type:this.type,source:this.id}})})}onRemove(){this._removed=!0,this.actorPromise.then(e=>e.sendAsync({type:"RS",data:{type:this.type,source:this.id}}))}serialize(){return ln({},this._options,{type:this.type,data:this._data.updateable?{type:"FeatureCollection",features:Array.from(this._data.updateable.values())}:this._data.url||this._data.geojson})}hasTransition(){return!1}},$T=[0,0,1],Rbr=(e,t)=>({u_tl_parent:new pa(e,t.u_tl_parent),u_scale_parent:new qi(e,t.u_scale_parent),u_buffer_scale:new qi(e,t.u_buffer_scale),u_image_warp:new Rf(e,t.u_image_warp),u_fade_t:new qi(e,t.u_fade_t),u_opacity:new qi(e,t.u_opacity),u_image0:new wn(e,t.u_image0),u_image1:new wn(e,t.u_image1),u_brightness_low:new qi(e,t.u_brightness_low),u_brightness_high:new qi(e,t.u_brightness_high),u_saturation_factor:new qi(e,t.u_saturation_factor),u_contrast_factor:new qi(e,t.u_contrast_factor),u_spin_weights:new Rf(e,t.u_spin_weights),u_coords_top:new OT(e,t.u_coords_top),u_coords_bottom:new OT(e,t.u_coords_bottom)}),zbr=(e,t,r,i,n,a)=>({u_tl_parent:e,u_scale_parent:t,u_buffer_scale:1,u_image_warp:a,u_fade_t:r.mix,u_opacity:r.opacity*i.paint.get("raster-opacity"),u_image0:0,u_image1:1,u_brightness_low:i.paint.get("raster-brightness-min"),u_brightness_high:i.paint.get("raster-brightness-max"),u_saturation_factor:Obr(i.paint.get("raster-saturation")),u_contrast_factor:qbr(i.paint.get("raster-contrast")),u_spin_weights:Bbr(i.paint.get("raster-hue-rotate")),u_coords_top:[n[0].x,n[0].y,n[1].x,n[1].y],u_coords_bottom:[n[3].x,n[3].y,n[2].x,n[2].y]});M8=class{constructor(e,t,r){this.vertexBuffer=e,this.indexBuffer=t,this.segments=r}destroy(){this.vertexBuffer.destroy(),this.indexBuffer.destroy(),this.segments.destroy(),this.vertexBuffer=null,this.indexBuffer=null,this.segments=null}},l3=ol([{name:"a_pos",type:"Int16",components:2}]),rq=zr/128;XT=class extends mu{constructor(e,t,r,i){super(),this.imageWarp=$T,this.flippedWindingOrder=!1,this._warp="auto",this._imageDirty=!1,this._subdividedQuad=!1,this._subdividedMesh=null,this.id=e,this.dispatcher=r,this.coordinates=t.coordinates,this.type="image",this.minzoom=0,this.maxzoom=22,this.tileSize=512,this.tiles={},this._loaded=!1,this.setEventedParent(i),this.options=t}load(e){return Ki(this,null,function*(){if(this.options.url===void 0){this._loaded=!0,this._finishLoading();return}this._loaded=!1,this.fire(new Is("dataloading")),this.url=this.options.url,this._abortController=new AbortController;try{let t=yield rg.transformAndGetImage(this.map._requestManager,this.url,"Image",this._abortController);this._abortController=null,this._loaded=!0,t!=null&&t.data?(this._setImage(t.data),e&&(this.coordinates=e),this._finishLoading()):this.fire(new An(Error(`Could not load image ${this.url}: the response is empty`)))}catch(t){if(Fm(t))return;this._abortController=null,this._loaded=!0,this.fire(new An(Ic(t)))}})}loaded(){return this._loaded}updateImage(e){return this._abortController&&(this._abortController=(this._abortController.abort(),null)),"image"in e?(this._loaded=!0,this._setImage(e.image),e.coordinates&&(this.coordinates=e.coordinates),this._finishLoading(),this):e.url?(this.options.url=e.url,this.load(e.coordinates),this):this}_setImage(e){this.image=e,this._imageDirty=!0}getMesh(e,t){var r;return!this._subdividedQuad||t?null:((r=this._subdividedMesh)!=null||(this._subdividedMesh=fot(e,{granularity:16})),this._subdividedMesh)}_disposeTexture(){var e;(e=this.texture)==null||e.destroy(),this.texture=null}_finishLoading(){this.map&&(this.setCoordinates(this.coordinates),this.fire(new Is("data",{sourceDataType:"metadata"})))}onAdd(e){this.map=e,this.load()}onRemove(){var e;this._abortController&&(this._abortController=(this._abortController.abort(),null)),this._disposeTexture(),(e=this._subdividedMesh)==null||e.destroy(),this._subdividedMesh=null,this.image=null,this.tiles={}}setWarp(e){return this._warp===e?this:(this._warp=e,this.tileCoords&&this.setCoordinates(this.coordinates),this)}getWarp(){return this._warp}setCoordinates(e){this.coordinates=e;let t=e.map(wo.fromLngLat);return this.tileID=Nbr(t),this.terrainTileRanges=this._getOverlappingTileRanges(t),this.minzoom=this.maxzoom=this.tileID.z,this.tileCoords=t.map(r=>this.tileID.getTilePoint(r)._round()),this.imageWarp=Vbr(this.tileCoords,this._warp),this._subdividedQuad=this.imageWarp[2]>0&&!dot(this.tileCoords),this.flippedWindingOrder=Ubr(this.tileCoords),this.fire(new Is("data",{sourceDataType:"content"})),this}prepare(){if(Object.keys(this.tiles).length===0||!this.image)return;let e=this.map.painter.context,t=e.gl;this.texture?this._imageDirty&&(this.texture.update(this.image),this.texture.bind(t.LINEAR,t.CLAMP_TO_EDGE)):(this.texture=new vu(e,this.image,t.RGBA),this.texture.bind(t.LINEAR,t.CLAMP_TO_EDGE)),this._imageDirty=!1;let r=!1;for(let i in this.tiles){let n=this.tiles[i];n.state!=="loaded"&&(n.state="loaded",n.texture=this.texture,r=!0)}r&&this.fire(new Is("data",{sourceDataType:"idle",sourceId:this.id}))}loadTile(e){return Ki(this,null,function*(){var t;(t=this.tileID)!=null&&t.equals(e.tileID.canonical)?(this.tiles[String(e.tileID.wrap)]=e,e.buckets={}):e.state="errored"})}serialize(){let e={type:"image",coordinates:this.coordinates};return this.options.url!==void 0&&(e.url=this.options.url),e}hasTransition(){return!1}_getOverlappingTileRanges(e){let{minX:t,minY:r,maxX:i,maxY:n}=Jd.fromPoints(e),a={};for(let o=0;o<=25;o++){let s=2**o,l=Math.floor(t*s),u=Math.floor(r*s),c=Math.floor(i*s),f=Math.floor(n*s),h=(l%s+s)%s,d=c%s,p=Math.floor(l/s),v=Math.floor(c/s);a[o]={minWrap:p,maxWrap:v,minTileXWrapped:h,maxTileXWrapped:d,minTileY:u,maxTileY:f}}return a}};pot=class extends XT{constructor(e,t,r,i){super(e,t,r,i),this._onPlayingHandler=()=>{var n;(n=this.map)==null||n.triggerRepaint()},this.roundZoom=!0,this.type="video",this.options=t}load(){return Ki(this,null,function*(){this._loaded=!1;let e=this.options;this.urls=[];for(let t of e.urls)this.urls.push((yield this.map._requestManager.transformRequest(t,"Source")).url);try{let t=yield ctt(this.urls);if(this._loaded=!0,!t)return;this.video=t,this.video.loop=!0,this.video.addEventListener("playing",this._onPlayingHandler),this.map&&this.video.play(),this._finishLoading()}catch(t){this.fire(new An(Ic(t)))}})}pause(){this.video&&this.video.pause()}play(){this.video&&this.video.play()}seek(e){if(this.video){let t=this.video.seekable;et.end(0)?this.fire(new An(new Qr(`sources.${this.id}`,null,`Playback for this video can be set only between the ${t.start(0)} and ${t.end(0)}-second mark.`))):this.video.currentTime=e}}getVideo(){return this.video}onAdd(e){this.map||(this.map=e,this.load(),this.video&&(this.video.play(),this.setCoordinates(this.coordinates)))}onRemove(){super.onRemove(),this.video&&(this.video.removeEventListener("playing",this._onPlayingHandler),this.video.pause())}prepare(){if(Object.keys(this.tiles).length===0||this.video.readyState<2)return;let e=this.map.painter.context,t=e.gl;this.texture?this.video.paused||(this.texture.bind(t.LINEAR,t.CLAMP_TO_EDGE),t.texSubImage2D(t.TEXTURE_2D,0,0,0,t.RGBA,t.UNSIGNED_BYTE,this.video)):(this.texture=new vu(e,this.video,t.RGBA),this.texture.bind(t.LINEAR,t.CLAMP_TO_EDGE));let r=!1;for(let i in this.tiles){let n=this.tiles[i];n.state!=="loaded"&&(n.state="loaded",n.texture=this.texture,r=!0)}r&&this.fire(new Is("data",{sourceDataType:"idle",sourceId:this.id}))}serialize(){return{type:"video",urls:this.urls,coordinates:this.coordinates}}hasTransition(){return this.video&&!this.video.paused}},vot=class extends XT{constructor(e,t,r,i){super(e,t,r,i),t.coordinates?(!Array.isArray(t.coordinates)||t.coordinates.length!==4||t.coordinates.some(n=>!Array.isArray(n)||n.length!==2||n.some(a=>typeof a!="number")))&&this.fire(new An(new Qr(`sources.${e}`,null,'"coordinates" property must be an array of 4 longitude/latitude array pairs'))):this.fire(new An(new Qr(`sources.${e}`,null,'missing required property "coordinates"'))),t.animate&&typeof t.animate!="boolean"&&this.fire(new An(new Qr(`sources.${e}`,null,'optional "animate" property must be a boolean value'))),t.canvas?typeof t.canvas!="string"&&!(t.canvas instanceof HTMLCanvasElement)&&this.fire(new An(new Qr(`sources.${e}`,null,'"canvas" must be either a string representing the ID of the canvas element from which to read, or an HTMLCanvasElement instance'))):this.fire(new An(new Qr(`sources.${e}`,null,'missing required property "canvas"'))),this.options=t,this.animate=t.animate===void 0||t.animate}load(){return Ki(this,null,function*(){if(this._loaded=!0,this.canvas||(this.canvas=this.options.canvas instanceof HTMLCanvasElement?this.options.canvas:document.getElementById(this.options.canvas)),this.width=this.canvas.width,this.height=this.canvas.height,this._hasInvalidDimensions()){this.fire(new An(Error("Canvas dimensions cannot be less than or equal to zero.")));return}this.play=function(){this._playing=!0,this.map.triggerRepaint()},this.pause=function(){this._playing&&(this._playing=(this.prepare(),!1))},this._finishLoading()})}getCanvas(){return this.canvas}onAdd(e){this.map=e,this.load(),this.canvas&&this.animate&&this.play()}onRemove(){this._playing=!1,super.onRemove()}prepare(){let e=!1;if(this.canvas.width!==this.width&&(this.width=this.canvas.width,e=!0),this.canvas.height!==this.height&&(this.height=this.canvas.height,e=!0),this._hasInvalidDimensions()||Object.keys(this.tiles).length===0)return;let t=this.map.painter.context,r=t.gl;this.texture?(e||this._playing)&&this.texture.update(this.canvas,{premultiply:!0}):(this.texture=new vu(t,this.canvas,r.RGBA,{premultiply:!0}),this.texture.bind(r.LINEAR,r.CLAMP_TO_EDGE));let i=!1;for(let n in this.tiles){let a=this.tiles[n];a.state!=="loaded"&&(a.state="loaded",a.texture=this.texture,i=!0)}i&&this.fire(new Is("data",{sourceDataType:"idle",sourceId:this.id}))}serialize(){return{type:"canvas",animate:this.animate,canvas:this.options.canvas,coordinates:this.coordinates}}hasTransition(){return this._playing}_hasInvalidDimensions(){for(let e of[this.canvas.width,this.canvas.height])if(isNaN(e)||e<=0)return!0;return!1}},got={},Hbr=(e,t,r,i)=>{let n=new(mot(t.type))(e,t,r,i);if(n.id!==e)throw Error(`Expected Source id to be ${e} instead of ${n.id}`);return n},mot=e=>{switch(e){case"geojson":return cot;case"image":return XT;case"raster":return Tae;case"raster-dem":return lot;case"vector":return sot;case"video":return pot;case"canvas":return vot}return got[e]},jbr=(e,t)=>{got[e]=t},$br=(e,t)=>Ki(null,null,function*(){if(mot(e))throw Error(`A source type called "${e}" already exists.`);jbr(e,t)});iae="RTLPluginLoaded",Ybr=class extends mu{constructor(...e){super(...e),this.status="unavailable",this.url=null,this.dispatcher=wae()}_syncState(e){return this.status=e,this.dispatcher.broadcast("SRPS",{pluginStatus:e,pluginURL:this.url}).catch(t=>{throw this.status="error",t})}getRTLTextPluginStatus(){return this.status}clearRTLTextPlugin(){this.status="unavailable",this.url=null}setRTLTextPlugin(e,t=!1){return Ki(this,null,function*(){if(this.url)throw Error("setRTLTextPlugin cannot be called multiple times.");if(this.url=fh.resolveURL(e),!this.url)throw Error(`requested url ${e} is invalid`);if(this.status==="unavailable")if(t)this.status="deferred",this._syncState(this.status);else return this._requestImport();else if(this.status==="requested")return this._requestImport()})}_requestImport(){return Ki(this,null,function*(){yield this._syncState("loading"),this.status="loaded",this.fire(new e0(iae))})}lazyLoad(){this.status==="unavailable"?this.status="requested":this.status==="deferred"&&this._requestImport()}},Qnt=null;yot=class{constructor(e,t){this.timeAdded=0,this.fadeEndTime=0,this.fadeOpacity=1,this.tileID=e,this.uid=_ie(),this.uses=0,this.tileSize=t,this.buckets={},this.expirationTime=null,this.queryPadding=0,this.hasSymbolBuckets=!1,this.hasRTLText=!1,this.dependencies={},this.rttObjects=[],this.rttFingerprint={},this.expiredRequestCount=0,this.state="loading",this.featureStateRevision=-1}isRenderable(e){return this.hasData()&&(!this.fadeEndTime||this.fadeOpacity>0)&&(e||!this.holdingForSymbolFade())}setCrossFadeLogic({fadingRole:e,fadingDirection:t,fadingParentID:r,fadeEndTime:i}){this.resetFadeLogic(),this.fadingRole=e,this.fadingDirection=t,this.fadingParentID=r,this.fadeEndTime=i}setSelfFadeLogic(e){this.resetFadeLogic(),this.selfFading=!0,this.fadeEndTime=e}resetFadeLogic(){this.fadingRole=null,this.fadingDirection=null,this.fadingParentID=null,this.selfFading=!1,this.timeAdded=Oo(),this.fadeEndTime=0,this.fadeOpacity=1}wasRequested(){return this.state==="errored"||this.state==="loaded"||this.state==="reloading"}clearTextures(e){this.demTexture&&e.saveTileTexture(this.demTexture),this.demTexture=null}getRTT(e){return this.rttObjects[e]}acquireRTT(e,t,r){return this.rttObjects[t]=e.acquireRTT(r)}releaseRTT(e){if(this.rttObjects.length!==0){for(let t of this.rttObjects)t&&e.releaseRTT(t);this.rttObjects.length=0}}loadVectorData(e,t,r){if((e==null?void 0:e.etagUnmodified)===!0){this.state="loaded";return}if(this.hasData()&&this.unloadVectorData(),this.state="loaded",!e){this.collisionBoxArray=new Xie;return}e.featureIndex&&(this.latestFeatureIndex=e.featureIndex,e.rawTileData?(this.latestRawTileData=e.rawTileData,this.latestEncoding=e.encoding,this.latestFeatureIndex.rawTileData=e.rawTileData,this.latestFeatureIndex.encoding=e.encoding):this.latestRawTileData&&(this.latestFeatureIndex.rawTileData=this.latestRawTileData,this.latestFeatureIndex.encoding=this.latestEncoding)),this.collisionBoxArray=e.collisionBoxArray,this.buckets=Wbr(e.buckets,t==null?void 0:t.style),this.hasSymbolBuckets=!1;for(let i in this.buckets){let n=this.buckets[i];if(n instanceof s8)if(this.hasSymbolBuckets=!0,r)n.justReloaded=!0;else break}if(this.hasRTLText=!1,this.hasSymbolBuckets)for(let i in this.buckets){let n=this.buckets[i];if(n instanceof s8&&n.hasRTLText){this.hasRTLText=!0,A8().lazyLoad();break}}this.queryPadding=0;for(let i in this.buckets){let n=this.buckets[i];this.queryPadding=Math.max(this.queryPadding,t.style.getLayer(i).queryRadius(n))}e.imageAtlas&&(this.imageAtlas=e.imageAtlas),e.glyphAtlasImage&&(this.glyphAtlasImage=e.glyphAtlasImage),this.dashPositions=e.dashPositions}unloadVectorData(){for(let e in this.buckets)this.buckets[e].destroy();this.buckets={},this.imageAtlasTexture&&this.imageAtlasTexture.destroy(),this.glyphAtlasTexture&&this.glyphAtlasTexture.destroy(),this.imageAtlas=null,this.dashPositions=null,this.latestFeatureIndex=null,this.state="unloaded"}getBucket(e){return this.buckets[e.id]}upload(e){for(let r in this.buckets){let i=this.buckets[r];i.uploadPending()&&i.upload(e)}let t=e.gl;this.imageAtlas&&!this.imageAtlas.uploaded&&(this.imageAtlasTexture=new vu(e,this.imageAtlas.image,t.RGBA),this.imageAtlas.uploaded=!0),this.glyphAtlasImage&&(this.glyphAtlasImage=(this.glyphAtlasTexture=new vu(e,this.glyphAtlasImage,t.ALPHA),null))}prepare(e){this.imageAtlas&&this.imageAtlas.patchUpdatedImages(e,this.imageAtlasTexture)}queryRenderedFeatures(e,t,r,i,n,a,o,s,l,u,c){var f;return(f=this.latestFeatureIndex)!=null&&f.rawTileData?this.latestFeatureIndex.query({queryGeometry:i,cameraQueryGeometry:n,scale:a,tileSize:this.tileSize,pixelPosMatrix:u,transform:s,params:o,queryPadding:this.queryPadding*l,getElevation:c},e,t,r):{}}querySourceFeatures(e,t){let r=this.latestFeatureIndex;if(!(r!=null&&r.rawTileData))return;let i=r.loadVTLayers(),n=t!=null&&t.sourceLayer?t.sourceLayer:"",a=i._geojsonTileLayer||i[n];if(!a)return;let o=CT(t==null?void 0:t.filter,`querySourceFeatures[${n}].filter`,t==null?void 0:t.globalState),{z:s,x:l,y:u}=this.tileID.canonical,c={z:s,x:l,y:u};for(let f=0;fr)i=!1;else if(!t)i=!0;else if(this.expirationTimethis.max[0]||t.aabb.min[1]>this.max[1]||t.aabb.min[2]>this.max[2]||t.aabb.max[0]0?(r+=t[n]*this.min[n],i+=t[n]*this.max[n]):(i+=t[n]*this.min[n],r+=t[n]*this.max[n]);return r>=0?2:i<0?0:1}},Mae=class _ot{constructor(t,r,i){this.points=t,this.planes=r,this.aabb=i}static fromInvProjectionMatrix(t,r=1,i=0,n,a){let o=[[-1,1,-1,1],[1,1,-1,1],[1,-1,-1,1],[-1,-1,-1,1],[-1,1,1,1],[1,1,1,1],[1,-1,1,1],[-1,-1,1,1]],s=a?[[6,5,4],[0,1,2],[0,3,7],[2,1,5],[3,2,6],[0,4,5]]:[[0,1,2],[6,5,4],[0,3,7],[2,1,5],[3,2,6],[0,4,5]],l=2**i,u=o.map(d=>Zbr(d,t,r,l));n&&Kbr(u,s[0],n,a);let c=s.map(d=>{let p=J1([],u[d[0]],u[d[1]]),v=J1([],u[d[2]],u[d[1]]),m=Pf([],uh([],p,v)),g=-gu(m,u[d[1]]);return m.concat(g)}),f=[1/0,1/0,1/0],h=[-1/0,-1/0,-1/0];for(let d of u)for(let p=0;p<3;p++)f[p]=Math.min(f[p],d[p]),h[p]=Math.max(h[p],d[p]);return new _ot(u,c,new Aae(f,h))}};t3r=nae(9.314,3);aat=class{constructor(){this._tiles={}}handleWrapJump(e){let t={};for(let r in this._tiles){let i=this._tiles[r];i.tileID=i.tileID.unwrapTo(i.tileID.wrap+e),t[i.tileID.key]=i}this._tiles=t}setFeatureState(e,t,r){for(let i in this._tiles)this._tiles[i].setFeatureState(e,t,r)}getAllTiles(){return Object.values(this._tiles)}getAllIds(e=!1){return e?Object.values(this._tiles).map(t=>t.tileID).sort(mne).map(t=>t.key):Object.keys(this._tiles)}getTileById(e){return this._tiles[e]}setTile(e,t){this._tiles[e]=t}deleteTileById(e){delete this._tiles[e]}getLoadedTile(e){let t=this.getTileById(e.key);return t!=null&&t.hasData()?t:null}isIdRenderable(e,t=!1){var r;return(r=this.getTileById(e))==null?void 0:r.isRenderable(t)}getRenderableIds(e=0,t){let r=[];for(let i of this.getAllIds())this.isIdRenderable(i,t)&&r.push(this.getTileById(i));return t?r.sort((i,n)=>{let a=i.tileID,o=n.tileID,s=new tr(a.canonical.x,a.canonical.y)._rotate(-e),l=new tr(o.canonical.x,o.canonical.y)._rotate(-e);return a.overscaledZ-o.overscaledZ||l.y-s.y||l.x-s.x}).map(i=>i.tileID.key):r.map(i=>i.tileID).sort(mne).map(i=>i.key)}},aae=(qm=class extends mu{constructor(t,r,i){super(),this._maxContentElevationSeen=0,this.id=t,this.dispatcher=i,this.on("data",n=>{this._dataHandler(n)}),this.on("dataloading",()=>{this._sourceErrored=!1}),this.on("error",()=>{this._sourceErrored=this._source.loaded()}),this._source=Hbr(t,r,i,this),this._inViewTiles=new aat,this._outOfViewCache=new Unt(0,n=>this._unloadTile(n)),this._timers={},this._maxTileCacheSize=null,this._maxTileCacheZoomLevels=null,this._rasterFadeDuration=0,this._maxFadingAncestorLevels=5,this._state=new Xbr,this._didEmitContent=!1,this._updated=!1}onAdd(t){var r;this.map=t,this._maxTileCacheSize=t?t._maxTileCacheSize:null,this._maxTileCacheZoomLevels=t?t._maxTileCacheZoomLevels:null,(r=this._source)!=null&&r.onAdd&&this._source.onAdd(t)}onRemove(t){var r;for(let i of this._inViewTiles.getAllTiles())i.unloadVectorData();this.clearTiles(),(r=this._source)!=null&&r.onRemove&&this._source.onRemove(t),this._inViewTiles=new aat}loaded(){if(this._sourceErrored)return!0;if(!this._sourceLoaded||!this._source.loaded())return!1;if((this.used!==void 0||this.usedForTerrain!==void 0)&&!this.used&&!this.usedForTerrain)return!0;if(!this._updated)return!1;for(let t of this._inViewTiles.getAllTiles())if(t.state!=="loaded"&&t.state!=="errored")return!1;return!0}getSource(){return this._source}getState(){return this._state}pause(){this._paused=!0}resume(){if(!this._paused)return;let t=this._shouldReloadOnResume;this._paused=!1,this._shouldReloadOnResume=!1,t&&this.reload(),this.transform&&this.update(this.transform,this.terrain)}_loadTile(t,r,i,n){return Ki(this,null,function*(){try{let a=yield this._source.loadTile(t);this._tileLoaded(t,r,i,n,a)}catch(a){t.state="errored",a.status===404?this.update(this.transform,this.terrain):this._source.fire(new An(Ic(a),{tile:t}))}})}_unloadTile(t){this._source.unloadTile&&this._source.unloadTile(t)}_abortTile(t){this._source.abortTile&&this._source.abortTile(t),this._source.fire(new Is("dataabort",{tile:t,coord:t.tileID}))}serialize(){return this._source.serialize()}prepare(t){this._source.prepare&&this._source.prepare(),this._state.coalesceChanges(this._inViewTiles,this.map?this.map.painter:null);for(let r of this._inViewTiles.getAllTiles())r.upload(t),r.prepare(this.map.style.imageManager)}getIds(){return this._inViewTiles.getAllIds(!0)}getRenderableIds(t){var r;return this._inViewTiles.getRenderableIds((r=this.transform)==null?void 0:r.bearingInRadians,t)}hasRenderableParent(t){let r=t.overscaledZ-1;if(r>=this._source.minzoom){let i=this.getLoadedTile(t.scaledTo(r));if(i)return this._inViewTiles.isIdRenderable(i.tileID.key)}return!1}reload(t,r=void 0){if(this._paused){this._shouldReloadOnResume=!0;return}this._outOfViewCache.reset();for(let i of this._inViewTiles.getAllIds()){let n=this._inViewTiles.getTileById(i);(!r||this._source.shouldReloadTile(n,r))&&(t?this._reloadTile(i,n.state==="errored"?"loading":"expired"):n.state!=="errored"&&this._reloadTile(i,"reloading"))}}_reloadTile(t,r){return Ki(this,null,function*(){let i=this._inViewTiles.getTileById(t);if(!i)return;let n=i.hasData();i.state!=="loading"&&(i.state=r),yield this._loadTile(i,t,r,n)})}_tileLoaded(t,r,i,n,a){n||(t.timeAdded=Oo(),t.selfFading&&(t.fadeEndTime=t.timeAdded+this._rasterFadeDuration)),i==="expired"&&(t.refreshedUponExpiration=!0),this._setTileReloadTimer(r,t),!(a!=null&&a.unmodified)&&(this.getSource().type==="raster-dem"&&t.dem&&u3r(t,this._inViewTiles),t.featureStateRevision=-1,this._state.initializeTileState(t,this.map?this.map.painter:null),t.aborted||this._source.fire(new Is("data",{tile:t,coord:t.tileID})))}getTile(t){return this.getTileByID(t.key)}getTileByID(t){return this._inViewTiles.getTileById(t)}_retainLoadedChildren(t,r){let i=this._getLoadedDescendents(r),n=new Set;for(let a of r){let o=i[a.key];if(!(o!=null&&o.length)){n.add(a);continue}let s=a.overscaledZ+qm.maxOverzooming,l=o.filter(f=>f.tileID.overscaledZ<=s);if(!l.length){n.add(a);continue}let u=Math.min(...l.map(f=>f.tileID.overscaledZ)),c=l.filter(f=>f.tileID.overscaledZ===u).map(f=>f.tileID);for(let f of c)t[f.key]=f;this._areDescendentsComplete(c,u,a.overscaledZ)||n.add(a)}return n}_getLoadedDescendents(t){var i;let r={};for(let n of this._inViewTiles.getAllTiles().filter(a=>a.hasData()))for(let a of t)n.tileID.isChildOf(a)&&(r[i=a.key]||(r[i]=[]),r[a.key].push(n));return r}_areDescendentsComplete(t,r,i){return t.length===1&&t[0].isOverscaled()?t[0].overscaledZ===r:4**(r-i)===t.length}getLoadedTile(t){return this._inViewTiles.getLoadedTile(t)}updateCacheSize(t){let r=(Math.ceil(t.width/this._source.tileSize)+1)*(Math.ceil(t.height/this._source.tileSize)+1),i=this._maxTileCacheZoomLevels===null?Qh.MAX_TILE_CACHE_ZOOM_LEVELS:this._maxTileCacheZoomLevels,n=Math.floor(r*i),a=typeof this._maxTileCacheSize=="number"?Math.min(this._maxTileCacheSize,n):n;this._outOfViewCache.setMaxSize(a)}handleWrapJump(t){let r=(t-(this._prevLng===void 0?t:this._prevLng))/360,i=Math.round(r);this._prevLng=t,i&&(this._inViewTiles.handleWrapJump(i),this._resetTileReloadTimers())}_updateMaxContentElevation(){var n,a;let t=this._maxContentElevationSeen,r=(a=(n=this.map)==null?void 0:n.style)==null?void 0:a._layers;if(!r)return t;let i=this._inViewTiles.getAllTiles();for(let o in r){let s=r[o];if(s.type!=="symbol"||s.source!==this.id||s.isHidden(this.transform.zoom))continue;let l=s;if(l.layout){t=Math.max(t,l.layout.get("symbol-height-offset").constantOr(0));for(let u of i){let c=u.getBucket(s);c&&c.maxHeightOffset>t&&(t=c.maxHeightOffset)}}}return this._maxContentElevationSeen=t,t}update(t,r){if(!this._sourceLoaded||this._paused)return;this.transform=t,this.terrain=r,this.updateCacheSize(t),this.handleWrapJump(this.transform.center.lng);let i;!this.used&&!this.usedForTerrain?i=[]:this._source.tileID?i=t.getVisibleUnwrappedCoordinates(this._source.tileID).map(l=>new Bc(l.canonical.z,l.wrap,l.canonical.z,l.canonical.x,l.canonical.y)):(i=ZT(t,{tileSize:this.usedForTerrain?this.tileSize:this._source.tileSize,minzoom:this._source.minzoom,maxzoom:this._source.type==="vector"&&this.map._zoomLevelsToOverscale!==void 0?Math.max(this._source.maxzoom,t.maxZoom-this.map._zoomLevelsToOverscale):this._source.maxzoom,roundZoom:!this.usedForTerrain&&this._source.roundZoom,reparseOverscaled:this._source.reparseOverscaled,terrain:r,calculateTileZoom:this._source.calculateTileZoom,maxContentElevation:this._updateMaxContentElevation()}),this._source.hasTile&&(i=i.filter(l=>this._source.hasTile(l)))),this.usedForTerrain&&(i=this._addTerrainIdealTiles(i));let n=i.length===0&&!this._updated&&this._didEmitContent;this._updated=!0,n&&this.fire(new Is("data",{sourceDataType:"idle",sourceId:this.id}));let a=Sae(t,this._source),o=this._updateRetainedTiles(i,a),s=rat(this._source.type);s&&this._rasterFadeDuration>0&&!r&&n3r(this._inViewTiles,i,o,this._maxFadingAncestorLevels,this._source.minzoom,this._source.maxzoom,this._rasterFadeDuration),s?this._cleanUpRasterTiles(o):this._cleanUpVectorTiles(o)}_cleanUpRasterTiles(t){for(let r of this._inViewTiles.getAllIds())t[r]||this._removeTile(r)}_cleanUpVectorTiles(t){for(let r of this._inViewTiles.getAllIds()){let i=this._inViewTiles.getTileById(r);if(t[r]){i.clearSymbolFadeHold();continue}if(!i.hasSymbolBuckets){this._removeTile(r);continue}i.holdingForSymbolFade()?i.symbolFadeFinished()&&this._removeTile(r):i.setSymbolHoldDuration(this.map._fadeDuration)}}_addTerrainIdealTiles(t){let r=[];for(let i of t)if(i.canonical.z>this._source.minzoom){let n=i.scaledTo(i.canonical.z-1);r.push(n);let a=i.scaledTo(Math.max(this._source.minzoom,Math.min(i.canonical.z,5)));r.push(a)}return t.concat(r)}releaseSymbolFadeTiles(){for(let t of this._inViewTiles.getAllIds())this._inViewTiles.getTileById(t).holdingForSymbolFade()&&this._removeTile(t)}_updateRetainedTiles(t,r){var l;let i=new Set;for(let u of t)this._addTile(u).hasData()||i.add(u);let n=t.reduce((u,c)=>(u[c.key]=c,u),{}),a=this._retainLoadedChildren(n,i),o={},s=Math.max(r-qm.maxUnderzooming,this._source.minzoom);for(let u of a){let c=this._inViewTiles.getTileById(u.key),f=c==null?void 0:c.wasRequested();for(let h=u.overscaledZ-1;h>=s;--h){let d=u.scaledTo(h);if(o[d.key])break;if(o[d.key]=!0,c=this.getTile(d),!c&&f&&(c=this._addTile(d)),c){let p=c.hasData();if((p||!((l=this.map)!=null&&l.cancelPendingTileRequestsWhileZooming)||f)&&(n[d.key]=d),f=c.wasRequested(),p)break}}}return n}_addTile(t){let r=this._inViewTiles.getTileById(t.key);if(r)return r;r=this._outOfViewCache.getAndRemove(t),r&&(r.resetFadeLogic(),this._setTileReloadTimer(t.key,r),r.tileID=t,this._state.initializeTileState(r,this.map?this.map.painter:null));let i=r;return r||(r=new yot(t,this._source.tileSize*t.overscaleFactor()),this._loadTile(r,t.key,r.state,!1)),r.uses++,this._inViewTiles.setTile(t.key,r),i||this._source.fire(new Is("dataloading",{tile:r,coord:r.tileID})),r}_setTileReloadTimer(t,r){this._clearTileReloadTimer(t);let i=r.getExpiryTimeout();if(i){let n=()=>{this._reloadTile(t,"expired"),delete this._timers[t]};this._timers[t]=setTimeout(n,i)}}_clearTileReloadTimer(t){let r=this._timers[t];r&&(clearTimeout(r),delete this._timers[t])}_resetTileReloadTimers(){for(let t in this._timers)clearTimeout(this._timers[t]),delete this._timers[t];for(let t of this._inViewTiles.getAllIds()){let r=this._inViewTiles.getTileById(t);this._setTileReloadTimer(t,r)}}refreshTiles(t){for(let r of this._inViewTiles.getAllIds()){let i=this._inViewTiles.getTileById(r);(this._inViewTiles.isIdRenderable(r)||i.state=="errored")&&t.some(n=>n.equals(i.tileID.canonical))&&this._reloadTile(r,"expired")}}_removeTile(t){let r=this._inViewTiles.getTileById(t);r&&(r.uses--,this._inViewTiles.deleteTileById(t),this._clearTileReloadTimer(t),!(r.uses>0)&&(r.hasData()&&r.state!=="reloading"?this._outOfViewCache.add(r.tileID,r,r.getExpiryTimeout()):(r.aborted=!0,this._abortTile(r),this._unloadTile(r))))}_dataHandler(t){if(t.dataType==="source"){if(t.sourceDataType==="metadata"){this._sourceLoaded=!0;return}t.sourceDataType==="content"&&this._sourceLoaded&&!this._paused&&(this.reload(t.sourceDataChanged,t.shouldReloadTileOptions),this.transform&&this.update(this.transform,this.terrain),this._didEmitContent=!0)}}resetMaxContentElevation(){this._maxContentElevationSeen=0}clearTiles(){this._shouldReloadOnResume=!1,this._paused=!1,this.resetMaxContentElevation();for(let t of this._inViewTiles.getAllIds())this._removeTile(t);this._outOfViewCache.reset()}tilesIn(t,r,i){let n=[],a=this.transform;if(!a)return n;let o=a.getCoveringTilesDetailsProvider().allowWorldCopies(),s=i?a.getCameraQueryGeometry(t):t,l=d=>a.screenPointToMercatorCoordinate(d,this.terrain),u=this.transformBbox(t,l,!o),c=this.transformBbox(s,l,!o),f=this.getIds(),h=Jd.fromPoints(c);for(let d of f){let p=this._inViewTiles.getTileById(d);if(p.holdingForSymbolFade())continue;let v=o?[p.tileID]:[p.tileID.unwrapTo(-1),p.tileID.unwrapTo(0)],m=2**(a.zoom-p.tileID.overscaledZ),g=r*p.queryPadding*zr/p.tileSize/m;for(let w of v){let b=h.map(_=>w.getTilePoint(new wo(_.x,_.y)));if(b.expandBy(g),b.intersects(wit)){let _=u.map(x=>w.getTilePoint(x)),M=c.map(x=>w.getTilePoint(x));n.push({tile:p,tileID:o?w:w.unwrapTo(0),queryGeometry:_,cameraQueryGeometry:M,scale:m})}}}return n}transformBbox(t,r,i){let n=t.map(r);if(i){let a=Jd.fromPoints(t);a.shrinkBy(Math.min(a.width(),a.height())*.001);let o=a.map(r);Jd.fromPoints(n).covers(o)||(n=n.map(s=>s.x>.5?new wo(s.x-1,s.y,s.z):s))}return n}getVisibleCoordinates(t){let r=this.getRenderableIds(t).map(i=>this._inViewTiles.getTileById(i).tileID);return this.transform&&this.transform.populateCache(r),r}hasTransition(){return this._source.hasTransition()?!0:rat(this._source.type)&&l3r(this._inViewTiles,this._rasterFadeDuration)}setRasterFadeDuration(t){this._rasterFadeDuration=t}setFeatureState(t,r,i){t||(t=c8),this._state.updateState(t,r,i)}removeFeatureState(t,r,i){t||(t=c8),this._state.removeFeatureState(t,r,i)}getFeatureState(t,r){return t||(t=c8),this._state.getState(t,r)}setDependencies(t,r,i){let n=this._inViewTiles.getTileById(t);n&&n.setDependencies(r,i)}reloadTilesForDependencies(t,r){for(let i of this._inViewTiles.getAllIds())this._inViewTiles.getTileById(i).hasDependency(t,r)&&this._reloadTile(i,"reloading");this._outOfViewCache.filter(i=>!i.hasDependency(t,r))}areTilesLoaded(){for(let t of this._inViewTiles.getAllTiles())if(t.state!=="loaded"&&t.state!=="errored")return!1;return!0}},qm.maxUnderzooming=10,qm.maxOverzooming=3,qm),c3r=class{constructor(e,t){this.reset(e,t)}reset(e,t){this.points=e||[],this._distances=[0];for(let r=1;r0?(i-a)/o:0;return this.points[n].mult(1-s).add(this.points[t].mult(s))}};oat=class{constructor(e,t,r){let i=this.boxCells=[],n=this.circleCells=[];this.xCellCount=Math.ceil(e/r),this.yCellCount=Math.ceil(t/r);for(let a=0;athis.width||i<0||t>this.height)return[];let s=[];if(e<=0&&t<=0&&this.width<=r&&this.height<=i){if(n)return[{key:null,x1:e,y1:t,x2:r,y2:i}];for(let l=0;l0}hitTestCircle(e,t,r,i,n){let a=e-r,o=e+r,s=t-r,l=t+r;if(o<0||a>this.width||l<0||s>this.height)return!1;let u=[],c={hitTest:!0,overlapMode:i,circle:{x:e,y:t,radius:r},seenUids:{box:{},circle:{}}};return this._forEachCell(a,s,o,l,this._queryCellCircle,u,c,n),u.length>0}_queryCell(e,t,r,i,n,a,o,s){let{seenUids:l,hitTest:u,overlapMode:c}=o,f=this.boxCells[n],h=1e-6;if(f!==null){let p=this.bboxes;for(let v of f)if(!l.box[v]){l.box[v]=!0;let m=v*4,g=this.boxKeys[v];if(e<=p[m+2]+h&&t<=p[m+3]+h&&r>=p[m+0]-h&&i>=p[m+1]-h&&(!s||s(g))&&(!u||!iq(c,g.overlapMode))&&(a.push({key:g,x1:p[m],y1:p[m+1],x2:p[m+2],y2:p[m+3]}),u))return!0}}let d=this.circleCells[n];if(d!==null){let p=this.circles;for(let v of d)if(!l.circle[v]){l.circle[v]=!0;let m=v*3,g=this.circleKeys[v];if(this._circleAndRectCollide(p[m],p[m+1],p[m+2],e,t,r,i)&&(!s||s(g))&&(!u||!iq(c,g.overlapMode))){let w=p[m],b=p[m+1],_=p[m+2];if(a.push({key:g,x1:w-_,y1:b-_,x2:w+_,y2:b+_}),u)return!0}}}return!1}_queryCellCircle(e,t,r,i,n,a,o,s){let{circle:l,seenUids:u,overlapMode:c}=o,f=this.boxCells[n];if(f!==null){let d=this.bboxes;for(let p of f)if(!u.box[p]){u.box[p]=!0;let v=p*4,m=this.boxKeys[p];if(this._circleAndRectCollide(l.x,l.y,l.radius,d[v+0],d[v+1],d[v+2],d[v+3])&&(!s||s(m))&&!iq(c,m.overlapMode))return a.push(!0),!0}}let h=this.circleCells[n];if(h!==null){let d=this.circles;for(let p of h)if(!u.circle[p]){u.circle[p]=!0;let v=p*3,m=this.circleKeys[p];if(this._circlesCollide(d[v],d[v+1],d[v+2],l.x,l.y,l.radius)&&(!s||s(m))&&!iq(c,m.overlapMode))return a.push(!0),!0}}}_forEachCell(e,t,r,i,n,a,o,s){let l=this._convertToXCellCoord(e),u=this._convertToYCellCoord(t),c=this._convertToXCellCoord(r),f=this._convertToYCellCoord(i);for(let h=l;h<=c;h++)for(let d=u;d<=f;d++){let p=this.xCellCount*d+h;if(n.call(this,e,t,r,i,p,a,o,s))return}}_convertToXCellCoord(e){return Math.max(0,Math.min(this.xCellCount-1,Math.floor(e*this.xScale)))}_convertToYCellCoord(e){return Math.max(0,Math.min(this.yCellCount-1,Math.floor(e*this.yScale)))}_circlesCollide(e,t,r,i,n,a){let o=i-e,s=n-t,l=r+a;return l*l>o*o+s*s}_circleAndRectCollide(e,t,r,i,n,a,o){let s=(a-i)/2,l=Math.abs(e-(i+s));if(l>s+r)return!1;let u=(o-n)/2,c=Math.abs(t-(n+u));if(c>u+r)return!1;if(l<=s||c<=u)return!0;let f=l-s,h=c-u;return f*f+h*h<=r*r}};p3r=Em();x3r=new Float32Array([-1/0,-1/0,0,-1/0,-1/0,0,-1/0,-1/0,0,-1/0,-1/0,0]);w3r=class{constructor(e,t=new oat(e.width+200,e.height+200,25),r=new oat(e.width+200,e.height+200,25)){this.transform=e,this.grid=t,this.ignoredGrid=r,this.pitchFactor=Math.cos(e.pitch*Math.PI/180)*e.cameraToCenterDistance,this.screenRightBoundary=e.width+100,this.screenBottomBoundary=e.height+100,this.gridRightBoundary=e.width+200,this.gridBottomBoundary=e.height+200,this.perspectiveRatioCutoff=.6}placeCollisionBox(e,t,r,i,n,a,o,s,l,u,c,f,h=0,d=!0){let p=e.anchorPointX+s[0],v=e.anchorPointY+s[1],m=this.projectAndGetPerspectiveRatio(p,v,n,mq(u,p,v,h,d),f),g=r*m.perspectiveRatio,w;if(!a&&!o){let y=m.x+(c?c.x*g:0),E=m.y+(c?c.y*g:0);w={allPointsOccluded:!1,box:[y+e.x1*g,E+e.y1*g,y+e.x2*g,E+e.y2*g]}}else w=this._projectCollisionBox(e,g,i,n,a,o,s,m,u,c,f,h,d);let[b,_,M,x]=w.box,T=a?w.allPointsOccluded:m.isOccluded,A=T;return A||(A=m.perspectiveRatio=1;I--)P.push(D.path[I]);for(let I=1;IB.signedDistanceFromCamera<=0)?[]:I.map(B=>B.point)}let L=[];if(P.length>0){let I=P[0].clone(),B=P[0].clone();for(let O=1;O=S.x&&B.x<=C.x&&I.y>=S.y&&B.y<=C.y?[P]:B.xC.x||B.yC.y?[]:dne([P],S.x,S.y,C.x,C.y)}for(let I of L){k.reset(I,E*.25);let B=0;B=k.length<=.5*E?1:Math.ceil(k.paddedLength/R)+1;for(let O=0;O=this.screenRightBoundary||i<100||t>this.screenBottomBoundary}isInsideGrid(e,t,r,i){return r>=0&&e=0&&tthis.projectAndGetPerspectiveRatio(P.x,P.y,i,mq(l,P.x,P.y,f,h),c));D=F.some(P=>!P.isOccluded),k=F.map(P=>new tr(P.x,P.y))}else D=!0;return{box:$et(k),allPointsOccluded:!D}}},uat=class{constructor(e,t,r,i){this.opacity=e?Math.max(0,Math.min(1,e.opacity+(e.placed?t:-t))):i&&r?1:0,this.placed=r}isHidden(){return this.opacity===0&&!this.placed}},d8=class{constructor(e,t,r,i,n){this.text=new uat(e?e.text:null,t,r,n),this.icon=new uat(e?e.icon:null,t,i,n)}isHidden(){return this.text.isHidden()&&this.icon.isHidden()}},cat=class{constructor(e,t,r){this.text=e,this.icon=t,this.skipFade=r}},T3r=class{constructor(e,t,r,i,n){this.bucketInstanceId=e,this.featureIndex=t,this.sourceLayerIndex=r,this.bucketIndex=i,this.tileID=n}},A3r=class{constructor(e){this.crossSourceCollisions=e,this.maxGroupID=0,this.collisionGroups={}}get(e){if(this.crossSourceCollisions)return{ID:0,predicate:null};if(!this.collisionGroups[e]){let t=++this.maxGroupID;this.collisionGroups[e]={ID:t,predicate:r=>r.collisionGroupID===t}}return this.collisionGroups[e]}};M3r=class{constructor(e,t,r,i,n){this.transform=e.clone(),this.terrain=t,this.collisionIndex=new w3r(this.transform),this.placements={},this.opacities={},this.variableOffsets={},this.stale=!1,this.commitTime=0,this.fadeDuration=r,this.retainedQueryData={},this.collisionGroups=new A3r(i),this.collisionCircleArrays={},this.collisionBoxArrays=new Map,this.prevPlacement=n,n&&(n.prevPlacement=void 0),this.placedOrientations={}}_getTerrainElevationFunc(e){let t=this.terrain;if(t)return(r,i)=>t.getElevation(e,r,i)}getBucketParts(e,t,r,i){let n=r.getBucket(t),a=r.latestFeatureIndex;if(!n||!a||t.id!==n.layerIds[0])return;let o=r.collisionBoxArray,s=n.layers[0].layout,l=n.layers[0].paint,u=2**(this.transform.zoom-r.tileID.overscaledZ),c=r.tileSize/zr,f=r.tileID.toUnwrapped(),h=s.get("text-rotation-alignment")==="map",d=Zh(r,1,this.transform.zoom),p=Dm(this.collisionIndex.transform,r,l.get("text-translate"),l.get("text-translate-anchor")),v=Dm(this.collisionIndex.transform,r,l.get("icon-translate"),l.get("icon-translate-anchor")),m=Eae(h,this.transform,d);this.retainedQueryData[n.bucketInstanceId]=new T3r(n.bucketInstanceId,a,n.sourceLayerIndex,n.index,r.tileID);let g={bucket:n,layout:s,translationText:p,translationIcon:v,unwrappedTileID:f,pitchedLabelPlaneMatrix:m,scale:u,textPixelRatio:c,holdingForFade:r.holdingForSymbolFade(),collisionBoxArray:o,partiallyEvaluatedTextSize:a8(n.textSizeData,this.transform.zoom),collisionGroup:this.collisionGroups.get(n.sourceID)};if(i)for(let w of n.sortKeyRanges){let{sortKey:b,symbolInstanceStart:_,symbolInstanceEnd:M}=w;e.push({sortKey:b,symbolInstanceStart:_,symbolInstanceEnd:M,parameters:g})}else e.push({symbolInstanceStart:0,symbolInstanceEnd:n.symbolInstances.length,parameters:g})}attemptAnchorPlacement(e,t,r,i,n,a,o,s,l,u,c,f,h,d,p,v,m,g,w,b,_,M){var E,S,C;let x=XB[e.textAnchor],T=[e.textOffset0,e.textOffset1],A=fat(x,r,i,T,n),y=this.collisionIndex.placeCollisionBox(t,f,s,l,u,o,a,v,c.predicate,w,A,b,_,M);if((!g||this.collisionIndex.placeCollisionBox(g,f,s,l,u,o,a,m,c.predicate,w,A,b,_,M).placeable)&&y.placeable){let k;if((E=this.prevPlacement)!=null&&E.variableOffsets[h.crossTileID]&&((C=(S=this.prevPlacement)==null?void 0:S.placements[h.crossTileID])!=null&&C.text)&&(k=this.prevPlacement.variableOffsets[h.crossTileID].anchor),h.crossTileID===0)throw Error("symbolInstance.crossTileID can't be 0");return this.variableOffsets[h.crossTileID]={textOffset:T,width:r,height:i,anchor:x,textBoxScale:n,prevAnchor:k},this.markUsedJustification(d,x,h,p),d.allowVerticalPlacement&&(this.markUsedOrientation(d,p,h),this.placedOrientations[h.crossTileID]=p),{shift:A,placedGlyphBoxes:y}}}placeLayerBucketPart(e,t,r){let{bucket:i,layout:n,translationText:a,translationIcon:o,unwrappedTileID:s,pitchedLabelPlaneMatrix:l,textPixelRatio:u,holdingForFade:c,collisionBoxArray:f,partiallyEvaluatedTextSize:h,collisionGroup:d}=e.parameters,p=n.get("text-optional"),v=n.get("icon-optional"),m=zk(n,"text-overlap","text-allow-overlap"),g=m==="always",w=zk(n,"icon-overlap","icon-allow-overlap"),b=w==="always",_=n.get("text-rotation-alignment")==="map",M=n.get("text-pitch-alignment")==="map",x=n.get("icon-text-fit")!=="none",T=n.get("symbol-z-order")==="viewport-y",A=n.get("symbol-height-anchor")==="ground",y=g&&(b||!i.hasIconData()||v),E=b&&(g||!i.hasTextData()||p);!i.collisionArrays&&f&&i.deserializeCollisionBoxes(f);let S=this.retainedQueryData[i.bucketInstanceId].tileID,C=this._getTerrainElevationFunc(S),k=this.transform.getFastPathSimpleProjectionMatrix(S),D=(F,P,R)=>{var be,he;if(t[F.crossTileID])return;if(c){this.placements[F.crossTileID]=new cat(!1,!1,!1);return}let L=F.heightOffset,I=!1,B=!1,O=!0,$=null,Y={box:null,placeable:!1,offscreen:null,occluded:!1},K={box:null,placeable:!1,offscreen:null},j=null,q=null,J=null,U=0,V=0,X=0;P.textFeatureIndex?U=P.textFeatureIndex:F.useRuntimeCollisionCircles&&(U=F.featureIndex),P.verticalTextFeatureIndex&&(V=P.verticalTextFeatureIndex);let H=P.textBox;if(H){let oe=ee=>{let ae=1;if(i.allowVerticalPlacement&&!ee&&this.prevPlacement){let xe=this.prevPlacement.placedOrientations[F.crossTileID];xe&&(this.placedOrientations[F.crossTileID]=xe,ae=xe,this.markUsedOrientation(i,ae,F))}return ae},Ee=(ee,ae)=>{if(i.allowVerticalPlacement&&F.numVerticalGlyphVertices>0&&P.verticalTextBox){for(let xe of i.writingModes)if(xe===2?(Y=ae(),K=Y):Y=ee(),Y==null?void 0:Y.placeable)break}else Y=ee()},ye=F.textAnchorOffsetStartIndex,ue=F.textAnchorOffsetEndIndex;if(ue===ye){let ee=(ae,xe)=>{let re=this.collisionIndex.placeCollisionBox(ae,m,u,S,s,M,_,a,d.predicate,C,void 0,k,L,A);return re!=null&&re.placeable&&(this.markUsedOrientation(i,xe,F),this.placedOrientations[F.crossTileID]=xe),re};Ee(()=>ee(H,1),()=>{let ae=P.verticalTextBox;return i.allowVerticalPlacement&&F.numVerticalGlyphVertices>0&&ae?ee(ae,2):{box:null,offscreen:null}}),oe(Y==null?void 0:Y.placeable)}else{let ee=XB[(he=(be=this.prevPlacement)==null?void 0:be.variableOffsets[F.crossTileID])==null?void 0:he.anchor],ae=(re,pe,we)=>{let Fe=re.x2-re.x1,Se=re.y2-re.y1,ke=F.textBoxScale,_e=x&&w==="never"?pe:null,Ie=null,Oe=m==="never"?1:2,Qe="never";ee&&Oe++;for(let et=0;etae(H,P.iconBox,1),()=>{let re=P.verticalTextBox,pe=Y==null?void 0:Y.placeable;return i.allowVerticalPlacement&&!pe&&F.numVerticalGlyphVertices>0&&re?ae(re,P.verticalIconBox,2):{box:null,occluded:!0,offscreen:null}}),Y&&(I=Y.placeable,O=Y.offscreen);let xe=oe(Y==null?void 0:Y.placeable);if(!I&&this.prevPlacement){let re=this.prevPlacement.variableOffsets[F.crossTileID];re&&(this.variableOffsets[F.crossTileID]=re,this.markUsedJustification(i,re.anchor,F,xe))}}}if(j=Y,I=j==null?void 0:j.placeable,O=j==null?void 0:j.offscreen,F.useRuntimeCollisionCircles&&F.centerJustifiedTextSymbolIndex>=0){let oe=i.text.placedSymbolArray.get(F.centerJustifiedTextSymbolIndex),Ee=YB(i.textSizeData,h,oe),ye=n.get("text-padding"),ue=F.collisionCircleDiameter;q=this.collisionIndex.placeCollisionCircles(m,oe,i.lineVertexArray,i.glyphOffsetArray,Ee,s,l,r,M,d.predicate,ue,ye,a,C),q.circles.length&&q.collisionDetected&&!r&&Ma("Collisions detected, but collision boxes are not shown"),I=g||q.circles.length>0&&!q.collisionDetected,O&&(O=q.offscreen)}if(P.iconFeatureIndex&&(X=P.iconFeatureIndex),P.iconBox){let oe=Ee=>this.collisionIndex.placeCollisionBox(Ee,w,u,S,s,M,_,o,d.predicate,C,x&&$?$:void 0,k,L,A);K&&K.placeable&&P.verticalIconBox?(J=oe(P.verticalIconBox),B=J.placeable):(J=oe(P.iconBox),B=J.placeable),O&&(O=J.offscreen)}let G=p||F.numHorizontalGlyphVertices===0&&F.numVerticalGlyphVertices===0,Q=v||F.numIconVertices===0;!G&&!Q?B=I=B&&I:Q?G||B&&(B=I):I=B&&I;let te=I&&j.placeable,ce=B&&J.placeable;if(te&&(K&&K.placeable&&V?this.collisionIndex.insertCollisionBox(j.box,m,n.get("text-ignore-placement"),i.bucketInstanceId,V,d.ID):this.collisionIndex.insertCollisionBox(j.box,m,n.get("text-ignore-placement"),i.bucketInstanceId,U,d.ID)),ce&&this.collisionIndex.insertCollisionBox(J.box,w,n.get("icon-ignore-placement"),i.bucketInstanceId,X,d.ID),q&&I&&this.collisionIndex.insertCollisionCircles(q.circles,m,n.get("text-ignore-placement"),i.bucketInstanceId,U,d.ID),r&&this.storeCollisionData(i.bucketInstanceId,R,P,j,J,q),F.crossTileID===0)throw Error("symbolInstance.crossTileID can't be 0");if(i.bucketInstanceId===0)throw Error("bucket.bucketInstanceId can't be 0");let ge=(I||y)&&!(j!=null&&j.occluded),Ce=(B||E)&&!(J!=null&&J.occluded);this.placements[F.crossTileID]=new cat(ge,Ce,O||i.justReloaded),t[F.crossTileID]=!0};if(T){if(e.symbolInstanceStart!==0)throw Error("bucket.bucketInstanceId should be 0");let F=i.getSortedSymbolIndexes(-this.transform.bearingInRadians);for(let P=F.length-1;P>=0;--P){let R=F[P];D(i.symbolInstances.get(R),i.collisionArrays[R],R)}}else for(let F=e.symbolInstanceStart;F=0&&(a>=0&&s!==a?e.text.placedSymbolArray.get(s).crossTileID=0:e.text.placedSymbolArray.get(s).crossTileID=r.crossTileID)}markUsedOrientation(e,t,r){let i=t===1||t===3?t:0,n=t===2?t:0,a=[r.leftJustifiedTextSymbolIndex,r.centerJustifiedTextSymbolIndex,r.rightJustifiedTextSymbolIndex];for(let o of a)e.text.placedSymbolArray.get(o).placedOrientation=i;r.verticalPlacedTextSymbolIndex&&(e.text.placedSymbolArray.get(r.verticalPlacedTextSymbolIndex).placedOrientation=n)}commit(e){this.commitTime=e,this.zoomAtLastRecencyCheck=this.transform.zoom;let t=this.prevPlacement,r=!1;this.prevZoomAdjustment=t?t.zoomAdjustment(this.transform.zoom):0;let i=t?t.symbolFadeChange(e):1,n=t?t.opacities:{},a=t?t.variableOffsets:{},o=t?t.placedOrientations:{};for(let s in this.placements){let l=this.placements[s],u=n[s];u?(this.opacities[s]=new d8(u,i,l.text,l.icon),r||(r=l.text!==u.text.placed),r||(r=l.icon!==u.icon.placed)):(this.opacities[s]=new d8(null,i,l.text,l.icon,l.skipFade),r||(r=l.text||l.icon))}for(let s in n){let l=n[s];if(!this.opacities[s]){let u=new d8(l,i,!1,!1);u.isHidden()||(this.opacities[s]=u,r||(r=l.text.placed),r||(r=l.icon.placed))}}for(let s in a)!this.variableOffsets[s]&&this.opacities[s]&&!this.opacities[s].isHidden()&&(this.variableOffsets[s]=a[s]);for(let s in o)!this.placedOrientations[s]&&this.opacities[s]&&!this.opacities[s].isHidden()&&(this.placedOrientations[s]=o[s]);if(t&&t.lastPlacementChangeTime===void 0)throw Error("Last placement time for previous placement is not defined");r?this.lastPlacementChangeTime=e:typeof this.lastPlacementChangeTime!="number"&&(this.lastPlacementChangeTime=t?t.lastPlacementChangeTime:e)}updateLayerOpacities(e,t){let r={};for(let i of t){let n=i.getBucket(e);n&&i.latestFeatureIndex&&e.id===n.layerIds[0]&&this.updateBucketOpacities(n,i.tileID,r,i.collisionBoxArray)}}updateBucketOpacities(e,t,r,i){e.hasTextData()&&(e.text.opacityVertexArray.clear(),e.text.hasVisibleVertices=!1),e.hasIconData()&&(e.icon.opacityVertexArray.clear(),e.icon.hasVisibleVertices=!1),e.hasIconCollisionBoxData()&&e.iconCollisionBox.collisionVertexArray.clear(),e.hasTextCollisionBoxData()&&e.textCollisionBox.collisionVertexArray.clear();let n=e.layers[0],a=n.layout,o=new d8(null,0,!1,!1,!0),s=a.get("text-allow-overlap"),l=a.get("icon-allow-overlap"),u=n._unevaluatedLayout.hasValue("text-variable-anchor")||n._unevaluatedLayout.hasValue("text-variable-anchor-offset"),c=a.get("text-rotation-alignment")==="map",f=a.get("text-pitch-alignment")==="map",h=a.get("icon-text-fit")!=="none",d=new d8(null,0,s&&(l||!e.hasIconData()||a.get("icon-optional")),l&&(s||!e.hasTextData()||a.get("text-optional")),!0);!e.collisionArrays&&i&&(e.hasIconCollisionBoxData()||e.hasTextCollisionBoxData())&&e.deserializeCollisionBoxes(i);let p=(m,g,w)=>{for(let b=0;b0||b>0,A=g.numIconVertices>0,y=this.placedOrientations[g.crossTileID],E=y===2,S=y===1||y===3;if(T){let k=dat(x.text),D=E?p8:k;p(e.text,w,D);let F=S?p8:k;p(e.text,b,F);let P=x.text.isHidden(),R=[g.rightJustifiedTextSymbolIndex,g.centerJustifiedTextSymbolIndex,g.leftJustifiedTextSymbolIndex];for(let B of R)B>=0&&(e.text.placedSymbolArray.get(B).hidden=P||E?1:0);g.verticalPlacedTextSymbolIndex>=0&&(e.text.placedSymbolArray.get(g.verticalPlacedTextSymbolIndex).hidden=P||S?1:0);let L=this.variableOffsets[g.crossTileID];L&&this.markUsedJustification(e,L.anchor,g,y);let I=this.placedOrientations[g.crossTileID];I&&(this.markUsedJustification(e,"left",g,I),this.markUsedOrientation(e,I,g))}if(A){let k=dat(x.icon),D=!(h&&g.verticalPlacedIconSymbolIndex&&E);if(g.placedIconSymbolIndex>=0){let F=D?k:p8;p(e.icon,g.numIconVertices,F),e.icon.placedSymbolArray.get(g.placedIconSymbolIndex).hidden=x.icon.isHidden()}if(g.verticalPlacedIconSymbolIndex>=0){let F=D?p8:k;p(e.icon,g.numVerticalIconVertices,F),e.icon.placedSymbolArray.get(g.verticalPlacedIconSymbolIndex).hidden=x.icon.isHidden()}}let C=v!=null&&v.has(m)?v.get(m):{text:null,icon:null};if(e.hasIconCollisionBoxData()||e.hasTextCollisionBoxData()){let k=e.collisionArrays[m];if(k){let D=new tr(0,0);if(k.textBox||k.verticalTextBox){let F=!0;if(u){let P=this.variableOffsets[_];P?(D=fat(P.anchor,P.width,P.height,P.textOffset,P.textBoxScale),c&&D._rotate(f?-this.transform.bearingInRadians:this.transform.bearingInRadians)):F=!1}if(k.textBox||k.verticalTextBox){let P;k.textBox&&(P=E),k.verticalTextBox&&(P=S),hat(e.textCollisionBox.collisionVertexArray,x.text.placed,!F||P,C.text,D.x,D.y)}}if(k.iconBox||k.verticalIconBox){let F=!(S||!k.verticalIconBox),P;k.iconBox&&(P=F),k.verticalIconBox&&(P=!F),hat(e.iconCollisionBox.collisionVertexArray,x.icon.placed,P,C.icon,h?D.x:0,h?D.y:0)}}}}if(e.sortFeatures(-this.transform.bearingInRadians),this.retainedQueryData[e.bucketInstanceId]&&(this.retainedQueryData[e.bucketInstanceId].featureSortOrder=e.featureSortOrder),e.hasTextData()&&e.text.opacityVertexBuffer&&e.text.opacityVertexBuffer.updateData(e.text.opacityVertexArray),e.hasIconData()&&e.icon.opacityVertexBuffer&&e.icon.opacityVertexBuffer.updateData(e.icon.opacityVertexArray),e.hasIconCollisionBoxData()&&e.iconCollisionBox.collisionVertexBuffer&&e.iconCollisionBox.collisionVertexBuffer.updateData(e.iconCollisionBox.collisionVertexArray),e.hasTextCollisionBoxData()&&e.textCollisionBox.collisionVertexBuffer&&e.textCollisionBox.collisionVertexBuffer.updateData(e.textCollisionBox.collisionVertexArray),e.text.opacityVertexArray.length!==e.text.layoutVertexArray.length/4)throw Error(`bucket.text.opacityVertexArray.length (= ${e.text.opacityVertexArray.length}) !== bucket.text.layoutVertexArray.length (= ${e.text.layoutVertexArray.length}) / 4`);if(e.icon.opacityVertexArray.length!==e.icon.layoutVertexArray.length/4)throw Error(`bucket.icon.opacityVertexArray.length (= ${e.icon.opacityVertexArray.length}) !== bucket.icon.layoutVertexArray.length (= ${e.icon.layoutVertexArray.length}) / 4`);e.bucketInstanceId in this.collisionCircleArrays&&(e.collisionCircleArray=this.collisionCircleArrays[e.bucketInstanceId],delete this.collisionCircleArrays[e.bucketInstanceId])}symbolFadeChange(e){return this.fadeDuration===0?1:(e-this.commitTime)/this.fadeDuration+this.prevZoomAdjustment}zoomAdjustment(e){return Math.max(0,(this.transform.zoom-e)/1.5)}hasTransitions(e){return this.stale||e-this.lastPlacementChangeTimee}setStale(){this.stale=!0}};S3r=2**25,E3r=2**24,k3r=2**17,C3r=2**16;p8=0,D3r=class{constructor(e){this._sortAcrossTiles=e.layout.get("symbol-z-order")!=="viewport-y"&&!e.layout.get("symbol-sort-key").isConstant(),this._currentTileIndex=0,this._currentPartIndex=0,this._seenCrossTileIDs={},this._bucketParts=[]}continuePlacement(e,t,r,i,n){let a=this._bucketParts;for(;this._currentTileIndexo.sortKey-s.sortKey));this._currentPartIndex!this._forceFullPlacement&&Oo()-i>2;for(;this._currentPlacementIndex>=0;){let a=t[e[this._currentPlacementIndex]],o=this.placement.collisionIndex.transform.zoom;if(vne(a)&&a.layout&&(!a.minzoom||a.minzoom<=o)&&(!a.maxzoom||a.maxzoom>o)){if(this._inProgressLayer||(this._inProgressLayer=new D3r(a)),this._inProgressLayer.continuePlacement(r[a.source],this.placement,this._showCollisionBoxes,a,n))return;delete this._inProgressLayer}this._currentPlacementIndex--}this._done=!0}commit(e){return this.placement.commit(e),this.placement}},pat=[Int8Array,Uint8Array,Uint8ClampedArray,Int16Array,Uint16Array,Int32Array,Uint32Array,Float32Array,Float64Array],xl=new Uint32Array(96),L3r=class Mot{static from(t){if(!t||t.byteLength===void 0||t.buffer)throw Error("Data must be an instance of ArrayBuffer or SharedArrayBuffer.");let[r,i]=new Uint8Array(t,0,2);if(r!==219)throw Error("Data does not appear to be in a KDBush format.");let n=i>>4;if(n!==1)throw Error(`Got v${n} data when expected v1.`);let a=pat[i&15];if(!a)throw Error("Unrecognized array type.");let[o]=new Uint16Array(t,2,1),[s]=new Uint32Array(t,4,1);return new Mot(s,o,a,void 0,t)}constructor(t,r=64,i=Float64Array,n=ArrayBuffer,a){if(isNaN(t)||t<0)throw Error(`Unexpected numItems value: ${t}.`);this.numItems=+t,this.nodeSize=Math.min(Math.max(+r,2),65535),this.ArrayType=i,this.IndexArrayType=t<65536?Uint16Array:Uint32Array;let o=pat.indexOf(this.ArrayType),s=t*2*this.ArrayType.BYTES_PER_ELEMENT,l=t*this.IndexArrayType.BYTES_PER_ELEMENT,u=(8-l%8)%8;if(o<0)throw Error(`Unexpected typed array class: ${i}.`);if(a)this.data=a,this.ids=new this.IndexArrayType(a,8,t),this.coords=new i(a,8+l+u,t*2),this._pos=t*2,this._finished=!0;else{let c=this.data=new n(8+s+l+u);this.ids=new this.IndexArrayType(c,8,t),this.coords=new i(c,8+l+u,t*2),this._pos=0,this._finished=!1,new Uint8Array(c,0,2).set([219,16+o]),new Uint16Array(c,2,1)[0]=r,new Uint32Array(c,4,1)[0]=t}}add(t,r){let i=this._pos>>1;return this.ids[i]=i,this.coords[this._pos++]=t,this.coords[this._pos++]=r,i}finish(){let t=this._pos>>1;if(t!==this.numItems)throw Error(`Added ${t} items when expected ${this.numItems}.`);return lae(this.ids,this.coords,this.nodeSize,0,this.numItems-1,0),this._finished=!0,this}range(t,r,i,n){if(!this._finished)throw Error("Data not yet indexed - call index.finish().");let{ids:a,coords:o,nodeSize:s}=this;xl[0]=0,xl[1]=a.length-1,xl[2]=0;let l=3,u=[];for(;l>0;){let c=xl[--l],f=xl[--l],h=xl[--l];if(f-h<=s){for(let m=h;m<=f;m++){let g=o[2*m],w=o[2*m+1];g>=t&&g<=i&&w>=r&&w<=n&&u.push(a[m])}continue}let d=h+f>>1,p=o[2*d],v=o[2*d+1];p>=t&&p<=i&&v>=r&&v<=n&&u.push(a[d]),(c===0?t<=p:r<=v)&&(xl[l++]=h,xl[l++]=d-1,xl[l++]=1-c),(c===0?i>=p:n>=v)&&(xl[l++]=d+1,xl[l++]=f,xl[l++]=1-c)}return u}within(t,r,i){let n=[];return this.withinInto(t,r,i,n),n}withinInto(t,r,i,n){if(!this._finished)throw Error("Data not yet indexed - call index.finish().");let{ids:a,coords:o,nodeSize:s}=this;xl[0]=0,xl[1]=a.length-1,xl[2]=0;let l=3,u=0,c=i*i;for(;l>0;){let f=xl[--l],h=xl[--l],d=xl[--l];if(h-d<=s){for(let g=d;g<=h;g++)vat(o[2*g],o[2*g+1],t,r)<=c&&(n[u++]=a[g]);continue}let p=d+h>>1,v=o[2*p],m=o[2*p+1];vat(v,m,t,r)<=c&&(n[u++]=a[p]),(f===0?t-i<=v:r-i<=m)&&(xl[l++]=d,xl[l++]=p-1,xl[l++]=1-f),(f===0?t+i>=v:r+i>=m)&&(xl[l++]=p+1,xl[l++]=h,xl[l++]=1-f)}return u}};g8=512/zr/2,P3r=class{constructor(e,t,r){this.tileID=e,this.bucketInstanceId=r,this._symbolsByKey={};let i=new Map;for(let n=0;n({x:Math.floor(s.anchorX*g8),y:Math.floor(s.anchorY*g8)})),crossTileIDs:a.map(s=>s.crossTileID)};if(o.positions.length>128){let s=new L3r(o.positions.length,16,Uint16Array);for(let{x:l,y:u}of o.positions)s.add(l,u);s.finish(),delete o.positions,o.index=s}this._symbolsByKey[n]=o}}getScaledCoordinates(e,t){let{x:r,y:i,z:n}=this.tileID.canonical,{x:a,y:o,z:s}=t.canonical,l=s-n,u=g8/2**l,c=(a*zr+e.anchorX)*u,f=(o*zr+e.anchorY)*u,h=r*zr*g8,d=i*zr*g8;return{x:Math.floor(c-h),y:Math.floor(f-d)}}findMatches(e,t,r){let i=this.tileID.canonical.ze)}},I3r=class{constructor(){this.maxCrossTileID=0}generate(){return++this.maxCrossTileID}},R3r=class{constructor(){this.indexes={},this.usedCrossTileIDs={},this.lng=0}handleWrapJump(e){let t=Math.round((e-this.lng)/360);if(t!==0)for(let r in this.indexes){let i=this.indexes[r],n={};for(let a in i){let o=i[a];o.tileID=o.tileID.unwrapTo(o.tileID.wrap+t),n[o.tileID.key]=o}this.indexes[r]=n}this.lng=e}addBucket(e,t,r){var n,a,o;if((n=this.indexes[e.overscaledZ])!=null&&n[e.key]){if(this.indexes[e.overscaledZ][e.key].bucketInstanceId===t.bucketInstanceId)return!1;this.removeBucketCrossTileIDs(e.overscaledZ,this.indexes[e.overscaledZ][e.key])}for(let s=0;se.overscaledZ)for(let u in l){let c=l[u];c.tileID.isChildOf(e)&&c.findMatches(t.symbolInstances,e,i)}else{let u=l[e.scaledTo(Number(s)).key];u&&u.findMatches(t.symbolInstances,e,i)}}for(let s=0;s> 1u)/127.0,float(packedOpacity & 1u));}vec4 decode_color(const vec2 encodedColor) {return vec4(unpack_float(encodedColor[0])/255.0,unpack_float(encodedColor[1])/255.0 +);}float unpack_mix_vec2(const vec2 packedValue,const float t) {return mix(packedValue[0],packedValue[1],t);}vec4 unpack_mix_color(const vec4 packedColors,const float t) {vec4 minColor=decode_color(vec2(packedColors[0],packedColors[1]));vec4 maxColor=decode_color(vec2(packedColors[2],packedColors[3]));return mix(minColor,maxColor,t);}vec2 get_pattern_pos(const vec2 pixel_coord_upper,const vec2 pixel_coord_lower,const vec2 pattern_size,const float tile_units_to_pixels,const vec2 pos) {vec2 offset=mod(mod(mod(pixel_coord_upper,pattern_size)*256.0,pattern_size)*256.0+pixel_coord_lower,pattern_size);return (tile_units_to_pixels*pos+offset)/pattern_size;}mat3 rotationMatrixFromAxisAngle(vec3 u,float angle) {float c=cos(angle);float s=sin(angle);float c2=1.0-c;return mat3(u.x*u.x*c2+ c,u.x*u.y*c2-u.z*s,u.x*u.z*c2+u.y*s,u.y*u.x*c2+u.z*s,u.y*u.y*c2+ c,u.y*u.z*c2-u.x*s,u.z*u.x*c2-u.y*s,u.z*u.y*c2+u.x*s,u.z*u.z*c2+ c +);} +#ifdef TERRAIN3D +uniform sampler2D u_terrain;uniform highp sampler2D u_depth;layout(std140) uniform TerrainUBO {highp mat4 u_terrain_matrix;highp vec4 u_terrain_unpack;highp float u_terrain_dim;highp float u_terrain_exaggeration;}; +#endif +const highp vec4 bitSh=vec4(256.*256.*256.,256.*256.,256.,1.);const highp vec4 bitShifts=vec4(1.)/bitSh;highp float unpack(highp vec4 color) {return dot(color,bitShifts);}highp float depthOpacity(vec3 frag) { +#ifdef TERRAIN3D +highp float d=unpack(texture(u_depth,frag.xy*0.5+0.5))+0.0001-frag.z;return 1.0-max(0.0,min(1.0,-d*500.0)); +#else +return 1.0; +#endif +}float calculate_visibility(vec4 pos) { +#ifdef TERRAIN3D +vec3 frag=pos.xyz/pos.w;highp float d=depthOpacity(frag);if (d > 0.95) return 1.0;return (d+depthOpacity(frag+vec3(0.0,0.01,0.0)))/2.0; +#else +return 1.0; +#endif +}float ele(ivec2 pos) { +#ifdef TERRAIN3D +vec4 rgb=(texelFetch(u_terrain,pos,0)*255.0)*u_terrain_unpack;return rgb.r+rgb.g+rgb.b-u_terrain_unpack.a; +#else +return 0.0; +#endif +}float get_elevation(vec2 pos) { +#ifdef TERRAIN3D +#ifdef GLOBE +if ((pos.y <-32767.5) || (pos.y > 32766.5)) {return 0.0;} +#endif +vec2 coord=(u_terrain_matrix*vec4(pos,0.0,1.0)).xy*u_terrain_dim+2.0;vec2 f=fract(coord);ivec2 c=ivec2(floor(coord));ivec2 hi=textureSize(u_terrain,0)-1;float tl=ele(clamp(c,ivec2(0),hi));float tr=ele(clamp(c+ivec2(1,0),ivec2(0),hi));float bl=ele(clamp(c+ivec2(0,1),ivec2(0),hi));float br=ele(clamp(c+ivec2(1,1),ivec2(0),hi));float elevation=mix(mix(tl,tr,f.x),mix(bl,br,f.x),f.y);return elevation*u_terrain_exaggeration; +#else +return 0.0; +#endif +}const float PI=3.141592653589793; +#define PROJECTION_UBO +layout(std140) uniform ProjectionUBO {highp mat4 u_projection_matrix;highp mat4 u_projection_fallback_matrix;highp vec4 u_projection_tile_mercator_coords;highp vec4 u_projection_clipping_plane;highp float u_projection_transition;highp int u_projection_clip_antimeridian;};layout(std140) uniform FrameUBO {highp vec2 u_units_to_pixels;highp vec2 u_world_size;highp float u_camera_to_center_distance;highp float u_symbol_fade_change;highp float u_aspect_ratio;highp float u_device_pixel_ratio;highp vec2 u_viewport_size;highp vec2 u_pixel_extrude_scale;highp float u_pitch;};`,q3r=`uniform vec4 u_color;uniform float u_opacity;void main() {fragColor=u_color*u_opacity; +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,O3r="layout(location=0) in vec2 a_pos;void main() {gl_Position=projectTile(a_pos);}",N3r=`uniform vec2 u_pattern_tl_a;uniform vec2 u_pattern_br_a;uniform vec2 u_pattern_tl_b;uniform vec2 u_pattern_br_b;uniform vec2 u_texsize;uniform float u_mix;uniform float u_opacity;uniform sampler2D u_image;in vec2 v_pos_a;in vec2 v_pos_b;void main() {vec2 imagecoord=mod(v_pos_a,1.0);vec2 pos=mix(u_pattern_tl_a/u_texsize,u_pattern_br_a/u_texsize,imagecoord);vec4 color1=texture(u_image,pos);vec2 imagecoord_b=mod(v_pos_b,1.0);vec2 pos2=mix(u_pattern_tl_b/u_texsize,u_pattern_br_b/u_texsize,imagecoord_b);vec4 color2=texture(u_image,pos2);fragColor=mix(color1,color2,u_mix)*u_opacity; +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,U3r="uniform vec2 u_pattern_size_a;uniform vec2 u_pattern_size_b;uniform vec2 u_pixel_coord_upper;uniform vec2 u_pixel_coord_lower;uniform float u_scale_a;uniform float u_scale_b;uniform float u_tile_units_to_pixels;layout(location=0) in vec2 a_pos;out vec2 v_pos_a;out vec2 v_pos_b;void main() {gl_Position=projectTile(a_pos);v_pos_a=get_pattern_pos(u_pixel_coord_upper,u_pixel_coord_lower,u_scale_a*u_pattern_size_a,u_tile_units_to_pixels,a_pos);v_pos_b=get_pattern_pos(u_pixel_coord_upper,u_pixel_coord_lower,u_scale_b*u_pattern_size_b,u_tile_units_to_pixels,a_pos);}",V3r=`in vec3 v_data;flat in float v_visibility; +#pragma maplibre: define highp vec4 color +#pragma maplibre: define mediump float radius +#pragma maplibre: define lowp float blur +#pragma maplibre: define lowp float opacity +#pragma maplibre: define highp vec4 stroke_color +#pragma maplibre: define mediump float stroke_width +#pragma maplibre: define lowp float stroke_opacity +void main() { +#pragma maplibre: initialize highp vec4 color +#pragma maplibre: initialize mediump float radius +#pragma maplibre: initialize lowp float blur +#pragma maplibre: initialize lowp float opacity +#pragma maplibre: initialize highp vec4 stroke_color +#pragma maplibre: initialize mediump float stroke_width +#pragma maplibre: initialize lowp float stroke_opacity +vec2 extrude=v_data.xy;float extrude_length=length(extrude);float antialiased_blur=v_data.z;float opacity_t=smoothstep(0.0,antialiased_blur,extrude_length-1.0);float color_t=stroke_width < 0.01 ? 0.0 : smoothstep(antialiased_blur,0.0,extrude_length-radius/(radius+stroke_width));fragColor=v_visibility*opacity_t*mix(color*opacity,stroke_color*stroke_opacity,color_t);const float epsilon=0.5/255.0;if (fragColor.r < epsilon && fragColor.g < epsilon && fragColor.b < epsilon && fragColor.a < epsilon) {discard;} +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,G3r=`uniform bool u_scale_with_map;uniform bool u_pitch_with_map;uniform vec2 u_extrude_scale;uniform highp float u_globe_extrude_scale;uniform vec2 u_translate;layout(location=0) in ivec2 a_pos;out vec3 v_data;flat out float v_visibility; +#pragma maplibre: define highp vec4 color +#pragma maplibre: define mediump float radius +#pragma maplibre: define lowp float blur +#pragma maplibre: define lowp float opacity +#pragma maplibre: define highp vec4 stroke_color +#pragma maplibre: define mediump float stroke_width +#pragma maplibre: define lowp float stroke_opacity +void main(void) { +#pragma maplibre: initialize highp vec4 color +#pragma maplibre: initialize mediump float radius +#pragma maplibre: initialize lowp float blur +#pragma maplibre: initialize lowp float opacity +#pragma maplibre: initialize highp vec4 stroke_color +#pragma maplibre: initialize mediump float stroke_width +#pragma maplibre: initialize lowp float stroke_opacity +ivec2 pos_raw=a_pos+32768;vec2 extrude=vec2(pos_raw & 7)/7.0*2.0-1.0;vec2 circle_center=vec2(pos_raw >> 3)+u_translate;float ele=get_elevation(circle_center);v_visibility=calculate_visibility(projectTileWithElevation(circle_center,ele));if (u_pitch_with_map) { +#ifdef GLOBE +vec3 center_vector=projectToSphere(circle_center); +#endif +float angle_scale=u_globe_extrude_scale;vec2 corner_position=circle_center;if (u_scale_with_map) {angle_scale*=(radius+stroke_width);corner_position+=extrude*u_extrude_scale*(radius+stroke_width);} else { +#ifdef GLOBE +vec4 projected_center=interpolateProjection(circle_center,center_vector,ele); +#else +vec4 projected_center=projectTileWithElevation(circle_center,ele); +#endif +corner_position+=extrude*u_extrude_scale*(radius+stroke_width)*(projected_center.w/u_camera_to_center_distance);angle_scale*=(radius+stroke_width)*(projected_center.w/u_camera_to_center_distance);} +#ifdef GLOBE +vec2 angles=extrude*angle_scale;vec3 corner_vector=globeRotateVector(center_vector,angles);gl_Position=interpolateProjection(corner_position,corner_vector,ele); +#else +gl_Position=projectTileWithElevation(corner_position,ele); +#endif +} else {gl_Position=projectTileWithElevation(circle_center,ele);if (gl_Position.z/gl_Position.w > 1.0) {gl_Position.xy=vec2(10000.0);}if (u_scale_with_map) {gl_Position.xy+=extrude*(radius+stroke_width)*u_extrude_scale*u_camera_to_center_distance;} else {gl_Position.xy+=extrude*(radius+stroke_width)*u_extrude_scale*gl_Position.w;}}float antialiasblur=-max(1.0/u_device_pixel_ratio/(radius+stroke_width),blur);v_data=vec3(extrude.x,extrude.y,antialiasblur);}`,gat="void main() {fragColor=vec4(1.0);}",tg={prelude:fo(z3r,B3r),projectionMercator:fo(` +void clipAntimeridian() {}`,"float projectLineThickness(float tileY) {return 1.0;}float projectCircleRadius(float tileY) {return 1.0;}vec4 projectTile(vec2 p) {vec4 result=u_projection_matrix*vec4(p,0.0,1.0);return result;}vec4 projectTile(vec2 p,vec2 rawPos) {vec4 result=u_projection_matrix*vec4(p,0.0,1.0);if (rawPos.y <-32767.5 || rawPos.y > 32766.5) {result.z=-10000000.0;}return result;}vec4 projectTileWithElevation(vec2 posInTile,float elevation) {return u_projection_matrix*vec4(posInTile,elevation,1.0);}vec4 projectTileFor3D(vec2 posInTile,float elevation) {return projectTileWithElevation(posInTile,elevation);}"),projectionGlobe:fo("in highp float v_projection_tile_x;void clipAntimeridian() {if (u_projection_clip_antimeridian !=0 && (v_projection_tile_x < 0.0 || v_projection_tile_x >=8192.0)) {discard;}}",`#define GLOBE_RADIUS 6371008.8 +#ifndef PROJECTION_UBO +uniform highp vec4 u_projection_tile_mercator_coords;uniform highp vec4 u_projection_clipping_plane;uniform highp float u_projection_transition;uniform mat4 u_projection_fallback_matrix; +#endif +out highp float v_projection_tile_x;vec3 globeRotateVector(vec3 vec,vec2 angles) {vec3 axisRight=vec3(vec.z,0.0,-vec.x);vec3 axisUp=cross(axisRight,vec);axisRight=normalize(axisRight);axisUp=normalize(axisUp);vec2 t=tan(angles);return normalize(vec+axisRight*t.x+axisUp*t.y);}mat3 globeGetRotationMatrix(vec3 spherePos) {vec3 axisRight=vec3(spherePos.z,0.0,-spherePos.x);vec3 axisDown=cross(axisRight,spherePos);axisRight=normalize(axisRight);axisDown=normalize(axisDown);return mat3(axisRight,axisDown,spherePos +);}float circumferenceRatioAtTileY(float tileY) {float mercator_pos_y=u_projection_tile_mercator_coords.y+u_projection_tile_mercator_coords.w*tileY;float t=exp(PI-(mercator_pos_y*PI*2.0));return (2.0*t)/(t*t+1.0);}float projectLineThickness(float tileY) {float thickness=1.0/circumferenceRatioAtTileY(tileY);if (u_projection_transition < 0.999) {return mix(1.0,thickness,u_projection_transition);} else {return thickness;}}vec3 projectToSphere(vec2 translatedPos,vec2 rawPos) {vec2 mercator_pos=u_projection_tile_mercator_coords.xy+u_projection_tile_mercator_coords.zw*translatedPos;float spherical_x=mercator_pos.x*PI*2.0+PI;float t=exp(PI-(mercator_pos.y*PI*2.0));float t2=t*t;float denom=t2+1.0;float sin_sy=(t2-1.0)/denom;float cos_sy=(2.0*t)/denom;vec3 pos=vec3(sin(spherical_x)*cos_sy,sin_sy,cos(spherical_x)*cos_sy +);if (rawPos.y <-32767.5) {pos=vec3(0.0,1.0,0.0);}if (rawPos.y > 32766.5) {pos=vec3(0.0,-1.0,0.0);}return pos;}vec3 projectToSphere(vec2 posInTile) {return projectToSphere(posInTile,vec2(0.0,0.0));}float globeComputeClippingZ(vec3 spherePos) {return (1.0-(dot(spherePos,u_projection_clipping_plane.xyz)+u_projection_clipping_plane.w));}vec4 interpolateProjection(vec2 posInTile,vec3 spherePos,float elevation) {v_projection_tile_x=posInTile.x;vec3 elevatedPos=spherePos*(1.0+elevation/GLOBE_RADIUS);vec4 globePosition=u_projection_matrix*vec4(elevatedPos,1.0);globePosition.z=globeComputeClippingZ(elevatedPos)*globePosition.w;if (u_projection_transition > 0.999) {return globePosition;}vec4 flatPosition=u_projection_fallback_matrix*vec4(posInTile,elevation,1.0);const float z_globeness_threshold=0.2;vec4 result=globePosition;result.z=mix(0.0,globePosition.z,clamp((u_projection_transition-z_globeness_threshold)/(1.0-z_globeness_threshold),0.0,1.0));result.xyw=mix(flatPosition.xyw,globePosition.xyw,u_projection_transition);if ((posInTile.y <-32767.5) || (posInTile.y > 32766.5)) {result=globePosition;const float poles_hidden_anim_percentage=0.02;result.z=mix(globePosition.z,100.0,pow(max((1.0-u_projection_transition)/poles_hidden_anim_percentage,0.0),8.0));}return result;}vec4 interpolateProjectionFor3D(vec2 posInTile,vec3 spherePos,float elevation) {v_projection_tile_x=posInTile.x;vec3 elevatedPos=spherePos*(1.0+elevation/GLOBE_RADIUS);vec4 globePosition=u_projection_matrix*vec4(elevatedPos,1.0);if (u_projection_transition > 0.999) {return globePosition;}vec4 fallbackPosition=u_projection_fallback_matrix*vec4(posInTile,elevation,1.0);return mix(fallbackPosition,globePosition,u_projection_transition);}vec4 projectTile(vec2 posInTile) {return interpolateProjection(posInTile,projectToSphere(posInTile),0.0);}vec4 projectTile(vec2 posInTile,vec2 rawPos) {return interpolateProjection(posInTile,projectToSphere(posInTile,rawPos),0.0);}vec4 projectTileWithElevation(vec2 posInTile,float elevation) {return interpolateProjection(posInTile,projectToSphere(posInTile),elevation);}vec4 projectTileFor3D(vec2 posInTile,float elevation) {vec3 spherePos=projectToSphere(posInTile,posInTile);return interpolateProjectionFor3D(posInTile,spherePos,elevation);}`),background:fo(q3r,O3r),backgroundPattern:fo(N3r,U3r),circle:fo(V3r,G3r),clippingMask:fo(gat,"layout(location=0) in vec2 a_pos;void main() {gl_Position=projectTile(a_pos);}"),heatmap:fo(`uniform highp float u_intensity;in vec2 v_extrude; +#pragma maplibre: define highp float weight +#define GAUSS_COEF 0.3989422804014327 +void main() { +#pragma maplibre: initialize highp float weight +float d=-0.5*3.0*3.0*dot(v_extrude,v_extrude);float val=weight*u_intensity*GAUSS_COEF*exp(d);fragColor=vec4(val,1.0,1.0,1.0); +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,`uniform float u_extrude_scale;uniform float u_opacity;uniform float u_intensity;uniform highp float u_globe_extrude_scale;layout(location=0) in ivec2 a_pos;out vec2 v_extrude; +#pragma maplibre: define highp float weight +#pragma maplibre: define mediump float radius +const highp float ZERO=1.0/255.0/16.0; +#define GAUSS_COEF 0.3989422804014327 +void main(void) { +#pragma maplibre: initialize highp float weight +#pragma maplibre: initialize mediump float radius +ivec2 pos_raw=a_pos+32768;vec2 unscaled_extrude=vec2(pos_raw & 7)/7.0*2.0-1.0;float S=sqrt(-2.0*log(ZERO/weight/u_intensity/GAUSS_COEF))/3.0;v_extrude=S*unscaled_extrude;vec2 extrude=v_extrude*radius*u_extrude_scale;vec2 circle_center=vec2(pos_raw >> 3); +#ifdef GLOBE +vec2 angles=v_extrude*radius*u_globe_extrude_scale;vec3 center_vector=projectToSphere(circle_center);vec3 corner_vector=globeRotateVector(center_vector,angles);gl_Position=interpolateProjection(circle_center+extrude,corner_vector,0.0); +#else +gl_Position=projectTileFor3D(circle_center+extrude,get_elevation(circle_center)); +#endif +}`),heatmapTexture:fo(`uniform sampler2D u_image;uniform sampler2D u_color_ramp;uniform float u_opacity;in vec2 v_pos;void main() {float t=texture(u_image,v_pos).r;vec4 color=texture(u_color_ramp,vec2(t,0.5));fragColor=color*u_opacity; +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(0.0); +#endif +}`,"uniform mat4 u_matrix;layout(location=0) in vec2 a_pos;out vec2 v_pos;void main() {gl_Position=u_matrix*vec4(a_pos*u_world_size,0,1);v_pos.x=a_pos.x;v_pos.y=1.0-a_pos.y;}"),collisionBox:fo("flat in float v_placed;flat in float v_notUsed;void main() {float alpha=0.5;fragColor=vec4(1.0,0.0,0.0,1.0)*alpha;if (v_placed > 0.5) {fragColor=vec4(0.0,0.0,1.0,0.5)*alpha;}if (v_notUsed > 0.5) {fragColor*=.1;}}","layout(location=0) in vec2 a_anchor_pos;layout(location=1) in vec2 a_placed;layout(location=2) in vec2 a_box_real;flat out float v_placed;flat out float v_notUsed;void main() {gl_Position=projectTileWithElevation(a_anchor_pos,get_elevation(a_anchor_pos));gl_Position.xy=((a_box_real+0.5)*u_pixel_extrude_scale*2.0-1.0)*vec2(1.0,-1.0)*gl_Position.w;if (gl_Position.z/gl_Position.w < 1.1) {gl_Position.z=0.5;}v_placed=a_placed.x;v_notUsed=a_placed.y;}"),collisionCircle:fo("flat in float v_radius;in vec2 v_extrude;flat in float v_collision;void main() {float alpha=0.5;float stroke_radius=0.9;float distance_to_center=length(v_extrude);float distance_to_edge=abs(distance_to_center-v_radius);float opacity_t=smoothstep(-stroke_radius,0.0,-distance_to_edge);vec4 color=mix(vec4(0.0,0.0,1.0,0.5),vec4(1.0,0.0,0.0,1.0),v_collision);fragColor=color*alpha*opacity_t;}","layout(location=0) in vec2 a_pos;layout(location=1) in float a_radius;layout(location=2) in vec2 a_flags;flat out float v_radius;out vec2 v_extrude;flat out float v_collision;void main() {float radius=a_radius;float collision=a_flags.x;float vertexIdx=a_flags.y;vec2 quadVertexOffset=vec2(mix(-1.0,1.0,float(vertexIdx >=2.0)),mix(-1.0,1.0,float(vertexIdx >=1.0 && vertexIdx <=2.0)));vec2 quadVertexExtent=quadVertexOffset*radius;float padding_factor=1.2;v_radius=radius;v_extrude=quadVertexExtent*padding_factor;v_collision=collision;gl_Position=vec4((a_pos/u_viewport_size*2.0-1.0)*vec2(1.0,-1.0),0.0,1.0)+vec4(quadVertexExtent*padding_factor/u_viewport_size*2.0,0.0,0.0);}"),colorRelief:fo(`#ifdef GL_ES +precision highp float; +#endif +uniform sampler2D u_image;uniform vec4 u_unpack;uniform sampler2D u_elevation_stops;uniform sampler2D u_color_stops;uniform int u_color_ramp_size;uniform float u_opacity;in vec2 v_pos;float getElevation(vec2 coord) {vec4 data=texture(u_image,coord)*255.0;data.a=-1.0;return dot(data,u_unpack);}float getElevationStop(int stop) {vec4 data=texelFetch(u_elevation_stops,ivec2(stop,0),0)*255.0;data.a=-1.0;return dot(data,u_unpack);}void main() {float el=getElevation(v_pos);int r=(u_color_ramp_size-1);int l=0;float el_l=getElevationStop(l);float el_r=getElevationStop(r);while(r-l > 1){int m=(r+l)/2;float el_m=getElevationStop(m);if(el < el_m){r=m;el_r=el_m;}else +{l=m;el_l=el_m;}}float x=(float(l)+(el-el_l)/(el_r-el_l)+0.5)/float(u_color_ramp_size);fragColor=u_opacity*texture(u_color_stops,vec2(x,0)); +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,"uniform vec2 u_dimension;layout(location=0) in vec2 a_pos;out vec2 v_pos;void main() {gl_Position=projectTile(a_pos,a_pos);highp vec2 epsilon=2.0/u_dimension;float scale=(u_dimension.x-4.0)/u_dimension.x;v_pos=(a_pos/8192.0)*scale+epsilon;if (a_pos.y <-32767.5) {v_pos.y=0.0;}if (a_pos.y > 32766.5) {v_pos.y=1.0;}}"),debug:fo("uniform highp vec4 u_color;uniform sampler2D u_overlay;in vec2 v_uv;void main() {vec4 overlay_color=texture(u_overlay,v_uv);fragColor=mix(u_color,overlay_color,overlay_color.a);}","layout(location=0) in vec2 a_pos;out vec2 v_uv;uniform float u_overlay_scale;void main() {v_uv=a_pos/8192.0;gl_Position=projectTileWithElevation(a_pos*u_overlay_scale,get_elevation(a_pos));}"),depth:fo(gat,`layout(location=0) in vec2 a_pos;void main() { +#ifdef GLOBE +gl_Position=projectTileFor3D(a_pos,0.0); +#else +gl_Position=u_projection_matrix*vec4(a_pos,0.0,1.0); +#endif +}`),fill:fo(`#pragma maplibre: define highp vec4 color +#pragma maplibre: define lowp float opacity +void main() { +#pragma maplibre: initialize highp vec4 color +#pragma maplibre: initialize lowp float opacity +fragColor=color*opacity; +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,`uniform vec2 u_fill_translate;layout(location=0) in vec2 a_pos; +#pragma maplibre: define highp vec4 color +#pragma maplibre: define lowp float opacity +void main() { +#pragma maplibre: initialize highp vec4 color +#pragma maplibre: initialize lowp float opacity +if (opacity < 0.01) {gl_Position=vec4(-2.0,-2.0,-2.0,1.0);return;}gl_Position=projectTile(a_pos+u_fill_translate,a_pos);}`),fillOutline:fo(`in vec2 v_pos; +#ifdef GLOBE +in float v_depth; +#endif +#pragma maplibre: define highp vec4 outline_color +#pragma maplibre: define lowp float opacity +void main() { +#pragma maplibre: initialize highp vec4 outline_color +#pragma maplibre: initialize lowp float opacity +float dist=length(v_pos-gl_FragCoord.xy);float alpha=1.0-smoothstep(0.0,1.0,dist);fragColor=outline_color*(alpha*opacity); +#ifdef GLOBE +if (v_depth > 1.0) {discard;} +#endif +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,`uniform vec2 u_fill_translate;layout(location=0) in vec2 a_pos;out vec2 v_pos; +#ifdef GLOBE +out float v_depth; +#endif +#pragma maplibre: define highp vec4 outline_color +#pragma maplibre: define lowp float opacity +void main() { +#pragma maplibre: initialize highp vec4 outline_color +#pragma maplibre: initialize lowp float opacity +if (opacity < 0.01) {gl_Position=vec4(-2.0,-2.0,-2.0,1.0);return;}gl_Position=projectTile(a_pos+u_fill_translate,a_pos);v_pos=(gl_Position.xy/gl_Position.w+1.0)/2.0*u_world_size; +#ifdef GLOBE +v_depth=gl_Position.z/gl_Position.w; +#endif +}`),fillOutlinePattern:fo(`uniform vec2 u_texsize;uniform sampler2D u_image;uniform float u_fade;uniform bool u_sdf_pattern;in vec2 v_pos_a;in vec2 v_pos_b;in vec2 v_pos; +#ifdef GLOBE +in float v_depth; +#endif +#pragma maplibre: define lowp float opacity +#pragma maplibre: define highp vec4 color +#pragma maplibre: define lowp vec4 pattern_from +#pragma maplibre: define lowp vec4 pattern_to +void main() { +#pragma maplibre: initialize lowp float opacity +#pragma maplibre: initialize highp vec4 color +#pragma maplibre: initialize mediump vec4 pattern_from +#pragma maplibre: initialize mediump vec4 pattern_to +vec2 pattern_tl_a=pattern_from.xy;vec2 pattern_br_a=pattern_from.zw;vec2 pattern_tl_b=pattern_to.xy;vec2 pattern_br_b=pattern_to.zw;vec2 imagecoord=mod(v_pos_a,1.0);vec2 pos=mix(pattern_tl_a/u_texsize,pattern_br_a/u_texsize,imagecoord);vec4 color1=texture(u_image,pos);vec2 imagecoord_b=mod(v_pos_b,1.0);vec2 pos2=mix(pattern_tl_b/u_texsize,pattern_br_b/u_texsize,imagecoord_b);vec4 color2=texture(u_image,pos2);float dist=length(v_pos-gl_FragCoord.xy);float alpha=1.0-smoothstep(0.0,1.0,dist);if (u_sdf_pattern) {highp float sdf_edge=(256.0-64.0)/256.0;highp float sdf_gamma_a=max(fwidth(color1.a)*0.5,1.0/255.0/16.0);highp float sdf_gamma_b=max(fwidth(color2.a)*0.5,1.0/255.0/16.0);float sdf_alpha_a=smoothstep(sdf_edge-sdf_gamma_a,sdf_edge+sdf_gamma_a,color1.a);float sdf_alpha_b=smoothstep(sdf_edge-sdf_gamma_b,sdf_edge+sdf_gamma_b,color2.a);fragColor=mix(color*sdf_alpha_a,color*sdf_alpha_b,u_fade)*alpha*opacity;} else {fragColor=mix(color1,color2,u_fade)*alpha*opacity;} +#ifdef GLOBE +if (v_depth > 1.0) {discard;} +#endif +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,`uniform vec2 u_pixel_coord_upper;uniform vec2 u_pixel_coord_lower;uniform vec3 u_scale;uniform vec2 u_fill_translate;layout(location=0) in vec2 a_pos;out vec2 v_pos_a;out vec2 v_pos_b;out vec2 v_pos; +#ifdef GLOBE +out float v_depth; +#endif +#pragma maplibre: define lowp float opacity +#pragma maplibre: define highp vec4 color +#pragma maplibre: define lowp vec4 pattern_from +#pragma maplibre: define lowp vec4 pattern_to +#pragma maplibre: define lowp float pixel_ratio_from +#pragma maplibre: define lowp float pixel_ratio_to +void main() { +#pragma maplibre: initialize lowp float opacity +#pragma maplibre: initialize highp vec4 color +#pragma maplibre: initialize mediump vec4 pattern_from +#pragma maplibre: initialize mediump vec4 pattern_to +#pragma maplibre: initialize lowp float pixel_ratio_from +#pragma maplibre: initialize lowp float pixel_ratio_to +if (opacity < 0.01) {gl_Position=vec4(-2.0,-2.0,-2.0,1.0);return;}vec2 pattern_tl_a=pattern_from.xy;vec2 pattern_br_a=pattern_from.zw;vec2 pattern_tl_b=pattern_to.xy;vec2 pattern_br_b=pattern_to.zw;float tileRatio=u_scale.x;float fromScale=u_scale.y;float toScale=u_scale.z;gl_Position=projectTile(a_pos+u_fill_translate,a_pos);vec2 display_size_a=(pattern_br_a-pattern_tl_a)/pixel_ratio_from;vec2 display_size_b=(pattern_br_b-pattern_tl_b)/pixel_ratio_to;v_pos_a=get_pattern_pos(u_pixel_coord_upper,u_pixel_coord_lower,fromScale*display_size_a,tileRatio,a_pos);v_pos_b=get_pattern_pos(u_pixel_coord_upper,u_pixel_coord_lower,toScale*display_size_b,tileRatio,a_pos);v_pos=(gl_Position.xy/gl_Position.w+1.0)/2.0*u_world_size; +#ifdef GLOBE +v_depth=gl_Position.z/gl_Position.w; +#endif +}`),fillPattern:fo(`#ifdef GL_ES +precision highp float; +#endif +uniform vec2 u_texsize;uniform float u_fade;uniform bool u_sdf_pattern;uniform sampler2D u_image;in vec2 v_pos_a;in vec2 v_pos_b; +#pragma maplibre: define lowp float opacity +#pragma maplibre: define highp vec4 color +#pragma maplibre: define lowp vec4 pattern_from +#pragma maplibre: define lowp vec4 pattern_to +void main() { +#pragma maplibre: initialize lowp float opacity +#pragma maplibre: initialize highp vec4 color +#pragma maplibre: initialize mediump vec4 pattern_from +#pragma maplibre: initialize mediump vec4 pattern_to +vec2 pattern_tl_a=pattern_from.xy;vec2 pattern_br_a=pattern_from.zw;vec2 pattern_tl_b=pattern_to.xy;vec2 pattern_br_b=pattern_to.zw;vec2 imagecoord=mod(v_pos_a,1.0);vec2 pos=mix(pattern_tl_a/u_texsize,pattern_br_a/u_texsize,imagecoord);vec4 color1=texture(u_image,pos);vec2 imagecoord_b=mod(v_pos_b,1.0);vec2 pos2=mix(pattern_tl_b/u_texsize,pattern_br_b/u_texsize,imagecoord_b);vec4 color2=texture(u_image,pos2);if (u_sdf_pattern) {highp float sdf_edge=(256.0-64.0)/256.0;highp float sdf_gamma_a=max(fwidth(color1.a)*0.5,1.0/255.0/16.0);highp float sdf_gamma_b=max(fwidth(color2.a)*0.5,1.0/255.0/16.0);float sdf_alpha_a=smoothstep(sdf_edge-sdf_gamma_a,sdf_edge+sdf_gamma_a,color1.a);float sdf_alpha_b=smoothstep(sdf_edge-sdf_gamma_b,sdf_edge+sdf_gamma_b,color2.a);fragColor=mix(color*sdf_alpha_a,color*sdf_alpha_b,u_fade)*opacity;} else {fragColor=mix(color1,color2,u_fade)*opacity;} +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,`uniform vec2 u_pixel_coord_upper;uniform vec2 u_pixel_coord_lower;uniform vec3 u_scale;uniform vec2 u_fill_translate;layout(location=0) in vec2 a_pos;out vec2 v_pos_a;out vec2 v_pos_b; +#pragma maplibre: define lowp float opacity +#pragma maplibre: define highp vec4 color +#pragma maplibre: define lowp vec4 pattern_from +#pragma maplibre: define lowp vec4 pattern_to +#pragma maplibre: define lowp float pixel_ratio_from +#pragma maplibre: define lowp float pixel_ratio_to +void main() { +#pragma maplibre: initialize lowp float opacity +#pragma maplibre: initialize highp vec4 color +#pragma maplibre: initialize mediump vec4 pattern_from +#pragma maplibre: initialize mediump vec4 pattern_to +#pragma maplibre: initialize lowp float pixel_ratio_from +#pragma maplibre: initialize lowp float pixel_ratio_to +if (opacity < 0.01) {gl_Position=vec4(-2.0,-2.0,-2.0,1.0);return;}vec2 pattern_tl_a=pattern_from.xy;vec2 pattern_br_a=pattern_from.zw;vec2 pattern_tl_b=pattern_to.xy;vec2 pattern_br_b=pattern_to.zw;float tileZoomRatio=u_scale.x;float fromScale=u_scale.y;float toScale=u_scale.z;vec2 display_size_a=(pattern_br_a-pattern_tl_a)/pixel_ratio_from;vec2 display_size_b=(pattern_br_b-pattern_tl_b)/pixel_ratio_to;gl_Position=projectTile(a_pos+u_fill_translate,a_pos);v_pos_a=get_pattern_pos(u_pixel_coord_upper,u_pixel_coord_lower,fromScale*display_size_a,tileZoomRatio,a_pos);v_pos_b=get_pattern_pos(u_pixel_coord_upper,u_pixel_coord_lower,toScale*display_size_b,tileZoomRatio,a_pos);}`),fillExtrusion:fo(`in vec4 v_color;void main() {fragColor=v_color; +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,`uniform vec3 u_lightcolor;uniform lowp vec3 u_lightpos;uniform lowp vec3 u_lightpos_globe;uniform lowp float u_lightintensity;uniform float u_vertical_gradient;uniform lowp float u_opacity;uniform vec2 u_fill_translate;layout(location=0) in vec2 a_pos;layout(location=1) in ivec4 a_normal_ed; +#ifdef TERRAIN3D +layout(location=2) in vec2 a_centroid; +#endif +out vec4 v_color; +#pragma maplibre: define highp float base +#pragma maplibre: define highp float height +#pragma maplibre: define highp vec4 color +void main() { +#pragma maplibre: initialize highp float base +#pragma maplibre: initialize highp float height +#pragma maplibre: initialize highp vec4 color +vec3 normal=vec3(a_normal_ed.xyz); +#ifdef TERRAIN3D +float height_terrain3d_offset=get_elevation(a_centroid);float base_terrain3d_offset=height_terrain3d_offset-(base > 0.0 ? 0.0 : 10.0); +#else +float height_terrain3d_offset=0.0;float base_terrain3d_offset=0.0; +#endif +base=max(0.0,base)+base_terrain3d_offset;height=max(0.0,height)+height_terrain3d_offset;float t=float(a_normal_ed.x & 1);float elevation=t > 0.0 ? height : base;vec2 posInTile=a_pos+u_fill_translate; +#ifdef GLOBE +vec3 spherePos=projectToSphere(posInTile,a_pos);gl_Position=interpolateProjectionFor3D(posInTile,spherePos,elevation); +#else +gl_Position=u_projection_matrix*vec4(posInTile,elevation,1.0); +#endif +float colorvalue=color.r*0.2126+color.g*0.7152+color.b*0.0722;v_color=vec4(0.0,0.0,0.0,1.0);vec4 ambientlight=vec4(0.03,0.03,0.03,1.0);color+=ambientlight;vec3 normalForLighting=normal/16384.0;float directional=clamp(dot(normalForLighting,u_lightpos),0.0,1.0); +#ifdef GLOBE +mat3 rotMatrix=globeGetRotationMatrix(spherePos);normalForLighting=rotMatrix*normalForLighting;directional=mix(directional,clamp(dot(normalForLighting,u_lightpos_globe),0.0,1.0),u_projection_transition); +#endif +directional=mix((1.0-u_lightintensity),max((1.0-colorvalue+u_lightintensity),1.0),directional);if (normal.y !=0.0) {directional*=((1.0-u_vertical_gradient)+(u_vertical_gradient*clamp((t+base)*pow(height/150.0,0.5),mix(0.7,0.98,1.0-u_lightintensity),1.0)));}v_color.r+=clamp(color.r*directional*u_lightcolor.r,mix(0.0,0.3,1.0-u_lightcolor.r),1.0);v_color.g+=clamp(color.g*directional*u_lightcolor.g,mix(0.0,0.3,1.0-u_lightcolor.g),1.0);v_color.b+=clamp(color.b*directional*u_lightcolor.b,mix(0.0,0.3,1.0-u_lightcolor.b),1.0);v_color*=u_opacity;}`),fillExtrusionPattern:fo(`uniform vec2 u_texsize;uniform float u_fade;uniform sampler2D u_image;in vec2 v_pos_a;in vec2 v_pos_b;in vec4 v_lighting; +#pragma maplibre: define lowp float base +#pragma maplibre: define lowp float height +#pragma maplibre: define lowp vec4 pattern_from +#pragma maplibre: define lowp vec4 pattern_to +#pragma maplibre: define lowp float pixel_ratio_from +#pragma maplibre: define lowp float pixel_ratio_to +void main() { +#pragma maplibre: initialize lowp float base +#pragma maplibre: initialize lowp float height +#pragma maplibre: initialize mediump vec4 pattern_from +#pragma maplibre: initialize mediump vec4 pattern_to +#pragma maplibre: initialize lowp float pixel_ratio_from +#pragma maplibre: initialize lowp float pixel_ratio_to +vec2 pattern_tl_a=pattern_from.xy;vec2 pattern_br_a=pattern_from.zw;vec2 pattern_tl_b=pattern_to.xy;vec2 pattern_br_b=pattern_to.zw;vec2 imagecoord=mod(v_pos_a,1.0);vec2 pos=mix(pattern_tl_a/u_texsize,pattern_br_a/u_texsize,imagecoord);vec4 color1=texture(u_image,pos);vec2 imagecoord_b=mod(v_pos_b,1.0);vec2 pos2=mix(pattern_tl_b/u_texsize,pattern_br_b/u_texsize,imagecoord_b);vec4 color2=texture(u_image,pos2);vec4 mixedColor=mix(color1,color2,u_fade);fragColor=mixedColor*v_lighting; +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,`uniform vec2 u_pixel_coord_upper;uniform vec2 u_pixel_coord_lower;uniform float u_height_factor;uniform vec3 u_scale;uniform float u_vertical_gradient;uniform lowp float u_opacity;uniform vec2 u_fill_translate;uniform vec3 u_lightcolor;uniform lowp vec3 u_lightpos;uniform lowp vec3 u_lightpos_globe;uniform lowp float u_lightintensity;layout(location=0) in vec2 a_pos;layout(location=1) in ivec4 a_normal_ed; +#ifdef TERRAIN3D +layout(location=2) in vec2 a_centroid; +#endif +#ifdef GLOBE +out vec3 v_sphere_pos; +#endif +out vec2 v_pos_a;out vec2 v_pos_b;out vec4 v_lighting; +#pragma maplibre: define lowp float base +#pragma maplibre: define lowp float height +#pragma maplibre: define lowp vec4 pattern_from +#pragma maplibre: define lowp vec4 pattern_to +#pragma maplibre: define lowp float pixel_ratio_from +#pragma maplibre: define lowp float pixel_ratio_to +void main() { +#pragma maplibre: initialize lowp float base +#pragma maplibre: initialize lowp float height +#pragma maplibre: initialize mediump vec4 pattern_from +#pragma maplibre: initialize mediump vec4 pattern_to +#pragma maplibre: initialize lowp float pixel_ratio_from +#pragma maplibre: initialize lowp float pixel_ratio_to +vec2 pattern_tl_a=pattern_from.xy;vec2 pattern_br_a=pattern_from.zw;vec2 pattern_tl_b=pattern_to.xy;vec2 pattern_br_b=pattern_to.zw;float tileRatio=u_scale.x;float fromScale=u_scale.y;float toScale=u_scale.z;vec3 normal=vec3(a_normal_ed.xyz);float edgedistance=float(a_normal_ed.w);vec2 display_size_a=(pattern_br_a-pattern_tl_a)/pixel_ratio_from;vec2 display_size_b=(pattern_br_b-pattern_tl_b)/pixel_ratio_to; +#ifdef TERRAIN3D +float height_terrain3d_offset=get_elevation(a_centroid);float base_terrain3d_offset=height_terrain3d_offset-(base > 0.0 ? 0.0 : 10.0); +#else +float height_terrain3d_offset=0.0;float base_terrain3d_offset=0.0; +#endif +base=max(0.0,base)+base_terrain3d_offset;height=max(0.0,height)+height_terrain3d_offset;float t=float(a_normal_ed.x & 1);float elevation=t > 0.0 ? height : base;vec2 posInTile=a_pos+u_fill_translate; +#ifdef GLOBE +vec3 spherePos=projectToSphere(posInTile,a_pos);vec3 elevatedPos=spherePos*(1.0+elevation/GLOBE_RADIUS);v_sphere_pos=elevatedPos;gl_Position=interpolateProjectionFor3D(posInTile,spherePos,elevation); +#else +gl_Position=u_projection_matrix*vec4(posInTile,elevation,1.0); +#endif +vec2 pos=a_normal_ed.x==1 && a_normal_ed.y==0 && a_normal_ed.z==16384 +? a_pos +: vec2(edgedistance,elevation*u_height_factor);v_pos_a=get_pattern_pos(u_pixel_coord_upper,u_pixel_coord_lower,fromScale*display_size_a,tileRatio,pos);v_pos_b=get_pattern_pos(u_pixel_coord_upper,u_pixel_coord_lower,toScale*display_size_b,tileRatio,pos);v_lighting=vec4(0.0,0.0,0.0,1.0);float directional=clamp(dot(normal/16383.0,u_lightpos),0.0,1.0);directional=mix((1.0-u_lightintensity),max((0.5+u_lightintensity),1.0),directional);if (normal.y !=0.0) {directional*=((1.0-u_vertical_gradient)+(u_vertical_gradient*clamp((t+base)*pow(height/150.0,0.5),mix(0.7,0.98,1.0-u_lightintensity),1.0)));}v_lighting.rgb+=clamp(directional*u_lightcolor,mix(vec3(0.0),vec3(0.3),1.0-u_lightcolor),vec3(1.0));v_lighting*=u_opacity;}`),hillshadePrepare:fo(`#ifdef GL_ES +precision highp float; +#endif +uniform sampler2D u_image;in vec2 v_pos;uniform vec2 u_dimension;uniform float u_zoom;uniform vec4 u_unpack;float getElevation(ivec2 texel) {vec4 data=texelFetch(u_image,texel,0)*255.0;data.a=-1.0;return dot(data,u_unpack);}void main() {ivec2 pos=ivec2(gl_FragCoord.xy)+ivec2(1);float tileSize=u_dimension.x-4.0;float a=getElevation(pos+ivec2(-1,-1));float b=getElevation(pos+ivec2(0,-1));float c=getElevation(pos+ivec2(1,-1));float d=getElevation(pos+ivec2(-1,0));float e=getElevation(pos);float f=getElevation(pos+ivec2(1,0));float g=getElevation(pos+ivec2(-1,1));float h=getElevation(pos+ivec2(0,1));float i=getElevation(pos+ivec2(1,1));float exaggerationFactor=u_zoom < 2.0 ? 0.4 : u_zoom < 4.5 ? 0.35 : 0.3;float exaggeration=u_zoom < 15.0 ? (u_zoom-15.0)*exaggerationFactor : 0.0;vec2 deriv=vec2((c+f+f+i)-(a+d+d+g),(g+h+h+i)-(a+b+b+c))*tileSize/pow(2.0,exaggeration+(28.2562-u_zoom));fragColor=clamp(vec4(deriv.x/8.0+0.5,deriv.y/8.0+0.5,1.0,1.0),0.0,1.0); +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,"uniform mat4 u_matrix;uniform vec2 u_dimension;layout(location=0) in vec2 a_pos;layout(location=1) in vec2 a_texture_pos;out vec2 v_pos;void main() {gl_Position=u_matrix*vec4(a_pos,0,1);highp vec2 epsilon=1.0/u_dimension;float scale=(u_dimension.x-2.0)/u_dimension.x;v_pos=(a_texture_pos/8192.0)*scale+epsilon;}"),hillshade:fo(`uniform sampler2D u_image;in vec2 v_pos;uniform vec2 u_latrange;uniform float u_exaggeration;uniform vec4 u_accent;uniform int u_method;uniform float u_altitudes[NUM_ILLUMINATION_SOURCES];uniform float u_azimuths[NUM_ILLUMINATION_SOURCES];uniform vec4 u_shadows[NUM_ILLUMINATION_SOURCES];uniform vec4 u_highlights[NUM_ILLUMINATION_SOURCES]; +#define PI 3.141592653589793 +#define STANDARD 0 +#define COMBINED 1 +#define IGOR 2 +#define MULTIDIRECTIONAL 3 +#define BASIC 4 +float get_aspect(vec2 deriv){return deriv.x !=0.0 ? atan(deriv.y,-deriv.x) : PI/2.0*(deriv.y > 0.0 ? 1.0 :-1.0);}void igor_hillshade(vec2 deriv){deriv=deriv*u_exaggeration*2.0;float aspect=get_aspect(deriv);float azimuth=u_azimuths[0]+PI;float slope_stength=atan(length(deriv))*2.0/PI;float aspect_strength=1.0-abs(mod((aspect+azimuth)/PI+0.5,2.0)-1.0);float shadow_strength=slope_stength*aspect_strength;float highlight_strength=slope_stength*(1.0-aspect_strength);fragColor=u_shadows[0]*shadow_strength+u_highlights[0]*highlight_strength;}void standard_hillshade(vec2 deriv){float azimuth=u_azimuths[0]+PI;float slope=atan(0.625*length(deriv));float aspect=get_aspect(deriv);float intensity=u_exaggeration;float base=1.875-intensity*1.75;float maxValue=0.5*PI;float scaledSlope=intensity !=0.5 ? ((pow(base,slope)-1.0)/(pow(base,maxValue)-1.0))*maxValue : slope;float accent=cos(scaledSlope);vec4 accent_color=(1.0-accent)*u_accent*clamp(intensity*2.0,0.0,1.0);float shade=abs(mod((aspect+azimuth)/PI+0.5,2.0)-1.0);vec4 shade_color=mix(u_shadows[0],u_highlights[0],shade)*sin(scaledSlope)*clamp(intensity*2.0,0.0,1.0);fragColor=accent_color*(1.0-shade_color.a)+shade_color;}void basic_hillshade(vec2 deriv){deriv=deriv*u_exaggeration*2.0;float azimuth=u_azimuths[0]+PI;float cos_az=cos(azimuth);float sin_az=sin(azimuth);float cos_alt=cos(u_altitudes[0]);float sin_alt=sin(u_altitudes[0]);float cang=(sin_alt-(deriv.y*cos_az*cos_alt-deriv.x*sin_az*cos_alt))/sqrt(1.0+dot(deriv,deriv));float shade=clamp(cang,0.0,1.0);if(shade > 0.5){fragColor=u_highlights[0]*(2.0*shade-1.0);}else +{fragColor=u_shadows[0]*(1.0-2.0*shade);}}void multidirectional_hillshade(vec2 deriv){deriv=deriv*u_exaggeration*2.0;fragColor=vec4(0,0,0,0);for(int i=0; i < NUM_ILLUMINATION_SOURCES; i++){float cos_alt=cos(u_altitudes[i]);float sin_alt=sin(u_altitudes[i]);float cos_az=-cos(u_azimuths[i]);float sin_az=-sin(u_azimuths[i]);float cang=(sin_alt-(deriv.y*cos_az*cos_alt-deriv.x*sin_az*cos_alt))/sqrt(1.0+dot(deriv,deriv));float shade=clamp(cang,0.0,1.0);if(shade > 0.5){fragColor+=u_highlights[i]*(2.0*shade-1.0)/float(NUM_ILLUMINATION_SOURCES);}else +{fragColor+=u_shadows[i]*(1.0-2.0*shade)/float(NUM_ILLUMINATION_SOURCES);}}}void combined_hillshade(vec2 deriv){deriv=deriv*u_exaggeration*2.0;float azimuth=u_azimuths[0]+PI;float cos_az=cos(azimuth);float sin_az=sin(azimuth);float cos_alt=cos(u_altitudes[0]);float sin_alt=sin(u_altitudes[0]);float cang=acos((sin_alt-(deriv.y*cos_az*cos_alt-deriv.x*sin_az*cos_alt))/sqrt(1.0+dot(deriv,deriv)));cang=clamp(cang,0.0,PI/2.0);float shade=cang*atan(length(deriv))*4.0/PI/PI;float highlight=(PI/2.0-cang)*atan(length(deriv))*4.0/PI/PI;fragColor=u_shadows[0]*shade+u_highlights[0]*highlight;}void main() {vec2 size=vec2(textureSize(u_image,0));vec2 texturePos=(v_pos*(size-2.0)+1.0)/size;vec4 pixel=texture(u_image,texturePos);float scaleFactor=cos(radians((u_latrange[0]-u_latrange[1])*(1.0-v_pos.y)+u_latrange[1]));vec2 deriv=((pixel.rg*8.0)-4.0)/scaleFactor;if (u_method==BASIC) {basic_hillshade(deriv);} else if (u_method==COMBINED) {combined_hillshade(deriv);} else if (u_method==IGOR) {igor_hillshade(deriv);} else if (u_method==MULTIDIRECTIONAL) {multidirectional_hillshade(deriv);} else if (u_method==STANDARD) {standard_hillshade(deriv);} else {standard_hillshade(deriv);} +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,"uniform mat4 u_matrix;layout(location=0) in vec2 a_pos;out vec2 v_pos;void main() {gl_Position=projectTile(a_pos,a_pos);v_pos=a_pos/8192.0;if (a_pos.y <-32767.5) {v_pos.y=0.0;}if (a_pos.y > 32766.5) {v_pos.y=1.0;}}"),line:fo(`flat in vec2 v_width2;in vec2 v_normal;in float v_gamma_scale; +#ifdef GLOBE +in float v_depth; +#endif +#pragma maplibre: define highp vec4 color +#pragma maplibre: define lowp float blur +#pragma maplibre: define lowp float opacity +void main() { +#pragma maplibre: initialize highp vec4 color +#pragma maplibre: initialize lowp float blur +#pragma maplibre: initialize lowp float opacity +clipAntimeridian();float dist=length(v_normal)*v_width2.s;float blur2=(blur+1.0/u_device_pixel_ratio)*v_gamma_scale;float alpha=clamp(min(dist-(v_width2.t-blur2),v_width2.s-dist)/blur2,0.0,1.0);fragColor=color*(alpha*opacity); +#ifdef GLOBE +if (v_depth > 1.0) {discard;} +#endif +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,` +#define scale 0.015873016 +layout(location=0) in ivec2 a_pos_normal;layout(location=1) in uvec4 a_data;uniform vec2 u_translation;uniform mediump float u_ratio;out vec2 v_normal;flat out vec2 v_width2;out float v_gamma_scale;out highp float v_linesofar; +#ifdef GLOBE +out float v_depth; +#endif +#pragma maplibre: define highp vec4 color +#pragma maplibre: define lowp float blur +#pragma maplibre: define lowp float opacity +#pragma maplibre: define mediump float gapwidth +#pragma maplibre: define lowp float offset +#pragma maplibre: define mediump float width +void main() { +#pragma maplibre: initialize highp vec4 color +#pragma maplibre: initialize lowp float blur +#pragma maplibre: initialize lowp float opacity +#pragma maplibre: initialize mediump float gapwidth +#pragma maplibre: initialize lowp float offset +#pragma maplibre: initialize mediump float width +if (opacity < 0.01) {gl_Position=vec4(-2.0,-2.0,-2.0,1.0);return;}float ANTIALIASING=1.0/u_device_pixel_ratio/2.0;vec2 a_extrude=vec2(ivec2(a_data.xy)-128);float a_direction=float(int(a_data.z & 3u)-1);v_linesofar=float((a_data.z >> 2u)+a_data.w*64u)*2.0;vec2 pos=vec2(a_pos_normal >> 1);mediump vec2 normal=vec2(a_pos_normal & 1);normal.y=normal.y*2.0-1.0;v_normal=normal;gapwidth=gapwidth/2.0;float halfwidth=width/2.0;offset=-1.0*offset;float inset=gapwidth+(gapwidth > 0.0 ? ANTIALIASING : 0.0);float outset=gapwidth+halfwidth*(gapwidth > 0.0 ? 2.0 : 1.0)+(halfwidth==0.0 ? 0.0 : ANTIALIASING);mediump vec2 dist=outset*a_extrude*scale;mediump float u=0.5*a_direction;mediump float t=1.0-abs(u);mediump vec2 offset2=offset*a_extrude*scale*normal.y*mat2(t,-u,u,t);float adjustedThickness=projectLineThickness(pos.y);vec4 projected_no_extrude=projectTile(pos+offset2/u_ratio*adjustedThickness+u_translation);vec4 projected_with_extrude=projectTile(pos+offset2/u_ratio*adjustedThickness+u_translation+dist/u_ratio*adjustedThickness);gl_Position=projected_with_extrude; +#ifdef GLOBE +v_depth=gl_Position.z/gl_Position.w; +#endif +#ifdef TERRAIN3D +v_gamma_scale=1.0; +#else +float extrude_length_without_perspective=length(dist);float extrude_length_with_perspective=length((projected_with_extrude.xy-projected_no_extrude.xy)/projected_with_extrude.w*u_units_to_pixels);v_gamma_scale=extrude_length_without_perspective/extrude_length_with_perspective; +#endif +v_width2=vec2(outset,inset);}`),lineGradient:fo(`uniform sampler2D u_image;flat in vec2 v_width2;in vec2 v_normal;in float v_gamma_scale;in highp vec2 v_uv; +#ifdef GLOBE +in float v_depth; +#endif +#pragma maplibre: define lowp float blur +#pragma maplibre: define lowp float opacity +void main() { +#pragma maplibre: initialize lowp float blur +#pragma maplibre: initialize lowp float opacity +clipAntimeridian();float dist=length(v_normal)*v_width2.s;float blur2=(blur+1.0/u_device_pixel_ratio)*v_gamma_scale;float alpha=clamp(min(dist-(v_width2.t-blur2),v_width2.s-dist)/blur2,0.0,1.0);vec4 color=texture(u_image,v_uv);fragColor=color*(alpha*opacity); +#ifdef GLOBE +if (v_depth > 1.0) {discard;} +#endif +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,` +#define scale 0.015873016 +layout(location=0) in ivec2 a_pos_normal;layout(location=1) in uvec4 a_data;layout(location=2) in float a_uv_x;layout(location=3) in float a_split_index;uniform vec2 u_translation;uniform mediump float u_ratio;uniform float u_image_height;out vec2 v_normal;flat out vec2 v_width2;out float v_gamma_scale;out highp vec2 v_uv; +#ifdef GLOBE +out float v_depth; +#endif +#pragma maplibre: define lowp float blur +#pragma maplibre: define lowp float opacity +#pragma maplibre: define mediump float gapwidth +#pragma maplibre: define lowp float offset +#pragma maplibre: define mediump float width +void main() { +#pragma maplibre: initialize lowp float blur +#pragma maplibre: initialize lowp float opacity +#pragma maplibre: initialize mediump float gapwidth +#pragma maplibre: initialize lowp float offset +#pragma maplibre: initialize mediump float width +if (opacity < 0.01) {gl_Position=vec4(-2.0,-2.0,-2.0,1.0);return;}float ANTIALIASING=1.0/u_device_pixel_ratio/2.0;vec2 a_extrude=vec2(ivec2(a_data.xy)-128);float a_direction=float(int(a_data.z & 3u)-1);highp float texel_height=1.0/u_image_height;highp float half_texel_height=0.5*texel_height;v_uv=vec2(a_uv_x,a_split_index*texel_height-half_texel_height);vec2 pos=vec2(a_pos_normal >> 1);mediump vec2 normal=vec2(a_pos_normal & 1);normal.y=normal.y*2.0-1.0;v_normal=normal;gapwidth=gapwidth/2.0;float halfwidth=width/2.0;offset=-1.0*offset;float inset=gapwidth+(gapwidth > 0.0 ? ANTIALIASING : 0.0);float outset=gapwidth+halfwidth*(gapwidth > 0.0 ? 2.0 : 1.0)+(halfwidth==0.0 ? 0.0 : ANTIALIASING);mediump vec2 dist=outset*a_extrude*scale;mediump float u=0.5*a_direction;mediump float t=1.0-abs(u);mediump vec2 offset2=offset*a_extrude*scale*normal.y*mat2(t,-u,u,t);float adjustedThickness=projectLineThickness(pos.y);vec4 projected_no_extrude=projectTile(pos+offset2/u_ratio*adjustedThickness+u_translation);vec4 projected_with_extrude=projectTile(pos+offset2/u_ratio*adjustedThickness+u_translation+dist/u_ratio*adjustedThickness);gl_Position=projected_with_extrude; +#ifdef GLOBE +v_depth=gl_Position.z/gl_Position.w; +#endif +#ifdef TERRAIN3D +v_gamma_scale=1.0; +#else +float extrude_length_without_perspective=length(dist);float extrude_length_with_perspective=length((projected_with_extrude.xy-projected_no_extrude.xy)/projected_with_extrude.w*u_units_to_pixels);v_gamma_scale=extrude_length_without_perspective/extrude_length_with_perspective; +#endif +v_width2=vec2(outset,inset);}`),linePattern:fo(`#ifdef GL_ES +precision highp float; +#endif +uniform vec2 u_texsize;uniform float u_fade;uniform mediump vec3 u_scale;uniform sampler2D u_image;in vec2 v_normal;flat in vec2 v_width2;in float v_linesofar;in float v_gamma_scale;flat in float v_width; +#ifdef GLOBE +in float v_depth; +#endif +#pragma maplibre: define lowp vec4 pattern_from +#pragma maplibre: define lowp vec4 pattern_to +#pragma maplibre: define lowp float pixel_ratio_from +#pragma maplibre: define lowp float pixel_ratio_to +#pragma maplibre: define lowp float blur +#pragma maplibre: define lowp float opacity +void main() { +#pragma maplibre: initialize mediump vec4 pattern_from +#pragma maplibre: initialize mediump vec4 pattern_to +#pragma maplibre: initialize lowp float pixel_ratio_from +#pragma maplibre: initialize lowp float pixel_ratio_to +#pragma maplibre: initialize lowp float blur +#pragma maplibre: initialize lowp float opacity +clipAntimeridian();vec2 pattern_tl_a=pattern_from.xy;vec2 pattern_br_a=pattern_from.zw;vec2 pattern_tl_b=pattern_to.xy;vec2 pattern_br_b=pattern_to.zw;float tileZoomRatio=u_scale.x;float fromScale=u_scale.y;float toScale=u_scale.z;vec2 display_size_a=(pattern_br_a-pattern_tl_a)/pixel_ratio_from;vec2 display_size_b=(pattern_br_b-pattern_tl_b)/pixel_ratio_to;vec2 pattern_size_a=vec2(display_size_a.x*fromScale/tileZoomRatio,display_size_a.y);vec2 pattern_size_b=vec2(display_size_b.x*toScale/tileZoomRatio,display_size_b.y);float aspect_a=display_size_a.y/v_width;float aspect_b=display_size_b.y/v_width;float dist=length(v_normal)*v_width2.s;float blur2=(blur+1.0/u_device_pixel_ratio)*v_gamma_scale;float alpha=clamp(min(dist-(v_width2.t-blur2),v_width2.s-dist)/blur2,0.0,1.0);float x_a=mod(v_linesofar/pattern_size_a.x*aspect_a,1.0);float x_b=mod(v_linesofar/pattern_size_b.x*aspect_b,1.0);float y=0.5*v_normal.y+0.5;vec2 texel_size=1.0/u_texsize;vec2 pos_a=mix(pattern_tl_a*texel_size-texel_size,pattern_br_a*texel_size+texel_size,vec2(x_a,y));vec2 pos_b=mix(pattern_tl_b*texel_size-texel_size,pattern_br_b*texel_size+texel_size,vec2(x_b,y));vec4 color=mix(texture(u_image,pos_a),texture(u_image,pos_b),u_fade);fragColor=color*alpha*opacity; +#ifdef GLOBE +if (v_depth > 1.0) {discard;} +#endif +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,` +#define scale 0.015873016 +#define LINE_DISTANCE_SCALE 2.0 +layout(location=0) in ivec2 a_pos_normal;layout(location=1) in uvec4 a_data;uniform vec2 u_translation;uniform mediump float u_ratio;out vec2 v_normal;flat out vec2 v_width2;out float v_linesofar;out float v_gamma_scale;flat out float v_width; +#ifdef GLOBE +out float v_depth; +#endif +#pragma maplibre: define lowp float blur +#pragma maplibre: define lowp float opacity +#pragma maplibre: define lowp float offset +#pragma maplibre: define mediump float gapwidth +#pragma maplibre: define mediump float width +#pragma maplibre: define lowp float floorwidth +#pragma maplibre: define lowp vec4 pattern_from +#pragma maplibre: define lowp vec4 pattern_to +#pragma maplibre: define lowp float pixel_ratio_from +#pragma maplibre: define lowp float pixel_ratio_to +void main() { +#pragma maplibre: initialize lowp float blur +#pragma maplibre: initialize lowp float opacity +#pragma maplibre: initialize lowp float offset +#pragma maplibre: initialize mediump float gapwidth +#pragma maplibre: initialize mediump float width +#pragma maplibre: initialize lowp float floorwidth +#pragma maplibre: initialize mediump vec4 pattern_from +#pragma maplibre: initialize mediump vec4 pattern_to +#pragma maplibre: initialize lowp float pixel_ratio_from +#pragma maplibre: initialize lowp float pixel_ratio_to +if (opacity < 0.01) {gl_Position=vec4(-2.0,-2.0,-2.0,1.0);return;}float ANTIALIASING=1.0/u_device_pixel_ratio/2.0;vec2 a_extrude=vec2(ivec2(a_data.xy)-128);float a_direction=float(int(a_data.z & 3u)-1);float a_linesofar=float((a_data.z >> 2u)+a_data.w*64u)*LINE_DISTANCE_SCALE;vec2 pos=vec2(a_pos_normal >> 1);mediump vec2 normal=vec2(a_pos_normal & 1);normal.y=normal.y*2.0-1.0;v_normal=normal;gapwidth=gapwidth/2.0;float halfwidth=width/2.0;offset=-1.0*offset;float inset=gapwidth+(gapwidth > 0.0 ? ANTIALIASING : 0.0);float outset=gapwidth+halfwidth*(gapwidth > 0.0 ? 2.0 : 1.0)+(halfwidth==0.0 ? 0.0 : ANTIALIASING);mediump vec2 dist=outset*a_extrude*scale;mediump float u=0.5*a_direction;mediump float t=1.0-abs(u);mediump vec2 offset2=offset*a_extrude*scale*normal.y*mat2(t,-u,u,t);float adjustedThickness=projectLineThickness(pos.y);vec4 projected_no_extrude=projectTile(pos+offset2/u_ratio*adjustedThickness+u_translation);vec4 projected_with_extrude=projectTile(pos+offset2/u_ratio*adjustedThickness+u_translation+dist/u_ratio*adjustedThickness);gl_Position=projected_with_extrude; +#ifdef GLOBE +v_depth=gl_Position.z/gl_Position.w; +#endif +#ifdef TERRAIN3D +v_gamma_scale=1.0; +#else +float extrude_length_without_perspective=length(dist);float extrude_length_with_perspective=length((projected_with_extrude.xy-projected_no_extrude.xy)/projected_with_extrude.w*u_units_to_pixels);v_gamma_scale=extrude_length_without_perspective/extrude_length_with_perspective; +#endif +v_linesofar=a_linesofar;v_width2=vec2(outset,inset);v_width=floorwidth;}`),lineSDF:fo(`uniform lowp float u_lineatlas_width;uniform sampler2D u_image;uniform float u_mix;in vec2 v_normal;flat in vec2 v_width2;in vec2 v_tex_a;in vec2 v_tex_b;in float v_gamma_scale; +#ifdef GLOBE +in float v_depth; +#endif +#pragma maplibre: define highp vec4 color +#pragma maplibre: define lowp float blur +#pragma maplibre: define lowp float opacity +#pragma maplibre: define mediump float width +#pragma maplibre: define lowp float floorwidth +#pragma maplibre: define mediump vec4 dasharray_from +#pragma maplibre: define mediump vec4 dasharray_to +void main() { +#pragma maplibre: initialize highp vec4 color +#pragma maplibre: initialize lowp float blur +#pragma maplibre: initialize lowp float opacity +#pragma maplibre: initialize mediump float width +#pragma maplibre: initialize lowp float floorwidth +#pragma maplibre: initialize mediump vec4 dasharray_from +#pragma maplibre: initialize mediump vec4 dasharray_to +clipAntimeridian();float dist=length(v_normal)*v_width2.s;float blur2=(blur+1.0/u_device_pixel_ratio)*v_gamma_scale;float alpha=clamp(min(dist-(v_width2.t-blur2),v_width2.s-dist)/blur2,0.0,1.0);float sdfdist_a=texture(u_image,v_tex_a).a;float sdfdist_b=texture(u_image,v_tex_b).a;float sdfdist=mix(sdfdist_a,sdfdist_b,u_mix);float sdfgamma=(u_lineatlas_width/256.0/u_device_pixel_ratio)/min(dasharray_from.w,dasharray_to.w);alpha*=smoothstep(0.5-sdfgamma/floorwidth,0.5+sdfgamma/floorwidth,sdfdist);fragColor=color*(alpha*opacity); +#ifdef GLOBE +if (v_depth > 1.0) {discard;} +#endif +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,` +#define scale 0.015873016 +#define LINE_DISTANCE_SCALE 2.0 +layout(location=0) in ivec2 a_pos_normal;layout(location=1) in uvec4 a_data;uniform vec2 u_translation;uniform mediump float u_ratio;uniform float u_tileratio;uniform float u_crossfade_from;uniform float u_crossfade_to;uniform float u_lineatlas_height;out vec2 v_normal;flat out vec2 v_width2;out vec2 v_tex_a;out vec2 v_tex_b;out float v_gamma_scale; +#ifdef GLOBE +out float v_depth; +#endif +#pragma maplibre: define highp vec4 color +#pragma maplibre: define lowp float blur +#pragma maplibre: define lowp float opacity +#pragma maplibre: define mediump float gapwidth +#pragma maplibre: define lowp float offset +#pragma maplibre: define mediump float width +#pragma maplibre: define lowp float floorwidth +#pragma maplibre: define mediump vec4 dasharray_from +#pragma maplibre: define mediump vec4 dasharray_to +void main() { +#pragma maplibre: initialize highp vec4 color +#pragma maplibre: initialize lowp float blur +#pragma maplibre: initialize lowp float opacity +#pragma maplibre: initialize mediump float gapwidth +#pragma maplibre: initialize lowp float offset +#pragma maplibre: initialize mediump float width +#pragma maplibre: initialize lowp float floorwidth +#pragma maplibre: initialize mediump vec4 dasharray_from +#pragma maplibre: initialize mediump vec4 dasharray_to +if (opacity < 0.01) {gl_Position=vec4(-2.0,-2.0,-2.0,1.0);return;}float ANTIALIASING=1.0/u_device_pixel_ratio/2.0;vec2 a_extrude=vec2(ivec2(a_data.xy)-128);float a_direction=float(int(a_data.z & 3u)-1);float a_linesofar=float((a_data.z >> 2u)+a_data.w*64u)*LINE_DISTANCE_SCALE;vec2 pos=vec2(a_pos_normal >> 1);mediump vec2 normal=vec2(a_pos_normal & 1);normal.y=normal.y*2.0-1.0;v_normal=normal;gapwidth=gapwidth/2.0;float halfwidth=width/2.0;offset=-1.0*offset;float inset=gapwidth+(gapwidth > 0.0 ? ANTIALIASING : 0.0);float outset=gapwidth+halfwidth*(gapwidth > 0.0 ? 2.0 : 1.0)+(halfwidth==0.0 ? 0.0 : ANTIALIASING);mediump vec2 dist=outset*a_extrude*scale;mediump float u=0.5*a_direction;mediump float t=1.0-abs(u);mediump vec2 offset2=offset*a_extrude*scale*normal.y*mat2(t,-u,u,t);float adjustedThickness=projectLineThickness(pos.y);vec4 projected_no_extrude=projectTile(pos+offset2/u_ratio*adjustedThickness+u_translation);vec4 projected_with_extrude=projectTile(pos+offset2/u_ratio*adjustedThickness+u_translation+dist/u_ratio*adjustedThickness);gl_Position=projected_with_extrude; +#ifdef GLOBE +v_depth=gl_Position.z/gl_Position.w; +#endif +#ifdef TERRAIN3D +v_gamma_scale=1.0; +#else +float extrude_length_without_perspective=length(dist);float extrude_length_with_perspective=length((projected_with_extrude.xy-projected_no_extrude.xy)/projected_with_extrude.w*u_units_to_pixels);v_gamma_scale=extrude_length_without_perspective/extrude_length_with_perspective; +#endif +float u_patternscale_a_x=u_tileratio/dasharray_from.w/u_crossfade_from;float u_patternscale_a_y=-dasharray_from.z/2.0/u_lineatlas_height;float u_patternscale_b_x=u_tileratio/dasharray_to.w/u_crossfade_to;float u_patternscale_b_y=-dasharray_to.z/2.0/u_lineatlas_height;v_tex_a=vec2(a_linesofar*u_patternscale_a_x/floorwidth,normal.y*u_patternscale_a_y+(float(dasharray_from.y)+0.5)/u_lineatlas_height);v_tex_b=vec2(a_linesofar*u_patternscale_b_x/floorwidth,normal.y*u_patternscale_b_y+(float(dasharray_to.y)+0.5)/u_lineatlas_height);v_width2=vec2(outset,inset);}`),lineGradientSDF:fo(`uniform sampler2D u_image;uniform sampler2D u_image_dash;uniform float u_mix;uniform lowp float u_lineatlas_width;in vec2 v_normal;flat in vec2 v_width2;in vec2 v_tex_a;in vec2 v_tex_b;in float v_gamma_scale;in highp vec2 v_uv; +#ifdef GLOBE +in float v_depth; +#endif +#pragma maplibre: define lowp float blur +#pragma maplibre: define lowp float opacity +#pragma maplibre: define mediump float width +#pragma maplibre: define lowp float floorwidth +#pragma maplibre: define mediump vec4 dasharray_from +#pragma maplibre: define mediump vec4 dasharray_to +void main() { +#pragma maplibre: initialize lowp float blur +#pragma maplibre: initialize lowp float opacity +#pragma maplibre: initialize mediump float width +#pragma maplibre: initialize lowp float floorwidth +#pragma maplibre: initialize mediump vec4 dasharray_from +#pragma maplibre: initialize mediump vec4 dasharray_to +clipAntimeridian();float dist=length(v_normal)*v_width2.s;float blur2=(blur+1.0/u_device_pixel_ratio)*v_gamma_scale;float alpha=clamp(min(dist-(v_width2.t-blur2),v_width2.s-dist)/blur2,0.0,1.0);vec4 color=texture(u_image,v_uv);float sdfdist_a=texture(u_image_dash,v_tex_a).a;float sdfdist_b=texture(u_image_dash,v_tex_b).a;float sdfdist=mix(sdfdist_a,sdfdist_b,u_mix);float sdfgamma=(u_lineatlas_width/256.0)/min(dasharray_from.w,dasharray_to.w);float dash_alpha=smoothstep(0.5-sdfgamma/floorwidth,0.5+sdfgamma/floorwidth,sdfdist);fragColor=color*(alpha*dash_alpha*opacity); +#ifdef GLOBE +if (v_depth > 1.0) {discard;} +#endif +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,` +#define scale 0.015873016 +#define LINE_DISTANCE_SCALE 2.0 +layout(location=0) in ivec2 a_pos_normal;layout(location=1) in uvec4 a_data;layout(location=2) in float a_uv_x;layout(location=3) in float a_split_index;uniform vec2 u_translation;uniform mediump float u_ratio;uniform float u_image_height;uniform float u_tileratio;uniform float u_crossfade_from;uniform float u_crossfade_to;uniform float u_lineatlas_height;out vec2 v_normal;flat out vec2 v_width2;out float v_gamma_scale;out highp vec2 v_uv;out vec2 v_tex_a;out vec2 v_tex_b; +#ifdef GLOBE +out float v_depth; +#endif +#pragma maplibre: define lowp float blur +#pragma maplibre: define lowp float opacity +#pragma maplibre: define mediump float gapwidth +#pragma maplibre: define lowp float offset +#pragma maplibre: define mediump float width +#pragma maplibre: define lowp float floorwidth +#pragma maplibre: define mediump vec4 dasharray_from +#pragma maplibre: define mediump vec4 dasharray_to +void main() { +#pragma maplibre: initialize lowp float blur +#pragma maplibre: initialize lowp float opacity +#pragma maplibre: initialize mediump float gapwidth +#pragma maplibre: initialize lowp float offset +#pragma maplibre: initialize mediump float width +#pragma maplibre: initialize lowp float floorwidth +#pragma maplibre: initialize mediump vec4 dasharray_from +#pragma maplibre: initialize mediump vec4 dasharray_to +if (opacity < 0.01) {gl_Position=vec4(-2.0,-2.0,-2.0,1.0);return;}float ANTIALIASING=1.0/u_device_pixel_ratio/2.0;vec2 a_extrude=vec2(ivec2(a_data.xy)-128);float a_direction=float(int(a_data.z & 3u)-1);float a_linesofar=float((a_data.z >> 2u)+a_data.w*64u)*LINE_DISTANCE_SCALE;float texel_height=1.0/u_image_height;float half_texel_height=0.5*texel_height;v_uv=vec2(a_uv_x,a_split_index*texel_height-half_texel_height);vec2 pos=vec2(a_pos_normal >> 1);mediump vec2 normal=vec2(a_pos_normal & 1);normal.y=normal.y*2.0-1.0;v_normal=normal;gapwidth=gapwidth/2.0;float halfwidth=width/2.0;offset=-1.0*offset;float inset=gapwidth+(gapwidth > 0.0 ? ANTIALIASING : 0.0);float outset=gapwidth+halfwidth*(gapwidth > 0.0 ? 2.0 : 1.0)+(halfwidth==0.0 ? 0.0 : ANTIALIASING);mediump vec2 dist=outset*a_extrude*scale;mediump float u=0.5*a_direction;mediump float t=1.0-abs(u);mediump vec2 offset2=offset*a_extrude*scale*normal.y*mat2(t,-u,u,t);float adjustedThickness=projectLineThickness(pos.y);vec4 projected_no_extrude=projectTile(pos+offset2/u_ratio*adjustedThickness+u_translation);vec4 projected_with_extrude=projectTile(pos+offset2/u_ratio*adjustedThickness+u_translation+dist/u_ratio*adjustedThickness);gl_Position=projected_with_extrude; +#ifdef GLOBE +v_depth=gl_Position.z/gl_Position.w; +#endif +#ifdef TERRAIN3D +v_gamma_scale=1.0; +#else +float extrude_length_without_perspective=length(dist);float extrude_length_with_perspective=length((projected_with_extrude.xy-projected_no_extrude.xy)/projected_with_extrude.w*u_units_to_pixels);v_gamma_scale=extrude_length_without_perspective/extrude_length_with_perspective; +#endif +float u_patternscale_a_x=u_tileratio/dasharray_from.w/u_crossfade_from;float u_patternscale_a_y=-dasharray_from.z/2.0/u_lineatlas_height;float u_patternscale_b_x=u_tileratio/dasharray_to.w/u_crossfade_to;float u_patternscale_b_y=-dasharray_to.z/2.0/u_lineatlas_height;v_tex_a=vec2(a_linesofar*u_patternscale_a_x/floorwidth,normal.y*u_patternscale_a_y+(float(dasharray_from.y)+0.5)/u_lineatlas_height);v_tex_b=vec2(a_linesofar*u_patternscale_b_x/floorwidth,normal.y*u_patternscale_b_y+(float(dasharray_to.y)+0.5)/u_lineatlas_height);v_width2=vec2(outset,inset);}`),layerOpacity:fo(`uniform sampler2D u_image;uniform float u_opacity;in vec2 v_pos;void main() {fragColor=texture(u_image,v_pos)*u_opacity; +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(0.0); +#endif +}`,"layout(location=0) in vec2 a_pos;out vec2 v_pos;void main() {gl_Position=vec4(a_pos.x*2.0-1.0,1.0-a_pos.y*2.0,0.0,1.0);v_pos.x=a_pos.x;v_pos.y=1.0-a_pos.y;}"),raster:fo(`uniform float u_fade_t;uniform float u_opacity;uniform sampler2D u_image0;uniform sampler2D u_image1;in vec3 v_pos0;in vec3 v_pos1;uniform float u_brightness_low;uniform float u_brightness_high;uniform float u_saturation_factor;uniform float u_contrast_factor;uniform vec3 u_spin_weights;void main() {vec4 color0=texture(u_image0,v_pos0.xy/v_pos0.z);vec4 color1=texture(u_image1,v_pos1.xy/v_pos1.z);if (color0.a > 0.0) {color0.rgb=color0.rgb/color0.a;}if (color1.a > 0.0) {color1.rgb=color1.rgb/color1.a;}vec4 color=mix(color0,color1,u_fade_t);color.a*=u_opacity;vec3 rgb=color.rgb;rgb=vec3(dot(rgb,u_spin_weights.xyz),dot(rgb,u_spin_weights.zxy),dot(rgb,u_spin_weights.yzx));float average=(color.r+color.g+color.b)/3.0;rgb+=(average-rgb)*u_saturation_factor;rgb=(rgb-0.5)*u_contrast_factor+0.5;vec3 u_high_vec=vec3(u_brightness_low,u_brightness_low,u_brightness_low);vec3 u_low_vec=vec3(u_brightness_high,u_brightness_high,u_brightness_high);fragColor=vec4(mix(u_high_vec,u_low_vec,rgb)*color.a,color.a); +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,`uniform vec2 u_tl_parent;uniform float u_scale_parent;uniform float u_buffer_scale;uniform vec3 u_image_warp;uniform vec4 u_coords_top;uniform vec4 u_coords_bottom;layout(location=0) in vec2 a_pos;out vec3 v_pos0;out vec3 v_pos1;void main() {vec2 fractionalPos=a_pos/8192.0;vec2 topLeft=u_coords_top.xy;vec2 topRight=u_coords_top.zw;vec2 bottomLeft=u_coords_bottom.xy;vec2 bottomRight=u_coords_bottom.zw;vec2 bilinearPos=mix(mix(topLeft,topRight,fractionalPos.x),mix(bottomLeft,bottomRight,fractionalPos.x),fractionalPos.y);float denominator=dot(u_image_warp.xy,fractionalPos)+1.0;vec2 acrossTop=topRight-topLeft+u_image_warp.x*topRight;vec2 downLeft=bottomLeft-topLeft+u_image_warp.y*bottomLeft;vec2 projectivePos=(acrossTop*fractionalPos.x+downLeft*fractionalPos.y+topLeft)/denominator;vec2 position=mix(projectivePos,bilinearPos,u_image_warp.z);gl_Position=projectTile(position,position);vec2 texturePos=((fractionalPos-0.5)/u_buffer_scale)+0.5; +#ifdef GLOBE +if (a_pos.y <-32767.5) {texturePos.y=0.0;}if (a_pos.y > 32766.5) {texturePos.y=1.0;} +#endif +float perspectiveRatio=mix(1.0/denominator,1.0,u_image_warp.z);v_pos0=vec3(texturePos*perspectiveRatio,perspectiveRatio);vec2 parentPos=(texturePos*u_scale_parent)+u_tl_parent;v_pos1=vec3(parentPos*perspectiveRatio,perspectiveRatio);}`),symbolIcon:fo(`uniform sampler2D u_texture;in vec2 v_tex;flat in float v_total_opacity;void main() {fragColor=texture(u_texture,v_tex)*v_total_opacity; +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,`layout(location=0) in vec4 a_pos_offset;layout(location=1) in uvec4 a_data;layout(location=2) in vec4 a_pixeloffset;layout(location=3) in vec3 a_projected_pos;layout(location=4) in uint a_fade_opacity;layout(location=5) in float a_height_offset;uniform bool u_is_size_zoom_constant;uniform bool u_is_size_feature_constant;uniform highp float u_size_t;uniform highp float u_size;uniform bool u_rotate_symbol;uniform mat4 u_label_plane_matrix;uniform mat4 u_coord_matrix;uniform bool u_is_text;uniform bool u_pitch_with_map;uniform vec2 u_texsize;uniform bool u_is_along_line;uniform bool u_is_variable_anchor;uniform vec2 u_translation;uniform float u_pitched_scale;uniform bool u_is_offset;uniform bool u_height_anchor_ground;out vec2 v_tex;flat out float v_total_opacity; +#pragma maplibre: define lowp float opacity +void main() { +#pragma maplibre: initialize lowp float opacity +vec2 a_pos=a_pos_offset.xy;vec2 a_offset=a_pos_offset.zw;vec2 a_tex=vec2(a_data.xy);vec2 a_size=vec2(a_data.zw);float a_size_min=float(a_data.z >> 1u);vec2 a_pxoffset=a_pixeloffset.xy;vec2 a_minFontScale=a_pixeloffset.zw/256.0;float ele=a_height_offset+(u_height_anchor_ground ? get_elevation(a_pos) : 0.0);highp float segment_angle=-a_projected_pos[2];float size;if (!u_is_size_zoom_constant && !u_is_size_feature_constant) {size=mix(a_size_min,a_size[1],u_size_t)/128.0;} else if (u_is_size_zoom_constant && !u_is_size_feature_constant) {size=a_size_min/128.0;} else {size=u_size;}vec2 translated_a_pos=a_pos+u_translation;vec4 projectedPoint=projectTileWithElevation(translated_a_pos,ele);vec2 fade_opacity=unpack_opacity(a_fade_opacity);float fade_change=fade_opacity[1] > 0.5 ? u_symbol_fade_change :-u_symbol_fade_change;float visibility=calculate_visibility(projectedPoint);v_total_opacity=opacity*max(0.0,min(visibility,fade_opacity[0]+fade_change));if (v_total_opacity < 0.1){gl_Position=vec4(-2.,-2.,-2.,1.);return;}highp float camera_to_anchor_distance=projectedPoint.w;highp float distance_ratio=u_pitch_with_map ? +camera_to_anchor_distance/u_camera_to_center_distance : +u_camera_to_center_distance/camera_to_anchor_distance;highp float perspective_ratio=clamp(0.5+0.5*distance_ratio,0.0,4.0);if (!u_is_offset) {size*=perspective_ratio;}float fontScale=u_is_text ? size/24.0 : size;highp float symbol_rotation=0.0;if (u_rotate_symbol) {vec4 offsetProjectedPoint=projectTileWithElevation(translated_a_pos+vec2(1,0),ele);vec2 a=projectedPoint.xy/projectedPoint.w;vec2 b=offsetProjectedPoint.xy/offsetProjectedPoint.w;symbol_rotation=atan((b.y-a.y)/u_aspect_ratio,b.x-a.x);}highp float angle_sin=sin(segment_angle+symbol_rotation);highp float angle_cos=cos(segment_angle+symbol_rotation);mat2 rotation_matrix=mat2(angle_cos,-1.0*angle_sin,angle_sin,angle_cos);vec4 projected_pos;if (u_is_along_line || u_is_variable_anchor) {projected_pos=vec4(a_projected_pos.xy,ele,1.0);} else if (u_pitch_with_map) {projected_pos=u_label_plane_matrix*vec4(a_projected_pos.xy+u_translation,ele,1.0);} else {projected_pos=u_label_plane_matrix*projectTileWithElevation(a_projected_pos.xy+u_translation,ele);}float z=float(u_pitch_with_map)*projected_pos.z/projected_pos.w;float projectionScaling=1.0; +#ifdef GLOBE +if(u_pitch_with_map) {float anchor_pos_tile_y=(u_coord_matrix*vec4(projected_pos.xy/projected_pos.w,z,1.0)).y;projectionScaling=mix(projectionScaling,1.0/circumferenceRatioAtTileY(anchor_pos_tile_y)*u_pitched_scale,u_projection_transition);} +#endif +vec4 finalPos=u_coord_matrix*vec4(projected_pos.xy/projected_pos.w+rotation_matrix*(a_offset/32.0*max(a_minFontScale,fontScale)+a_pxoffset/16.0)*projectionScaling,z,1.0);if(u_pitch_with_map) {finalPos=projectTileWithElevation(finalPos.xy,finalPos.z);}gl_Position=finalPos;v_tex=a_tex/u_texsize;}`),symbolSDF:fo(`#define SDF_PX 8.0 +uniform bool u_is_halo;uniform bool u_is_plain;uniform sampler2D u_texture;uniform highp float u_gamma_scale;uniform bool u_is_text;in vec2 v_data0;in vec3 v_data1; +#pragma maplibre: define highp vec4 fill_color +#pragma maplibre: define highp vec4 halo_color +#pragma maplibre: define lowp float halo_width +#pragma maplibre: define lowp float halo_blur +void main() { +#pragma maplibre: initialize highp vec4 fill_color +#pragma maplibre: initialize highp vec4 halo_color +#pragma maplibre: initialize lowp float halo_width +#pragma maplibre: initialize lowp float halo_blur +float EDGE_GAMMA=0.105/u_device_pixel_ratio;vec2 tex=v_data0.xy;float gamma_scale=v_data1.x;float size=v_data1.y;float total_opacity=v_data1[2];float fontScale=u_is_text ? size/24.0 : size;highp float gamma=EDGE_GAMMA/(fontScale*u_gamma_scale);lowp float inner_edge=(256.0-64.0)/256.0;lowp float dist=texture(u_texture,tex).a;lowp vec4 color_alpha_out_text,color_alpha_out_halo;if (u_is_plain){highp float gamma_scaled=gamma*gamma_scale;highp float alpha=smoothstep(inner_edge-gamma_scaled,inner_edge+gamma_scaled,dist);color_alpha_out_text=total_opacity*alpha*fill_color;}if (u_is_halo) {float gamma_halo=(halo_blur*1.19/SDF_PX+EDGE_GAMMA)/(fontScale*u_gamma_scale);float inner_edge_halo=inner_edge+gamma_halo*gamma_scale;highp float gamma_scaled_halo=gamma_halo*gamma_scale;highp float alpha_halo=smoothstep(inner_edge_halo-gamma_scaled_halo,inner_edge_halo+gamma_scaled_halo,dist);highp float halo_edge=(6.0-halo_width/fontScale)/SDF_PX;alpha_halo= min(smoothstep(halo_edge-gamma_scaled_halo,halo_edge+gamma_scaled_halo,dist),1.0-alpha_halo);color_alpha_out_halo=total_opacity*alpha_halo*halo_color;}if (u_is_plain && u_is_halo) {fragColor=color_alpha_out_text+(1.-color_alpha_out_text.a)*color_alpha_out_halo;} else if (u_is_halo){fragColor=color_alpha_out_halo;} else {fragColor=color_alpha_out_text;} +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,`layout(location=0) in vec4 a_pos_offset;layout(location=1) in uvec4 a_data;layout(location=2) in vec4 a_pixeloffset;layout(location=3) in vec3 a_projected_pos;layout(location=4) in uint a_fade_opacity;layout(location=5) in float a_height_offset;uniform bool u_is_size_zoom_constant;uniform bool u_is_size_feature_constant;uniform highp float u_size_t;uniform highp float u_size;uniform mat4 u_label_plane_matrix;uniform mat4 u_coord_matrix;uniform bool u_is_text;uniform bool u_pitch_with_map;uniform bool u_is_along_line;uniform bool u_is_variable_anchor;uniform bool u_rotate_symbol;uniform vec2 u_texsize;uniform vec2 u_translation;uniform float u_pitched_scale;uniform bool u_is_offset;uniform bool u_height_anchor_ground;out vec2 v_data0;out vec3 v_data1; +#pragma maplibre: define highp vec4 fill_color +#pragma maplibre: define highp vec4 halo_color +#pragma maplibre: define lowp float opacity +#pragma maplibre: define lowp float halo_width +#pragma maplibre: define lowp float halo_blur +void main() { +#pragma maplibre: initialize highp vec4 fill_color +#pragma maplibre: initialize highp vec4 halo_color +#pragma maplibre: initialize lowp float opacity +#pragma maplibre: initialize lowp float halo_width +#pragma maplibre: initialize lowp float halo_blur +vec2 a_pos=a_pos_offset.xy;vec2 a_offset=a_pos_offset.zw;vec2 a_tex=vec2(a_data.xy);vec2 a_size=vec2(a_data.zw);float a_size_min=float(a_data.z >> 1u);vec2 a_pxoffset=a_pixeloffset.xy/16.0;vec2 a_minFontScale=a_pixeloffset.zw/256.0;float ele=a_height_offset+(u_height_anchor_ground ? get_elevation(a_pos) : 0.0);highp float segment_angle=-a_projected_pos[2];float size;if (!u_is_size_zoom_constant && !u_is_size_feature_constant) {size=mix(a_size_min,a_size[1],u_size_t)/128.0;} else if (u_is_size_zoom_constant && !u_is_size_feature_constant) {size=a_size_min/128.0;} else {size=u_size;}vec2 translated_a_pos=a_pos+u_translation;vec4 projectedPoint=projectTileWithElevation(translated_a_pos,ele);vec2 fade_opacity=unpack_opacity(a_fade_opacity);float visibility=calculate_visibility(projectedPoint);float fade_change=fade_opacity[1] > 0.5 ? u_symbol_fade_change :-u_symbol_fade_change;float interpolated_fade_opacity=max(0.0,min(visibility,fade_opacity[0]+fade_change));float total_opacity=opacity*interpolated_fade_opacity;if (total_opacity < 0.1){gl_Position=vec4(-2.,-2.,-2.,1.);return;}highp float camera_to_anchor_distance=projectedPoint.w;highp float distance_ratio=u_pitch_with_map ? +camera_to_anchor_distance/u_camera_to_center_distance : +u_camera_to_center_distance/camera_to_anchor_distance;highp float perspective_ratio=clamp(0.5+0.5*distance_ratio,0.0,4.0);if (!u_is_offset) {size*=perspective_ratio;}float fontScale=u_is_text ? size/24.0 : size;highp float symbol_rotation=0.0;if (u_rotate_symbol) {vec4 offsetProjectedPoint=projectTileWithElevation(translated_a_pos+vec2(1,0),ele);vec2 a=projectedPoint.xy/projectedPoint.w;vec2 b=offsetProjectedPoint.xy/offsetProjectedPoint.w;symbol_rotation=atan((b.y-a.y)/u_aspect_ratio,b.x-a.x);}highp float angle_sin=sin(segment_angle+symbol_rotation);highp float angle_cos=cos(segment_angle+symbol_rotation);mat2 rotation_matrix=mat2(angle_cos,-1.0*angle_sin,angle_sin,angle_cos);vec4 projected_pos;if (u_is_along_line || u_is_variable_anchor) {projected_pos=vec4(a_projected_pos.xy,ele,1.0);} else if (u_pitch_with_map) {projected_pos=u_label_plane_matrix*vec4(a_projected_pos.xy+u_translation,ele,1.0);} else {projected_pos=u_label_plane_matrix*projectTileWithElevation(a_projected_pos.xy+u_translation,ele);}float z=float(u_pitch_with_map)*projected_pos.z/projected_pos.w;float projectionScaling=1.0; +#ifdef GLOBE +if(u_pitch_with_map) {float anchor_pos_tile_y=(u_coord_matrix*vec4(projected_pos.xy/projected_pos.w,z,1.0)).y;projectionScaling=mix(projectionScaling,1.0/circumferenceRatioAtTileY(anchor_pos_tile_y)*u_pitched_scale,u_projection_transition);} +#endif +vec4 finalPos=u_coord_matrix*vec4(projected_pos.xy/projected_pos.w+rotation_matrix*(a_offset/32.0*max(a_minFontScale,fontScale)+a_pxoffset)*projectionScaling,z,1.0);if(u_pitch_with_map) {finalPos=projectTileWithElevation(finalPos.xy,finalPos.z);}float gamma_scale=finalPos.w;gl_Position=finalPos;v_data0=a_tex/u_texsize;v_data1=vec3(gamma_scale,size,total_opacity);}`),symbolTextAndIcon:fo(`#define SDF_PX 8.0 +#define SDF 1.0 +#define ICON 0.0 +uniform bool u_is_halo;uniform bool u_is_text;uniform sampler2D u_texture;uniform sampler2D u_texture_icon;uniform highp float u_gamma_scale;in vec4 v_data0;in vec3 v_data1;flat in float v_is_sdf; +#pragma maplibre: define highp vec4 fill_color +#pragma maplibre: define highp vec4 halo_color +#pragma maplibre: define lowp float halo_width +#pragma maplibre: define lowp float halo_blur +void main() { +#pragma maplibre: initialize highp vec4 fill_color +#pragma maplibre: initialize highp vec4 halo_color +#pragma maplibre: initialize lowp float halo_width +#pragma maplibre: initialize lowp float halo_blur +float total_opacity=v_data1[2];if (v_is_sdf==ICON) {vec2 tex_icon=v_data0.zw;fragColor=texture(u_texture_icon,tex_icon)*total_opacity; +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +return;}vec2 tex=v_data0.xy;float EDGE_GAMMA=0.105/u_device_pixel_ratio;float gamma_scale=v_data1.x;float size=v_data1.y;float fontScale=size/24.0;highp float gamma=EDGE_GAMMA/(fontScale*u_gamma_scale);lowp float buff=(256.0-64.0)/256.0;lowp float dist=texture(u_texture,tex).a;lowp vec4 color_alpha_out,color_alpha_out_halo;if (u_is_text) {highp float gamma_scaled=gamma*gamma_scale;highp float alpha=smoothstep(buff-gamma_scaled,buff+gamma_scaled,dist);color_alpha_out=fill_color*(alpha*total_opacity);}if (u_is_halo) {highp float gamma_halo=(halo_blur*1.19/SDF_PX+EDGE_GAMMA)/(fontScale*u_gamma_scale);lowp float buff_halo=(6.0-halo_width/fontScale)/SDF_PX;highp float gamma_scaled_halo=gamma_halo*gamma_scale;highp float alpha_halo=smoothstep(buff_halo-gamma_scaled_halo,buff_halo+gamma_scaled_halo,dist);color_alpha_out_halo=halo_color*(alpha_halo*total_opacity);}if (u_is_text && u_is_halo) {fragColor=color_alpha_out+(1.-color_alpha_out.a)*color_alpha_out_halo;} else if (u_is_halo) {fragColor=color_alpha_out_halo;} else {fragColor=color_alpha_out;} +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,`layout(location=0) in vec4 a_pos_offset;layout(location=1) in uvec4 a_data;layout(location=2) in vec3 a_projected_pos;layout(location=3) in uint a_fade_opacity;layout(location=4) in float a_height_offset;uniform bool u_is_size_zoom_constant;uniform bool u_is_size_feature_constant;uniform highp float u_size_t;uniform highp float u_size;uniform mat4 u_label_plane_matrix;uniform mat4 u_coord_matrix;uniform bool u_is_text;uniform bool u_pitch_with_map;uniform bool u_rotate_symbol;uniform vec2 u_texsize;uniform vec2 u_texsize_icon;uniform bool u_is_along_line;uniform bool u_is_variable_anchor;uniform vec2 u_translation;uniform float u_pitched_scale;uniform bool u_is_offset;uniform bool u_height_anchor_ground;out vec4 v_data0;out vec3 v_data1;flat out float v_is_sdf; +#pragma maplibre: define highp vec4 fill_color +#pragma maplibre: define highp vec4 halo_color +#pragma maplibre: define lowp float opacity +#pragma maplibre: define lowp float halo_width +#pragma maplibre: define lowp float halo_blur +void main() { +#pragma maplibre: initialize highp vec4 fill_color +#pragma maplibre: initialize highp vec4 halo_color +#pragma maplibre: initialize lowp float opacity +#pragma maplibre: initialize lowp float halo_width +#pragma maplibre: initialize lowp float halo_blur +vec2 a_pos=a_pos_offset.xy;vec2 a_offset=a_pos_offset.zw;vec2 a_tex=vec2(a_data.xy);vec2 a_size=vec2(a_data.zw);float a_size_min=float(a_data.z >> 1u);float is_sdf=float(a_data.z & 1u);float ele=a_height_offset+(u_height_anchor_ground ? get_elevation(a_pos) : 0.0);highp float segment_angle=-a_projected_pos[2];float size;if (!u_is_size_zoom_constant && !u_is_size_feature_constant) {size=mix(a_size_min,a_size[1],u_size_t)/128.0;} else if (u_is_size_zoom_constant && !u_is_size_feature_constant) {size=a_size_min/128.0;} else {size=u_size;}vec2 translated_a_pos=a_pos+u_translation;vec4 projectedPoint=projectTileWithElevation(translated_a_pos,ele);vec2 fade_opacity=unpack_opacity(a_fade_opacity);float visibility=calculate_visibility(projectedPoint);float fade_change=fade_opacity[1] > 0.5 ? u_symbol_fade_change :-u_symbol_fade_change;float interpolated_fade_opacity=max(0.0,min(visibility,fade_opacity[0]+fade_change));float total_opacity=opacity*interpolated_fade_opacity;if (total_opacity < 0.1){gl_Position=vec4(-2.,-2.,-2.,1.);return;}highp float camera_to_anchor_distance=projectedPoint.w;highp float distance_ratio=u_pitch_with_map ? +camera_to_anchor_distance/u_camera_to_center_distance : +u_camera_to_center_distance/camera_to_anchor_distance;highp float perspective_ratio=clamp(0.5+0.5*distance_ratio,0.0,4.0);if (!u_is_offset) {size*=perspective_ratio;}float fontScale=size/24.0;highp float symbol_rotation=0.0;if (u_rotate_symbol) {vec4 offsetProjectedPoint=projectTileWithElevation(translated_a_pos+vec2(1,0),ele);vec2 a=projectedPoint.xy/projectedPoint.w;vec2 b=offsetProjectedPoint.xy/offsetProjectedPoint.w;symbol_rotation=atan((b.y-a.y)/u_aspect_ratio,b.x-a.x);}highp float angle_sin=sin(segment_angle+symbol_rotation);highp float angle_cos=cos(segment_angle+symbol_rotation);mat2 rotation_matrix=mat2(angle_cos,-1.0*angle_sin,angle_sin,angle_cos);vec4 projected_pos;if (u_is_along_line || u_is_variable_anchor) {projected_pos=vec4(a_projected_pos.xy,ele,1.0);} else if (u_pitch_with_map) {projected_pos=u_label_plane_matrix*vec4(a_projected_pos.xy+u_translation,ele,1.0);} else {projected_pos=u_label_plane_matrix*projectTileWithElevation(a_projected_pos.xy+u_translation,ele);}float z=float(u_pitch_with_map)*projected_pos.z/projected_pos.w;float projectionScaling=1.0; +#ifdef GLOBE +if(u_pitch_with_map && !u_is_along_line) {float anchor_pos_tile_y=(u_coord_matrix*vec4(projected_pos.xy/projected_pos.w,z,1.0)).y;projectionScaling=mix(projectionScaling,1.0/circumferenceRatioAtTileY(anchor_pos_tile_y)*u_pitched_scale,u_projection_transition);} +#endif +vec4 finalPos=u_coord_matrix*vec4(projected_pos.xy/projected_pos.w+rotation_matrix*(a_offset/32.0*fontScale)*projectionScaling,z,1.0);if(u_pitch_with_map) {finalPos=projectTileWithElevation(finalPos.xy,finalPos.z);}float gamma_scale=finalPos.w;gl_Position=finalPos;v_data0.xy=a_tex/u_texsize;v_data0.zw=a_tex/u_texsize_icon;v_data1=vec3(gamma_scale,size,total_opacity);v_is_sdf=is_sdf;}`),terrain:fo("uniform sampler2D u_texture;uniform vec4 u_fog_color;uniform vec4 u_horizon_color;uniform float u_fog_ground_blend;uniform float u_fog_ground_blend_opacity;uniform float u_horizon_fog_blend;uniform bool u_is_globe_mode;in vec2 v_texture_pos;in float v_fog_depth;const float gamma=2.2;vec4 gammaToLinear(vec4 color) {return pow(color,vec4(gamma));}vec4 linearToGamma(vec4 color) {return pow(color,vec4(1.0/gamma));}void main() {vec4 surface_color=texture(u_texture,vec2(v_texture_pos.x,1.0-v_texture_pos.y));if (!u_is_globe_mode && u_fog_ground_blend_opacity > 0.0 && v_fog_depth > u_fog_ground_blend) {vec4 surface_color_linear=gammaToLinear(surface_color);float blend_color=smoothstep(0.0,1.0,max((v_fog_depth-u_horizon_fog_blend)/(1.0-u_horizon_fog_blend),0.0));vec4 fog_horizon_color_linear=mix(gammaToLinear(u_fog_color),gammaToLinear(u_horizon_color),blend_color);float factor_fog=max(v_fog_depth-u_fog_ground_blend,0.0)/(1.0-u_fog_ground_blend);fragColor=linearToGamma(mix(surface_color_linear,fog_horizon_color_linear,pow(factor_fog,2.0)*u_fog_ground_blend_opacity));} else {fragColor=surface_color;}}","layout(location=0) in vec3 a_pos3d;uniform mat4 u_fog_matrix;uniform float u_ele_delta;out vec2 v_texture_pos;out float v_fog_depth;void main() {float ele=get_elevation(a_pos3d.xy);float ele_delta=a_pos3d.z==1.0 ? u_ele_delta : 0.0;v_texture_pos=a_pos3d.xy/8192.0;gl_Position=projectTileFor3D(a_pos3d.xy,ele-ele_delta);vec4 pos=u_fog_matrix*vec4(a_pos3d.xy,ele,1.0);v_fog_depth=pos.z/pos.w*0.5+0.5;}"),terrainDepth:fo("in float v_depth;const highp vec4 bitSh=vec4(256.*256.*256.,256.*256.,256.,1.);const highp vec4 bitMsk=vec4(0.,vec3(1./256.0));highp vec4 pack(highp float value) {highp vec4 comp=fract(value*bitSh);comp-=comp.xxyz*bitMsk;return comp;}void main() {fragColor=pack(v_depth);}","layout(location=0) in vec3 a_pos3d;uniform float u_ele_delta;out float v_depth;void main() {float ele=get_elevation(a_pos3d.xy);float ele_delta=a_pos3d.z==1.0 ? u_ele_delta : 0.0;gl_Position=projectTileFor3D(a_pos3d.xy,ele-ele_delta);v_depth=gl_Position.z/gl_Position.w;}"),atmosphere:fo(`#ifdef GL_ES +precision highp float; +#endif +in vec3 view_direction;uniform vec3 u_sun_pos;uniform vec3 u_globe_position;uniform float u_globe_radius;uniform float u_atmosphere_blend;/**Shader use from https:*Made some change to adapt to MapLibre Globe geometry*/const float PI=3.141592653589793;const int iSteps=5;const int jSteps=3;/*radius of the planet*/const float EARTH_RADIUS=6371e3;/*radius of the atmosphere*/const float ATMOS_RADIUS=6471e3;vec2 rsi(vec3 r0,vec3 rd,float sr) {float a=dot(rd,rd);float b=2.0*dot(rd,r0);float c=dot(r0,r0)-(sr*sr);float d=(b*b)-4.0*a*c;if (d < 0.0) return vec2(1e5,-1e5);return vec2((-b-sqrt(d))/(2.0*a),(-b+sqrt(d))/(2.0*a));}vec4 atmosphere(vec3 r,vec3 r0,vec3 pSun,float iSun,float rPlanet,float rAtmos,vec3 kRlh,float kMie,float shRlh,float shMie,float g) {pSun=normalize(pSun);r=normalize(r);vec2 p=rsi(r0,r,rAtmos);if (p.x > p.y) {return vec4(0.0,0.0,0.0,1.0);}if (p.x < 0.0) {p.x=0.0;}vec3 pos=r0+r*p.x;vec2 p2=rsi(r0,r,rPlanet);if (p2.x <=p2.y && p2.x > 0.0) {p.y=min(p.y,p2.x);}float iStepSize=(p.y-p.x)/float(iSteps);float iTime=p.x+iStepSize*0.5;vec3 totalRlh=vec3(0,0,0);vec3 totalMie=vec3(0,0,0);float iOdRlh=0.0;float iOdMie=0.0;float mu=dot(r,pSun);float mumu=mu*mu;float gg=g*g;float pRlh=3.0/(16.0*PI)*(1.0+mumu);float pMie=3.0/(8.0*PI)*((1.0-gg)*(mumu+1.0))/(pow(1.0+gg-2.0*mu*g,1.5)*(2.0+gg));for (int i=0; i < iSteps; i++) {vec3 iPos=r0+r*iTime;float iHeight=length(iPos)-rPlanet;float odStepRlh=exp(-iHeight/shRlh)*iStepSize;float odStepMie=exp(-iHeight/shMie)*iStepSize;iOdRlh+=odStepRlh;iOdMie+=odStepMie;float jStepSize=rsi(iPos,pSun,rAtmos).y/float(jSteps);float jTime=jStepSize*0.5;float jOdRlh=0.0;float jOdMie=0.0;for (int j=0; j < jSteps; j++) {vec3 jPos=iPos+pSun*jTime;float jHeight=length(jPos)-rPlanet;jOdRlh+=exp(-jHeight/shRlh)*jStepSize;jOdMie+=exp(-jHeight/shMie)*jStepSize;jTime+=jStepSize;}vec3 attn=exp(-(kMie*(iOdMie+jOdMie)+kRlh*(iOdRlh+jOdRlh)));totalRlh+=odStepRlh*attn;totalMie+=odStepMie*attn;iTime+=iStepSize;}float opacity=exp(-(length(kRlh)*length(totalRlh)+kMie*length(totalMie)));vec3 color=iSun*(pRlh*kRlh*totalRlh+pMie*kMie*totalMie);return vec4(color,opacity);}void main() {vec3 scale_camera_pos=-u_globe_position*EARTH_RADIUS/u_globe_radius;vec4 color=atmosphere(normalize(view_direction),scale_camera_pos,u_sun_pos,22.0,EARTH_RADIUS,ATMOS_RADIUS,vec3(5.5e-6,13.0e-6,22.4e-6),21e-6,8e3,1.2e3,0.758 +);color.rgb=1.0-exp(-1.0*color.rgb);color=pow(color,vec4(1.0/2.2));fragColor=vec4(color.rgb,1.0-color.a)*u_atmosphere_blend;}`,"layout(location=0) in vec2 a_pos;uniform mat4 u_inv_proj_matrix;out vec3 view_direction;void main() {view_direction=(u_inv_proj_matrix*vec4(a_pos,0.0,1.0)).xyz;gl_Position=vec4(a_pos,0.0,1.0);}"),sky:fo("uniform vec4 u_sky_color;uniform vec4 u_horizon_color;uniform vec2 u_horizon;uniform vec2 u_horizon_normal;uniform float u_sky_horizon_blend;uniform float u_sky_blend;uniform vec3 u_globe_position;uniform float u_globe_radius;in vec3 v_view_direction;void main() {float x=gl_FragCoord.x;float y=gl_FragCoord.y;float blend=(y-u_horizon.y)*u_horizon_normal.y+(x-u_horizon.x)*u_horizon_normal.x;if (u_sky_blend > 0.0) {vec3 ray=normalize(v_view_direction);float globe_distance=length(u_globe_position);float angle_to_globe_center=acos(clamp(dot(ray,u_globe_position)/globe_distance,-1.0,1.0));float horizon_angle=asin(min(u_globe_radius/globe_distance,1.0));blend=mix(blend,(angle_to_globe_center-horizon_angle)*u_camera_to_center_distance*u_device_pixel_ratio,u_sky_blend);}if (blend > 0.0) {if (blend < u_sky_horizon_blend) {fragColor=mix(u_sky_color,u_horizon_color,pow(1.0-blend/u_sky_horizon_blend,2.0));} else {fragColor=u_sky_color;}}fragColor=mix(fragColor,vec4(vec3(0.0),0.0),u_sky_blend);}","layout(location=0) in vec2 a_pos;uniform mat4 u_inv_proj_matrix;out vec3 v_view_direction;void main() {v_view_direction=(u_inv_proj_matrix*vec4(a_pos,0.0,1.0)).xyz;gl_Position=vec4(a_pos,1.0,1.0);}")};kot="#define PROJECTION_MERCATOR",Cot="mercator",uae=class{constructor(){this._cachedMesh=null}get name(){return"mercator"}get useSubdivision(){return!1}get shaderVariantName(){return Cot}get shaderDefine(){return kot}get shaderPreludeCode(){return tg.projectionMercator}get vertexShaderPreludeCode(){return tg.projectionMercator.vertexSource}get subdivisionGranularity(){return VB.noSubdivision}get useGlobeControls(){return!1}get transitionState(){return 0}destroy(){}getMeshFromTileID(e,t,r,i,n){if(this._cachedMesh)return this._cachedMesh;let a=new Pm;a.emplaceBack(0,0),a.emplaceBack(zr,0),a.emplaceBack(0,zr),a.emplaceBack(zr,zr);let o=e.createVertexBuffer(a,l3.members),s=Ws.simpleSegment(0,0,4,2),l=new Mv;l.emplaceBack(1,0,2),l.emplaceBack(1,2,3);let u=e.createIndexBuffer(l);return this._cachedMesh=new M8(o,u,s),this._cachedMesh}recalculate(){}hasTransition(){return!1}},cae=class Dot{constructor(t=0,r=0,i=0,n=0){if(isNaN(t)||t<0||isNaN(r)||r<0||isNaN(i)||i<0||isNaN(n)||n<0)throw Error("Invalid value for edge-insets, top, bottom, left and right must all be numbers");this.top=t,this.bottom=r,this.left=i,this.right=n}interpolate(t,r,i){return r.top!=null&&t.top!=null&&(this.top=$s.number(t.top,r.top,i)),r.bottom!=null&&t.bottom!=null&&(this.bottom=$s.number(t.bottom,r.bottom,i)),r.left!=null&&t.left!=null&&(this.left=$s.number(t.left,r.left,i)),r.right!=null&&t.right!=null&&(this.right=$s.number(t.right,r.right,i)),this}getCenter(t,r){let i=Jn((this.left+t-this.right)/2,0,t),n=Jn((this.top+r-this.bottom)/2,0,r);return new tr(i,n)}equals(t){return this.top===t.top&&this.bottom===t.bottom&&this.left===t.left&&this.right===t.right}clone(){return new Dot(this.top,this.bottom,this.left,this.right)}toJSON(){return{top:this.top,bottom:this.bottom,left:this.left,right:this.right}}};Fae=class{constructor(e,t){var r;this.applyConstrain=(i,n)=>this._constrainOverride===null?this._callbacks.defaultConstrain(i,n):this._constrainOverride(i,n),this._callbacks=e,this._tileSize=512,this._renderWorldCopies=(t==null?void 0:t.renderWorldCopies)===void 0||!!(t!=null&&t.renderWorldCopies),this._minZoom=(t==null?void 0:t.minZoom)||0,this._maxZoom=(t==null?void 0:t.maxZoom)||22,this._minPitch=(t==null?void 0:t.minPitch)===void 0||(t==null?void 0:t.minPitch)===null?0:t==null?void 0:t.minPitch,this._maxPitch=(t==null?void 0:t.maxPitch)===void 0||(t==null?void 0:t.maxPitch)===null?60:t==null?void 0:t.maxPitch,this._constrainOverride=(r=t==null?void 0:t.constrainOverride)!=null?r:null,this.setMaxBounds(),this._width=0,this._height=0,this._center=new mn(0,0),this._elevation=0,this._zoom=0,this._tileZoom=mat(this._zoom),this._scale=If(this._zoom),this._bearingInRadians=0,this._fovInRadians=.6435011087932844,this._pitchInRadians=0,this._rollInRadians=0,this._unmodified=!0,this._edgeInsets=new cae,this._minElevationForCurrentTile=0,this._autoCalculateNearFarZ=!0}apply(e,t,r){this._constrainOverride=e.constrainOverride,this._latRange=e.latRange,this._lngRange=e.lngRange,this._width=e.width,this._height=e.height,this._center=e.center,this._elevation=e.elevation,this._minElevationForCurrentTile=e.minElevationForCurrentTile,this._zoom=e.zoom,this._tileZoom=mat(this._zoom),this._scale=If(this._zoom),this._bearingInRadians=e.bearingInRadians,this._fovInRadians=e.fovInRadians,this._pitchInRadians=e.pitchInRadians,this._rollInRadians=e.rollInRadians,this._unmodified=e.unmodified,this._edgeInsets=new cae(e.padding.top,e.padding.bottom,e.padding.left,e.padding.right),this._minZoom=e.minZoom,this._maxZoom=e.maxZoom,this._minPitch=e.minPitch,this._maxPitch=e.maxPitch,this._renderWorldCopies=e.renderWorldCopies,this._cameraToCenterDistance=e.cameraToCenterDistance,this._nearZ=e.nearZ,this._farZ=e.farZ,this._autoCalculateNearFarZ=!r&&e.autoCalculateNearFarZ,t&&this.constrainInternal(),this._calcMatrices()}get pixelsToClipSpaceMatrix(){return this._pixelsToClipSpaceMatrix}get clipSpaceToPixelsMatrix(){return this._clipSpaceToPixelsMatrix}get minElevationForCurrentTile(){return this._minElevationForCurrentTile}setMinElevationForCurrentTile(e){this._minElevationForCurrentTile=e}get tileSize(){return this._tileSize}get tileZoom(){return this._tileZoom}get scale(){return this._scale}get width(){return this._width}get height(){return this._height}get bearingInRadians(){return this._bearingInRadians}get lngRange(){return this._lngRange}get latRange(){return this._latRange}get pixelsToGLUnits(){return this._pixelsToGLUnits}get minZoom(){return this._minZoom}setMinZoom(e){if(this._minZoom===e)return;this._minZoom=e;let t=this._unmodified;this.setZoom(this.applyConstrain(this._center,this.zoom).zoom),this._unmodified=t}get maxZoom(){return this._maxZoom}setMaxZoom(e){if(this._maxZoom===e)return;this._maxZoom=e;let t=this._unmodified;this.setZoom(this.applyConstrain(this._center,this.zoom).zoom),this._unmodified=t}get minPitch(){return this._minPitch}setMinPitch(e){if(this._minPitch===e)return;this._minPitch=e;let t=this._unmodified;this.setPitch(Math.max(this.pitch,e)),this._unmodified=t}get maxPitch(){return this._maxPitch}setMaxPitch(e){if(this._maxPitch===e)return;this._maxPitch=e;let t=this._unmodified;this.setPitch(Math.min(this.pitch,e)),this._unmodified=t}get renderWorldCopies(){return this._renderWorldCopies}setRenderWorldCopies(e){e===void 0?e=!0:e===null&&(e=!1),this._renderWorldCopies=e}get constrainOverride(){return this._constrainOverride}setConstrainOverride(e){e===void 0&&(e=null),this._constrainOverride!==e&&(this._constrainOverride=e,this.constrainInternal(),this._calcMatrices())}get worldSize(){return this._tileSize*this._scale}get centerOffset(){return this.centerPoint._sub(this.size._div(2))}get size(){return new tr(this._width,this._height)}get bearing(){return this._bearingInRadians/Math.PI*180}setBearing(e){let t=B0(e,-180,180)*Math.PI/180;this._bearingInRadians!==t&&(this._unmodified=!1,this._bearingInRadians=t,this._calcMatrices(),this._rotationMatrix=Yat(),P_r(this._rotationMatrix,this._rotationMatrix,-this._bearingInRadians))}get rotationMatrix(){return this._rotationMatrix}get pitchInRadians(){return this._pitchInRadians}get pitch(){return this._pitchInRadians/Math.PI*180}setPitch(e){let t=Jn(e,this.minPitch,this.maxPitch)/180*Math.PI;this._pitchInRadians!==t&&(this._unmodified=!1,this._pitchInRadians=t,this._calcMatrices())}get rollInRadians(){return this._rollInRadians}get roll(){return this._rollInRadians/Math.PI*180}setRoll(e){let t=e/180*Math.PI;this._rollInRadians!==t&&(this._unmodified=!1,this._rollInRadians=t,this._calcMatrices())}get fovInRadians(){return this._fovInRadians}get fov(){return yv(this._fovInRadians)}setFov(e){e=Jn(e,.1,150),this.fov!==e&&(this._unmodified=!1,this._fovInRadians=js(e),this._calcMatrices())}get zoom(){return this._zoom}setZoom(e){let t=this.applyConstrain(this._center,e).zoom;this._zoom!==t&&(this._unmodified=!1,this._zoom=t,this._tileZoom=Math.max(0,Math.floor(t)),this._scale=If(t),this.constrainInternal(),this._calcMatrices())}get center(){return this._center}setCenter(e){(e.lat!==this._center.lat||e.lng!==this._center.lng)&&(this._unmodified=!1,this._center=e,this.constrainInternal(),this._calcMatrices())}get elevation(){return this._elevation}setElevation(e){e!==this._elevation&&(this._elevation=e,this.constrainInternal(),this._calcMatrices())}get padding(){return this._edgeInsets.toJSON()}setPadding(e){this._edgeInsets.equals(e)||(this._unmodified=!1,this._edgeInsets.interpolate(this._edgeInsets,e,1),this._calcMatrices())}get centerPoint(){return this._edgeInsets.getCenter(this._width,this._height)}get pixelsPerMeter(){return this._pixelPerMeter}get unmodified(){return this._unmodified}get cameraToCenterDistance(){return this._cameraToCenterDistance}get nearZ(){return this._nearZ}get farZ(){return this._farZ}get autoCalculateNearFarZ(){return this._autoCalculateNearFarZ}overrideNearFarZ(e,t){this._autoCalculateNearFarZ=!1,this._nearZ=e,this._farZ=t,this._calcMatrices()}clearNearFarZOverride(){this._autoCalculateNearFarZ=!0,this._calcMatrices()}isPaddingEqual(e){return this._edgeInsets.equals(e)}interpolatePadding(e,t,r){this._unmodified=!1,this._edgeInsets.interpolate(e,t,r),this.constrainInternal(),this._calcMatrices()}resize(e,t,r=!0){this._width=e,this._height=t,r&&this.constrainInternal(),this._calcMatrices()}getMaxBounds(){var e,t;return((e=this._latRange)==null?void 0:e.length)!==2||((t=this._lngRange)==null?void 0:t.length)!==2?null:new Ev([this._lngRange[0],this._latRange[0]],[this._lngRange[1],this._latRange[1]])}setMaxBounds(e){e?(this._lngRange=[e.getWest(),e.getEast()],this._latRange=[e.getSouth(),e.getNorth()],this.constrainInternal()):(this._lngRange=null,this._latRange=[-Tv,Tv])}getCameraQueryGeometry(e,t){if(t.length===1)return[t[0],e];{let{minX:r,minY:i,maxX:n,maxY:a}=Jd.fromPoints(t).extend(e);return[new tr(r,i),new tr(n,i),new tr(n,a),new tr(r,a),new tr(r,i)]}}constrainInternal(){if(!this.center||!this._width||!this._height||this._constraining)return;this._constraining=!0;let e=this._unmodified,{center:t,zoom:r}=this.applyConstrain(this.center,this.zoom);this.setCenter(t),this.setZoom(r),this._unmodified=e,this._constraining=!1}_calcMatrices(){if(this._pixelPerMeter=rx(1,this.center.lat)*this.worldSize,!this._width||!this._height)return;this._pixelsToGLUnits=[2/this._width,-2/this._height];let e=Qd(new Float64Array(16));Rc(e,e,[this._width/2,-this._height/2,1]),eu(e,e,[1,-1,0]),this._clipSpaceToPixelsMatrix=e,e=Qd(new Float64Array(16)),Rc(e,e,[1,-1,1]),eu(e,e,[-1,-1,0]),Rc(e,e,[2/this._width,2/this._height,1]),this._pixelsToClipSpaceMatrix=e;let t=this.fovInRadians/2;this._cameraToCenterDistance=.5/Math.tan(t)*this._height,this._callbacks.calcMatrices()}calculateCenterFromCameraLngLatAlt(e,t,r,i){let n=r===void 0?this.bearing:r,a=i=i===void 0?this.pitch:i,{distanceToCenter:o,clampedElevation:s}=this._distanceToCenterFromAltElevationPitch(t,this.elevation,a),{x:l,y:u}=jB(a,n),c=wo.fromLngLat(e,t),f=one(1,c.y),h,d,p=0;do{if(p+=1,p>10)break;d=o/f;let v=l*d,m=u*d;h=new wo(c.x+v,c.y+m),f=1/h.meterInMercatorCoordinateUnits()}while(Math.abs(o-d*f)>1e-12);return{center:h.toLngLat(),elevation:s,zoom:zc(this.height/2/Math.tan(this.fovInRadians/2)/d/this.tileSize)}}recalculateZoomAndCenter(e){if(this.elevation-e===0)return;let t=1/this.worldSize,r=rx(1,this.center.lat)*this.worldSize,i=wo.fromLngLat(this.center,this.elevation),n=i.x/t,a=i.y/t,o=i.z/t,s=this.pitch,l=this.bearing,{x:u,y:c,z:f}=jB(s,l),h=this.cameraToCenterDistance,d=n+h*-u,p=a+h*-c,v=o+h*f,{distanceToCenter:m,clampedElevation:g}=this._distanceToCenterFromAltElevationPitch(v/r,e,s),w=m*r,b=d+u*w,_=p+c*w,M=new wo(b*t,_*t,0).toLngLat(),x=rx(1,M.lat),T=zc(this.height/2/Math.tan(this.fovInRadians/2)/m/x/this.tileSize);this._elevation=g,this._center=M,this.setZoom(T)}_distanceToCenterFromAltElevationPitch(e,t,r){let i=-Math.cos(js(r)),n=e-t,a,o=t;return i*n>=0||Math.abs(i)<.1?(a=1e4,o=e+a*i):a=-n/i,{distanceToCenter:a,clampedElevation:o}}getCameraPoint(){let e=this.pitchInRadians,t=Math.tan(e)*(this.cameraToCenterDistance||1);return this.centerPoint.add(new tr(t*Math.sin(this.rollInRadians),t*Math.cos(this.rollInRadians)))}getMercatorTileCoordinates(e){if(!e)return[0,0,1,1];let t=e.canonical.z>=0?1<i}allowWorldCopies(){return!0}prepareNextFrame(){}},j3r=ol([{name:"a_pos3d",type:"Int16",components:3}]),$3r=class extends mu{constructor(e){super(),this._lastTilesetChange=Oo(),this.tileManager=e,this._tiles={},this._renderableTilesKeys=[],this._sourceTileCache={},this.minzoom=0,this.maxzoom=22,this.deltaZoom=1,this.tileSize=e._source.tileSize*2**this.deltaZoom,e.usedForTerrain=!0,e.tileSize=this.tileSize}destruct(){this.tileManager.usedForTerrain=!1,this.tileManager.tileSize=null,this.releaseAllRTT()}getSource(){return this.tileManager._source}update(e,t){this.tileManager.update(e,t),this._renderableTilesKeys=[];let r={},i=!1;for(let n of ZT(e,{tileSize:this.tileSize,minzoom:this.minzoom,maxzoom:this.maxzoom,reparseOverscaled:!1,terrain:t,calculateTileZoom:this.tileManager._source.calculateTileZoom}))r[n.key]=!0,this._renderableTilesKeys.push(n.key),this._tiles[n.key]||(n.terrainRttPosMatrix32f=new Float32Array(16),wv(n.terrainRttPosMatrix32f,0,zr,zr,0,0,1),this._tiles[n.key]=new yot(n,this.tileSize),this._lastTilesetChange=Oo(),i=!0);for(let n in this._tiles)r[n]||(this._tiles[n].releaseRTT(this.tileManager.map.painter),delete this._tiles[n],i=!0);return i}releaseRTT(e){for(let t in this._tiles){let r=this._tiles[t];(r.tileID.equals(e)||r.tileID.isChildOf(e)||e.isChildOf(r.tileID))&&r.releaseRTT(this.tileManager.map.painter)}}releaseAllRTT(){for(let e in this._tiles)this._tiles[e].releaseRTT(this.tileManager.map.painter)}getRenderableTiles(){return this._renderableTilesKeys.map(e=>this.getTileByID(e))}getTileByID(e){return this._tiles[e]}getTerrainCoords(e,t){return t?this._getTerrainCoordsForTileRanges(e,t):this._getTerrainCoordsForRegularTile(e)}_getTerrainCoordsForRegularTile(e){let t={};for(let r of this._renderableTilesKeys){let i=this._tiles[r].tileID,n=e.clone(),a=Q2();if(i.canonical.equals(e.canonical))wv(a,0,zr,zr,0,0,1);else if(i.canonical.isChildOf(e.canonical)){let o=i.canonical.z-e.canonical.z,s=i.canonical.x-(i.canonical.x>>o<>o<>o;wv(a,0,u,u,0,0,1),eu(a,a,[-s*u,-l*u,0])}else if(e.canonical.isChildOf(i.canonical)){let o=e.canonical.z-i.canonical.z,s=e.canonical.x-(e.canonical.x>>o<>o<>o;wv(a,0,zr,zr,0,0,1),eu(a,a,[s*u,l*u,0]),Rc(a,a,[1/2**o,1/2**o,0])}else continue;n.terrainRttPosMatrix32f=new Float32Array(a),t[r]=n}return t}_getTerrainCoordsForTileRanges(e,t){let r={};for(let i of this._renderableTilesKeys){let n=this._tiles[i].tileID;if(!this._isWithinTileRanges(n,t))continue;let a=e.clone(),o=Q2();if(n.canonical.z===e.canonical.z){let s=e.canonical.x-n.canonical.x+e.wrap*(1<e.canonical.z){let s=n.canonical.z-e.canonical.z,l=n.canonical.x-(n.canonical.x>>s<>s<>s),f=e.canonical.y-(n.canonical.y>>s),h=zr>>s;wv(o,0,h,h,0,0,1),eu(o,o,[-l*h+c*zr,-u*h+f*zr,0])}else{let s=e.canonical.z-n.canonical.z,l=e.canonical.x-(e.canonical.x>>s<>s<>s)-n.canonical.x,f=(e.canonical.y>>s)-n.canonical.y,h=zr<r.maxzoom&&(i=r.maxzoom),i=r.minzoom&&!(n!=null&&n.dem);)n=this.findTileInCaches(e.scaledTo(i--).key);return n}findTileInCaches(e){let t=this.tileManager.getTileByID(e);return t||(t=this.tileManager._outOfViewCache.getByKey(e),t)}anyTilesAfterTime(e=Oo()){return this._lastTilesetChange>=e}_isWithinTileRanges(e,t){let r=t[e.canonical.z];return!!r&&(e.wrap>r.minWrap||e.wrap=r.minTileXWrapped&&e.canonical.x<=r.maxTileXWrapped&&e.canonical.y>=r.minTileY&&e.canonical.y<=r.maxTileY)}},yat=zr*(1-1e-12),W3r=class{constructor(e,t,r,i="auto"){this._meshCache={},this.painter=e,this.tileManager=new $3r(t),this.options=r,this.exaggeration=typeof r.exaggeration=="number"?r.exaggeration:1,this._terrainSkirtLength=i,this.qualityFactor=2,this.meshSize=128,this._demMatrixCache=new Map,this._elevationSamplerCache=new Map}destroy(){this._fbo&&(this._fbo=(this._fbo.destroy(),null)),this._fboDepthTexture&&(this._fboDepthTexture=(this._fboDepthTexture.destroy(),null)),this._emptyDemTexture&&(this._emptyDemTexture=(this._emptyDemTexture.destroy(),null)),this._emptyDepthTexture&&(this._emptyDepthTexture=(this._emptyDepthTexture.destroy(),null));for(let e in this._meshCache)this._meshCache[e].destroy();this._meshCache={},this.tileManager.destruct()}getDEMElevation(e,t,r,i=zr){let n=e.normalizeCoordinates(t,r,i);if(!n)return 0;let a=this.getElevationSampler(n.tileID);return a?a(n.x,n.y,i):0}getElevationForLngLatZoom(e,t){if(!gne(t,e.wrap()))return 0;let{tileID:r,mercatorX:i,mercatorY:n}=this._getOverscaledTileIDFromLngLatZoom(e,t);return this.getElevation(r,i%zr,n%zr,zr)}getElevationForLngLat(e,t){let r=this.getCoverageIndex();if(r){let a=wo.fromLngLat(e),o=Lae(r,this.exaggeration,a.x,a.y);if(o.demLoaded)return o.elevation}let i=ZT(t,{maxzoom:this.tileManager.maxzoom,minzoom:this.tileManager.minzoom,tileSize:512,terrain:this}),n=0;for(let a of i)a.canonical.z>n&&(n=Math.min(a.canonical.z,this.tileManager.maxzoom));return this.getElevationForLngLatZoom(e,n)}getElevation(e,t,r,i=zr){return this.getDEMElevation(e,t,r,i)*this.exaggeration}resetElevationCache(){this._elevationSamplerCache.clear(),this._coverageIndex=void 0}getCoverageIndex(){return this._coverageIndex===void 0&&(this._coverageIndex=this._buildCoverageIndex()),this._coverageIndex}_buildCoverageIndex(){let e=[],t=new Map,r=0,i=0;for(let n of this.tileManager.getRenderableTiles()){if(!n)continue;let{canonical:a,wrap:o}=n.tileID;e.includes(a.z)||e.push(a.z);let s=this.getElevationSampler(n.tileID);t.set(`${o}/${a.z}/${a.x}/${a.y}`,s);let{minElevation:l,maxElevation:u}=this.getMinMaxElevation(n.tileID);r=Math.min(r,l!=null?l:0),i=Math.max(i,u!=null?u:0)}return t.size===0?null:(e.sort((n,a)=>a-n),{zooms:e,samplerPerTile:t,minElevation:r-10,maxElevation:i+10})}getElevationSampler(e){let t=e.key,r=this._elevationSamplerCache.get(t);if(r)return r;let i=this.tileManager.getSourceTile(e,!0),n=i==null?void 0:i.dem;if(!i||!n)return null;let a=this._getDEMTileMatrix(e,i),o=a[0]*n.dim,s=a[5]*n.dim,l=a[12]*n.dim,u=a[13]*n.dim,c=(f,h,d)=>{let p=d===8192?1:zr/d;return n.sampleBilinear(f*p*o+l,h*p*s+u)};return this._elevationSamplerCache.set(t,c),c}_getDEMTileMatrix(e,t){let r=`${t.tileID.key}/${e.key}`,i=this._demMatrixCache.get(r);if(i)return i;let n=this.tileManager.getSource().maxzoom,a=e.canonical.z-t.tileID.canonical.z;e.overscaledZ>e.canonical.z&&(e.canonical.z>=n?a=e.canonical.z-n:Ma("cannot calculate elevation if elevation maxzoom > source.maxzoom"));let o=e.canonical.x-(e.canonical.x>>a<>a<0,r=t&&e.canonical.y===0,i=t&&e.canonical.y===(1<{i=Jn(+i,this.minZoom,this.maxZoom);let n={center:new mn(r.lng,r.lat),zoom:i},a=this._helper._lngRange;!this._helper._renderWorldCopies&&a===null&&(a=[-179.9999999999,180-1e-10]);let o=this.tileSize*If(n.zoom),s=0,l=o,u=0,c=o,f=0,h=0,{x:d,y:p}=this.size;if(this._helper._latRange){let _=this._helper._latRange;s=t3(_[1])*o,l=t3(_[0])*o,l-sl&&(w=l-_)}if(a){let _=(u+c)/2,M=v;this._helper._renderWorldCopies&&(M=B0(v,_-o/2,_+o/2));let x=d/2;M-xc&&(g=c-x)}if(g!==void 0||w!==void 0){let _=new tr(g!=null?g:v,w!=null?w:m);n.center=NT(o,_).wrap()}return n},this.applyConstrain=(r,i)=>this._helper.applyConstrain(r,i),this._helper=new Fae({calcMatrices:()=>this._calcMatrices(),defaultConstrain:(r,i)=>this.defaultConstrain(r,i)},t),this._coveringTilesDetailsProvider=new H3r}clone(){let t=new Pot;return t.apply(this,!1),t}apply(t,r,i){this._helper.apply(t,r,i)}get cameraPosition(){return this._cameraPosition}get projectionMatrix(){return this._projectionMatrix}get modelViewProjectionMatrix(){return this._viewProjMatrix}get inverseProjectionMatrix(){return this._invProjMatrix}get mercatorMatrix(){return this._mercatorMatrix}getVisibleUnwrappedCoordinates(t){let r=[new u8(0,t)];if(this._helper._renderWorldCopies){let i=this.screenPointToMercatorCoordinate(new tr(0,0)),n=this.screenPointToMercatorCoordinate(new tr(this._helper._width,0)),a=this.screenPointToMercatorCoordinate(new tr(this._helper._width,this._helper._height)),o=this.screenPointToMercatorCoordinate(new tr(0,this._helper._height)),s=Math.floor(Math.min(i.x,n.x,a.x,o.x)),l=Math.floor(Math.max(i.x,n.x,a.x,o.x));for(let u=s-1;u<=l+1;u++)u!==0&&r.push(new u8(u,t))}return r}getCameraFrustum(){return Mae.fromInvProjectionMatrix(this._invViewProjMatrix,this.worldSize)}getClippingPlane(){return null}getCoveringTilesDetailsProvider(){return this._coveringTilesDetailsProvider}recalculateZoomAndCenter(t){let r=this.screenPointToLocation(this.centerPoint,t),i=t?t.getElevationForLngLat(r,this):0;this._helper.recalculateZoomAndCenter(i)}setLocationAtPoint(t,r,i=this.elevation){let n=i-this.elevation,a=this.screenPointToMercatorCoordinateAtZ(r,n),o=this.screenPointToMercatorCoordinateAtZ(this.centerPoint,0),s=wo.fromLngLat(t),l=new wo(s.x-(a.x-o.x),s.y-(a.y-o.y));this.setCenter(l==null?void 0:l.toLngLat()),this._helper._renderWorldCopies&&this.setCenter(this.center.wrap())}locationToScreenPoint(t,r){return r?this.coordinatePoint(wo.fromLngLat(t),r.getElevationForLngLat(t,this),this._pixelMatrix3D):this.coordinatePoint(wo.fromLngLat(t))}screenPointToLocation(t,r){var i;return(i=this.screenPointToMercatorCoordinate(t,r))==null?void 0:i.toLngLat()}screenPointToLocationAtElevation(t,r){var i;return(i=this.screenPointToMercatorCoordinateAtZ(t,r-this.elevation))==null?void 0:i.toLngLat()}screenPointToMercatorCoordinate(t,r){if(r){let i=this.screenTerrainPointToMercatorCoordinate(t,r);if(i!=null)return i}return this.screenPointToMercatorCoordinateAtZ(t)}screenTerrainPointToMercatorCoordinate(t,r){let i=r.getCoverageIndex();if(!i)return null;let{near:n,far:a}=this.getRaySegmentFromPixel(t),o=this.worldSize,s=a[0]-n[0],l=a[1]-n[1],u=a[2]-n[2],c={index:i,exaggeration:r.exaggeration,near:n,dx:s,dy:l,dz:u,worldSize:o},f=0,h=1;if(u===0){if(n[2]>i.maxElevation||n[2]h)return null}let d=Math.hypot(s,l),p=Jn(Math.ceil(d*(h-f)/4),1,512),v=0,m=!aq(c,0);for(let g=0;g<=p;g++){let w=f+(h-f)*g/p;if(!m)m=!aq(c,w);else if(aq(c,w)){let{lo:b,hi:_}=Lot(c,aq,v,w,.001/d),M=yq(c,b),x=yq(c,_),T=n[2]+b*u-M.elevation,A=n[2]+_*u-x.elevation,y=M.covered&&T>A?Jn(b+T*(_-b)/(T-A),b,_):_;return new wo((n[0]+y*s)/o,(n[1]+y*l)/o,yq(c,y).elevation)}v=w}return null}getRaySegmentFromPixel(t){let r=[t.x,t.y,0,1],i=[t.x,t.y,1,1];Uu(r,r,this._pixelMatrixInverse),Uu(i,i,this._pixelMatrixInverse);let n=r[3],a=i[3],o=this.elevation;return{near:[r[0]/n,r[1]/n,r[2]/n+o],far:[i[0]/a,i[1]/a,i[2]/a+o]}}screenPointToMercatorCoordinateAtZ(t,r){let i=r||0,{near:n,far:a}=this.getRaySegmentFromPixel(t),o=n[2]===a[2]?0:(i+this.elevation-n[2])/(a[2]-n[2]);return new wo($s.number(n[0],a[0],o)/this.worldSize,$s.number(n[1],a[1],o)/this.worldSize,i)}coordinatePoint(t,r=0,i=this._pixelMatrix){let n=[t.x*this.worldSize,t.y*this.worldSize,r,1];return Uu(n,n,i),new tr(n[0]/n[3],n[1]/n[3])}getBounds(){let t=Math.max(0,this._helper._height/2-UT(this));return new Ev().extend(this.screenPointToLocation(new tr(0,t))).extend(this.screenPointToLocation(new tr(this._helper._width,t))).extend(this.screenPointToLocation(new tr(this._helper._width,this._helper._height))).extend(this.screenPointToLocation(new tr(0,this._helper._height)))}isPointOnMapSurface(t,r){return r?this.screenTerrainPointToMercatorCoordinate(t,r)!=null:t.y>this.height/2-UT(this)}calculatePosMatrix(t,r=!1,i=!1){var l;let n=(l=t.key)!=null?l:Vb(t.wrap,t.canonical.z,t.canonical.z,t.canonical.x,t.canonical.y),a=r?this._alignedPosMatrixCache:this._posMatrixCache;if(a.has(n)){let u=a.get(n);return i?u.f32:u.f64}let o=HB(t,this.worldSize);Yb(o,r?this._alignedProjMatrix:this._viewProjMatrix,o);let s={f64:o,f32:new Float32Array(o)};return a.set(n,s),i?s.f32:s.f64}calculateFogMatrix(t){let r=t.key,i=this._fogMatrixCacheF32;if(i.has(r))return i.get(r);let n=HB(t,this.worldSize);return Yb(n,this._fogMatrix,n),i.set(r,new Float32Array(n)),i.get(r)}calculateCenterFromCameraLngLatAlt(t,r,i,n){return this._helper.calculateCenterFromCameraLngLatAlt(t,r,i,n)}calculateCameraOptionsFromTo(t,r,i,n){let a=wo.fromLngLat(t,r),o=wo.fromLngLat(i,n),s=o.x-a.x,l=o.y-a.y,u=o.z-a.z,c=Math.hypot(s,l,u);if(c===0)throw Error("Can't calculate camera options with same From and To");let f=Math.hypot(s,l),h=zc(this.cameraToCenterDistance/c/this.tileSize),d=yv(Math.atan2(s,-l)),p=yv(Math.acos(f/c));return p=u<0?90-p:90+p,{center:o.toLngLat(),elevation:n,zoom:h,pitch:p,bearing:d}}_calculateNearFarZIfNeeded(t,r,i){if(!this._helper.autoCalculateNearFarZ)return;let n=Math.min(this.elevation,this.minElevationForCurrentTile,this.getCameraAltitude()-100),a=t-n*this._helper._pixelPerMeter/Math.cos(r),o=n<0?a:t,s=Math.PI/2+this.pitchInRadians,l=js(this.fov)*(Math.abs(Math.cos(js(this.roll)))*this.height+Math.abs(Math.sin(js(this.roll)))*this.width)/this.height*(.5+i.y/this.height),u=Math.sin(l)*o/Math.sin(Jn(Math.PI-s-l,.01,Math.PI-.01)),c=UT(this),f=Math.atan(c/this._helper.cameraToCenterDistance),h=js(90-ix),d=f>h?2*f*(.5+i.y/(c*2)):h,p=Math.sin(d)*o/Math.sin(Jn(Math.PI-s-d,.01,Math.PI-.01)),v=Math.min(u,p);this._helper._farZ=(Math.cos(Math.PI/2-r)*v+o)*1.01,this._helper._nearZ=this._helper._height/50}_calcMatrices(){let t=this.centerOffset,r=Sv(this.worldSize,this.center),i=r.x,n=r.y,a=js(Math.min(this.pitch,ix)),o=Math.max(this._helper.cameraToCenterDistance/2,this._helper.cameraToCenterDistance+this._helper._elevation*this._helper._pixelPerMeter/Math.cos(a));this._calculateNearFarZIfNeeded(o,a,t);let s;s=new Float64Array(16),oB(s,this.fovInRadians,this._helper._width/this._helper._height,this._helper._nearZ,this._helper._farZ),this._invProjMatrix=new Float64Array(16),h3r(this._invProjMatrix,s),s[8]=-t.x*2/this._helper._width,s[9]=t.y*2/this._helper._height,this._projectionMatrix=aB(s),Rc(s,s,[1,-1,1]),eu(s,s,[0,0,-this._helper.cameraToCenterDistance]),km(s,s,-this.rollInRadians),Xb(s,s,this.pitchInRadians),km(s,s,-this.bearingInRadians),eu(s,s,[-i,-n,0]),this._mercatorMatrix=Rc([],s,[this.worldSize,this.worldSize,this.worldSize]),Rc(s,s,[1,1,this._helper._pixelPerMeter]),this._pixelMatrix=Yb(new Float64Array(16),this.clipSpaceToPixelsMatrix,s),eu(s,s,[0,0,-this.elevation]),this._viewProjMatrix=s,this._invViewProjMatrix=Bk([],s);let l=[0,0,-1,1];Uu(l,l,this._invViewProjMatrix),this._cameraPosition=[l[0]/l[3],l[1]/l[3],l[2]/l[3]],this._fogMatrix=new Float64Array(16),oB(this._fogMatrix,this.fovInRadians,this.width/this.height,o,this._helper._farZ),this._fogMatrix[8]=-t.x*2/this.width,this._fogMatrix[9]=t.y*2/this.height,Rc(this._fogMatrix,this._fogMatrix,[1,-1,1]),eu(this._fogMatrix,this._fogMatrix,[0,0,-this.cameraToCenterDistance]),km(this._fogMatrix,this._fogMatrix,-this.rollInRadians),Xb(this._fogMatrix,this._fogMatrix,this.pitchInRadians),km(this._fogMatrix,this._fogMatrix,-this.bearingInRadians),eu(this._fogMatrix,this._fogMatrix,[-i,-n,0]),Rc(this._fogMatrix,this._fogMatrix,[1,1,this._helper._pixelPerMeter]),eu(this._fogMatrix,this._fogMatrix,[0,0,-this.elevation]),this._pixelMatrix3D=Yb(new Float64Array(16),this.clipSpaceToPixelsMatrix,s);let u=this._helper._width%2/2,c=this._helper._height%2/2,f=Math.cos(this.bearingInRadians),h=Math.sin(-this.bearingInRadians),d=i-Math.round(i)+f*u+h*c,p=n-Math.round(n)+f*c+h*u,v=new Float64Array(s);if(eu(v,v,[d>.5?d-1:d,p>.5?p-1:p,0]),this._alignedProjMatrix=v,s=Bk(new Float64Array(16),this._pixelMatrix),!s)throw Error("failed to invert matrix");this._pixelMatrixInverse=s,this._clearMatrixCaches()}_clearMatrixCaches(){this._posMatrixCache.clear(),this._alignedPosMatrixCache.clear(),this._fogMatrixCacheF32.clear()}maxPitchScaleFactor(){if(!this._pixelMatrixInverse)return 1;let t=this.screenPointToMercatorCoordinate(new tr(0,0)),r=[t.x*this.worldSize,t.y*this.worldSize,0,1];return Uu(r,r,this._pixelMatrix)[3]/this._helper.cameraToCenterDistance}getCameraPoint(){return this._helper.getCameraPoint()}getCameraAltitude(){return Math.cos(this.pitchInRadians)*this.cameraToCenterDistance/this.pixelsPerMeter+this.elevation}getCameraLngLat(){let t=rx(1,this.center.lat)*this.worldSize,r=this._helper.cameraToCenterDistance/t;return lne(this.center,this.elevation,this.pitch,this.bearing,r).toLngLat()}lngLatToCameraDepth(t,r){let i=wo.fromLngLat(t),n=[i.x*this.worldSize,i.y*this.worldSize,r,1];return Uu(n,n,this._viewProjMatrix),n[2]/n[3]}getProjectionData(t){let{overscaledTileID:r,aligned:i,applyTerrainMatrix:n}=t,a=this._helper.getMercatorTileCoordinates(r),o=r?this.calculatePosMatrix(r,i,!0):null,s;return s=r!=null&&r.terrainRttPosMatrix32f&&n?r.terrainRttPosMatrix32f:o||xie(),{mainMatrix:s,tileMercatorCoords:a,clippingPlane:[0,0,0,0],projectionTransition:0,fallbackMatrix:s,clipAntimeridian:!1}}isLocationOccluded(t){return!1}getPixelScale(){return 1}getCircleRadiusCorrection(){return 1}getPitchedTextCorrection(t,r,i){return 1}transformLightDirection(t){return sB(t)}getRayDirectionFromPixel(t){throw Error("Not implemented.")}projectTileCoordinates(t,r,i,n){let a=this.calculatePosMatrix(i),o;n==null?(o=[t,r,0,1],Dae(o,o,a)):(o=[t,r,n,1],Uu(o,o,a));let s=o[3];return{point:new tr(o[0]/s,o[1]/s),signedDistanceFromCamera:s,isOccluded:!1}}populateCache(t){for(let r of t)this.calculatePosMatrix(r)}getProjectionDataForCustomLayer(t=!0){let r=new Bc(0,0,0,0,0),i=this.getProjectionData({overscaledTileID:r,applyGlobeMatrix:t}),n=HB(r,this.worldSize);Yb(n,this._viewProjMatrix,n);let a=[zr,zr,this.worldSize/this._helper.pixelsPerMeter],o=Q2();return Rc(o,n,a),ma(fn({},i),{tileMercatorCoords:[0,0,1,1],fallbackMatrix:o,mainMatrix:o})}getFastPathSimpleProjectionMatrix(t){return this.calculatePosMatrix(t)}};Aq=class{get useGlobeControls(){return!1}handlePanInertia(e,t){let r=e.mag(),i=Math.abs(UT(t));return{easingOffset:e.mult(Math.min(i*.75/r,1)),easingCenter:t.center}}handleMapControlsRollPitchBearingZoom(e,t){e.bearingDelta&&t.setBearing(t.bearing+e.bearingDelta),e.pitchDelta&&t.setPitch(t.pitch+e.pitchDelta),e.rollDelta&&t.setRoll(t.roll+e.rollDelta),e.zoomDelta&&t.setZoom(t.zoom+e.zoomDelta)}handleMapControlsPan(e,t,r){e.around.distSqr(t.centerPoint)<.01||t.setLocationAtPoint(r,e.around,e.aroundElevation)}cameraForBoxAndBearing(e,t,r,i,n){return zot(e,t,r,i,n)}handleJumpToCenterZoom(e,t){let r=t.zoom===void 0?e.zoom:+t.zoom;e.zoom!==r&&e.setZoom(+t.zoom),t.center!==void 0&&e.setCenter(mn.convert(t.center))}handleEaseTo(e,t){let r=e.zoom,i=e.padding,n={roll:e.roll,pitch:e.pitch,bearing:e.bearing},a={roll:t.roll===void 0?e.roll:t.roll,pitch:t.pitch===void 0?e.pitch:t.pitch,bearing:t.bearing===void 0?e.bearing:t.bearing},o=t.zoom!==void 0,s=!e.isPaddingEqual(t.padding),l=!1,u=o?+t.zoom:e.zoom,c=e.centerPoint.add(t.offsetAsPoint),f=e.screenPointToLocation(c),{center:h,zoom:d}=e.applyConstrain(mn.convert(t.center||f),u!=null?u:r);wq(e,h);let p=Sv(e.worldSize,f),v=Sv(e.worldSize,h).sub(p),m=If(d-r);return l=d!==r,{easeFunc:g=>{if(l&&e.setZoom($s.number(r,d,g)),wie(n,a)||Rot({startEulerAngles:n,endEulerAngles:a,tr:e,k:g,useSlerp:n.roll!=a.roll}),s&&(e.interpolatePadding(i,t.padding,g),c=e.centerPoint.add(t.offsetAsPoint)),t.around)e.setLocationAtPoint(t.around,t.aroundPoint);else{let w=If(e.zoom-r),b=(d>r?Math.min(2,m):Math.max(.5,m))**(1-g),_=NT(e.worldSize,p.add(v.mult(g*b)).mult(w));e.setLocationAtPoint(e.renderWorldCopies?_.wrap():_,c)}},isZooming:l,elevationCenter:h}}handleFlyTo(e,t){let r=t.zoom!==void 0,i=e.zoom,n=e.applyConstrain(mn.convert(t.center||t.locationAtOffset),r?+t.zoom:i),a=n.center,o=n.zoom;wq(e,a);let s=e.worldSize,l=Sv(s,t.locationAtOffset),u=Sv(s,a).sub(l),c=u.mag(),f=If(o-i),h=t.minZoom===void 0?e.minZoom:+t.minZoom,d=Math.max(h,e.minZoom),p=Math.min(d,i,o),v=e.applyConstrain(a,p).zoom;return{easeFunc:(m,g,w,b)=>{e.setZoom(m===1?o:i+zc(g));let _=m===1?a:NT(s,l.add(u.mult(w)));e.setLocationAtPoint(e.renderWorldCopies?_.wrap():_,b)},scaleOfZoom:f,targetCenter:a,scaleOfMinZoom:If(v-i),pixelPathLength:c}}},X3r=()=>Y3r||(Y3r=new uc({type:new Fi(_r.projection.type,"type")})),qne=new VB({fill:new W1(128,2),line:new W1(512,0),tile:new W1(128,32),stencil:new W1(128,1),circle:3}),Bot=class{constructor(){this._tileMeshCache={}}get name(){return"vertical-perspective"}get transitionState(){return 1}get useSubdivision(){return!0}get shaderVariantName(){return"globe"}get shaderDefine(){return"#define GLOBE"}get shaderPreludeCode(){return tg.projectionGlobe}get vertexShaderPreludeCode(){return tg.projectionMercator.vertexSource}get subdivisionGranularity(){return qne}get useGlobeControls(){return!0}destroy(){}_getMeshKey(e){return`${e.granularity.toString(36)}_${e.generateBorders?"b":""}${e.extendToNorthPole?"n":""}${e.extendToSouthPole?"s":""}`}getMeshFromTileID(e,t,r,i,n){let a=(n==="stencil"?qne.stencil:qne.tile).getGranularityForZoomLevel(t.z),o=t.y===0&&i,s=t.y===(1<0}get currentProjection(){return this.useGlobeRendering?this._verticalPerspectiveProjection:this._mercatorProjection}get name(){return"globe"}get useSubdivision(){return this.currentProjection.useSubdivision}get shaderVariantName(){return this.currentProjection.shaderVariantName}get shaderDefine(){return this.currentProjection.shaderDefine}get shaderPreludeCode(){return this.currentProjection.shaderPreludeCode}get vertexShaderPreludeCode(){return this.currentProjection.vertexShaderPreludeCode}get subdivisionGranularity(){return this.currentProjection.subdivisionGranularity}get useGlobeControls(){return this.transitionState>0}destroy(){this._mercatorProjection.destroy(),this._verticalPerspectiveProjection.destroy()}getMeshFromTileID(e,t,r,i,n){return this.currentProjection.getMeshFromTileID(e,t,r,i,n)}setProjection(e){this._transitionable.setValue("type",(e==null?void 0:e.type)||"mercator")}updateTransitions(e){this._transitioning=this._transitionable.transitioned(e,this._transitioning)}hasTransition(){return this._transitioning.hasTransition()||this.currentProjection.hasTransition()}recalculate(e){this.properties=this._transitioning.possiblyEvaluate(e)}};One=Math.PI*.98;swr=class{constructor(e){this._cachePrevious=new Map,this._cache=new Map,this._hadAnyChanges=!1,this._boundingVolumeFactory=e}swapBuffers(){if(!this._hadAnyChanges)return;let e=this._cachePrevious;this._cachePrevious=this._cache,this._cache=e,this._cache.clear(),this._hadAnyChanges=!1}getTileBoundingVolume(e,t,r,i){let n=`${e.z}_${e.x}_${e.y}_${i!=null&&i.terrain?"t":""}_${Math.round(r)}`,a=this._cache.get(n);if(a)return a;let o=this._cachePrevious.get(n);if(o)return this._cache.set(n,o),o;let s=this._boundingVolumeFactory(e,t,r,i);return this._cache.set(n,s),this._hadAnyChanges=!0,s}},Une=class fae{constructor(t,r,i,n){this.min=i,this.max=n,this.points=t,this.planes=r}static fromAabb(t,r){let i=[];for(let n=0;n<8;n++)i.push([(n>>0&1)==1?r[0]:t[0],(n>>1&1)==1?r[1]:t[1],(n>>2&1)==1?r[2]:t[2]]);return new fae(i,[[-1,0,0,r[0]],[1,0,0,-t[0]],[0,-1,0,r[1]],[0,1,0,-t[1]],[0,0,-1,r[2]],[0,0,1,-t[2]]],t,r)}static fromCenterSizeAngles(t,r,i){let n=cB([],i[0],i[1],i[2]),a=lB([],[r[0],0,0],n),o=lB([],[0,r[1],0],n),s=lB([],[0,0,r[2]],n),l=[...t],u=[...t];for(let f=0;f<8;f++)for(let h=0;h<3;h++){let d=t[h]+a[h]*((f>>0&1)==1?1:-1)+o[h]*((f>>1&1)==1?1:-1)+s[h]*((f>>2&1)==1?1:-1);l[h]=Math.min(l[h],d),u[h]=Math.max(u[h],d)}let c=[];for(let f=0;f<8;f++){let h=[...t];R0(h,h,Ps([],a,(f>>0&1)==1?1:-1)),R0(h,h,Ps([],o,(f>>1&1)==1?1:-1)),R0(h,h,Ps([],s,(f>>2&1)==1?1:-1)),c.push(h)}return new fae(c,[[...a,-gu(a,c[0])],[...o,-gu(o,c[0])],[...s,-gu(s,c[0])],[-a[0],-a[1],-a[2],-gu(a,c[7])],[-o[0],-o[1],-o[2],-gu(o,c[7])],[-s[0],-s[1],-s[2],-gu(s,c[7])]],l,u)}intersectsFrustum(t){let r=!0,i=this.points.length,n=this.planes.length,a=t.planes.length,o=t.points.length;for(let s=0;s=0&&u++}if(u===0)return 0;u=0&&u++}if(u===0)return 0}return 1}intersectsPlane(t){let r=this.points.length,i=0;for(let n=0;n=0&&i++}return i===r?2:i===0?0:1}};lwr=class{constructor(){this._boundingVolumeCache=new swr(this._computeTileBoundingVolume)}prepareNextFrame(){this._boundingVolumeCache.swapBuffers()}distanceToTile2d(e,t,r,i){let n=1<4}allowWorldCopies(){return!1}getTileBoundingVolume(e,t,r,i){return this._boundingVolumeCache.getTileBoundingVolume(e,t,r,i)}_computeTileBoundingVolume(e,t,r,i){var o,s;let n=Math.min(0,r),a=Math.max(0,r);if(i!=null&&i.terrain){let l=new Bc(e.z,t,e.z,e.x,e.y),u=i.terrain.getMinMaxElevation(l);n=(o=u.minElevation)!=null?o:n,a=Math.max((s=u.maxElevation)!=null?s:a,a)}if(n/=zf,a/=zf,n+=1,a+=1,e.z<=0)return Une.fromAabb([-a,-a,-a],[a,a,a]);if(e.z===1)return Une.fromAabb([e.x===0?-a:0,e.y===0?0:-a,-a],[e.x===0?0:a,e.y===0?a:0,a]);{let l=[nx(0,0,e.x,e.y,e.z),nx(zr,0,e.x,e.y,e.z),nx(zr,zr,e.x,e.y,e.z),nx(0,zr,e.x,e.y,e.z)],u=[];for(let E of l)u.push(Ps([],E,a));if(a!==n)for(let E of l)u.push(Ps([],E,n));e.y===0&&u.push([0,1,0]),e.y===(1<=(1<{let n=Jn(r.lat,-Tv,Tv),a=Jn(+i,this.minZoom+qc(0,n),this.maxZoom);return{center:new mn(r.lng,n),zoom:a}},this.applyConstrain=(r,i)=>this._helper.applyConstrain(r,i),this._helper=new Fae({calcMatrices:()=>this._calcMatrices(),defaultConstrain:(r,i)=>this.defaultConstrain(r,i)},t),this._coveringTilesDetailsProvider=new lwr}clone(){let t=new Uot;return t.apply(this,!1),t}apply(t,r){this._helper.apply(t,r)}get projectionMatrix(){return this._projectionMatrix}get modelViewProjectionMatrix(){return this._globeViewProjMatrixF64}get inverseProjectionMatrix(){return this._globeProjMatrixInverted}get cameraPosition(){let t=Do();return t[0]=this._cameraPosition[0],t[1]=this._cameraPosition[1],t[2]=this._cameraPosition[2],t}get cameraToCenterDistance(){return this._helper.cameraToCenterDistance}getProjectionData(t){let{overscaledTileID:r,applyGlobeMatrix:i}=t,n=this._helper.getMercatorTileCoordinates(r);return{mainMatrix:this._globeViewProjMatrix32f,tileMercatorCoords:n,clippingPlane:this._cachedClippingPlane,projectionTransition:+!!i,fallbackMatrix:this._globeViewProjMatrix32f,clipAntimeridian:(r==null?void 0:r.canonical.z)===0}}_computeClippingPlane(t){let r=this.pitchInRadians,i=this.cameraToCenterDistance/t,n=Math.sin(r)*i,a=Math.cos(r)*i+1,o=1/Math.sqrt(n*n+a*a)*1,s=-n,l=a,u=Math.sqrt(s*s+l*l);s/=u,l/=u;let c=[0,s,l];uB(c,c,[0,0,0],-this.bearingInRadians),PT(c,c,[0,0,0],-1*this.center.lat*Math.PI/180),Zb(c,c,[0,0,0],this.center.lng*Math.PI/180);let f=1/K1(c);return Ps(c,c,f),[...c,-o*f]}isLocationOccluded(t){return!this.isSurfacePointVisible(Vu(t))}transformLightDirection(t){let r=this._helper._center.lng*Math.PI/180,i=this._helper._center.lat*Math.PI/180,n=Math.cos(i),a=[Math.sin(r)*n,Math.sin(i),Math.cos(r)*n],o=[a[2],0,-a[0]],s=[0,0,0];uh(s,o,a),Pf(o,o),Pf(s,s);let l=[o[0]*t[0]+s[0]*t[1]+a[0]*t[2],o[1]*t[0]+s[1]*t[1]+a[1]*t[2],o[2]*t[0]+s[2]*t[1]+a[2]*t[2]],u=[0,0,0];return Pf(u,l),u}getPixelScale(){return 1/Math.cos(this._helper._center.lat*Math.PI/180)}getCircleRadiusCorrection(){return Math.cos(this._helper._center.lat*Math.PI/180)}getPitchedTextCorrection(t,r,i){let n=sne(t,r,i.canonical),a=K3r(n.x,n.y);return this.getCircleRadiusCorrection()/Math.cos(a[1])}projectTileCoordinates(t,r,i,n){let a=i.canonical,o=nx(t,r,a.x,a.y,a.z),s=1+(n!=null?n:0)/zf,l=o[0]*s,u=o[1]*s,c=o[2]*s,f=[l,u,c,1];Uu(f,f,this._globeViewProjMatrixF64);let h;if(s<=1){let d=this._cachedClippingPlane;h=d[0]*o[0]+d[1]*o[1]+d[2]*o[2]+d[3]<0}else h=this._isLineOfSightBlocked(l,u,c);return{point:new tr(f[0]/f[3],f[1]/f[3]),signedDistanceFromCamera:f[3],isOccluded:h}}_isLineOfSightBlocked(t,r,i){let n=this._cameraPosition,a=t-n[0],o=r-n[1],s=i-n[2],l=a*a+o*o+s*s;if(l===0)return!1;let u=Jn(-(n[0]*a+n[1]*o+n[2]*s)/l,0,1),c=n[0]+u*a,f=n[1]+u*o,h=n[2]+u*s;return c*c+f*f+h*h<1}_calcMatrices(){let t=YT(this.worldSize,this.center.lat),r=Q2();this._helper.autoCalculateNearFarZ&&(this._helper._nearZ=.5,this._helper._farZ=this.cameraToCenterDistance+t*2),oB(r,this.fovInRadians,this.width/this.height,this._helper._nearZ,this._helper._farZ);let i=this.centerOffset;r[8]=-i.x*2/this._helper._width,r[9]=i.y*2/this._helper._height,this._projectionMatrix=aB(r),this._globeProjMatrixInverted=Q2(),Bk(this._globeProjMatrixInverted,r),eu(r,r,[0,0,-this.cameraToCenterDistance]),km(r,r,this.rollInRadians),Xb(r,r,-this.pitchInRadians),km(r,r,this.bearingInRadians),eu(r,r,[0,0,-t]);let n=Do();n[0]=t,n[1]=t,n[2]=t,Xb(r,r,this.center.lat*Math.PI/180),die(r,r,-this.center.lng*Math.PI/180),Rc(r,r,n),this._globeViewProjMatrixF64=r,this._globeViewProjMatrix32f=new Float32Array(r),this._globeViewProjMatrixF64Inverted=Q2(),Bk(this._globeViewProjMatrixF64Inverted,r);let a=Do();this._cameraPosition=Do(),this._cameraPosition[2]=this.cameraToCenterDistance/t,uB(this._cameraPosition,this._cameraPosition,a,-this.rollInRadians),PT(this._cameraPosition,this._cameraPosition,a,this.pitchInRadians),uB(this._cameraPosition,this._cameraPosition,a,-this.bearingInRadians),R0(this._cameraPosition,this._cameraPosition,[0,0,1]),PT(this._cameraPosition,this._cameraPosition,a,-this.center.lat*Math.PI/180),Zb(this._cameraPosition,this._cameraPosition,a,this.center.lng*Math.PI/180),this._cachedClippingPlane=this._computeClippingPlane(t);let o=aB(this._globeViewProjMatrixF64Inverted);Rc(o,o,[1,1,-1]),this._cachedFrustum=Mae.fromInvProjectionMatrix(o,1,0,this._cachedClippingPlane,!0)}calculateFogMatrix(t){Ma("calculateFogMatrix is not supported on globe projection.");let r=Q2();return Qd(r),r}getVisibleUnwrappedCoordinates(t){return[new u8(0,t)]}getCameraFrustum(){return this._cachedFrustum}getClippingPlane(){return this._cachedClippingPlane}getCoveringTilesDetailsProvider(){return this._coveringTilesDetailsProvider}recalculateZoomAndCenter(t){if(t){Ma("terrain is not fully supported on vertical perspective projection.");return}this._helper.recalculateZoomAndCenter(0)}maxPitchScaleFactor(){return 1}getCameraPoint(){return this._helper.getCameraPoint()}getCameraAltitude(){return(K1(this._cameraPosition)-1)*zf}getCameraLngLat(){let t=Do();return Pf(t,this._cameraPosition),w8(t)}lngLatToCameraDepth(t,r){let i=Vu(t);Ps(i,i,1+r/zf);let n=Cm();return Uu(n,[i[0],i[1],i[2],1],this._globeViewProjMatrixF64),n[2]/n[3]}populateCache(t){}getBounds(){let t=this.width*.5,r=this.height*.5,i=[new tr(0,0),new tr(t,0),new tr(this.width,0),new tr(this.width,r),new tr(this.width,this.height),new tr(t,this.height),new tr(0,this.height),new tr(0,r)],n=[];for(let f of i)n.push(this.unprojectScreenPoint(f));let a=0,o=0,s=0,l=0,u=this.center;for(let f of n){let h=Kh(u.lng,f.lng),d=Kh(u.lat,f.lat);ha&&(a=h),ds&&(s=d)}let c=[u.lng+o,u.lat+l,u.lng+a,u.lat+s];return this.isSurfacePointOnScreen([0,1,0])&&(c[3]=90,c[0]=-180,c[2]=180),this.isSurfacePointOnScreen([0,-1,0])&&(c[1]=-90,c[0]=-180,c[2]=180),new Ev(c)}calculateCenterFromCameraLngLatAlt(t,r,i,n){return this._helper.calculateCenterFromCameraLngLatAlt(t,r,i,n)}calculateCameraOptionsFromTo(t,r,i,n){let a=mn.convert(i),o=Vu(mn.convert(t));Ps(o,o,1+r/zf);let s=Vu(a),l=Ps(Do(),s,1+n/zf),u=pie(Do(),o,s),c=K1(u);if(c=-w&&v<=w,_=g>=-w&&g<=w,M,x;if(b&&_){let E=this.center.lng*Math.PI/180,S=this.center.lat*Math.PI/180,C=Vk(h,E),k=Vk(v,S),D=Vk(d,E),F=Vk(g,S);C+k=0}isSurfacePointOnScreen(t){if(!this.isSurfacePointVisible(t))return!1;let r=Cm();return Uu(r,[...t,1],this._globeViewProjMatrixF64),r[0]/=r[3],r[1]/=r[3],r[2]/=r[3],r[0]>-1&&r[0]<1&&r[1]>-1&&r[1]<1&&r[2]>-1&&r[2]<1}unprojectScreenPoint(t){let r=this._cameraPosition,i=this.getRayDirectionFromPixel(t),n=oq(r,i);if(n){let c=Do();R0(c,r,[i[0]*n.tMin,i[1]*n.tMin,i[2]*n.tMin]);let f=Do();return Pf(f,c),w8(f)}let a=this._cachedClippingPlane,o=a[0]*i[0]+a[1]*i[1]+a[2]*i[2],s=-hB(a,r)/o,l=Do();if(s>0)R0(l,r,[i[0]*s,i[1]*s,i[2]*s]);else{let c=Do();R0(c,r,[i[0]*2,i[1]*2,i[2]*2]);let f=hB(this._cachedClippingPlane,c);J1(l,c,[this._cachedClippingPlane[0]*f,this._cachedClippingPlane[1]*f,this._cachedClippingPlane[2]*f])}let u=iwr(a);return w8(nwr(u.center,u.radius,l))}getProjectionDataForCustomLayer(t=!0){let r=this.getProjectionData({overscaledTileID:new Bc(0,0,0,0,0),applyGlobeMatrix:t});return r.tileMercatorCoords=[0,0,1,1],r}getFastPathSimpleProjectionMatrix(t){}};Sat=class Got{get pixelsToClipSpaceMatrix(){return this._helper.pixelsToClipSpaceMatrix}get clipSpaceToPixelsMatrix(){return this._helper.clipSpaceToPixelsMatrix}get pixelsToGLUnits(){return this._helper.pixelsToGLUnits}get centerOffset(){return this._helper.centerOffset}get size(){return this._helper.size}get rotationMatrix(){return this._helper.rotationMatrix}get centerPoint(){return this._helper.centerPoint}get pixelsPerMeter(){return this._helper.pixelsPerMeter}setMinZoom(t){this._helper.setMinZoom(t)}setMaxZoom(t){this._helper.setMaxZoom(t)}setMinPitch(t){this._helper.setMinPitch(t)}setMaxPitch(t){this._helper.setMaxPitch(t)}setRenderWorldCopies(t){this._helper.setRenderWorldCopies(t)}setBearing(t){this._helper.setBearing(t)}setPitch(t){this._helper.setPitch(t)}setRoll(t){this._helper.setRoll(t)}setFov(t){this._helper.setFov(t)}setZoom(t){this._helper.setZoom(t)}setCenter(t){this._helper.setCenter(t)}setElevation(t){this._helper.setElevation(t)}setMinElevationForCurrentTile(t){this._helper.setMinElevationForCurrentTile(t)}setPadding(t){this._helper.setPadding(t)}interpolatePadding(t,r,i){this._helper.interpolatePadding(t,r,i)}isPaddingEqual(t){return this._helper.isPaddingEqual(t)}resize(t,r,i=!0){this._helper.resize(t,r,i)}getMaxBounds(){return this._helper.getMaxBounds()}setMaxBounds(t){this._helper.setMaxBounds(t)}setConstrainOverride(t){this._helper.setConstrainOverride(t)}overrideNearFarZ(t,r){this._helper.overrideNearFarZ(t,r)}clearNearFarZOverride(){this._helper.clearNearFarZOverride()}getCameraQueryGeometry(t){return this._helper.getCameraQueryGeometry(this.getCameraPoint(),t)}get tileSize(){return this._helper.tileSize}get tileZoom(){return this._helper.tileZoom}get scale(){return this._helper.scale}get worldSize(){return this._helper.worldSize}get width(){return this._helper.width}get height(){return this._helper.height}get lngRange(){return this._helper.lngRange}get latRange(){return this._helper.latRange}get minZoom(){return this._helper.minZoom}get maxZoom(){return this._helper.maxZoom}get zoom(){return this._helper.zoom}get center(){return this._helper.center}get minPitch(){return this._helper.minPitch}get maxPitch(){return this._helper.maxPitch}get pitch(){return this._helper.pitch}get pitchInRadians(){return this._helper.pitchInRadians}get roll(){return this._helper.roll}get rollInRadians(){return this._helper.rollInRadians}get bearing(){return this._helper.bearing}get bearingInRadians(){return this._helper.bearingInRadians}get fov(){return this._helper.fov}get fovInRadians(){return this._helper.fovInRadians}get elevation(){return this._helper.elevation}get minElevationForCurrentTile(){return this._helper.minElevationForCurrentTile}get padding(){return this._helper.padding}get unmodified(){return this._helper.unmodified}get renderWorldCopies(){return this._helper.renderWorldCopies}get cameraToCenterDistance(){return this._helper.cameraToCenterDistance}get constrainOverride(){return this._helper.constrainOverride}get nearZ(){return this._helper.nearZ}get farZ(){return this._helper.farZ}get autoCalculateNearFarZ(){return this._helper.autoCalculateNearFarZ}get isGlobeRendering(){return this._globeness>0}setTransitionState(t){this._globeness=t,this._calcMatrices(),this._verticalPerspectiveTransform.getCoveringTilesDetailsProvider().prepareNextFrame(),this._mercatorTransform.getCoveringTilesDetailsProvider().prepareNextFrame()}get currentTransform(){return this.isGlobeRendering?this._verticalPerspectiveTransform:this._mercatorTransform}constructor(t){this._globeness=1,this.defaultConstrain=(r,i)=>this.currentTransform.defaultConstrain(r,i),this.applyConstrain=(r,i)=>this._helper.applyConstrain(r,i),this._helper=new Fae({calcMatrices:()=>this._calcMatrices(),defaultConstrain:(r,i)=>this.defaultConstrain(r,i)},t),this._globeness=1,this._mercatorTransform=new Tq,this._verticalPerspectiveTransform=new Not}clone(){let t=new Got;return t._globeness=this._globeness,t.apply(this,!1),t}apply(t,r){this._helper.apply(t,r),this._mercatorTransform.apply(this,!1),this._verticalPerspectiveTransform.apply(this,!1)}get projectionMatrix(){return this.currentTransform.projectionMatrix}get modelViewProjectionMatrix(){return this.currentTransform.modelViewProjectionMatrix}get inverseProjectionMatrix(){return this.currentTransform.inverseProjectionMatrix}get cameraPosition(){return this.currentTransform.cameraPosition}getProjectionData(t){let r=this._mercatorTransform.getProjectionData(t),i=this._verticalPerspectiveTransform.getProjectionData(t);return{mainMatrix:this.isGlobeRendering?i.mainMatrix:r.mainMatrix,clippingPlane:i.clippingPlane,tileMercatorCoords:i.tileMercatorCoords,projectionTransition:t.applyGlobeMatrix?this._globeness:0,fallbackMatrix:r.fallbackMatrix,clipAntimeridian:i.clipAntimeridian}}isLocationOccluded(t){return this.currentTransform.isLocationOccluded(t)}transformLightDirection(t){return this.currentTransform.transformLightDirection(t)}getPixelScale(){return Kb(this._mercatorTransform.getPixelScale(),this._verticalPerspectiveTransform.getPixelScale(),this._globeness)}getCircleRadiusCorrection(){return Kb(this._mercatorTransform.getCircleRadiusCorrection(),this._verticalPerspectiveTransform.getCircleRadiusCorrection(),this._globeness)}getPitchedTextCorrection(t,r,i){let n=this._mercatorTransform.getPitchedTextCorrection(t,r,i),a=this._verticalPerspectiveTransform.getPitchedTextCorrection(t,r,i);return Kb(n,a,this._globeness)}projectTileCoordinates(t,r,i,n){return this.currentTransform.projectTileCoordinates(t,r,i,n)}_calcMatrices(){this._helper._width&&this._helper._height&&(this._verticalPerspectiveTransform.apply(this,!1),this._helper._nearZ=this._verticalPerspectiveTransform.nearZ,this._helper._farZ=this._verticalPerspectiveTransform.farZ,this._mercatorTransform.apply(this,!0,this.isGlobeRendering),this._helper._nearZ=this._mercatorTransform.nearZ,this._helper._farZ=this._mercatorTransform.farZ)}calculateFogMatrix(t){return this.currentTransform.calculateFogMatrix(t)}getVisibleUnwrappedCoordinates(t){return this.currentTransform.getVisibleUnwrappedCoordinates(t)}getCameraFrustum(){return this.currentTransform.getCameraFrustum()}getClippingPlane(){return this.currentTransform.getClippingPlane()}getCoveringTilesDetailsProvider(){return this.currentTransform.getCoveringTilesDetailsProvider()}recalculateZoomAndCenter(t){this.currentTransform.recalculateZoomAndCenter(t)}maxPitchScaleFactor(){return this._mercatorTransform.maxPitchScaleFactor()}getCameraPoint(){return this._helper.getCameraPoint()}getCameraAltitude(){return this.currentTransform.getCameraAltitude()}getCameraLngLat(){return this.currentTransform.getCameraLngLat()}lngLatToCameraDepth(t,r){return this.currentTransform.lngLatToCameraDepth(t,r)}populateCache(t){this._mercatorTransform.populateCache(t),this._verticalPerspectiveTransform.populateCache(t)}getBounds(){return this.currentTransform.getBounds()}calculateCenterFromCameraLngLatAlt(t,r,i,n){return this._helper.calculateCenterFromCameraLngLatAlt(t,r,i,n)}calculateCameraOptionsFromTo(t,r,i,n){return this.currentTransform.calculateCameraOptionsFromTo(t,r,i,n)}setLocationAtPoint(t,r,i){if(!this.isGlobeRendering){this._mercatorTransform.setLocationAtPoint(t,r,i),this.apply(this._mercatorTransform,!1);return}this._verticalPerspectiveTransform.setLocationAtPoint(t,r,i),this.apply(this._verticalPerspectiveTransform,!1)}locationToScreenPoint(t,r){return this.currentTransform.locationToScreenPoint(t,r)}screenPointToMercatorCoordinate(t,r){return this.currentTransform.screenPointToMercatorCoordinate(t,r)}screenTerrainPointToMercatorCoordinate(t,r){return this.currentTransform.screenTerrainPointToMercatorCoordinate(t,r)}screenPointToLocation(t,r){return this.currentTransform.screenPointToLocation(t,r)}screenPointToLocationAtElevation(t,r){return this.currentTransform.screenPointToLocationAtElevation(t,r)}isPointOnMapSurface(t,r){return this.currentTransform.isPointOnMapSurface(t,r)}getRayDirectionFromPixel(t){return this._verticalPerspectiveTransform.getRayDirectionFromPixel(t)}getProjectionDataForCustomLayer(t=!0){let r=this._mercatorTransform.getProjectionDataForCustomLayer(t);if(!this.isGlobeRendering)return r;let i=this._verticalPerspectiveTransform.getProjectionDataForCustomLayer(t);return i.fallbackMatrix=r.mainMatrix,i.projectionTransition=this._globeness,i}getFastPathSimpleProjectionMatrix(t){return this.currentTransform.getFastPathSimpleProjectionMatrix(t)}},Hot=class Bm{get useGlobeControls(){return!0}handlePanInertia(t,r){let i=owr(t,r);return Math.abs(i.lng-r.center.lng)>180&&(i.lng=r.center.lng+179.5*Math.sign(i.lng-r.center.lng)),{easingCenter:i,easingOffset:new tr(0,0)}}handleMapControlsRollPitchBearingZoom(t,r){let i=t.around,n=r.screenPointToLocation(i);t.bearingDelta&&r.setBearing(r.bearing+t.bearingDelta),t.pitchDelta&&r.setPitch(r.pitch+t.pitchDelta),t.rollDelta&&r.setRoll(r.roll+t.rollDelta);let a=r.zoom;t.zoomDelta&&r.setZoom(r.zoom+t.zoomDelta);let o=r.zoom-a;if(o===0)return;let s=Kh(r.center.lng,n.lng),l=s/(Math.abs(s/180)+1),u=Kh(r.center.lat,n.lat),c=r.getRayDirectionFromPixel(i),f=r.cameraPosition,h=gu(f,c)*-1,d=Do();R0(d,f,[c[0]*h,c[1]*h,c[2]*h]);let p=K1(d),v=p-1,m=Math.exp(-Math.max(v-.3,0)*.5),g=Gk(p,.95,.999,0,1),w=YT(r.worldSize,r.center.lat)/Math.min(r.width,r.height),b=Gk(w,.9,.5,1,.25),_=Math.min(m,Kb(1,b,g)),M=(1-If(-o))*_,x=r.center.lat,T=r.zoom,A=new mn(r.center.lng+l*M,Jn(r.center.lat+u*M,-Tv,Tv));r.setLocationAtPoint(n,i);let y=r.center,E=Gk(Math.abs(s),45,85,0,1),S=Math.max(E,g)**.25,C=Kh(y.lng,A.lng),k=Kh(y.lat,A.lat);r.setCenter(new mn(y.lng+C*S,y.lat+k*S).wrap()),r.setZoom(T+qc(x,r.center.lat))}handleMapControlsPan(t,r,i){t.panDelta&&twr(r,i,r.isPointOnMapSurface(t.around)?t.around:r.centerPoint,t.panDelta)}cameraForBoxAndBearing(t,r,i,n,a){let o=zot(t,r,i,n,a),s=r.left/a.width*2-1,l=(a.width-r.right)/a.width*2-1,u=r.top/a.height*-2+1,c=(a.height-r.bottom)/a.height*-2+1,f=Kh(i.getWest(),i.getEast())<0,h=f?i.getEast():i.getWest(),d=f?i.getWest():i.getEast(),p=Math.max(i.getNorth(),i.getSouth()),v=Math.min(i.getNorth(),i.getSouth()),m=h+Kh(h,d)*.5,g=p+Kh(p,v)*.5,w=a.clone();w.setCenter(o.center),w.setBearing(o.bearing),w.setPitch(0),w.setRoll(0),w.setZoom(o.zoom);let b=w.modelViewProjectionMatrix,_=[Vu(i.getNorthWest()),Vu(i.getNorthEast()),Vu(i.getSouthWest()),Vu(i.getSouthEast()),Vu(new mn(d,g)),Vu(new mn(h,g)),Vu(new mn(m,p)),Vu(new mn(m,v))],M=Vu(o.center),x=1/0;for(let T of _)s<0&&(x=Bm.getLesserNonNegativeNonNull(x,Bm.solveVectorScale(T,M,b,"x",s))),l>0&&(x=Bm.getLesserNonNegativeNonNull(x,Bm.solveVectorScale(T,M,b,"x",l))),u>0&&(x=Bm.getLesserNonNegativeNonNull(x,Bm.solveVectorScale(T,M,b,"y",u))),c<0&&(x=Bm.getLesserNonNegativeNonNull(x,Bm.solveVectorScale(T,M,b,"y",c)));if(!Number.isFinite(x)||x===0){Iot();return}return o.zoom=Math.min(w.zoom+zc(x),t.maxZoom),o}handleJumpToCenterZoom(t,r){let i=t.center.lat,n=t.applyConstrain(r.center?mn.convert(r.center):t.center,t.zoom).center;t.setCenter(n.wrap());let a=r.zoom===void 0?t.zoom+qc(i,n.lat):+r.zoom;t.zoom!==a&&t.setZoom(a)}handleEaseTo(t,r){let i=t.zoom,n=t.center,a=t.padding,o={roll:t.roll,pitch:t.pitch,bearing:t.bearing},s={roll:r.roll===void 0?t.roll:r.roll,pitch:r.pitch===void 0?t.pitch:r.pitch,bearing:r.bearing===void 0?t.bearing:r.bearing},l=r.zoom!==void 0,u=!t.isPaddingEqual(r.padding),c=!1,f=r.center?mn.convert(r.center):n,h=t.applyConstrain(f,i).center;wq(t,h);let d=t.clone();d.setCenter(h),d.setZoom(l?+r.zoom:i+qc(n.lat,f.lat)),d.setBearing(r.bearing);let p=new tr(Jn(t.centerPoint.x+r.offsetAsPoint.x,0,t.width),Jn(t.centerPoint.y+r.offsetAsPoint.y,0,t.height));d.setLocationAtPoint(h,p);let v=(r.offset&&r.offsetAsPoint.mag())>0?d.center:h,m=l?+r.zoom:i+qc(n.lat,v.lat),g=i+qc(n.lat,0),w=m+qc(v.lat,0),b=Kh(n.lng,v.lng),_=Kh(n.lat,v.lat),M=If(w-g);return c=m!==i,{easeFunc:x=>{if(wie(o,s)||Rot({startEulerAngles:o,endEulerAngles:s,tr:t,k:x,useSlerp:o.roll!=s.roll}),u&&t.interpolatePadding(a,r.padding,x),r.around)Ma("Easing around a point is not supported under globe projection."),t.setLocationAtPoint(r.around,r.aroundPoint);else{let T=x*(w>g?Math.min(2,M):Math.max(.5,M))**(1-x),A=wat(n,b,_,T);t.setCenter(A.wrap())}if(c){let T=$s.number(g,w,x)+qc(0,t.center.lat);t.setZoom(T)}},isZooming:c,elevationCenter:v}}handleFlyTo(t,r){let i=r.zoom!==void 0,n=t.center,a=t.zoom,o=t.padding,s=!t.isPaddingEqual(r.padding),l=t.applyConstrain(mn.convert(r.center||r.locationAtOffset),a).center,u=i?+r.zoom:t.zoom+qc(t.center.lat,l.lat),c=t.clone();c.setCenter(l),c.setZoom(u),c.setBearing(r.bearing);let f=new tr(Jn(t.centerPoint.x+r.offsetAsPoint.x,0,t.width),Jn(t.centerPoint.y+r.offsetAsPoint.y,0,t.height));c.setLocationAtPoint(l,f);let h=c.center;wq(t,h);let d=Z3r(t,n,h),p=a+qc(n.lat,0),v=u+qc(h.lat,0),m=If(v-p),g=typeof r.minZoom=="number"?+r.minZoom:t.minZoom,w=Math.max(g,t.minZoom)+qc(h.lat,0),b=Math.min(w,p,v)+qc(0,h.lat),_=t.applyConstrain(h,b).zoom+qc(h.lat,0),M=If(_-p),x=Kh(n.lng,h.lng),T=Kh(n.lat,h.lat);return{easeFunc:(A,y,E,S)=>{let C=wat(n,x,T,E);s&&t.interpolatePadding(o,r.padding,A);let k=A===1?h:C;t.setCenter(k.wrap());let D=p+zc(y);t.setZoom(A===1?u:D+qc(0,k.lat))},scaleOfZoom:m,targetCenter:h,scaleOfMinZoom:M,pixelPathLength:d}}static solveVectorScale(t,r,i,n,a){let o=a,s=n==="x"?[i[0],i[4],i[8],i[12]]:[i[1],i[5],i[9],i[13]],l=[i[3],i[7],i[11],i[15]],u=t[0]*s[0]+t[1]*s[1]+t[2]*s[2],c=t[0]*l[0]+t[1]*l[1]+t[2]*l[2],f=r[0]*s[0]+r[1]*s[1]+r[2]*s[2],h=r[0]*l[0]+r[1]*l[1]+r[2]*l[2],d=(f+s[3]-o*h-o*l[3])/(f-u-o*h+o*c);return f+o*c===u+o*h||l[3]*(u-f)+s[3]*(h-c)+u*h===f*c?null:d}static getLesserNonNegativeNonNull(t,r){return r!==null&&r>=0&&r{for(let a in this.tileManagers){let o=this.tileManagers[a].getSource().type;(o==="vector"||o==="geojson")&&this.tileManagers[a].reload()}},this.map=e,this.dispatcher=new rot(bae(),e._getMapId()),this.dispatcher.registerMessageHandler("GG",(a,o)=>this.getGlyphs(a,o)),this.dispatcher.registerMessageHandler("GI",(a,o)=>this.getImages(a,o)),this.dispatcher.registerMessageHandler("GDA",(a,o)=>this.getDashes(a,o)),this.imageManager=new W_r,this.imageManager.setEventedParent(this),this.imageManager.setMissingImageResolver(e._missingStyleImageResolver),this.patternAtlas=new Y_r(this.imageManager);let r=((i=e._container)==null?void 0:i.lang)||typeof document<"u"&&((n=document.documentElement)==null?void 0:n.lang)||void 0;this.glyphManager=new ibr(e._requestManager,t.localIdeographFontFamily,r),this.lineAtlas=new cbr(256,512),this.crossTileSymbolIndex=new Eot,this._setInitialValues(),this._resetUpdates(),this.dispatcher.broadcast("SR",mB()),A8().on(iae,this._rtlPluginLoaded),this.on("data",a=>{if(a.dataType!=="source"||a.sourceDataType!=="metadata")return;let o=this.tileManagers[a.sourceId];if(!o)return;let s=o.getSource();if(s!=null&&s.vectorLayerIds)for(let l in this._layers){let u=this._layers[l];u.source===s.id&&this._validateLayer(u)}})}_setInitialValues(){var e;this._layers={},this._order=[],this.tileManagers={},this.zoomHistory=new Yz,this._imagesListDirty=!1,this._globalState={},this._serializedLayers={},this.stylesheet=null,this.light=null,this.sky=null,this.projection&&(this.projection.destroy(),delete this.projection),this._loaded=!1,this._changed=!1,this._updatedLayers={},this._updatedSources={},this._changedImages={},this._glyphsDidChange=!1,this._updatedPaintProps={},this._layerOrderChanged=!1,this._symbolPlacementTriggered=!1,this._placedProjectionTransition=void 0,this.crossTileSymbolIndex=new(((e=this.crossTileSymbolIndex)==null?void 0:e.constructor)||Object),this.pauseablePlacement=void 0,this.placement=void 0,this.z=0}setGlobalStateProperty(e,t){var i,n,a;this._checkLoaded();let r=t===null?(a=(n=(i=this.stylesheet.state)==null?void 0:i[e])==null?void 0:n.default)!=null?a:null:t;if(_v(r,this._globalState[e]))return this;this._globalState[e]=r,this._applyGlobalStateChanges([e])}getGlobalState(){return this._globalState}setGlobalState(e){this._checkLoaded();let t=[];for(let r in e)_v(this._globalState[r],e[r].default)||(t.push(r),this._globalState[r]=e[r].default);this._applyGlobalStateChanges(t)}_applyGlobalStateChanges(e){if(e.length===0)return;let t=new Set,r={};for(let i of e){r[i]=this._globalState[i];for(let n in this._layers){let a=this._layers[n],o=a.getLayoutAffectingGlobalStateRefs(),s=a.getPaintAffectingGlobalStateRefs(),l=a.getVisibilityAffectingGlobalStateRefs();if(o.has(i)&&t.add(a.source),s.has(i))for(let{name:u,value:c}of s.get(i))this._updatePaintProperty(a,u,c);l!=null&&l.has(i)&&(a.recalculateVisibility(),this._updateLayer(a))}}this.dispatcher.broadcast("UGS",r);for(let i in this.tileManagers)t.has(i)&&(this._reloadSource(i),this._changed=!0)}loadURL(i){return Ki(this,arguments,function*(e,t={},r){this.fire(new rp("dataloading")),t.validate=typeof t.validate!="boolean"||t.validate,this._loadStyleRequest=new AbortController;let n=this._loadStyleRequest;try{let a=yield this.map._requestManager.transformRequest(e,"Style");gB(n.signal);let o=yield jk(a,n);this._loadStyleRequest===n&&(this._loadStyleRequest=null),this._load(o.data,t,r)}catch(a){this._loadStyleRequest===n&&(this._loadStyleRequest=null),a&&!n.signal.aborted&&this.fire(new An(Ic(a)))}})}loadJSON(e,t={},r){this.fire(new rp("dataloading")),this._frameRequest=new AbortController,fh.frameAsync(this._frameRequest,this.map._ownerWindow).then(()=>{this._frameRequest=null,t.validate=t.validate!==!1,this._load(e,t,r)}).catch(()=>{})}loadEmpty(){this.fire(new rp("dataloading")),this._load(cwr,{validate:!1})}_load(e,t,r){var n,a,o;let i=t.transformStyle?t.transformStyle(r,e):e;if(!(t.validate&&Wie(this,i))){i=fn({},i),this._loaded=!0,this.stylesheet=i;for(let s in i.sources)this.addSource(s,i.sources[s],{validate:!1});i.sprite?this._loadSprite(i.sprite):this.imageManager.setLoaded(!0),this.glyphManager.setURL(i.glyphs),this.glyphManager.setFontFaces(i["font-faces"]),this._createLayers(),this.light=new obr((n=this.stylesheet.light)!=null?n:{},this._globalState),this._setProjectionInternal(((a=this.stylesheet.projection)==null?void 0:a.type)||"mercator"),this.sky=new ubr(this.stylesheet.sky,this._globalState),this.map.setTerrain((o=this.stylesheet.terrain)!=null?o:null,{validate:!1}),this.fire(new rp("data")),this.fire(new Qne)}}_createLayers(){var t,r,i;let e=Gnt(this.stylesheet.layers);this.setGlobalState((t=this.stylesheet.state)!=null?t:null),this.dispatcher.broadcast("SL",e),this._order=e.map(n=>n.id),this._layers={},this._serializedLayers=null;for(let n of e){let a=ZB(n,this._globalState);if(a.setEventedParent(this,{layer:{id:n.id}}),this._layers[n.id]=a,BB(a)&&this.tileManagers[a.source]){let o=(i=(r=n.paint)==null?void 0:r["raster-fade-duration"])!=null?i:a.paint.get("raster-fade-duration");this.tileManagers[a.source].setRasterFadeDuration(o)}}}_loadSprite(e,t=!1,r=void 0){return Ki(this,null,function*(){this.imageManager.setLoaded(!1);let i=new AbortController;this._spriteRequest=i;let n;try{let a=yield j_r(e,this.map._requestManager,this.map.getPixelRatio(),i);if(!a)return;for(let o in a){let{loaded:s,removed:l}=this.imageManager.setSpriteImages(o,a[o]);this._markImagesChanged(l),t&&this._markImagesChanged(s)}}catch(a){n=a,i.signal.aborted||this.fire(new An(n))}finally{this._spriteRequest=null,this.imageManager.setLoaded(!0),t&&(this._changed=!0),this.dispatcher.broadcast("SI",this.imageManager.listImages()),this.fire(new rp("data")),r==null||r(n)}})}_unloadSprite(){this._markImagesChanged(this.imageManager.removeAllSpriteImages()),this._imagesListDirty=!0,this._changed=!0,this.fire(new rp("data"))}_validateLayer(e){let t=this.tileManagers[e.source];if(!t)return;let r=e.sourceLayer;if(!r)return;let i=t.getSource();(i.type==="geojson"||i.vectorLayerIds&&!i.vectorLayerIds.includes(r))&&this.fire(new An(Error(`Source layer "${r}" does not exist on source "${i.id}" as specified by style layer "${e.id}".`)))}loaded(){if(!this._loaded||Object.keys(this._updatedSources).length)return!1;for(let e in this.tileManagers)if(!this.tileManagers[e].loaded())return!1;return this.imageManager.isLoaded()}_serializeByIds(e,t=!1){let r=this._serializedAllLayers();if(!e||e.length===0)return Object.values(t?lh(r):r);let i=[];for(let n of e)if(r[n]){let a=t?lh(r[n]):r[n];i.push(a)}return i}_serializedAllLayers(){let e=this._serializedLayers;if(e)return e;e=this._serializedLayers={};let t=Object.keys(this._layers);for(let r of t){let i=this._layers[r];i.type!=="custom"&&(e[r]=i.serialize())}return e}hasTransitions(){var e,t,r;if((e=this.light)!=null&&e.hasTransition()||(t=this.sky)!=null&&t.hasTransition()||(r=this.projection)!=null&&r.hasTransition())return!0;for(let i in this.tileManagers)if(this.tileManagers[i].hasTransition())return!0;for(let i in this._layers)if(this._layers[i].hasTransition())return!0;return!1}_checkLoaded(){if(!this._loaded)throw Error("Style is not done loading.")}update(e){if(!this._loaded)return;let t=this._changed;if(t){this._imagesListDirty&&(this._imagesListDirty=(this.dispatcher.broadcast("SI",this.imageManager.listImages()),!1));let n=Object.keys(this._updatedLayers),a=Object.keys(this._removedLayers);(n.length||a.length)&&this._updateWorkerLayers(n,a);for(let o in this._updatedSources){let s=this._updatedSources[o];if(s==="reload")this._reloadSource(o);else if(s==="clear")this._clearSource(o);else throw Error(`Invalid action ${s}`)}this._updateTilesForChangedImages(),this._updateTilesForChangedGlyphs();for(let o in this._updatedPaintProps)this._layers[o].updateTransitions(e);this._resetUpdates()}let r={};for(let n in this.tileManagers){let a=this.tileManagers[n];r[n]=a.used,a.used=!1}let i=this.imageManager.listImages();for(let n of this._order){let a=this._layers[n];a.recalculate(e,i),!a.isHidden(e.zoom)&&a.source&&(this.tileManagers[a.source].used=!0)}for(let n in r){let a=this.tileManagers[n];!!r[n]!=!!a.used&&a.fire(new Is("data",{sourceDataType:"visibility",sourceId:n}))}this.light.recalculate(e),this.sky.recalculate(e),this.projection.recalculate(e),this.z=e.zoom,t&&this.fire(new rp("data"))}_updateTilesForChangedImages(){let e=Object.keys(this._changedImages);if(e.length){for(let t in this.tileManagers)this.tileManagers[t].reloadTilesForDependencies(["icons","patterns"],e);this._changedImages={}}}_updateTilesForChangedGlyphs(){if(this._glyphsDidChange){for(let e in this.tileManagers)this.tileManagers[e].reloadTilesForDependencies(["glyphs"],[""]);this._glyphsDidChange=!1}}_updateWorkerLayers(e,t){this.dispatcher.broadcast("UL",{layers:this._serializeByIds(e,!1),removedIds:t})}_resetUpdates(){this._changed=!1,this._updatedLayers={},this._removedLayers={},this._updatedSources={},this._updatedPaintProps={},this._changedImages={},this._glyphsDidChange=!1}setState(e,t={}){var a;this._checkLoaded();let r=this.serialize();if(e=t.transformStyle?t.transformStyle(r,e):e,((a=t.validate)!=null?a:!0)&&Wie(this,e))return!1;e=lh(e),e.layers=Gnt(e.layers);let i=G_r(r,e),n=this._getOperationsToPerform(i);if(n.unimplemented.length>0)throw Error(`Unimplemented: ${n.unimplemented.join(", ")}.`);if(n.operations.length===0)return!1;for(let o of n.operations)o();return this.stylesheet=e,this._serializedLayers=null,this.fire(new Qne({style:this})),!0}_getOperationsToPerform(e){let t=[],r=[];for(let i of e)switch(i.command){case"setCenter":case"setZoom":case"setBearing":case"setPitch":case"setRoll":continue;case"addLayer":t.push(()=>this.addLayer.apply(this,i.args));break;case"removeLayer":t.push(()=>this.removeLayer.apply(this,i.args));break;case"setPaintProperty":t.push(()=>this.setPaintProperty.apply(this,i.args));break;case"setLayoutProperty":t.push(()=>this.setLayoutProperty.apply(this,i.args));break;case"setFilter":t.push(()=>this.setFilter.apply(this,i.args));break;case"addSource":t.push(()=>this.addSource.apply(this,i.args));break;case"removeSource":t.push(()=>this.removeSource.apply(this,i.args));break;case"setLayerZoomRange":t.push(()=>this.setLayerZoomRange.apply(this,i.args));break;case"setLight":t.push(()=>this.setLight.apply(this,i.args));break;case"setGeoJSONSourceData":t.push(()=>this.setGeoJSONSourceData.apply(this,i.args));break;case"setGlyphs":t.push(()=>this.setGlyphs.apply(this,i.args));break;case"setFontFaces":t.push(()=>this.setFontFaces.apply(this,i.args));break;case"setSprite":t.push(()=>this.setSprite.apply(this,i.args));break;case"setTerrain":t.push(()=>this.map.setTerrain.apply(this,i.args));break;case"setSky":t.push(()=>this.setSky.apply(this,i.args));break;case"setProjection":this.setProjection.apply(this,i.args);break;case"setGlobalState":t.push(()=>this.setGlobalState.apply(this,i.args));break;case"setTransition":t.push(()=>{});break;default:r.push(i.command)}return{operations:t,unimplemented:r}}addImage(e,t){if(this.getImage(e)){this.fire(new An(Error(`An image named "${e}" already exists.`)));return}this.imageManager.addImage(e,t),this._afterImageUpdated(e)}updateImage(e,t){this.imageManager.updateImage(e,t)}getImage(e){return this.imageManager.getImage(e)}setMissingImageResolver(e){this.imageManager.setMissingImageResolver(e)}removeImage(e){if(!this.getImage(e)){this.fire(new An(Error(`An image named "${e}" does not exist.`)));return}this.imageManager.removeImage(e),this._afterImageUpdated(e)}_markImagesChanged(e){for(let t of e)this._changedImages[t]=!0}_afterImageUpdated(e){this._changedImages[e]=!0,this._imagesListDirty=!0,this._changed=!0,this.fire(new rp("data"))}listImages(){return this._checkLoaded(),this.imageManager.listImages()}addSource(e,t,r={}){var n;if(this._checkLoaded(),this.tileManagers[e]!==void 0)throw Error(`Source "${e}" already exists.`);if(!t.type)throw Error(`The type property must be defined, but only the following properties were given: ${Object.keys(t).join(", ")}.`);if($ie.has(t.type)&&this._validate(ch.source,`sources.${e}`,t,null,r))return;(n=this.map)!=null&&n._collectResourceTiming&&(t.collectResourceTiming=!0);let i=this.tileManagers[e]=new aae(e,t,this.dispatcher);i.style=this,i.setEventedParent(this,()=>({isSourceLoaded:i.loaded(),source:i.serialize(),sourceId:e})),i.onAdd(this.map),this._changed=!0}removeSource(e){if(this._checkLoaded(),this.tileManagers[e]===void 0)throw Error(`There is no source with this ID=${e}`);for(let r in this._layers)if(this._layers[r].source===e)return this.fire(new An(Error(`Source "${e}" cannot be removed while layer "${r}" is using it.`)));let t=this.tileManagers[e];delete this.tileManagers[e],delete this._updatedSources[e],t.fire(new Is("data",{sourceDataType:"metadata",sourceId:e})),t.setEventedParent(null),t.onRemove(this.map),this._changed=!0}setGeoJSONSourceData(e,t){if(this._checkLoaded(),this.tileManagers[e]===void 0)throw Error(`There is no source with this ID=${e}`);let r=this.tileManagers[e].getSource();if(r.type!=="geojson")throw Error(`geojsonSource.type is ${r.type}, which is !== 'geojson`);r.setData(t),this._changed=!0}getSource(e){var t;return(t=this.tileManagers[e])==null?void 0:t.getSource()}addLayer(e,t,r={}){this._checkLoaded();let i=e.id;if(this.getLayer(i)){this.fire(new An(Error(`Layer "${i}" already exists on this map.`)));return}let n;if(e.type==="custom"){if(LB(this,snt(e)))return;n=ZB(e,this._globalState)}else{if("source"in e&&typeof e.source=="object"&&(this.addSource(i,e.source),e=lh(e),e=ln(e,{source:i})),this._validate(ch.layer,`layers.${i}`,e,{arrayIndex:-1},r))return;n=ZB(e,this._globalState),this._validateLayer(n),n.setEventedParent(this,{layer:{id:i}})}let a=t?this._order.indexOf(t):this._order.length;if(t&&a===-1){this.fire(new An(Error(`Cannot add layer "${i}" before non-existing layer "${t}".`)));return}if(this._order.splice(a,0,i),this._layerOrderChanged=!0,this._layers[i]=n,this._removedLayers[i]&&n.source&&n.type!=="custom"){let o=this._removedLayers[i];delete this._removedLayers[i],o.type===n.type?(this._updatedSources[n.source]="reload",this.tileManagers[n.source].pause()):this._updatedSources[n.source]="clear"}this._updateLayer(n),n.onAdd&&n.onAdd(this.map)}moveLayer(e,t){if(this._checkLoaded(),this._changed=!0,!this._layers[e]){this.fire(new An(Error(`The layer '${e}' does not exist in the map's style and cannot be moved.`)));return}if(e===t)return;if(t&&!this._order.includes(t)){this.fire(new An(Error(`Cannot move layer "${e}" before non-existing layer "${t}".`)));return}let r=this._order.indexOf(e);this._order.splice(r,1);let i=t?this._order.indexOf(t):this._order.length;this._order.splice(i,0,e),this._layerOrderChanged=!0}removeLayer(e){var i;this._checkLoaded();let t=this._layers[e];if(!t){this.fire(new An(Error(`Cannot remove non-existing layer "${e}".`)));return}t.setEventedParent(null);let r=this._order.indexOf(e);this._order.splice(r,1),this._layerOrderChanged=!0,this._changed=!0,this._removedLayers[e]=t,delete this._layers[e],this._serializedLayers&&delete this._serializedLayers[e],delete this._updatedLayers[e],delete this._updatedPaintProps[e],t.type==="symbol"&&t.source&&((i=this.tileManagers[t.source])==null||i.resetMaxContentElevation()),t.onRemove&&t.onRemove(this.map)}getLayer(e){return this._layers[e]}getLayersOrder(){return[...this._order]}hasLayer(e){return e in this._layers}setLayerZoomRange(e,t,r){this._checkLoaded();let i=this.getLayer(e);if(!i){this.fire(new An(Error(`Cannot set the zoom range of non-existing layer "${e}".`)));return}(i.minzoom!==t||i.maxzoom!==r)&&(t!=null&&(i.minzoom=t),r!=null&&(i.maxzoom=r),this._updateLayer(i))}setFilter(e,t,r={}){this._checkLoaded();let i=this.getLayer(e);if(!i){this.fire(new An(Error(`Cannot filter non-existing layer "${e}".`)));return}if(!_v(i.filter,t)){if(t==null){i.setFilter(void 0),this._updateLayer(i);return}this._validate(ch.filter,`layers.${i.id}.filter`,t,null,r)||(i.setFilter(lh(t)),this._updateLayer(i))}}getFilter(e){return lh(this.getLayer(e).filter)}setLayoutProperty(e,t,r,i={}){this._checkLoaded();let n=this.getLayer(e);if(!n){this.fire(new An(Error(`Cannot style non-existing layer "${e}".`)));return}_v(n.getLayoutProperty(t),r)||(n.setLayoutProperty(t,r,i),this._updateLayer(n))}getLayoutProperty(e,t){let r=this.getLayer(e);if(!r){this.fire(new An(Error(`Cannot get style of non-existing layer "${e}".`)));return}return r.getLayoutProperty(t)}setPaintProperty(e,t,r,i={}){this._checkLoaded();let n=this.getLayer(e);if(!n){this.fire(new An(Error(`Cannot style non-existing layer "${e}".`)));return}_v(n.getPaintProperty(t),r)||this._updatePaintProperty(n,t,r,i)}_updatePaintProperty(e,t,r,i={}){e.setPaintProperty(t,r,i)&&this._updateLayer(e),BB(e)&&t==="raster-fade-duration"&&this.tileManagers[e.source].setRasterFadeDuration(r),this._changed=!0,this._updatedPaintProps[e.id]=!0,e.type==="symbol"&&this.triggerSymbolPlacement(),this._serializedLayers=null}getPaintProperty(e,t){return this.getLayer(e).getPaintProperty(t)}setFeatureState(e,t){this._checkLoaded();let r=e.source,i=e.sourceLayer,n=this.tileManagers[r];if(n===void 0){this.fire(new An(Error(`The source '${r}' does not exist in the map's style.`)));return}let a=n.getSource().type;if(a==="geojson"&&i){this.fire(new An(Error("GeoJSON sources cannot have a sourceLayer parameter.")));return}if(a==="vector"&&!i){this.fire(new An(Error("The sourceLayer parameter must be provided for vector source types.")));return}if(e.id===void 0){this.fire(new An(Error("The feature id parameter must be provided.")));return}let o=["__proto__","constructor","prototype"];if(t&&Object.keys(t).some(s=>o.includes(s))){this.fire(new An(Error(`The feature state should not include one of the following keys: ${o}`)));return}n.setFeatureState(i,e.id,t)}removeFeatureState(e,t){this._checkLoaded();let r=e.source,i=this.tileManagers[r];if(i===void 0){this.fire(new An(Error(`The source '${r}' does not exist in the map's style.`)));return}let n=i.getSource().type,a=n==="vector"?e.sourceLayer:void 0;if(n==="vector"&&!a){this.fire(new An(Error("The sourceLayer parameter must be provided for vector source types.")));return}if(t&&typeof e.id!="string"&&typeof e.id!="number"){this.fire(new An(Error("A feature id is required to remove its specific state property.")));return}i.removeFeatureState(a,e.id,t)}getFeatureState(e){this._checkLoaded();let t=e.source,r=e.sourceLayer,i=this.tileManagers[t];if(i===void 0){this.fire(new An(Error(`The source '${t}' does not exist in the map's style.`)));return}if(i.getSource().type==="vector"&&!r){this.fire(new An(Error("The sourceLayer parameter must be provided for vector source types.")));return}return e.id===void 0&&this.fire(new An(Error("The feature id parameter must be provided."))),i.getFeatureState(r,e.id)}getTransition(){var e;return ln({duration:300,delay:0},(e=this.stylesheet)==null?void 0:e.transition)}serialize(){if(!this._loaded)return;let e=vB(this.tileManagers,n=>n.serialize()),t=this._serializeByIds(this._order,!0),r=this.map.getTerrain()||void 0,i=this.stylesheet;return bie({version:i.version,name:i.name,metadata:i.metadata,light:i.light,sky:i.sky,center:i.center,zoom:i.zoom,bearing:i.bearing,pitch:i.pitch,sprite:i.sprite,glyphs:i.glyphs,"font-faces":i["font-faces"],transition:i.transition,projection:i.projection,state:i.state,sources:e,layers:t,terrain:r},n=>n!==void 0)}_updateLayer(e){this._updatedLayers[e.id]=!0,e.source&&!this._updatedSources[e.source]&&this.tileManagers[e.source].getSource().type!=="raster"&&(this._updatedSources[e.source]="reload",this.tileManagers[e.source].pause()),this._serializedLayers=null,this._changed=!0}_flattenAndSortRenderedFeatures(e){let t=a=>this._layers[a].type==="fill-extrusion",r={},i=[];for(let a=this._order.length-1;a>=0;a--){let o=this._order[a];if(t(o)){r[o]=a;for(let s of e){let l=s[o];if(l)for(let u of l)i.push(u)}}}i.sort((a,o)=>o.intersectionZ-a.intersectionZ);let n=[];for(let a=this._order.length-1;a>=0;a--){let o=this._order[a];if(t(o))for(let s=i.length-1;s>=0;s--){let l=i[s].feature;if(r[l.layer.id]this.map.terrain.getElevation(u,c,f):void 0));return this.placement&&n.push(wbr(this._layers,a,this.tileManagers,e,s,this.placement.collisionIndex,this.placement.retainedQueryData)),this._flattenAndSortRenderedFeatures(n)}querySourceFeatures(e,t){t!=null&&t.filter&&this._validate(ch.filter,"querySourceFeatures.filter",t.filter,null,t);let r=this.tileManagers[e];return r?Tbr(r,t?ma(fn({},t),{globalState:this._globalState}):{globalState:this._globalState}):[]}getLight(){return this.light.getLight()}setLight(e,t={}){this._checkLoaded();let r=this.light.getLight(),i=!1;for(let a in e)if(!_v(e[a],r[a])){i=!0;break}if(!i)return;let n={now:Oo(),transition:ln({duration:300,delay:0},this.stylesheet.transition)};this.light.setLight(e,t),this.light.updateTransitions(n)}getProjection(){var e;return(e=this.stylesheet)==null?void 0:e.projection}setProjection(e){this._checkLoaded();let t=e!=null?e:{type:"mercator"};if(this.stylesheet.projection=e,this.projection){if(this.projection.name===t.type)return;this.projection.destroy(),delete this.projection}this._setProjectionInternal(t.type)}getSky(){var e;return(e=this.stylesheet)==null?void 0:e.sky}setSky(e,t={}){this._checkLoaded();let r=this.getSky(),i=!1;if(!e&&!r)return;if(e&&!r)i=!0;else if(!e&&r)i=!0;else for(let a in e)if(!_v(e[a],r[a])){i=!0;break}if(!i)return;let n={now:Oo(),transition:ln({duration:300,delay:0},this.stylesheet.transition)};this.stylesheet.sky=e,this.sky.setSky(e,t),this.sky.updateTransitions(n)}_setProjectionInternal(e){var r;let t=uwr(e,(r=this.map._camera)==null?void 0:r.transform.constrainOverride,this._globalState);this.projection=t.projection,this.map.migrateProjection(t.transform,t.cameraHelper);for(let i in this.tileManagers)this.tileManagers[i].reload()}_validate(e,t,r,i,n={}){return n.validate!==!1&&qT(this,e,fn({key:t,style:this.serialize(),value:r},i),n)}_remove(e=!0){this._frameRequest&&(this._frameRequest=(this._frameRequest.abort(),null)),this._loadStyleRequest&&(this._loadStyleRequest=(this._loadStyleRequest.abort(),null)),this._spriteRequest&&(this._spriteRequest=(this._spriteRequest.abort(),null)),A8().off(iae,this._rtlPluginLoaded);for(let t in this._layers)this._layers[t].setEventedParent(null);for(let t in this.tileManagers){let r=this.tileManagers[t];r.setEventedParent(null),r.onRemove(this.map)}this.imageManager.setEventedParent(null),this.setEventedParent(null),e&&this.dispatcher.broadcast("RM",void 0),this.dispatcher.remove(e)}_clearSource(e){this.tileManagers[e].clearTiles()}_reloadSource(e){this.tileManagers[e].resume(),this.tileManagers[e].reload()}_updateSources(e){for(let t in this.tileManagers)this.tileManagers[t].update(e,this.map.terrain)}_generateCollisionBoxes(){for(let e in this.tileManagers)this._reloadSource(e)}triggerSymbolPlacement(){this._symbolPlacementTriggered=!0}_placementInputsChanged(e,t,r){var n;let i=this.pauseablePlacement;return!i||this._symbolPlacementTriggered||this._placedProjectionTransition!==((n=this.projection)==null?void 0:n.transitionState)||i._showCollisionBoxes!==t||i.placement.collisionGroups.crossSourceCollisions!==r||i.placement.transform.renderWorldCopies!==e.renderWorldCopies||!Pet(i.placement.transform.modelViewProjectionMatrix,e.modelViewProjectionMatrix)}_updatePlacement(e,t,r,i,n=!1){var c,f;let a=!1,o=!1,s={};for(let h of this._order){let d=this._layers[h];if(d.type!=="symbol")continue;if(!s[d.source]){let v=this.tileManagers[d.source];s[d.source]=v.getRenderableIds(!0).map(m=>v.getTileByID(m)).sort((m,g)=>g.tileID.overscaledZ-m.tileID.overscaledZ||(m.tileID.isLessThan(g.tileID)?-1:1))}let p=this.crossTileSymbolIndex.addLayer(d,s[d.source],e.center.lng);a||(a=p)}this.crossTileSymbolIndex.pruneUnusedLayers(this._order),n||(n=this._layerOrderChanged||r===0);let l=a||this._placementInputsChanged(e,t,i),u=((c=this.pauseablePlacement)==null?void 0:c.isDone())&&!this.placement.stillRecent(Oo(),e.zoom);if((n||!this.pauseablePlacement||u&&(l||this.placement.stale))&&(this._symbolPlacementTriggered=!1,this._placedProjectionTransition=(f=this.projection)==null?void 0:f.transitionState,this.pauseablePlacement=new F3r(e,this.map.terrain,this._order,n,t,r,i,this.placement),this._layerOrderChanged=!1),this.pauseablePlacement.isDone()?l&&this.placement.setStale():(this.pauseablePlacement.continuePlacement(this._order,this._layers,s),this.pauseablePlacement.isDone()&&(this.placement=this.pauseablePlacement.commit(Oo()),o=!0),a&&this.pauseablePlacement.placement.setStale()),o||a)for(let h of this._order){let d=this._layers[h];d.type==="symbol"&&this.placement.updateLayerOpacities(d,s[d.source])}return!this.pauseablePlacement.isDone()||this.placement.hasTransitions(Oo())}_releaseSymbolFadeTiles(){for(let e in this.tileManagers)this.tileManagers[e].releaseSymbolFadeTiles()}getImages(e,t){return Ki(this,null,function*(){let r=yield this.imageManager.getImages(t.icons);this._updateTilesForChangedImages();let i=this.tileManagers[t.source];return i&&i.setDependencies(t.tileID.key,t.type,t.icons),r})}getGlyphs(e,t){return Ki(this,null,function*(){let r=yield this.glyphManager.getGlyphs(t.stacks),i=this.tileManagers[t.source];return i&&i.setDependencies(t.tileID.key,t.type,[""]),r})}getGlyphsUrl(){return this.stylesheet.glyphs||null}setGlyphs(e,t={}){this._checkLoaded(),!(e&&this._validate(ch.glyphs,"glyphs",e,null,t))&&(this._changed=!0,this._glyphsDidChange=!0,this.stylesheet.glyphs=e,this.glyphManager.entries={},this.glyphManager.setURL(e))}getFontFaces(){return this.stylesheet["font-faces"]||null}setFontFaces(e){this._checkLoaded(),this._changed=!0,this._glyphsDidChange=!0,this.stylesheet["font-faces"]=e,this.glyphManager.setFontFaces(e)}getDashes(e,t){return Ki(this,null,function*(){let r={};for(let[i,n]of Object.entries(t.dashes))r[i]=this.lineAtlas.getDash(n.dasharray,n.round);return r})}addSprite(e,t,r={},i){this._checkLoaded();let n=[{id:e,url:t}],a=[...vq(this.stylesheet.sprite),...n];this._validate(ch.sprite,"sprite",a,null,r)||(this.stylesheet.sprite=a,this._loadSprite(n,!0,i))}removeSprite(e){this._checkLoaded();let t=vq(this.stylesheet.sprite);if(!t.find(i=>i.id===e)){this.fire(new An(Error(`Sprite "${e}" doesn't exists on this map.`)));return}let r=this.imageManager.removeSpriteImages(e);this._markImagesChanged(r),t.splice(t.findIndex(i=>i.id===e),1),this.stylesheet.sprite=t.length>0?t:void 0,this._imagesListDirty=!0,this._changed=!0,this.fire(new rp("data"))}getSprite(){return 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i=e.gl;this.buffer=i.createBuffer(),i.bindBuffer(i.UNIFORM_BUFFER,this.buffer),i.bufferData(i.UNIFORM_BUFFER,r.sizeWords*4,i.DYNAMIC_DRAW),i.bindBufferBase(i.UNIFORM_BUFFER,t,this.buffer),this.uploaded=new Float32Array(r.sizeWords),this.pending=new Float32Array(r.sizeWords),this.uploadedWords=new Uint32Array(this.uploaded.buffer),this.pendingWords=new Uint32Array(this.pending.buffer),this.hasData=!1,this.bindingDirty=!1}upload(){let e=this.context.gl,t=!this.hasData;if(!t){let r=this.pendingWords,i=this.uploadedWords;for(let n=0;n=0&&(this.attributes[y]={location:E,isInteger:A.has(y)})}u.deleteShader(x),u.deleteShader(M);for(let y of g)if(y&&!T[y]){let E=u.getUniformLocation(this.program,y);E&&(T[y]=E)}this.fixedUniforms=i(e,T),this.terrainUniforms=dwr(e,T),this.binderUniforms=r?r.getUniforms(e,T):[]}draw(e,t,r,i,n,a,o,s,l,u,c,f,h,d,p,v,m,g,w){var M;let b=e.gl;if(this.failedToCreate)return;if(e.program.set(this.program),e.setDepthMode(r),e.setStencilMode(i),e.setColorMode(n),e.setCullFace(a),s){e.activeTexture.set(b.TEXTURE2),b.bindTexture(b.TEXTURE_2D,s.depthTexture),e.activeTexture.set(b.TEXTURE3),b.bindTexture(b.TEXTURE_2D,s.texture);for(let x in this.terrainUniforms)this.terrainUniforms[x].set(s[x]);Twr(e.terrainUniformBuffer,s)}if(l&&bwr(e.projectionUniformBuffer,l),o)for(let x in this.fixedUniforms)this.fixedUniforms[x].set(o[x]);v&&v.setUniforms(e,this.binderUniforms,d,{zoom:p});let _=0;switch(t){case b.LINES:_=2;break;case b.TRIANGLES:_=3;break;case b.LINE_STRIP:_=1}for(let x of h.get())x.vaos||(x.vaos={}),(M=x.vaos)[u]||(M[u]=new hwr),x.vaos[u].bind(e,this,c,v?v.getPaintVertexBuffers():[],f,x.vertexOffset,m,g,w),b.drawElements(t,x.primitiveLength*_,b.UNSIGNED_SHORT,x.primitiveOffset*_*2)}};Ewr=(e,t)=>({u_lightpos:new Rf(e,t.u_lightpos),u_lightpos_globe:new Rf(e,t.u_lightpos_globe),u_lightintensity:new qi(e,t.u_lightintensity),u_lightcolor:new Rf(e,t.u_lightcolor),u_vertical_gradient:new qi(e,t.u_vertical_gradient),u_opacity:new qi(e,t.u_opacity),u_fill_translate:new pa(e,t.u_fill_translate)}),kwr=(e,t)=>({u_lightpos:new Rf(e,t.u_lightpos),u_lightpos_globe:new Rf(e,t.u_lightpos_globe),u_lightintensity:new qi(e,t.u_lightintensity),u_lightcolor:new Rf(e,t.u_lightcolor),u_vertical_gradient:new qi(e,t.u_vertical_gradient),u_height_factor:new qi(e,t.u_height_factor),u_opacity:new qi(e,t.u_opacity),u_fill_translate:new pa(e,t.u_fill_translate),u_image:new wn(e,t.u_image),u_texsize:new pa(e,t.u_texsize),u_pixel_coord_upper:new pa(e,t.u_pixel_coord_upper),u_pixel_coord_lower:new pa(e,t.u_pixel_coord_lower),u_scale:new Rf(e,t.u_scale),u_fade:new qi(e,t.u_fade)}),Yot=(e,t,r,i)=>{let n=e.style.light,a=n.getCartesianPosition(),o=hie();n.properties.get("anchor")==="viewport"&&Det(o,e.transform.bearingInRadians),Oet(a,a,o);let s=e.transform.transformLightDirection(a),l=n.properties.get("color");return{u_lightpos:a,u_lightpos_globe:s,u_lightintensity:n.properties.get("intensity"),u_lightcolor:[l.r,l.g,l.b],u_vertical_gradient:+t,u_opacity:r,u_fill_translate:i}},Cwr=(e,t,r,i,n,a,o)=>ln(Yot(e,t,r,i),Wot(a,e,o),{u_height_factor:-(2**n.overscaledZ)/o.tileSize/8}),Dwr=(e,t)=>({u_fill_translate:new pa(e,t.u_fill_translate)}),Fwr=(e,t)=>({u_image:new wn(e,t.u_image),u_texsize:new pa(e,t.u_texsize),u_pixel_coord_upper:new pa(e,t.u_pixel_coord_upper),u_pixel_coord_lower:new pa(e,t.u_pixel_coord_lower),u_scale:new Rf(e,t.u_scale),u_fade:new qi(e,t.u_fade),u_sdf_pattern:new wn(e,t.u_sdf_pattern),u_fill_translate:new pa(e,t.u_fill_translate)}),Lwr=(e,t)=>({u_fill_translate:new pa(e,t.u_fill_translate)}),Pwr=(e,t)=>({u_image:new wn(e,t.u_image),u_texsize:new pa(e,t.u_texsize),u_pixel_coord_upper:new pa(e,t.u_pixel_coord_upper),u_pixel_coord_lower:new pa(e,t.u_pixel_coord_lower),u_scale:new Rf(e,t.u_scale),u_fade:new qi(e,t.u_fade),u_sdf_pattern:new wn(e,t.u_sdf_pattern),u_fill_translate:new pa(e,t.u_fill_translate)}),Xot=(e,t,r,i,n)=>ln(Wot(t,e,r),{u_fill_translate:i,u_sdf_pattern:+!!n}),Iwr=e=>({u_fill_translate:e}),Rwr=e=>({u_fill_translate:e}),zwr=(e,t,r,i,n)=>Xot(e,t,r,i,n),Bwr=(e,t)=>({u_scale_with_map:new wn(e,t.u_scale_with_map),u_pitch_with_map:new wn(e,t.u_pitch_with_map),u_extrude_scale:new pa(e,t.u_extrude_scale),u_globe_extrude_scale:new qi(e,t.u_globe_extrude_scale),u_translate:new pa(e,t.u_translate)}),qwr=(e,t,r,i,n)=>{let a=e.transform,o,s,l=0;if(r.paint.get("circle-pitch-alignment")==="map"){let u=Zh(t,1,a.zoom);o=!0,s=[u,u],l=u/(zr*2**t.tileID.overscaledZ)*2*Math.PI*n}else o=!1,s=a.pixelsToGLUnits;return{u_scale_with_map:+(r.paint.get("circle-pitch-scale")==="map"),u_pitch_with_map:+o,u_extrude_scale:s,u_globe_extrude_scale:l,u_translate:i}},Owr=(e,t)=>({u_color:new Rm(e,t.u_color),u_overlay:new wn(e,t.u_overlay),u_overlay_scale:new qi(e,t.u_overlay_scale)}),kat=(e,t=1)=>({u_color:e,u_overlay:0,u_overlay_scale:t}),Nwr=(e,t)=>({u_extrude_scale:new qi(e,t.u_extrude_scale),u_intensity:new qi(e,t.u_intensity),u_globe_extrude_scale:new qi(e,t.u_globe_extrude_scale)}),Uwr=(e,t)=>({u_matrix:new ep(e,t.u_matrix),u_image:new wn(e,t.u_image),u_color_ramp:new wn(e,t.u_color_ramp),u_opacity:new qi(e,t.u_opacity)}),Zot=(e,t,r,i)=>{let n=Zh(e,1,t)/(zr*2**e.tileID.overscaledZ)*2*Math.PI*i;return{u_extrude_scale:Zh(e,1,t),u_intensity:r,u_globe_extrude_scale:n}},Kot=(e,t,r,i)=>{let n=Em();return wv(n,0,e.width,e.height,0,0,1),{u_matrix:n,u_image:r,u_color_ramp:i,u_opacity:t.paint.get("heatmap-opacity")}},Vwr=(e,t)=>({u_image:new wn(e,t.u_image),u_latrange:new pa(e,t.u_latrange),u_exaggeration:new qi(e,t.u_exaggeration),u_altitudes:new Kie(e,t.u_altitudes),u_azimuths:new Kie(e,t.u_azimuths),u_accent:new Rm(e,t.u_accent),u_method:new wn(e,t.u_method),u_shadows:new Zie(e,t.u_shadows),u_highlights:new Zie(e,t.u_highlights)}),Gwr=(e,t)=>({u_matrix:new ep(e,t.u_matrix),u_image:new wn(e,t.u_image),u_dimension:new pa(e,t.u_dimension),u_zoom:new qi(e,t.u_zoom),u_unpack:new OT(e,t.u_unpack)}),Hwr=(e,t,r)=>{let i=r.paint.get("hillshade-accent-color"),n;switch(r.paint.get("hillshade-method")){case"basic":n=4;break;case"combined":n=1;break;case"igor":n=2;break;case"multidirectional":n=3;break;default:n=0}let a=r.getIlluminationProperties();for(let o=0;o{let r=t.stride,i=Em();return wv(i,0,zr,-zr,0,0,1),eu(i,i,[0,-zr,0]),{u_matrix:i,u_image:1,u_dimension:[r,r],u_zoom:e.overscaledZ,u_unpack:t.getUnpackVector()}};Wwr=(e,t)=>({u_image:new wn(e,t.u_image),u_unpack:new OT(e,t.u_unpack),u_dimension:new pa(e,t.u_dimension),u_elevation_stops:new wn(e,t.u_elevation_stops),u_color_stops:new wn(e,t.u_color_stops),u_color_ramp_size:new wn(e,t.u_color_ramp_size),u_opacity:new qi(e,t.u_opacity)}),Ywr=(e,t,r=0)=>({u_image:0,u_unpack:t.getUnpackVector(),u_dimension:[t.stride,t.stride],u_elevation_stops:1,u_color_stops:4,u_color_ramp_size:r,u_opacity:e.paint.get("color-relief-opacity")}),Xwr=(e,t)=>({u_translation:new pa(e,t.u_translation),u_ratio:new qi(e,t.u_ratio)}),Zwr=(e,t)=>({u_translation:new pa(e,t.u_translation),u_ratio:new qi(e,t.u_ratio),u_image:new wn(e,t.u_image),u_image_height:new qi(e,t.u_image_height)}),Kwr=(e,t)=>({u_translation:new pa(e,t.u_translation),u_texsize:new pa(e,t.u_texsize),u_ratio:new qi(e,t.u_ratio),u_image:new wn(e,t.u_image),u_scale:new Rf(e,t.u_scale),u_fade:new qi(e,t.u_fade)}),Jwr=(e,t)=>({u_translation:new pa(e,t.u_translation),u_ratio:new qi(e,t.u_ratio),u_image:new wn(e,t.u_image),u_mix:new qi(e,t.u_mix),u_tileratio:new qi(e,t.u_tileratio),u_crossfade_from:new qi(e,t.u_crossfade_from),u_crossfade_to:new qi(e,t.u_crossfade_to),u_lineatlas_width:new qi(e,t.u_lineatlas_width),u_lineatlas_height:new qi(e,t.u_lineatlas_height)}),Qwr=(e,t)=>({u_translation:new pa(e,t.u_translation),u_ratio:new qi(e,t.u_ratio),u_image:new wn(e,t.u_image),u_image_height:new qi(e,t.u_image_height),u_tileratio:new qi(e,t.u_tileratio),u_crossfade_from:new qi(e,t.u_crossfade_from),u_crossfade_to:new qi(e,t.u_crossfade_to),u_image_dash:new wn(e,t.u_image_dash),u_mix:new qi(e,t.u_mix),u_lineatlas_width:new qi(e,t.u_lineatlas_width),u_lineatlas_height:new qi(e,t.u_lineatlas_height)}),Dq=(e,t,r,i)=>{let n=e.transform;return{u_translation:Jot(e,t,r),u_ratio:i/Zh(t,1,n.zoom)}},e5r=(e,t,r,i,n)=>ln(Dq(e,t,r,i),{u_image:0,u_image_height:n}),t5r=(e,t,r,i,n)=>{let a=e.transform,o=Rae(t,a);return{u_translation:Jot(e,t,r),u_texsize:t.imageAtlasTexture.size,u_ratio:i/Zh(t,1,a.zoom),u_image:0,u_scale:[o,n.fromScale,n.toScale],u_fade:n.t}},r5r=(e,t,r,i,n)=>{let a=e.transform,o=Rae(t,a);return 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i=Math.cos(t.rollInRadians),n=Math.sin(t.rollInRadians),a=UT(t),o=t.getProjectionData({overscaledTileID:null,applyGlobeMatrix:!0,applyTerrainMatrix:!0}).projectionTransition;return{u_sky_color:e.properties.get("sky-color"),u_horizon_color:e.properties.get("horizon-color"),u_horizon:[(t.width/2-a*n)*r,(t.height/2+a*i)*r],u_horizon_normal:[-n,i],u_sky_horizon_blend:e.properties.get("sky-horizon-blend")*t.height/2*r,u_sky_blend:o,u_inv_proj_matrix:t.inverseProjectionMatrix,u_globe_position:Oot(t),u_globe_radius:YT(t.worldSize,t.center.lat)}},lq=(e,t)=>({}),y5r={fillExtrusion:Ewr,fillExtrusionPattern:kwr,fill:Dwr,fillPattern:Fwr,fillOutline:Lwr,fillOutlinePattern:Pwr,circle:Bwr,collisionBox:lq,collisionCircle:lq,debug:Owr,depth:lq,clippingMask:lq,heatmap:Nwr,heatmapTexture:Uwr,hillshade:Vwr,hillshadePrepare:Gwr,colorRelief:Wwr,line:Xwr,lineGradient:Zwr,linePattern:Kwr,lineSDF:Jwr,lineGradientSDF:Qwr,layerOpacity:n5r,raster:Rbr,symbolIcon:o5r,symbolSDF:s5r,symbolTextAndIcon:l5r,background:c5r,backgroundPattern:f5r,terrain:pwr,terrainDepth:vwr,atmosphere:p5r,sky:g5r},x5r=class{constructor(e,t,r){this.context=e;let i=e.gl;this.buffer=i.createBuffer(),this.dynamicDraw=!!r,this.context.unbindVAO(),e.bindElementBuffer.set(this.buffer),i.bufferData(i.ELEMENT_ARRAY_BUFFER,t.arrayBuffer,this.dynamicDraw?i.DYNAMIC_DRAW:i.STATIC_DRAW),this.dynamicDraw||t.freeBufferAfterUpload()}bind(){this.context.bindElementBuffer.set(this.buffer)}updateData(e){let t=this.context.gl;if(!this.dynamicDraw)throw Error("Attempted to update data while not in dynamic mode.");this.context.unbindVAO(),this.bind(),t.bufferSubData(t.ELEMENT_ARRAY_BUFFER,0,e.arrayBuffer)}destroy(){let e=this.context.gl;this.buffer&&(e.deleteBuffer(this.buffer),delete this.buffer)}},Cat={Int8:"BYTE",Uint8:"UNSIGNED_BYTE",Int16:"SHORT",Uint16:"UNSIGNED_SHORT",Int32:"INT",Uint32:"UNSIGNED_INT",Float32:"FLOAT"},_5r=class{constructor(e,t,r,i){this.length=t.length,this.attributes=r,this.itemSize=t.bytesPerElement,this.dynamicDraw=i,this.context=e;let n=e.gl;this.buffer=n.createBuffer(),e.bindVertexBuffer.set(this.buffer),n.bufferData(n.ARRAY_BUFFER,t.arrayBuffer,this.dynamicDraw?n.DYNAMIC_DRAW:n.STATIC_DRAW),this.dynamicDraw||t.freeBufferAfterUpload()}bind(){this.context.bindVertexBuffer.set(this.buffer)}updateData(e){if(e.length!==this.length)throw Error(`Length of new data is ${e.length}, which doesn't match current length of ${this.length}`);let t=this.context.gl;this.bind(),t.bufferSubData(t.ARRAY_BUFFER,0,e.arrayBuffer)}enableAttributes(e,t){for(let r of this.attributes){let i=t.attributes[r.name];i!==void 0&&e.enableVertexAttribArray(i.location)}}setVertexAttribPointers(e,t,r){for(let i of this.attributes){let n=t.attributes[i.name];if(n!==void 0){let a=i.offset+this.itemSize*(r||0);n.isInteger?e.vertexAttribIPointer(n.location,i.components,e[Cat[i.type]],this.itemSize,a):e.vertexAttribPointer(n.location,i.components,e[Cat[i.type]],!1,this.itemSize,a)}}}destroy(){let e=this.context.gl;this.buffer&&(e.deleteBuffer(this.buffer),delete this.buffer)}},No=class{constructor(e){this.gl=e.gl,this.default=this.getDefault(),this.current=this.default,this.dirty=!1}get(){return this.current}set(e){}getDefault(){return this.default}setDefault(){this.set(this.default)}},b5r=class extends No{getDefault(){return ea.transparent}set(e){let t=this.current;(e.r!==t.r||e.g!==t.g||e.b!==t.b||e.a!==t.a||this.dirty)&&(this.gl.clearColor(e.r,e.g,e.b,e.a),this.current=e,this.dirty=!1)}},w5r=class extends No{getDefault(){return 1}set(e){(e!==this.current||this.dirty)&&(this.gl.clearDepth(e),this.current=e,this.dirty=!1)}},T5r=class extends No{getDefault(){return 0}set(e){(e!==this.current||this.dirty)&&(this.gl.clearStencil(e),this.current=e,this.dirty=!1)}},A5r=class extends No{getDefault(){return[!0,!0,!0,!0]}set(e){let t=this.current;(e[0]!==t[0]||e[1]!==t[1]||e[2]!==t[2]||e[3]!==t[3]||this.dirty)&&(this.gl.colorMask(e[0],e[1],e[2],e[3]),this.current=e,this.dirty=!1)}},M5r=class extends No{getDefault(){return!0}set(e){(e!==this.current||this.dirty)&&(this.gl.depthMask(e),this.current=e,this.dirty=!1)}},S5r=class extends No{getDefault(){return 255}set(e){(e!==this.current||this.dirty)&&(this.gl.stencilMask(e),this.current=e,this.dirty=!1)}},E5r=class extends No{getDefault(){return{func:this.gl.ALWAYS,ref:0,mask:255}}set(e){let t=this.current;(e.func!==t.func||e.ref!==t.ref||e.mask!==t.mask||this.dirty)&&(this.gl.stencilFunc(e.func,e.ref,e.mask),this.current=e,this.dirty=!1)}},k5r=class extends No{getDefault(){let e=this.gl;return[e.KEEP,e.KEEP,e.KEEP]}set(e){let t=this.current;(e[0]!==t[0]||e[1]!==t[1]||e[2]!==t[2]||this.dirty)&&(this.gl.stencilOp(e[0],e[1],e[2]),this.current=e,this.dirty=!1)}},C5r=class extends No{getDefault(){return!1}set(e){if(e===this.current&&!this.dirty)return;let t=this.gl;e?t.enable(t.STENCIL_TEST):t.disable(t.STENCIL_TEST),this.current=e,this.dirty=!1}},D5r=class extends No{getDefault(){return[0,1]}set(e){let t=this.current;(e[0]!==t[0]||e[1]!==t[1]||this.dirty)&&(this.gl.depthRange(e[0],e[1]),this.current=e,this.dirty=!1)}},F5r=class extends No{getDefault(){return!1}set(e){if(e===this.current&&!this.dirty)return;let t=this.gl;e?t.enable(t.DEPTH_TEST):t.disable(t.DEPTH_TEST),this.current=e,this.dirty=!1}},L5r=class extends No{getDefault(){return this.gl.LESS}set(e){(e!==this.current||this.dirty)&&(this.gl.depthFunc(e),this.current=e,this.dirty=!1)}},P5r=class extends No{getDefault(){return!1}set(e){if(e===this.current&&!this.dirty)return;let t=this.gl;e?t.enable(t.BLEND):t.disable(t.BLEND),this.current=e,this.dirty=!1}},I5r=class extends No{getDefault(){let e=this.gl;return[e.ONE,e.ZERO]}set(e){let t=this.current;(e[0]!==t[0]||e[1]!==t[1]||this.dirty)&&(this.gl.blendFunc(e[0],e[1]),this.current=e,this.dirty=!1)}},R5r=class extends No{getDefault(){return ea.transparent}set(e){let t=this.current;(e.r!==t.r||e.g!==t.g||e.b!==t.b||e.a!==t.a||this.dirty)&&(this.gl.blendColor(e.r,e.g,e.b,e.a),this.current=e,this.dirty=!1)}},z5r=class extends No{getDefault(){return this.gl.FUNC_ADD}set(e){(e!==this.current||this.dirty)&&(this.gl.blendEquation(e),this.current=e,this.dirty=!1)}},B5r=class extends No{getDefault(){return!1}set(e){if(e===this.current&&!this.dirty)return;let t=this.gl;e?t.enable(t.CULL_FACE):t.disable(t.CULL_FACE),this.current=e,this.dirty=!1}},q5r=class extends No{getDefault(){return this.gl.BACK}set(e){(e!==this.current||this.dirty)&&(this.gl.cullFace(e),this.current=e,this.dirty=!1)}},O5r=class extends No{getDefault(){return this.gl.CCW}set(e){(e!==this.current||this.dirty)&&(this.gl.frontFace(e),this.current=e,this.dirty=!1)}},N5r=class extends No{getDefault(){return null}set(e){(e!==this.current||this.dirty)&&(this.gl.useProgram(e),this.current=e,this.dirty=!1)}},U5r=class extends No{getDefault(){return this.gl.TEXTURE0}set(e){(e!==this.current||this.dirty)&&(this.gl.activeTexture(e),this.current=e,this.dirty=!1)}},V5r=class extends No{getDefault(){let e=this.gl;return[0,0,e.drawingBufferWidth,e.drawingBufferHeight]}set(e){let t=this.current;(e[0]!==t[0]||e[1]!==t[1]||e[2]!==t[2]||e[3]!==t[3]||this.dirty)&&(this.gl.viewport(e[0],e[1],e[2],e[3]),this.current=e,this.dirty=!1)}},G5r=class extends No{getDefault(){return null}set(e){if(e===this.current&&!this.dirty)return;let t=this.gl;t.bindFramebuffer(t.FRAMEBUFFER,e),this.current=e,this.dirty=!1}},H5r=class extends No{getDefault(){return null}set(e){if(e===this.current&&!this.dirty)return;let t=this.gl;t.bindRenderbuffer(t.RENDERBUFFER,e),this.current=e,this.dirty=!1}},j5r=class extends No{getDefault(){return null}set(e){if(e===this.current&&!this.dirty)return;let t=this.gl;t.bindTexture(t.TEXTURE_2D,e),this.current=e,this.dirty=!1}},$5r=class extends No{getDefault(){return null}set(e){if(e===this.current&&!this.dirty)return;let t=this.gl;t.bindBuffer(t.ARRAY_BUFFER,e),this.current=e,this.dirty=!1}},W5r=class extends No{getDefault(){return null}set(e){let t=this.gl;t.bindBuffer(t.ELEMENT_ARRAY_BUFFER,e),this.current=e,this.dirty=!1}},Y5r=class extends No{getDefault(){return null}set(e){(e!==this.current||this.dirty)&&(this.gl.bindVertexArray(e),this.current=e,this.dirty=!1)}},X5r=class extends No{getDefault(){return 4}set(e){if(e===this.current&&!this.dirty)return;let t=this.gl;t.pixelStorei(t.UNPACK_ALIGNMENT,e),this.current=e,this.dirty=!1}},Z5r=class extends No{getDefault(){return!1}set(e){if(e===this.current&&!this.dirty)return;let t=this.gl;t.pixelStorei(t.UNPACK_PREMULTIPLY_ALPHA_WEBGL,e),this.current=e,this.dirty=!1}},K5r=class extends No{getDefault(){return!1}set(e){if(e===this.current&&!this.dirty)return;let t=this.gl;t.pixelStorei(t.UNPACK_FLIP_Y_WEBGL,e),this.current=e,this.dirty=!1}},zae=class extends No{constructor(e,t){super(e),this.context=e,this.parent=t}getDefault(){return null}},J5r=class extends zae{setDirty(){this.dirty=!0}set(e){if(e===this.current&&!this.dirty)return;this.context.bindFramebuffer.set(this.parent);let t=this.gl;t.framebufferTexture2D(t.FRAMEBUFFER,t.COLOR_ATTACHMENT0,t.TEXTURE_2D,e,0),this.current=e,this.dirty=!1}},Q5r=class extends zae{set(e){if(e===this.current&&!this.dirty)return;this.context.bindFramebuffer.set(this.parent);let t=this.gl;t.framebufferRenderbuffer(t.FRAMEBUFFER,t.DEPTH_ATTACHMENT,t.RENDERBUFFER,e),this.current=e,this.dirty=!1}},e4r=class extends zae{set(e){if(e===this.current&&!this.dirty)return;this.context.bindFramebuffer.set(this.parent);let t=this.gl;t.framebufferRenderbuffer(t.FRAMEBUFFER,t.DEPTH_STENCIL_ATTACHMENT,t.RENDERBUFFER,e),this.current=e,this.dirty=!1}},t4r=class{constructor(e,t,r,i,n){this.context=e,this.width=t,this.height=r;let a=e.gl,o=this.framebuffer=a.createFramebuffer();if(this.colorAttachment=new J5r(e,o),i)this.depthAttachment=n?new e4r(e,o):new Q5r(e,o);else if(n)throw Error("Stencil cannot be set without depth")}destroy(){let e=this.context.gl,t=this.colorAttachment.get();if(t&&e.deleteTexture(t),this.depthAttachment){let r=this.depthAttachment.get();r&&e.deleteRenderbuffer(r)}e.deleteFramebuffer(this.framebuffer)}},tst=Pae([{name:"u_units_to_pixels",type:"vec2"},{name:"u_world_size",type:"vec2"},{name:"u_camera_to_center_distance",type:"float"},{name:"u_symbol_fade_change",type:"float"},{name:"u_aspect_ratio",type:"float"},{name:"u_device_pixel_ratio",type:"float"},{name:"u_viewport_size",type:"vec2"},{name:"u_pixel_extrude_scale",type:"vec2"},{name:"u_pitch",type:"float"}]),q0=tst.offsets;ql=class{constructor(e,t,r){this.blendFunction=e,this.blendColor=t,this.mask=r}};ql.Replace=[1,0],ql.disabled=new ql(ql.Replace,ea.transparent,[!1,!1,!1,!1]),ql.unblended=new ql(ql.Replace,ea.transparent,[!0,!0,!0,!0]),ql.alphaBlended=new ql([1,771],ea.transparent,[!0,!0,!0,!0]);n4r=class{constructor(e){this.gl=e,this.clearColor=new b5r(this),this.clearDepth=new w5r(this),this.clearStencil=new T5r(this),this.colorMask=new A5r(this),this.depthMask=new M5r(this),this.stencilMask=new S5r(this),this.stencilFunc=new E5r(this),this.stencilOp=new k5r(this),this.stencilTest=new C5r(this),this.depthRange=new D5r(this),this.depthTest=new F5r(this),this.depthFunc=new L5r(this),this.blend=new P5r(this),this.blendFunc=new I5r(this),this.blendColor=new R5r(this),this.blendEquation=new z5r(this),this.cullFace=new B5r(this),this.cullFaceSide=new q5r(this),this.frontFace=new O5r(this),this.program=new N5r(this),this.activeTexture=new U5r(this),this.viewport=new V5r(this),this.bindFramebuffer=new G5r(this),this.bindRenderbuffer=new H5r(this),this.bindTexture=new j5r(this),this.bindVertexBuffer=new $5r(this),this.bindElementBuffer=new W5r(this),this.bindVertexArray=new Y5r(this),this.pixelStoreUnpack=new X5r(this),this.pixelStoreUnpackPremultiplyAlpha=new Z5r(this),this.pixelStoreUnpackFlipY=new K5r(this),this.extTextureFilterAnisotropic=e.getExtension("EXT_texture_filter_anisotropic"),this.extTextureFilterAnisotropic&&(this.extTextureFilterAnisotropicMax=e.getParameter(this.extTextureFilterAnisotropic.MAX_TEXTURE_MAX_ANISOTROPY_EXT)),this.maxTextureSize=e.getParameter(e.MAX_TEXTURE_SIZE),e.getExtension("EXT_color_buffer_half_float"),e.getExtension("EXT_color_buffer_float"),this.projectionUniformBuffer=_wr(this),this.terrainUniformBuffer=wwr(this),this.frameUniformBuffer=r4r(this)}setDefault(){this.unbindVAO(),this.clearColor.setDefault(),this.clearDepth.setDefault(),this.clearStencil.setDefault(),this.colorMask.setDefault(),this.depthMask.setDefault(),this.stencilMask.setDefault(),this.stencilFunc.setDefault(),this.stencilOp.setDefault(),this.stencilTest.setDefault(),this.depthRange.setDefault(),this.depthTest.setDefault(),this.depthFunc.setDefault(),this.blend.setDefault(),this.blendFunc.setDefault(),this.blendColor.setDefault(),this.blendEquation.setDefault(),this.cullFace.setDefault(),this.cullFaceSide.setDefault(),this.frontFace.setDefault(),this.program.setDefault(),this.activeTexture.setDefault(),this.bindFramebuffer.setDefault(),this.pixelStoreUnpack.setDefault(),this.pixelStoreUnpackPremultiplyAlpha.setDefault(),this.pixelStoreUnpackFlipY.setDefault()}setDirty(){this.clearColor.dirty=!0,this.clearDepth.dirty=!0,this.clearStencil.dirty=!0,this.colorMask.dirty=!0,this.depthMask.dirty=!0,this.stencilMask.dirty=!0,this.stencilFunc.dirty=!0,this.stencilOp.dirty=!0,this.stencilTest.dirty=!0,this.depthRange.dirty=!0,this.depthTest.dirty=!0,this.depthFunc.dirty=!0,this.blend.dirty=!0,this.blendFunc.dirty=!0,this.blendColor.dirty=!0,this.blendEquation.dirty=!0,this.cullFace.dirty=!0,this.cullFaceSide.dirty=!0,this.frontFace.dirty=!0,this.program.dirty=!0,this.activeTexture.dirty=!0,this.viewport.dirty=!0,this.bindFramebuffer.dirty=!0,this.bindRenderbuffer.dirty=!0,this.bindTexture.dirty=!0,this.bindVertexBuffer.dirty=!0,this.bindElementBuffer.dirty=!0,this.bindVertexArray.dirty=!0,this.pixelStoreUnpack.dirty=!0,this.pixelStoreUnpackPremultiplyAlpha.dirty=!0,this.pixelStoreUnpackFlipY.dirty=!0,this.projectionUniformBuffer.bindingDirty=!0,this.terrainUniformBuffer.bindingDirty=!0,this.frameUniformBuffer.bindingDirty=!0}setCustomLayerDefaults(){this.unbindVAO(),this.cullFace.setDefault(),this.activeTexture.setDefault(),this.pixelStoreUnpack.setDefault(),this.pixelStoreUnpackPremultiplyAlpha.setDefault(),this.pixelStoreUnpackFlipY.setDefault()}createIndexBuffer(e,t){return new x5r(this,e,t)}createVertexBuffer(e,t,r){return new _5r(this,e,t,r)}createRenderbuffer(e,t,r){let i=this.gl,n=i.createRenderbuffer();return this.bindRenderbuffer.set(n),i.renderbufferStorage(i.RENDERBUFFER,e,t,r),this.bindRenderbuffer.set(null),n}createFramebuffer(e,t,r,i){return new t4r(this,e,t,r,i)}clear({color:e,depth:t,stencil:r}){let i=this.gl,n=0;e&&(n|=i.COLOR_BUFFER_BIT,this.clearColor.set(e),this.colorMask.set([!0,!0,!0,!0])),t!==void 0&&(n|=i.DEPTH_BUFFER_BIT,this.depthRange.set([0,1]),this.clearDepth.set(t),this.depthMask.set(!0)),r!==void 0&&(n|=i.STENCIL_BUFFER_BIT,this.clearStencil.set(r),this.stencilMask.set(255)),i.clear(n)}setCullFace(e){e.enable===!1?this.cullFace.set(!1):(this.cullFace.set(!0),this.cullFaceSide.set(e.mode),this.frontFace.set(e.frontFace))}setDepthMode(e){e.func===this.gl.ALWAYS&&!e.mask?this.depthTest.set(!1):(this.depthTest.set(!0),this.depthFunc.set(e.func),this.depthMask.set(e.mask),this.depthRange.set(e.range))}setStencilMode(e){e.test.func===this.gl.ALWAYS&&!e.mask?this.stencilTest.set(!1):(this.stencilTest.set(!0),this.stencilMask.set(e.mask),this.stencilOp.set([e.fail,e.depthFail,e.pass]),this.stencilFunc.set({func:e.test.func,ref:e.ref,mask:e.test.mask}))}setColorMode(e){_v(e.blendFunction,ql.Replace)?this.blend.set(!1):(this.blend.set(!0),this.blendFunc.set(e.blendFunction),this.blendColor.set(e.blendColor)),this.colorMask.set(e.mask)}createVertexArray(){return this.gl.createVertexArray()}deleteVertexArray(e){this.gl.deleteVertexArray(e)}unbindVAO(){this.bindVertexArray.set(null)}},Ba=class{constructor(e,t,r){this.func=e,this.mask=t,this.range=r}};Ba.ReadOnly=!1,Ba.ReadWrite=!0,Ba.disabled=new Ba(519,Ba.ReadOnly,[0,1]);Hne=7680,Fo=class{constructor(e,t,r,i,n,a){this.test=e,this.ref=t,this.mask=r,this.fail=i,this.depthFail=n,this.pass=a}};Fo.disabled=new Fo({func:519,mask:0},0,0,Hne,Hne,Hne);Dat=1029,jne=2305,To=class{constructor(e,t,r){this.enable=e,this.mode=t,this.frontFace=r}};To.disabled=new To(!1,Dat,jne),To.backCCW=new To(!0,Dat,jne),To.frontCCW=new To(!0,1028,jne);o4r=Qd(new Float32Array(16));zat=0;Xne=[new tr(0,0),new tr(zr,0),new tr(zr,zr),new tr(0,zr)];z4r=new ea(1,0,0,1),B4r=new ea(0,1,0,1),q4r=new ea(0,0,1,1),O4r=new ea(1,0,1,1),N4r=new ea(0,1,1,1);Q4r={symbol:s4r,circle:d4r,heatmap:p4r,line:M4r,fill:S4r,fillExtrusion:E4r,hillshade:k4r,colorRelief:D4r,raster:F4r,background:R4r,sky:Z4r,atmosphere:J4r,custom:W4r,debug:G4r,debugPadding:U4r,terrainDepth:Y4r};tTr=(u3=class{constructor(t,r){this.drawFunctions=Q4r,this.context=new n4r(t),this.transform=r,this.layerOpacityFbo=null,this._tileTextures={},this._rttObjectRecyclePool=[],this._rttSharedFbo=null,this.terrainFacilitator={depthDirty:!0,matrix:Qd(new Float64Array(16)),renderTime:0},this.setup(),this.numSublayers=aae.maxOverzooming+aae.maxUnderzooming+1,this.depthEpsilon=1/2**16,this.crossTileSymbolIndex=new Eot}resize(t,r,i){if(this.width=Math.floor(t*i),this.height=Math.floor(r*i),this.pixelRatio=i,this.context.viewport.set([0,0,this.width,this.height]),this.style)for(let n of this.style._order)this.style._layers[n].resize()}setup(){let t=this.context,r=new Pm;r.emplaceBack(0,0),r.emplaceBack(zr,0),r.emplaceBack(0,zr),r.emplaceBack(zr,zr),this.tileExtentBuffer=t.createVertexBuffer(r,l3.members),this.tileExtentSegments=Ws.simpleSegment(0,0,4,2);let i=new Pm;i.emplaceBack(0,0),i.emplaceBack(zr,0),i.emplaceBack(0,zr),i.emplaceBack(zr,zr),this.debugBuffer=t.createVertexBuffer(i,l3.members),this.debugSegments=Ws.simpleSegment(0,0,4,5);let n=new Wrt;n.emplaceBack(0,0,0,0),n.emplaceBack(zr,0,zr,0),n.emplaceBack(0,zr,0,zr),n.emplaceBack(zr,zr,zr,zr),this.rasterBoundsBuffer=t.createVertexBuffer(n,fwr.members),this.rasterBoundsSegments=Ws.simpleSegment(0,0,4,2);let a=new Pm;a.emplaceBack(0,0),a.emplaceBack(zr,0),a.emplaceBack(0,zr),a.emplaceBack(zr,zr),this.rasterBoundsBufferPosOnly=t.createVertexBuffer(a,l3.members),this.rasterBoundsSegmentsPosOnly=Ws.simpleSegment(0,0,4,5);let o=new Pm;o.emplaceBack(0,0),o.emplaceBack(1,0),o.emplaceBack(0,1),o.emplaceBack(1,1),this.viewportBuffer=t.createVertexBuffer(o,l3.members),this.viewportSegments=Ws.simpleSegment(0,0,4,2);let s=new Zrt;s.emplaceBack(0),s.emplaceBack(1),s.emplaceBack(3),s.emplaceBack(2),s.emplaceBack(0),this.tileBorderIndexBuffer=t.createIndexBuffer(s);let l=new Mv;l.emplaceBack(1,0,2),l.emplaceBack(1,2,3),this.quadTriangleIndexBuffer=t.createIndexBuffer(l);let u=this.context.gl;this.stencilClearMode=new Fo({func:u.ALWAYS,mask:0},0,255,u.ZERO,u.ZERO,u.ZERO),this.tileExtentMesh=new M8(this.tileExtentBuffer,this.quadTriangleIndexBuffer,this.tileExtentSegments)}clearStencil(){let t=this.context,r=t.gl;this.nextStencilID=1,this.currentStencilSource=void 0;let i=Em();wv(i,0,this.width,this.height,0,0,1),Rc(i,i,[r.drawingBufferWidth,r.drawingBufferHeight,0]);let n={mainMatrix:i,tileMercatorCoords:[0,0,1,1],clippingPlane:[0,0,0,0],projectionTransition:0,fallbackMatrix:i,clipAntimeridian:!1};this.useProgram("clippingMask",null,!0).draw(t,r.TRIANGLES,Ba.disabled,this.stencilClearMode,ql.disabled,To.disabled,null,null,n,"$clipping",this.viewportBuffer,this.quadTriangleIndexBuffer,this.viewportSegments)}renderTileClippingMasks(t,r,i){if(this.currentStencilSource===t.source||!t.isTileClipped()||!(r!=null&&r.length))return;this.currentStencilSource=t.source,this.nextStencilID+r.length>256&&this.clearStencil();let n=this.context;n.setColorMode(ql.disabled),n.setDepthMode(Ba.disabled);let a={};for(let o of r)a[o.key]=this.nextStencilID++;this.style.projection.useSubdivision&&this._renderTileMasks(a,r,i,!0),this._renderTileMasks(a,r,i,!1),this._tileClippingMaskIDs=a}_renderTileMasks(t,r,i,n){let a=this.context,o=a.gl,s=this.style.projection,l=this.transform,u=this.useProgram("clippingMask");for(let c of r){let f=t[c.key],h=this.getTerrainDataForTile(c,i),d=s.getMeshFromTileID(this.context,c.canonical,n,!0,"stencil"),p=l.getProjectionData({overscaledTileID:c,applyGlobeMatrix:!i,applyTerrainMatrix:!0});u.draw(a,o.TRIANGLES,Ba.disabled,new Fo({func:o.ALWAYS,mask:0},f,255,o.KEEP,o.KEEP,o.REPLACE),ql.disabled,i?To.disabled:To.backCCW,null,h,p,"$clipping",d.vertexBuffer,d.indexBuffer,d.segments)}}getTerrainDataForTile(t,r){var i,n;return r&&((i=this.style.projection)==null?void 0:i.name)==="mercator"?null:((n=this.style.map.terrain)==null?void 0:n.getTerrainData(t))||null}_renderTilesDepthBuffer(){var l;let t=this.context,r=t.gl,i=this.style.projection,n=this.transform,a=this.useProgram("depth"),o=this.getDepthModeFor3D(),s=ZT(n,{tileSize:n.tileSize});for(let u of s){let c=(l=this.style.map.terrain)==null?void 0:l.getTerrainData(u),f=i.getMeshFromTileID(this.context,u.canonical,!0,!0,"raster"),h=n.getProjectionData({overscaledTileID:u,applyGlobeMatrix:!0,applyTerrainMatrix:!0});a.draw(t,r.TRIANGLES,o,Fo.disabled,ql.disabled,To.backCCW,null,c,h,"$clipping",f.vertexBuffer,f.indexBuffer,f.segments)}}stencilModeFor3D(){this.currentStencilSource=void 0,this.nextStencilID+1>256&&this.clearStencil();let t=this.nextStencilID++,r=this.context.gl;return new Fo({func:r.NOTEQUAL,mask:255},t,255,r.KEEP,r.KEEP,r.REPLACE)}stencilModeForClipping(t){let r=this.context.gl;return new Fo({func:r.EQUAL,mask:255},this._tileClippingMaskIDs[t.key],0,r.KEEP,r.KEEP,r.REPLACE)}getStencilConfigForOverlapAndUpdateStencilID(t){let r=this.context.gl,i=t.sort((o,s)=>s.overscaledZ-o.overscaledZ),n=i[i.length-1].overscaledZ,a=i[0].overscaledZ-n+1;if(a>1){this.currentStencilSource=void 0,this.nextStencilID+a>256&&this.clearStencil();let o={};for(let s=0;ss.overscaledZ-o.overscaledZ),n=i[i.length-1].overscaledZ,a=i[0].overscaledZ-n+1;if(this.clearStencil(),a>1){let o={},s={};for(let l=0;l=0;i.currentLayer--){let h=this.style._layers[n[i.currentLayer]];if(h.isHidden(this.transform.zoom))continue;let d=a[h.source],p=o[h.source];this.renderTileClippingMasks(h,p,!1),this.renderLayer(this,d,h,p,i)}i.currentPass="translucent";let u=!1;for(i.currentLayer=0;i.currentLayer0?r.pop():null}acquireRTT(t){let r=this.context.gl,i=this._rttObjectRecyclePool.pop();if(i)return i.size!==t&&(i.texture.update({width:t,height:t,data:null},{premultiply:!1,useMipmap:!0}),i.texture.bind(r.LINEAR,r.CLAMP_TO_EDGE,r.LINEAR_MIPMAP_LINEAR),this.context.extTextureFilterAnisotropic&&r.texParameterf(r.TEXTURE_2D,this.context.extTextureFilterAnisotropic.TEXTURE_MAX_ANISOTROPY_EXT,this.context.extTextureFilterAnisotropicMax),i.size=t),i;let n=new vu(this.context,{width:t,height:t,data:null},r.RGBA,{premultiply:!1,useMipmap:!0});return n.bind(r.LINEAR,r.CLAMP_TO_EDGE,r.LINEAR_MIPMAP_LINEAR),this.context.extTextureFilterAnisotropic&&r.texParameterf(r.TEXTURE_2D,this.context.extTextureFilterAnisotropic.TEXTURE_MAX_ANISOTROPY_EXT,this.context.extTextureFilterAnisotropicMax),{texture:n,size:t}}bindRTT(t){let r=this.context.gl,i=t.size;if(!this._rttSharedFbo){let n=this.context.createFramebuffer(i,i,!0,!0),a=this.context.createRenderbuffer(r.DEPTH_STENCIL,i,i);n.depthAttachment.set(a),this._rttSharedFbo={fbo:n,depthRenderbuffer:a,size:i}}this._rttSharedFbo.size!==i&&(this.context.bindRenderbuffer.set(this._rttSharedFbo.depthRenderbuffer),r.renderbufferStorage(r.RENDERBUFFER,r.DEPTH_STENCIL,i,i),this.context.bindRenderbuffer.set(null),this._rttSharedFbo.fbo.width=i,this._rttSharedFbo.fbo.height=i,this._rttSharedFbo.size=i),this._rttSharedFbo.fbo.colorAttachment.set(t.texture.texture),this.context.bindFramebuffer.set(this._rttSharedFbo.fbo.framebuffer)}releaseRTT(t){this._rttObjectRecyclePool.push(t)}isPatternMissing(t){if(!t)return!1;if(!t.from||!t.to)return!0;let r=this.patternAtlas.getPattern(t.from.toString()),i=this.patternAtlas.getPattern(t.to.toString());return!r||!i}useProgram(t,r,i=!1,n=[]){var v;this.cache||(this.cache={});let a=!!this.style.map.terrain,o=this.style.projection,s=i?tg.projectionMercator:o.shaderPreludeCode,l=i?kot:o.shaderDefine,u=`/${i?Cot:o.shaderVariantName}`,c=r?r.cacheKey:"",f=this._showOverdrawInspector?"/overdraw":"",h=a?"/terrain":"",d=n?`/${n.join("/")}`:"",p=t+c+u+f+h+d;return(v=this.cache)[p]||(v[p]=new Mwr(this.context,tg[t],r,y5r[t],this._showOverdrawInspector,a,s,l,n)),this.cache[p]}setCustomLayerDefaults(){this.context.setCustomLayerDefaults()}setBaseState(){let t=this.context.gl;this.context.cullFace.set(!1),this.context.viewport.set([0,0,this.width,this.height]),this.context.blendEquation.set(t.FUNC_ADD)}initDebugOverlayCanvas(){if(this.debugOverlayCanvas==null){this.debugOverlayCanvas=document.createElement("canvas"),this.debugOverlayCanvas.width=512,this.debugOverlayCanvas.height=512;let t=this.context.gl;this.debugOverlayTexture=new vu(this.context,this.debugOverlayCanvas,t.RGBA)}}destroy(){var t,r,i;if(this._tileTextures){for(let n in this._tileTextures){let a=this._tileTextures[n];if(a)for(let o of a)o.destroy()}this._tileTextures={}}for(let n of this._rttObjectRecyclePool)n.texture.destroy();if(this._rttObjectRecyclePool=[],this._rttSharedFbo){this._rttSharedFbo.fbo.colorAttachment.set(null),this._rttSharedFbo.fbo.depthAttachment.set(null);let n=this.context.gl;n.deleteRenderbuffer(this._rttSharedFbo.depthRenderbuffer),n.deleteFramebuffer(this._rttSharedFbo.fbo.framebuffer),this._rttSharedFbo=null}if((t=this.layerOpacityFbo)==null||t.destroy(),this.layerOpacityFbo=null,this.tileExtentBuffer&&this.tileExtentBuffer.destroy(),this.debugBuffer&&this.debugBuffer.destroy(),this.rasterBoundsBuffer&&this.rasterBoundsBuffer.destroy(),this.rasterBoundsBufferPosOnly&&this.rasterBoundsBufferPosOnly.destroy(),this.viewportBuffer&&this.viewportBuffer.destroy(),this.tileBorderIndexBuffer&&this.tileBorderIndexBuffer.destroy(),this.quadTriangleIndexBuffer&&this.quadTriangleIndexBuffer.destroy(),this.tileExtentMesh&&((r=this.tileExtentMesh.vertexBuffer)==null||r.destroy()),this.tileExtentMesh&&((i=this.tileExtentMesh.indexBuffer)==null||i.destroy()),this.debugOverlayTexture&&this.debugOverlayTexture.destroy(),this.context.projectionUniformBuffer.destroy(),this.context.terrainUniformBuffer.destroy(),this.context.frameUniformBuffer.destroy(),this.cache){for(let n in this.cache){let a=this.cache[n];a!=null&&a.program&&this.context.gl.deleteProgram(a.program)}this.cache={}}this.context&&this.context.setDefault()}overLimit(){let{drawingBufferWidth:t,drawingBufferHeight:r}=this.context.gl;return this.width!==t||this.height!==r}},u3.MAX_TEXTURE_POOL_SIZE_PER_BUCKET=50,u3),cst=class extends Error{constructor(e,t){var r;super("WebGL2 is required to display this map. We are sorry, but it seems that your browser does not support WebGL2, a technology for rendering 3D graphics on the web. Read more on https://wiki.openstreetmap.org/wiki/This_map_requires_WebGL"),this.name="GPUInitializationError",this.requestedAttributes=e,this.statusMessage=(r=t==null?void 0:t.statusMessage)!=null?r:null}};hst=class{constructor(e){this._getHashParams=()=>new URLSearchParams(window.location.hash.replace("#","")),this._getCurrentHash=()=>{var r;let t=this._getHashParams();return this._hashName?(t.get(this._hashName)||"").split("/"):((r=[...t.keys()][0])!=null?r:"").split("/")},this._onHashChange=()=>{let t=this._getCurrentHash();if(!this._isValidHash(t))return!1;let r=this._map.dragRotate.isEnabled()&&this._map.touchZoomRotate.isEnabled()?+(t[3]||0):this._map.getBearing();return this._map.jumpTo({center:[+t[2],+t[1]],zoom:+t[0],bearing:r,pitch:+(t[4]||0)}),!0},this._updateHashUnthrottled=()=>{let t=window.location.href.replace(/(#.*)?$/,this.getHashString());window.history.replaceState(window.history.state,null,t)},this._removeHash=()=>{let t=this._getHashParams();if(this._hashName)t.delete(this._hashName);else{let a=Array.from(t.keys());a.length>0&&t.delete(a[0])}let r=decodeURIComponent(t.toString()).replace(/=&/g,"&").replace(/=$/g,""),i=r?`#${r}`:"",n=window.location.href.replace(/(#.+)?$/,i);n=n.replace("&&","&"),window.history.replaceState(window.history.state,null,n)},this._updateHash=fst(this._updateHashUnthrottled,300),this._hashName=e&&encodeURIComponent(e)}addTo(e){return this._map=e,addEventListener("hashchange",this._onHashChange,!1),this._map.on("moveend",this._updateHash),this}remove(){return removeEventListener("hashchange",this._onHashChange,!1),this._map.off("moveend",this._updateHash),clearTimeout(this._updateHash()),this._removeHash(),delete this._map,this}getHashString(e){let t=this._map.getCenter(),r=Math.round(this._map.getZoom()*100)/100,i=10**Math.ceil((r*Math.LN2+Math.log(512/360/.5))/Math.LN10),n=Math.round(t.lng*i)/i,a=Math.round(t.lat*i)/i,o=this._map.getBearing(),s=this._map.getPitch(),l="";if(l+=e?`/${n}/${a}/${r}`:`${r}/${a}/${n}`,(o||s)&&(l+=`/${Math.round(o*10)/10}`),s&&(l+=`/${Math.round(s)}`),this._hashName){let u=this._getHashParams();return u.set(this._hashName,l),`#${decodeURIComponent(u.toString()).replace(/=&/g,"&").replace(/=$/g,"")}`}return`#${l}`}_isValidHash(e){if(e.length<3||e.some(n=>isNaN(+n)))return!1;try{new mn(+e[2],+e[1])}catch(n){return!1}let t=+e[0],r=+(e[3]||0),i=+(e[4]||0);return t>=this._map.getMinZoom()&&t<=this._map.getMaxZoom()&&r>=-180&&r<=180&&i>=this._map.getMinPitch()&&i<=this._map.getMaxPitch()}},S8={linearity:.3,easing:dB(0,0,.3,1)},rTr=ln({deceleration:2500,maxSpeed:1400},S8),iTr=ln({deceleration:20,maxSpeed:1400},S8),nTr=ln({deceleration:1e3,maxSpeed:360},S8),aTr=ln({deceleration:1e3,maxSpeed:90},S8),oTr=ln({deceleration:1e3,maxSpeed:360},S8),sTr=class{constructor(e){this._map=e,this.clear()}clear(){this._inertiaBuffer=[]}record(e){this._drainInertiaBuffer(),this._inertiaBuffer.push({time:Oo(),settings:e})}_drainInertiaBuffer(){let e=this._inertiaBuffer,t=Oo();for(;e.length>0&&t-e[0].time>160;)e.shift()}_getVelocityEntries(){let e=this._inertiaBuffer,t=Oo()-60,r=Math.max(0,e.length-2);for(;r>0&&e[r-1].time>=t;)r--;return e.slice(r)}_onMoveEnd(e){this._drainInertiaBuffer();let t=this._getVelocityEntries();if(t.length<2){this.clear();return}let r={zoom:0,bearing:0,pitch:0,roll:0,pan:new tr(0,0),pinchAround:void 0,around:void 0};for(let{settings:a}of t)a.around&&(r.around=a.around),a.pinchAround&&(r.pinchAround=a.pinchAround);for(let{settings:a}of t.slice(1))r.zoom+=a.zoomDelta||0,r.bearing+=a.bearingDelta||0,r.pitch+=a.pitchDelta||0,r.roll+=a.rollDelta||0,a.panDelta&&r.pan._add(a.panDelta);if(!r.pan.mag()&&!r.zoom&&!r.bearing&&!r.pitch&&!r.roll){this.clear();return}let i=Oo()-t[0].time,n={};if(r.pan.mag()){let a=y8(r.pan.mag(),i,ln({},rTr,e||{})),o=r.pan.mult(a.amount/r.pan.mag()),s=this._map._camera.cameraHelper.handlePanInertia(o,this._map._camera.transform);n.center=s.easingCenter,n.offset=s.easingOffset,m8(n,a)}if(r.zoom){let a=y8(r.zoom,i,iTr);n.zoom=Jh(this._map.getZoom()+a.amount,this._map.getZoomSnap(),a.amount),m8(n,a)}if(r.bearing){let a=y8(r.bearing,i,nTr);n.bearing=this._map.getBearing()+Jn(a.amount,-179,179),m8(n,a)}if(r.pitch){let a=y8(r.pitch,i,aTr);n.pitch=this._map.getPitch()+a.amount,m8(n,a)}if(r.roll){let a=y8(r.roll,i,oTr);n.roll=this._map.getRoll()+Jn(a.amount,-179,179),m8(n,a)}if(n.zoom||n.bearing){let a=r.pinchAround===void 0?r.around:r.pinchAround;n.around=a?this._map.unproject(a):this._map.getCenter()}return this.clear(),ln(n,{noMoveStart:!0})}};lTr=class{constructor(e,t){this._map=e,this._clickTolerance=t.clickTolerance}reset(){delete this._mousedownPos}wheel(e){return this._firePreventable(new Xat(this._map,e))}mousedown(e,t){return this._mousedownPos=t,this._firePreventable(new O0(e.type,this._map,e))}mouseup(e){this._map.fire(new O0(e.type,this._map,e))}click(e,t){this._mousedownPos&&this._mousedownPos.dist(t)>=this._clickTolerance||this._map.fire(new O0(e.type,this._map,e))}dblclick(e){return this._firePreventable(new O0(e.type,this._map,e))}mouseover(e){this._map.fire(new O0(e.type,this._map,e))}mouseout(e){this._map.fire(new O0(e.type,this._map,e))}touchstart(e){return this._firePreventable(new b8(e.type,this._map,e))}touchmove(e){this._map.fire(new b8(e.type,this._map,e))}touchend(e){this._map.fire(new b8(e.type,this._map,e))}touchcancel(e){this._map.fire(new b8(e.type,this._map,e))}_firePreventable(e){if(this._map.fire(e),e.defaultPrevented)return{}}isEnabled(){return!0}isActive(){return!1}enable(){}disable(){}},uTr=class{constructor(e){this._map=e}reset(){this._delayContextMenu=!1,this._ignoreContextMenu=!0,delete this._contextMenuEvent}mousemove(e){this._map.fire(new O0(e.type,this._map,e))}mousedown(){this._delayContextMenu=!0,this._ignoreContextMenu=!1}mouseup(){this._delayContextMenu=!1,this._contextMenuEvent&&(this._map.fire(new O0("contextmenu",this._map,this._contextMenuEvent)),delete this._contextMenuEvent)}contextmenu(e){this._delayContextMenu?this._contextMenuEvent=e:this._ignoreContextMenu||this._map.fire(new O0(e.type,this._map,e)),this._map.listens("contextmenu")&&e.preventDefault()}isEnabled(){return!0}isActive(){return!1}enable(){}disable(){}},dst=class{constructor(e,t,r){this._map=e,this._tr=r,this._el=e.getCanvasContainer(),this._container=e.getContainer(),this._clickTolerance=t.clickTolerance||1,t.boxZoom&&typeof t.boxZoom=="object"&&(this._boxZoomEnd=t.boxZoom.boxZoomEnd)}isEnabled(){return!!this._enabled}isActive(){return!!this._active}enable(){this.isEnabled()||(this._enabled=!0)}disable(){this.isEnabled()&&(this._enabled=!1)}mousedown(e,t){this.isEnabled()&&e.shiftKey&&e.button===0&&($n.disableDrag(),this._startPos=this._lastPos=t,this._active=!0)}mousemoveWindow(e,t){if(!this._active)return;let r=t;if(this._lastPos.equals(r)||!this._box&&r.dist(this._startPos)n.fitScreenCoordinates(r,i,this._tr.bearing,{linear:!0})}}}keydown(e){this._active&&e.keyCode===27&&(this.reset(),this._fireEvent("boxzoomcancel",e))}reset(){this._active=!1,this._container.classList.remove("maplibregl-crosshair"),this._box&&(this._box=(this._box.remove(),null)),$n.enableDrag(),delete this._startPos,delete this._lastPos}_fireEvent(e,t){return this._map.fire(new eae(e,{originalEvent:t}))}};fTr=class{constructor(e){this.reset(),this.numTouches=e.numTouches}reset(){delete this.centroid,delete this.startTime,delete this.touches,this.aborted=!1}touchstart(e,t,r){(this.centroid||r.length>this.numTouches)&&(this.aborted=!0),!this.aborted&&(this.startTime===void 0&&(this.startTime=e.timeStamp),r.length===this.numTouches&&(this.centroid=cTr(t),this.touches=dae(r,t)))}touchmove(e,t,r){if(this.aborted||!this.centroid)return;let i=dae(r,t);for(let n in this.touches){let a=this.touches[n],o=i[n];(!o||o.dist(a)>30)&&(this.aborted=!0)}}touchend(e,t,r){if((!this.centroid||e.timeStamp-this.startTime>500)&&(this.aborted=!0),r.length===0){let i=!this.aborted&&this.centroid;if(this.reset(),i)return i}}},pae=class{constructor(e){this.singleTap=new fTr(e),this.numTaps=e.numTaps,this.reset()}reset(){this.lastTime=1/0,delete this.lastTap,this.count=0,this.singleTap.reset()}touchstart(e,t,r){this.singleTap.touchstart(e,t,r)}touchmove(e,t,r){this.singleTap.touchmove(e,t,r)}touchend(e,t,r){let i=this.singleTap.touchend(e,t,r);if(i){let n=e.timeStamp-this.lastTime<500,a=!this.lastTap||this.lastTap.dist(i)<30;if((!n||!a)&&this.reset(),this.count++,this.lastTime=e.timeStamp,this.lastTap=i,this.count===this.numTaps)return this.reset(),i}}},hTr=class{constructor(e,t){this._tr=t,this._zoomIn=new pae({numTouches:1,numTaps:2}),this._zoomOut=new pae({numTouches:2,numTaps:1}),this.reset()}reset(){this._active=!1,this._zoomIn.reset(),this._zoomOut.reset()}touchstart(e,t,r){this._zoomIn.touchstart(e,t,r),this._zoomOut.touchstart(e,t,r)}touchmove(e,t,r){this._zoomIn.touchmove(e,t,r),this._zoomOut.touchmove(e,t,r)}touchend(e,t,r){let i=this._zoomIn.touchend(e,t,r),n=this._zoomOut.touchend(e,t,r),a=this._tr;if(i)return this._active=!0,e.preventDefault(),setTimeout(()=>this.reset(),0),{cameraAnimation:o=>o.easeTo({duration:300,zoom:Jh(a.zoom+1,o.getZoomSnap()),around:a.unproject(i)},{originalEvent:e})};if(n)return this._active=!0,e.preventDefault(),setTimeout(()=>this.reset(),0),{cameraAnimation:o=>o.easeTo({duration:300,zoom:Jh(a.zoom-1,o.getZoomSnap()),around:a.unproject(n)},{originalEvent:e})}}touchcancel(){this.reset()}enable(){this._enabled=!0}disable(){this._enabled=!1,this.reset()}isEnabled(){return this._enabled}isActive(){return this._active}},E8=class{constructor(e){this._enabled=!!e.enable,this._moveStateManager=e.moveStateManager,this._clickTolerance=e.clickTolerance||1,this._moveFunction=e.move,this._activateOnStart=!!e.activateOnStart,e.assignEvents(this),this.reset()}reset(e){this._active=!1,this._moved=!1,delete this._lastPoint,this._moveStateManager.endMove(e)}_move(...e){let t=this._moveFunction(...e);if(t.bearingDelta||t.pitchDelta||t.rollDelta||t.around||t.panDelta)return this._active=!0,t}dragStart(e,t){this.isEnabled()&&!this._lastPoint&&this._moveStateManager.isValidStartEvent(e)&&(this._moveStateManager.startMove(e),this._lastPoint=Array.isArray(t)?t[0]:t,this._activateOnStart&&this._lastPoint&&(this._active=!0))}dragMove(e,t){if(!this.isEnabled())return;let r=this._lastPoint;if(!r)return;if(e.preventDefault(),!this._moveStateManager.isValidMoveEvent(e)){this.reset(e);return}let i=Array.isArray(t)?t[0]:t;if(!(!this._moved&&i.dist(r)!0}),t=new vTr){this.mouseMoveStateManager=e,this.oneFingerTouchMoveStateManager=t}_executeRelevantHandler(e,t,r){if(e instanceof MouseEvent)return t(e);if(typeof TouchEvent<"u"&&e instanceof TouchEvent)return r(e)}startMove(e){this._executeRelevantHandler(e,t=>{this.mouseMoveStateManager.startMove(t)},t=>{this.oneFingerTouchMoveStateManager.startMove(t)})}endMove(e){this._executeRelevantHandler(e,t=>{this.mouseMoveStateManager.endMove(t)},t=>{this.oneFingerTouchMoveStateManager.endMove(t)})}isValidStartEvent(e){return!!this._executeRelevantHandler(e,t=>this.mouseMoveStateManager.isValidStartEvent(t),t=>this.oneFingerTouchMoveStateManager.isValidStartEvent(t))}isValidMoveEvent(e){return!!this._executeRelevantHandler(e,t=>this.mouseMoveStateManager.isValidMoveEvent(t),t=>this.oneFingerTouchMoveStateManager.isValidMoveEvent(t))}isValidEndEvent(e){return!!this._executeRelevantHandler(e,t=>this.mouseMoveStateManager.isValidEndEvent(t),t=>this.oneFingerTouchMoveStateManager.isValidEndEvent(t))}},Fq=e=>{e.mousedown=e.dragStart,e.mousemoveWindow=e.dragMove,e.mouseup=e.dragEnd,e.contextmenu=t=>{t.preventDefault()}};bTr=class{constructor(e,t){this._clickTolerance=e.clickTolerance||1,this._map=t,this.reset()}reset(){this._active=!1,this._touches={},this._sum=new tr(0,0)}_shouldBePrevented(e){return e<(this._map.cooperativeGestures.isEnabled()?2:1)}touchstart(e,t,r){return this._calculateTransform(e,t,r)}touchmove(e,t,r){if(this._active){if(this._shouldBePrevented(r.length)){this._map.cooperativeGestures.notifyGestureBlocked("touch_pan",e);return}return e.preventDefault(),this._calculateTransform(e,t,r)}}touchend(e,t,r){this._calculateTransform(e,t,r),this._active&&this._shouldBePrevented(r.length)&&this.reset()}touchcancel(){this.reset()}_calculateTransform(e,t,r){r.length>0&&(this._active=!0);let i=dae(r,t),n=new tr(0,0),a=new tr(0,0),o=0;for(let l in i){let u=i[l],c=this._touches[l];c&&(n._add(u),a._add(u.sub(c)),o++,i[l]=u)}if(this._touches=i,this._shouldBePrevented(o)||!a.mag())return;let s=a.div(o);if(this._sum._add(s),!(this._sum.mag()=2,n=t.mag()>=2;if(!i&&!n)return;if(!i||!n)return this._firstMove===void 0&&(this._firstMove=r),r-this._firstMove<100&&void 0;let a=e.y>0==t.y>0;return Zne(e)&&Zne(t)&&a}},wTr={panStep:100,bearingStep:15,pitchStep:10},mst=class{constructor(e,t){this._tr=t;let r=wTr;this._panStep=r.panStep,this._bearingStep=r.bearingStep,this._pitchStep=r.pitchStep,this._rotationDisabled=!1}reset(){this._active=!1}keydown(e){if(e.altKey||e.ctrlKey||e.metaKey)return;let t=0,r=0,i=0,n=0,a=0;switch(e.keyCode){case 61:case 107:case 171:case 187:t=1;break;case 189:case 109:case 173:t=-1;break;case 37:e.shiftKey?r=-1:(e.preventDefault(),n=-1);break;case 39:e.shiftKey?r=1:(e.preventDefault(),n=1);break;case 38:e.shiftKey?i=1:(e.preventDefault(),a=-1);break;case 40:e.shiftKey?i=-1:(e.preventDefault(),a=1);break;default:return}return this._rotationDisabled&&(r=0,i=0),{cameraAnimation:o=>{let s=this._tr;o.easeTo({duration:300,easeId:"keyboardHandler",easing:TTr,zoom:t?Jh(s.zoom+t*(e.shiftKey?2:1),o.getZoomSnap()):s.zoom,bearing:s.bearing+r*this._bearingStep,pitch:s.pitch+i*this._pitchStep,offset:[-n*this._panStep,-a*this._panStep],center:s.center},{originalEvent:e})}}}enable(){this._enabled=!0}disable(){this._enabled=!1,this.reset()}isEnabled(){return this._enabled}isActive(){return this._active}disableRotation(){this._rotationDisabled=!0}enableRotation(){this._rotationDisabled=!1}};Vat=4.000244140625,yst=class{constructor(e,t,r){this._onTimeout=i=>{this._type="wheel",this._delta-=this._lastValue,this._active||this._start(i)},this._map=e,this._tr=r,this._triggerRenderFrame=t,this._delta=0,this._defaultZoomRate=.01,this._wheelZoomRate=.0022222222222222222}setZoomRate(e){this._defaultZoomRate=e}setWheelZoomRate(e){this._wheelZoomRate=e}isEnabled(){return!!this._enabled}isActive(){return!!this._active||this._finishTimeout!==void 0}isZooming(){return!!this._zooming}enable(e){this.isEnabled()||(this._enabled=!0,this._aroundCenter=!!e&&e.around==="center")}disable(){this.isEnabled()&&(this._enabled=!1)}_shouldBePrevented(e){return this._map.cooperativeGestures.isEnabled()?!(e.ctrlKey||this._map.cooperativeGestures.isBypassed(e)):!1}wheel(e){if(!this.isEnabled())return;if(this._shouldBePrevented(e)){this._map.cooperativeGestures.notifyGestureBlocked("wheel_zoom",e);return}let t=e.deltaMode===WheelEvent.DOM_DELTA_LINE?e.deltaY*40:e.deltaY,r=Oo(),i=r-(this._lastWheelEventTime||0);this._lastWheelEventTime=r,t!==0&&t%Vat==0?this._type="wheel":t!==0&&Math.abs(t)<4?this._type="trackpad":i>400?(this._type=null,this._lastValue=t,this._timeout=setTimeout(this._onTimeout,40,e)):this._type||(this._type=Math.abs(i*t)<200?"trackpad":"wheel",this._timeout&&(clearTimeout(this._timeout),this._timeout=null,t+=this._lastValue)),e.shiftKey&&t&&(t/=4),this._type&&(this._lastWheelEvent=e,this._delta-=t,this._active||this._start(e)),e.preventDefault()}_start(e){if(!this._delta)return;this._needsRerender=!1,this._active=!0,this.isZooming()||(this._zooming=!0),this._finishTimeout&&(clearTimeout(this._finishTimeout),delete this._finishTimeout);let t=$n.mousePos(this._map.getCanvas(),e),r=this._tr;this._aroundPoint=this._aroundCenter?r.transform.locationToScreenPoint(mn.convert(r.center)):t,this._needsRerender||(this._needsRerender=!0,this._triggerRenderFrame())}renderFrame(){if(!this._needsRerender||(this._needsRerender=!1,!this.isActive()))return;let e=this._tr.transform;if(typeof this._lastExpectedZoom=="number"){let o=e.zoom-this._lastExpectedZoom;typeof this._startZoom=="number"&&(this._startZoom+=o),typeof this._targetZoom=="number"&&(this._targetZoom+=o)}if(this._delta!==0){let o=this._type==="wheel"&&Math.abs(this._delta)>Vat?this._wheelZoomRate:this._defaultZoomRate,s=2/(1+Math.exp(-Math.abs(this._delta*o)));this._delta<0&&s!==0&&(s=1/s);let l=typeof this._targetZoom=="number"?If(this._targetZoom):e.scale,u=e.applyConstrain(e.getCameraLngLat(),zc(l*s)).zoom,c=this._map.getZoomSnap();if(this._type==="wheel"&&c>0){let f=Jh(e.zoom,c);this._targetZoom=Jh(u,c,u-f)}else this._targetZoom=u;this._type==="wheel"&&(this._startZoom=e.zoom,this._easing=this._smoothOutEasing(200)),this._delta=0}let t=typeof this._targetZoom=="number"?this._targetZoom:e.zoom,r=this._startZoom,i=this._easing,n=!1,a;if(this._type==="wheel"&&r&&i){let o=Oo()-this._lastWheelEventTime,s=Math.min((o+5)/200,1),l=i(s);a=$s.number(r,t,l),s<1?this._needsRerender=!0:n=!0}else a=t,n=!0;return this._active=!0,n&&(this._active=!1,this._finishTimeout=setTimeout(()=>{this._zooming=!1,this._triggerRenderFrame(),delete this._targetZoom,delete this._lastExpectedZoom,delete this._finishTimeout},200)),this._lastExpectedZoom=a,{noInertia:!0,needsRenderFrame:!n,zoomDelta:a-e.zoom,around:this._aroundPoint,originalEvent:this._lastWheelEvent}}_smoothOutEasing(e){let t=pB;if(this._prevEase){let r=this._prevEase,i=(Oo()-r.start)/r.duration,n=r.easing(i+.01)-r.easing(i),a=.27/Math.sqrt(n*n+1e-4)*.01,o=Math.sqrt(.0729-a*a);t=dB(a,o,.25,1)}return this._prevEase={start:Oo(),duration:e,easing:t},t}reset(){this._active=!1,this._zooming=!1,delete this._targetZoom,delete this._lastExpectedZoom,this._finishTimeout&&(clearTimeout(this._finishTimeout),delete this._finishTimeout)}},xst=class{constructor(e,t){this._clickZoom=e,this._tapZoom=t}enable(){this._clickZoom.enable(),this._tapZoom.enable()}disable(){this._clickZoom.disable(),this._tapZoom.disable()}isEnabled(){return this._clickZoom.isEnabled()&&this._tapZoom.isEnabled()}isActive(){return this._clickZoom.isActive()||this._tapZoom.isActive()}},ATr=class{constructor(e,t){this._tr=t,this.reset()}reset(){this._active=!1}dblclick(e,t){return e.preventDefault(),{cameraAnimation:r=>{r.easeTo({duration:300,zoom:Jh(this._tr.zoom+(e.shiftKey?-1:1),r.getZoomSnap()),around:this._tr.unproject(t)},{originalEvent:e})}}}enable(){this._enabled=!0}disable(){this._enabled=!1,this.reset()}isEnabled(){return this._enabled}isActive(){return this._active}},MTr=class{constructor(){this._tap=new pae({numTouches:1,numTaps:1}),this._zoomRate=1,this.reset()}setZoomRate(e){this._zoomRate=e!=null?e:1}reset(){this._active=!1,delete this._swipePoint,delete this._swipeTouch,delete this._tapTime,delete this._tapPoint,this._tap.reset()}touchstart(e,t,r){if(!this._swipePoint)if(!this._tapTime)this._tap.touchstart(e,t,r);else{let i=t[0],n=e.timeStamp-this._tapTime<500,a=this._tapPoint.dist(i)<30;!n||!a?this.reset():r.length>0&&(this._swipePoint=i,this._swipeTouch=r[0].identifier)}}touchmove(e,t,r){if(!this._tapTime)this._tap.touchmove(e,t,r);else if(this._swipePoint){if(r[0].identifier!==this._swipeTouch)return;let i=t[0],n=i.y-this._swipePoint.y;return this._swipePoint=i,e.preventDefault(),this._active=!0,{zoomDelta:n/128*this._zoomRate}}}touchend(e,t,r){if(this._tapTime)this._swipePoint&&r.length===0&&this.reset();else{let i=this._tap.touchend(e,t,r);i&&(this._tapTime=e.timeStamp,this._tapPoint=i)}}touchcancel(){this.reset()}enable(){this._enabled=!0}disable(){this._enabled=!1,this.reset()}isEnabled(){return this._enabled}isActive(){return this._active}},_st=class{constructor(e,t,r){this._el=e,this._mousePan=t,this._touchPan=r}enable(e){this._inertiaOptions=e||{},this._mousePan.enable(),this._touchPan.enable(),this._el.classList.add("maplibregl-touch-drag-pan")}disable(){this._mousePan.disable(),this._touchPan.disable(),this._el.classList.remove("maplibregl-touch-drag-pan")}isEnabled(){return this._mousePan.isEnabled()&&this._touchPan.isEnabled()}isActive(){return this._mousePan.isActive()||this._touchPan.isActive()}},bst=class{constructor(e,t,r,i){this._pitchWithRotate=e.pitchWithRotate,this._rollEnabled=e.rollEnabled,this._mouseRotate=t,this._mousePitch=r,this._mouseRoll=i}enable(){this._mouseRotate.enable(),this._pitchWithRotate&&this._mousePitch.enable(),this._rollEnabled&&this._mouseRoll.enable()}disable(){this._mouseRotate.disable(),this._mousePitch.disable(),this._mouseRoll.disable()}isEnabled(){return this._mouseRotate.isEnabled()&&(!this._pitchWithRotate||this._mousePitch.isEnabled())&&(!this._rollEnabled||this._mouseRoll.isEnabled())}isActive(){return this._mouseRotate.isActive()||this._mousePitch.isActive()||this._mouseRoll.isActive()}},wst=class{constructor(e,t,r,i){this._el=e,this._touchZoom=t,this._touchRotate=r,this._tapDragZoom=i,this._rotationDisabled=!1,this._enabled=!0}enable(e){this._touchZoom.enable(e),this._rotationDisabled||this._touchRotate.enable(e),this._tapDragZoom.enable(),this._el.classList.add("maplibregl-touch-zoom-rotate")}disable(){this._touchZoom.disable(),this._touchRotate.disable(),this._tapDragZoom.disable(),this._el.classList.remove("maplibregl-touch-zoom-rotate")}isEnabled(){return this._touchZoom.isEnabled()&&(this._rotationDisabled||this._touchRotate.isEnabled())&&this._tapDragZoom.isEnabled()}isActive(){return this._touchZoom.isActive()||this._touchRotate.isActive()||this._tapDragZoom.isActive()}setZoomRate(e){this._touchZoom.setZoomRate(e),this._tapDragZoom.setZoomRate(e)}setZoomThreshold(e){this._touchZoom.setZoomThreshold(e)}disableRotation(){this._rotationDisabled=!0,this._touchRotate.disable()}enableRotation(){this._rotationDisabled=!1,this._touchZoom.isEnabled()&&this._touchRotate.enable()}},Tst=class{constructor(e,t){this._bypassKey=navigator.userAgent.includes("Mac")?"metaKey":"ctrlKey",this._map=e,this._options=t,this._enabled=!1}isActive(){return!1}reset(){}_setupUI(){if(this._container)return;let e=this._map.getCanvasContainer();e.classList.add("maplibregl-cooperative-gestures"),this._container=$n.create("div","maplibregl-cooperative-gesture-screen",e);let t=this._map._getUIString("CooperativeGesturesHandler.WindowsHelpText");this._bypassKey==="metaKey"&&(t=this._map._getUIString("CooperativeGesturesHandler.MacHelpText"));let r=this._map._getUIString("CooperativeGesturesHandler.MobileHelpText"),i=document.createElement("div");i.className="maplibregl-desktop-message",i.textContent=t,this._container.appendChild(i);let n=document.createElement("div");n.className="maplibregl-mobile-message",n.textContent=r,this._container.appendChild(n),this._container.setAttribute("aria-hidden","true")}_destroyUI(){this._container&&(this._container.remove(),this._map.getCanvasContainer().classList.remove("maplibregl-cooperative-gestures")),delete this._container}enable(){this._setupUI(),this._enabled=!0}disable(){this._enabled=!1,this._destroyUI()}isEnabled(){return this._enabled}isBypassed(e){return e[this._bypassKey]}notifyGestureBlocked(e,t){this._enabled&&(this._map.fire(new cc("cooperativegestureprevented",{gestureType:e,originalEvent:t})),this._container.classList.add("maplibregl-show"),setTimeout(()=>{this._container.classList.remove("maplibregl-show")},100))}},STr=class{constructor(e){this._camera=e}get transform(){return this._camera._requestedCameraState||this._camera.transform}get center(){return{lng:this.transform.center.lng,lat:this.transform.center.lat}}get zoom(){return this.transform.zoom}get pitch(){return this.transform.pitch}get bearing(){return this.transform.bearing}unproject(e){return this.transform.screenPointToLocation(tr.convert(e),this._camera.terrain)}},hq=e=>e.zoom||e.drag||e.roll||e.pitch||e.rotate,ETr=class extends e0{};kTr=class{get _ownerDocument(){var e;return((e=this._el)==null?void 0:e.ownerDocument)||document}get _ownerWindow(){var e,t;return((t=(e=this._el)==null?void 0:e.ownerDocument)==null?void 0:t.defaultView)||window}constructor(e,t,r){this._terrainGestureAnchorElevation=null,this.handleWindowEvent=n=>{this.handleEvent(n,`${n.type}Window`)},this.handleEvent=(n,a)=>{if(n.type==="blur"){this.stop(!0);return}this._updatingCamera=!0;let o=n.type==="renderFrame"?void 0:n,s={needsRenderFrame:!1},l={},u={};for(let{handlerName:h,handler:d,allowed:p}of this._handlers){if(!d.isEnabled())continue;let v;if(this._blockedByActive(u,p,h))d.reset();else if(d[a||n.type]){if(ott(n,a||n.type)){let m=$n.mousePos(this._map.getCanvas(),n);v=d[a||n.type](n,m)}else if(att(n,a||n.type)){let m=n.touches,g=this._getMapTouches(m),w=$n.touchPos(this._map.getCanvas(),g);v=d[a||n.type](n,w,g)}else stt(a||n.type)||(v=d[a||n.type](n));this.mergeHandlerResult(s,l,v,h,o),v!=null&&v.needsRenderFrame&&this._triggerRenderFrame()}(v||d.isActive())&&(u[h]=d)}let c={};for(let h in this._previousActiveHandlers)u[h]||(c[h]=o);this._previousActiveHandlers=u,(Object.keys(c).length||Kne(s))&&(this._changes.push([s,l,c]),this._triggerRenderFrame()),(Object.keys(u).length||Kne(s))&&this._camera.stop(!0),this._updatingCamera=!1;let{cameraAnimation:f}=s;f&&(this._inertia.clear(),this._fireEvents({},{},!0),this._changes=[],f(this._map))},this._map=e,this._camera=t,this._transformProvider=new STr(this._camera),this._el=this._map.getCanvasContainer(),this._handlers=[],this._handlersById={},this._changes=[],this._inertia=new sTr(e),this._bearingSnap=r.bearingSnap,this._previousActiveHandlers={},this._eventsInProgress={},this._addDefaultHandlers(r);let i=this._el;this._listeners=[[i,"touchstart",{passive:!0}],[i,"touchmove",{passive:!1}],[i,"touchend",void 0],[i,"touchcancel",void 0],[i,"mousedown",void 0],[i,"mousemove",void 0],[i,"mouseup",void 0],[this._ownerDocument,"mousemove",{capture:!0}],[this._ownerDocument,"mouseup",void 0],[i,"mouseover",void 0],[i,"mouseout",void 0],[i,"dblclick",void 0],[i,"click",void 0],[i,"keydown",{capture:!1}],[i,"keyup",void 0],[i,"wheel",{passive:!1}],[i,"contextmenu",void 0],[this._ownerWindow,"blur",void 0]];for(let[n,a,o]of this._listeners)n.addEventListener(a,n===this._ownerDocument?this.handleWindowEvent:this.handleEvent,o)}destroy(){for(let[e,t,r]of this._listeners)e.removeEventListener(t,e===this._ownerDocument?this.handleWindowEvent:this.handleEvent,r)}_addDefaultHandlers(e){let t=this._map,r=t.getCanvasContainer();this._add("mapEvent",new lTr(t,e));let i=t.boxZoom=new dst(t,e,this._transformProvider);this._add("boxZoom",i),e.interactive&&e.boxZoom&&i.enable();let n=t.cooperativeGestures=new Tst(t,e.cooperativeGestures);this._add("cooperativeGestures",n),e.cooperativeGestures&&n.enable();let a=new hTr(t,this._transformProvider),o=new ATr(t,this._transformProvider);t.doubleClickZoom=new xst(o,a),this._add("tapZoom",a),this._add("clickZoom",o),e.interactive&&e.doubleClickZoom&&t.doubleClickZoom.enable();let s=new MTr;this._add("tapDragZoom",s);let l=t.touchPitch=new gst(t);this._add("touchPitch",l),e.interactive&&e.touchPitch&&t.touchPitch.enable(e.touchPitch);let u=()=>t.project(t.getCenter()),c=yTr(e,u),f=xTr(e),h=_Tr(e,u);t.dragRotate=new bst(e,c,f,h),this._add("mouseRotate",c,["mousePitch"]),this._add("mousePitch",f,["mouseRotate","mouseRoll"]),this._add("mouseRoll",h,["mousePitch"]),e.interactive&&e.dragRotate&&t.dragRotate.enable();let d=mTr(e),p=new bTr(e,t);t.dragPan=new _st(r,d,p),this._add("mousePan",d),this._add("touchPan",p,["touchZoom","touchRotate"]),e.interactive&&e.dragPan&&t.dragPan.enable(e.dragPan);let v=new vst,m=new pst;t.touchZoomRotate=new wst(r,m,v,s),this._add("touchRotate",v,["touchPan","touchZoom"]),this._add("touchZoom",m,["touchPan","touchRotate"]),e.interactive&&e.touchZoomRotate&&t.touchZoomRotate.enable(e.touchZoomRotate),this._add("blockableMapEvent",new uTr(t));let g=t.scrollZoom=new yst(t,()=>this._triggerRenderFrame(),this._transformProvider);this._add("scrollZoom",g,["mousePan"]),e.interactive&&e.scrollZoom&&t.scrollZoom.enable(e.scrollZoom);let w=t.keyboard=new mst(t,this._transformProvider);this._add("keyboard",w),e.interactive&&e.keyboard&&t.keyboard.enable()}_add(e,t,r){this._handlers.push({handlerName:e,handler:t,allowed:r}),this._handlersById[e]=t}stop(e){if(!this._updatingCamera){for(let{handler:t}of this._handlers)t.reset();this._inertia.clear(),this._fireEvents({},{},e),this._changes=[]}}isActive(){for(let{handler:e}of this._handlers)if(e.isActive())return!0;return!1}isZooming(){return!!this._eventsInProgress.zoom||this._map.scrollZoom.isZooming()}isRotating(){return!!this._eventsInProgress.rotate}isMoving(){return!!hq(this._eventsInProgress)||this.isZooming()}_blockedByActive(e,t,r){for(let i in e)if(i!==r&&!(t!=null&&t.includes(i)))return!0;return!1}_getMapTouches(e){let t=[];for(let r of e){let i=r.target;this._el.contains(i)&&t.push(r)}return t}mergeHandlerResult(e,t,r,i,n){if(!r)return;ln(e,r);let a={handlerName:i,originalEvent:r.originalEvent||n};r.zoomDelta!==void 0&&(t.zoom=a),r.panDelta!==void 0&&(t.drag=a),r.rollDelta!==void 0&&(t.roll=a),r.pitchDelta!==void 0&&(t.pitch=a),r.bearingDelta!==void 0&&(t.rotate=a)}_applyChanges(){let e={},t={},r={};for(let[i,n,a]of this._changes)i.panDelta&&(e.panDelta=(e.panDelta||new tr(0,0))._add(i.panDelta)),i.zoomDelta&&(e.zoomDelta=(e.zoomDelta||0)+i.zoomDelta),i.bearingDelta&&(e.bearingDelta=(e.bearingDelta||0)+i.bearingDelta),i.pitchDelta&&(e.pitchDelta=(e.pitchDelta||0)+i.pitchDelta),i.rollDelta&&(e.rollDelta=(e.rollDelta||0)+i.rollDelta),i.around!==void 0&&(e.around=i.around),i.pinchAround!==void 0&&(e.pinchAround=i.pinchAround),i.noInertia&&(e.noInertia=i.noInertia),ln(t,n),ln(r,a);this._updateMapTransform(e,t,r),this._changes=[]}_updateMapTransform(e,t,r){let i=this._map,n=this._camera.getTransformForUpdate(),a=i.terrain;if(!Kne(e)&&!(a&&this._terrainMovement)){this._fireEvents(t,r,!0);return}this._camera.stop(!0);let{panDelta:o,zoomDelta:s,bearingDelta:l,pitchDelta:u,rollDelta:c}=e,{around:f,aroundOnSurface:h}=this._resolveAround(e,a,n),d=a?this._terrainGestureElevation(a,f,h,n,t):void 0,p={panDelta:o,zoomDelta:s,rollDelta:c,pitchDelta:u,bearingDelta:l,around:f,aroundElevation:d};this._camera.cameraHelper.useGlobeControls&&!n.isPointOnMapSurface(f)&&(f=n.centerPoint);let v=this._computePreZoomAroundLoc(n,f,o,d);this._handleMapControls({terrain:a,tr:n,deltasForHelper:p,preZoomAroundLoc:v,combinedEventsInProgress:t,panDelta:o}),this._camera.applyUpdatedTransform(n),this._map._update(),e.noInertia||this._inertia.record(e),this._fireEvents(t,r,!0)}_resolveAround(e,t,r){let i=e.pinchAround===void 0?e.around:e.pinchAround;return i||(i=this._camera.transform.centerPoint),t&&!r.isPointOnMapSurface(i)?{around:r.centerPoint,aroundOnSurface:!1}:{around:i,aroundOnSurface:!0}}_terrainGestureElevation(e,t,r,i,n){if(!r)return;if(!this._terrainMovement&&(n.drag||n.zoom)){let o=i.screenTerrainPointToMercatorCoordinate(t,e);this._terrainGestureAnchorElevation=o?o.z:null}if(this._terrainGestureAnchorElevation===null)return;let a=this._terrainGestureAnchorElevation;if(!(t.distSqr(i.centerPoint)<.01)&&!(a-i.elevation>=.9*(i.getCameraAltitude()-i.elevation)))return a}_computePreZoomAroundLoc(e,t,r,i){if(t.distSqr(e.centerPoint)<.01)return e.center;let n=r?t.sub(r):t;return i===void 0?e.screenPointToLocation(n):e.screenPointToLocationAtElevation(n,i)}_handleMapControls({terrain:e,tr:t,deltasForHelper:r,preZoomAroundLoc:i,combinedEventsInProgress:n,panDelta:a}){let o=this._camera.cameraHelper;if(o.handleMapControlsRollPitchBearingZoom(r,t),!e){o.handleMapControlsPan(r,t,i);return}if(o.useGlobeControls){!this._terrainMovement&&(n.drag||n.zoom)&&(this._terrainMovement=!0,this._camera.elevationFreeze=!0),o.handleMapControlsPan(r,t,i);return}if(!this._terrainMovement&&(n.drag||n.zoom)){this._terrainMovement=!0,this._camera.elevationFreeze=!0,o.handleMapControlsPan(r,t,i);return}if(r.aroundElevation===void 0&&n.drag&&this._terrainMovement&&a){t.setCenter(t.screenPointToLocation(t.centerPoint.sub(a)));return}o.handleMapControlsPan(r,t,i)}_fireEvents(e,t,r){let i=hq(this._eventsInProgress),n=hq(e),a={};for(let c in e){let{originalEvent:f}=e[c];this._eventsInProgress[c]||(a[`${c}start`]=f),this._eventsInProgress[c]=e[c]}!i&&n&&this._fireEvent("movestart",n.originalEvent);for(let c in a)this._fireEvent(c,a[c]);n&&this._fireEvent("move",n.originalEvent);for(let c in e){let{originalEvent:f}=e[c];this._fireEvent(c,f)}let o={},s;for(let c in this._eventsInProgress){let{handlerName:f,originalEvent:h}=this._eventsInProgress[c];this._handlersById[f].isActive()||(delete this._eventsInProgress[c],s=t[f]||h,o[`${c}end`]=s)}for(let c in o)this._fireEvent(c,o[c]);let l=hq(this._eventsInProgress),u=(i||n)&&!l;if(u&&this._terrainMovement){this._camera.elevationFreeze=!1,this._terrainMovement=!1,this._terrainGestureAnchorElevation=null;let c=this._camera.getTransformForUpdate();this._map.getCenterClampedToGround()&&c.recalculateZoomAndCenter(this._map.terrain),this._camera.applyUpdatedTransform(c)}if(r&&u){this._updatingCamera=!0;let c=this._inertia._onMoveEnd(this._map.dragPan._inertiaOptions),f=h=>h!==0&&-this._bearingSnap{delete this._frameId,this.handleEvent(new ETr("renderFrame",{timeStamp:e})),this._applyChanges()})}_triggerRenderFrame(){this._frameId===void 0&&(this._frameId=this._requestFrame())}},CTr=class extends mu{constructor(e){var t,r,i;super(),this._renderFrameCallback=()=>{let n=Math.min((Oo()-this._easeStart)/this._easeOptions.duration,1);this._onEaseFrame(this._easeOptions.easing(n)),n<1&&this._easeFrameId?this._easeFrameId=this._requestRenderFrame(this._renderFrameCallback):this.stop()},this.transform=new Tq,this.cameraHelper=new Aq,e.minZoom!==void 0&&this.transform.setMinZoom(e.minZoom),e.maxZoom!==void 0&&this.transform.setMaxZoom(e.maxZoom),e.minPitch!==void 0&&this.transform.setMinPitch(e.minPitch),e.maxPitch!==void 0&&this.transform.setMaxPitch(e.maxPitch),e.renderWorldCopies!==void 0&&this.transform.setRenderWorldCopies(e.renderWorldCopies),e.transformConstrain!==null&&this.transform.setConstrainOverride(e.transformConstrain),this._moving=!1,this._zooming=!1,this._bearingSnap=e.bearingSnap,this._zoomSnap=e.zoomSnap,this._requestRenderFrame=e.requestRenderFrame,this._cancelRenderFrame=e.cancelRenderFrame,this.terrain=e.terrain,this._centerClampedToGround=(t=e.centerClampedToGround)!=null?t:!0,this.transformCameraUpdate=(r=e.transformCameraUpdate)!=null?r:null,this._stopHandlers=(i=e.stopHandlers)!=null?i:(()=>{}),this.on("moveend",()=>{delete this._requestedCameraState})}migrateProjection(e,t){if(e.apply(this.transform,!0),this.transform=e,this.cameraHelper=t,this._requestedCameraState){let r=e.clone();r.apply(this._requestedCameraState,!0),this._requestedCameraState=r}}getCenter(){return new mn(this.transform.center.lng,this.transform.center.lat)}setCenter(e,t){return this.jumpTo({center:e},t)}getCenterElevation(){return this.transform.elevation}setCenterElevation(e,t){return this.jumpTo({elevation:e},t),this}getCenterClampedToGround(){return this._centerClampedToGround}setCenterClampedToGround(e){this._centerClampedToGround=e}panBy(e,t,r){return e=tr.convert(e).mult(-1),this.panTo(this.transform.center,ln({offset:e},t),r)}panTo(e,t,r){return this.easeTo(ln({center:e},t),r)}getZoom(){return this.transform.zoom}setZoom(e,t){return this.jumpTo({zoom:e},t),this}zoomTo(e,t,r){return this.easeTo(ln({zoom:e},t),r)}zoomIn(e,t){return this.zoomTo(Jh(this.getZoom()+1,this._zoomSnap),e,t),this}zoomOut(e,t){return this.zoomTo(Jh(this.getZoom()-1,this._zoomSnap),e,t),this}getVerticalFieldOfView(){return this.transform.fov}setVerticalFieldOfView(e,t){return e!=this.transform.fov&&(this.transform.setFov(e),this.fire(new Mn("movestart",t)).fire(new Mn("move",t)).fire(new Mn("moveend",t))),this}getBearing(){return this.transform.bearing}setZoomSnap(e){return this._zoomSnap=e,this}getZoomSnap(){return this._zoomSnap}setBearing(e,t){return this.jumpTo({bearing:e},t),this}getPadding(){return this.transform.padding}setPadding(e,t){return this.jumpTo({padding:e},t),this}rotateTo(e,t,r){return this.easeTo(ln({bearing:e},t),r)}resetNorth(e,t){return this.rotateTo(0,ln({duration:1e3},e),t),this}resetNorthPitch(e,t){return this.easeTo(ln({bearing:0,pitch:0,roll:0,duration:1e3},e),t),this}snapToNorth(e,t){return Math.abs(this.getBearing()){p.easeFunc(v),this.terrain&&!e.freezeElevation&&this._updateElevation(v),this.applyUpdatedTransform(r),this._fireMoveEvents(t)},v=>{this.terrain&&e.freezeElevation&&this._finalizeElevation(),this._afterEase(t,v)},e),this}_prepareEase(e,t,r={}){this._moving=!0,!t&&!r.moving&&this.fire(new Mn("movestart",e)),this._zooming&&!r.zooming&&this.fire(new Mn("zoomstart",e)),this._rotating&&!r.rotating&&this.fire(new Mn("rotatestart",e)),this._pitching&&!r.pitching&&this.fire(new Mn("pitchstart",e)),this._rolling&&!r.rolling&&this.fire(new Mn("rollstart",e))}_prepareElevation(e){this._elevationCenter=e,this._elevationStart=this.transform.elevation,this._elevationTarget=this.terrain.getElevationForLngLat(e,this.transform),this.elevationFreeze=!0}_updateElevation(e){(this._elevationStart===void 0||this._elevationCenter===void 0)&&this._prepareElevation(this.transform.center),this.transform.setMinElevationForCurrentTile(this.terrain.getMinTileElevationForLngLatZoom(this._elevationCenter,this.transform.tileZoom));let t=this.terrain.getElevationForLngLat(this._elevationCenter,this.transform);if(e<1&&t!==this._elevationTarget){let r=this._elevationTarget-this._elevationStart,i=(t-(r*e+this._elevationStart))/(1-e);this._elevationStart+=e*(r-i),this._elevationTarget=t}this.transform.setElevation($s.number(this._elevationStart,this._elevationTarget,e))}_finalizeElevation(){this.elevationFreeze=!1,this.getCenterClampedToGround()&&this.transform.recalculateZoomAndCenter(this.terrain)}getTransformForUpdate(){return!this.transformCameraUpdate&&!this.terrain?this.transform:(this._requestedCameraState||(this._requestedCameraState=this.transform.clone()),this._requestedCameraState)}_elevateCameraIfInsideTerrain(e){if(!this.terrain&&e.elevation>=0&&e.pitch<=90)return{};let t=e.getCameraLngLat(),r=e.getCameraAltitude(),i=this.terrain?this.terrain.getElevationForLngLatZoom(t,e.zoom):0;if(rthis._elevateCameraIfInsideTerrain(i)),this.transformCameraUpdate&&t.push(i=>this.transformCameraUpdate(i)),!t.length)return;let r=e.clone();for(let i of t){let n=r.clone(),{center:a,zoom:o,roll:s,pitch:l,bearing:u,elevation:c}=i(n);a&&n.setCenter(a),c!==void 0&&n.setElevation(c),o!==void 0&&n.setZoom(o),s!==void 0&&n.setRoll(s),l!==void 0&&n.setPitch(l),u!==void 0&&n.setBearing(u),r.apply(n,!1)}this.transform.apply(r,!1)}_fireMoveEvents(e){this.fire(new Mn("move",e)),this._zooming&&this.fire(new Mn("zoom",e)),this._rotating&&this.fire(new Mn("rotate",e)),this._pitching&&this.fire(new Mn("pitch",e)),this._rolling&&this.fire(new Mn("roll",e))}_afterEase(e,t){if(this._easeId&&t&&this._easeId===t)return;delete this._easeId;let r=this._zooming,i=this._rotating,n=this._pitching,a=this._rolling;this._moving=!1,this._zooming=!1,this._rotating=!1,this._pitching=!1,this._rolling=!1,this._padding=!1,r&&this.fire(new Mn("zoomend",e)),i&&this.fire(new Mn("rotateend",e)),n&&this.fire(new Mn("pitchend",e)),a&&this.fire(new Mn("rollend",e)),this.fire(new Mn("moveend",e))}flyTo(e,t){if(!e.essential&&fh.prefersReducedMotion){let k=IT(e,["center","zoom","bearing","pitch","roll","elevation","padding"]);return this.jumpTo(k,t)}this.stop(),e=ln({offset:[0,0],speed:1.2,curve:1.42,easing:pB},e),e.zoom!==void 0&&this._zoomSnap&&(e.zoom=Jh(e.zoom,this._zoomSnap));let r=this.getTransformForUpdate(),i=r.bearing,n=r.pitch,a=r.roll,o=r.padding,s=e.bearing===void 0?i:this._normalizeBearing(e.bearing,i),l=e.pitch===void 0?n:+e.pitch,u=e.roll===void 0?a:this._normalizeBearing(e.roll,a),c=e.padding===void 0?r.padding:e.padding,f=tr.convert(e.offset),h=r.centerPoint.add(f),d=r.screenPointToLocation(h),p=this.cameraHelper.handleFlyTo(r,{bearing:s,pitch:l,roll:u,padding:c,locationAtOffset:d,offsetAsPoint:f,center:e.center,minZoom:e.minZoom,zoom:e.zoom}),v=e.curve,m=Math.max(r.width,r.height),g=m/p.scaleOfZoom,w=p.pixelPathLength,b=m/p.scaleOfMinZoom;v=Math.min(v,Math.sqrt(b/w*2));let _=v*v;function M(k){let D=(g*g-m*m+(k?-1:1)*_*_*w*w)/(2*(k?g:m)*_*w);return Math.log(Math.sqrt(D*D+1)-D)}function x(k){return(Math.exp(k)-Math.exp(-k))/2}function T(k){return(Math.exp(k)+Math.exp(-k))/2}function A(k){return x(k)/T(k)}let y=M(!1),E=function(k){return T(y)/T(y+v*k)},S=function(k){return m*((T(y)*A(y+v*k)-x(y))/_)/w},C=(M(!0)-y)/v;if(Math.abs(w)<2e-6||!isFinite(C)){if(Math.abs(m-g)<1e-6)return this.easeTo(e,t);let k=g0,E=D=>Math.exp(k*v*D)}if(e.duration!==void 0)e.duration=+e.duration;else{let k=e.screenSpeed===void 0?+e.speed:+e.screenSpeed/v;e.duration=1e3*C/k}return e.maxDuration&&e.duration>e.maxDuration&&(e.duration=0),this._zooming=!0,this._rotating=i!==s,this._pitching=l!==n,this._rolling=u!==a,this._padding=!r.isPaddingEqual(c),this._prepareEase(t,!1),this.terrain&&this._prepareElevation(p.targetCenter),this._ease(k=>{let D=k*C,F=1/E(D),P=S(D);this._rotating&&r.setBearing($s.number(i,s,k)),this._pitching&&r.setPitch($s.number(n,l,k)),this._rolling&&r.setRoll($s.number(a,u,k)),this._padding&&(r.interpolatePadding(o,c,k),h=r.centerPoint.add(f)),p.easeFunc(k,F,P,h),this.terrain&&!e.freezeElevation&&this._updateElevation(k),this.applyUpdatedTransform(r),this._fireMoveEvents(t)},()=>{this.terrain&&e.freezeElevation&&this._finalizeElevation(),this._afterEase(t)},e),this}isEasing(){return!!this._easeFrameId}stop(e){return this._stop(e)}_stop(e,t){if(this._easeFrameId&&(this._cancelRenderFrame(this._easeFrameId),delete this._easeFrameId,delete this._onEaseFrame),this._onEaseEnd){let r=this._onEaseEnd;delete this._onEaseEnd,r.call(this,t)}return e||this._stopHandlers(),this}_ease(e,t,r){r.animate===!1||r.duration===0?(e(1),t()):(this._easeStart=Oo(),this._easeOptions=r,this._onEaseFrame=e,this._onEaseEnd=t,this._easeFrameId=this._requestRenderFrame(this._renderFrameCallback))}_normalizeBearing(e,t){e=B0(e,-180,180);let r=Math.abs(e-t);return Math.abs(e-360-t)MapLibre'},Mst=class{constructor(e=Ast){this._toggleAttribution=()=>{this._container.classList.contains("maplibregl-compact")&&(this._container.classList.contains("maplibregl-compact-show")?(this._container.setAttribute("open",""),this._container.classList.remove("maplibregl-compact-show")):(this._container.classList.add("maplibregl-compact-show"),this._container.removeAttribute("open")))},this._updateData=t=>{t&&(t.type==="terrain"||t.dataType==="style"||t.dataType==="source"&&(t.sourceDataType==="metadata"||t.sourceDataType==="visibility"))&&this._updateAttributions()},this._updateCompact=()=>{this._map.getCanvasContainer().offsetWidth<=640||this._compact?this._compact===!1?this._container.setAttribute("open",""):!this._container.classList.contains("maplibregl-compact")&&!this._container.classList.contains("maplibregl-attrib-empty")&&(this._container.setAttribute("open",""),this._container.classList.add("maplibregl-compact","maplibregl-compact-show")):(this._container.setAttribute("open",""),this._container.classList.contains("maplibregl-compact")&&this._container.classList.remove("maplibregl-compact","maplibregl-compact-show"))},this._updateCompactMinimize=()=>{this._container.classList.contains("maplibregl-compact")&&this._container.classList.contains("maplibregl-compact-show")&&this._container.classList.remove("maplibregl-compact-show")},this.options=e}getDefaultPosition(){return"bottom-right"}onAdd(e){return this._map=e,this._compact=this.options.compact,this._container=$n.create("details","maplibregl-ctrl maplibregl-ctrl-attrib"),this._compactButton=$n.create("summary","maplibregl-ctrl-attrib-button",this._container),this._compactButton.addEventListener("click",this._toggleAttribution),this._setElementTitle(this._compactButton,"ToggleAttribution"),this._innerContainer=$n.create("div","maplibregl-ctrl-attrib-inner",this._container),this._updateAttributions(),this._updateCompact(),this._map.on("styledata",this._updateData),this._map.on("sourcedata",this._updateData),this._map.on("terrain",this._updateData),this._map.on("resize",this._updateCompact),this._map.on("drag",this._updateCompactMinimize),this._container}onRemove(){this._container.remove(),this._map.off("styledata",this._updateData),this._map.off("sourcedata",this._updateData),this._map.off("terrain",this._updateData),this._map.off("resize",this._updateCompact),this._map.off("drag",this._updateCompactMinimize),this._map=void 0,this._compact=void 0,this._attribHTML=void 0}_setElementTitle(e,t){let r=this._map._getUIString(`AttributionControl.${t}`);e.title=r,e.setAttribute("aria-label",r)}_updateAttributions(){if(!this._map.style)return;let e=[];if(this.options.customAttribution&&(Array.isArray(this.options.customAttribution)?e=e.concat(this.options.customAttribution.map(i=>typeof i=="string"?i:"")):typeof this.options.customAttribution=="string"&&e.push(this.options.customAttribution)),this._map.style.stylesheet){let i=this._map.style.stylesheet;this.styleOwner=i.owner,this.styleId=i.id}let t=this._map.style.tileManagers;for(let i in t){let n=t[i];if(n.used||n.usedForTerrain){let a=n.getSource();a.attribution&&!e.includes(a.attribution)&&e.push(a.attribution)}}e=e.filter(i=>String(i).trim()),e.sort((i,n)=>i.length-n.length),e=e.filter((i,n)=>{for(let a=n+1;a{let t=this._container.children;if(t.length){let r=t[0];this._map.getCanvasContainer().offsetWidth<=640||this._compact?this._compact!==!1&&r.classList.add("maplibregl-compact"):r.classList.remove("maplibregl-compact")}},this.options=e}getDefaultPosition(){return"bottom-left"}onAdd(e){var r;this._map=e,this._compact=(r=this.options)==null?void 0:r.compact,this._container=$n.create("div","maplibregl-ctrl");let t=$n.create("a","maplibregl-ctrl-logo");return t.target="_blank",t.rel="noopener nofollow",t.href="https://maplibre.org/",t.setAttribute("aria-label",this._map._getUIString("LogoControl.Title")),t.setAttribute("rel","noopener nofollow"),this._container.appendChild(t),this._container.style.display="block",this._map.on("resize",this._updateCompact),this._updateCompact(),this._container}onRemove(){this._container.remove(),this._map.off("resize",this._updateCompact),this._map=void 0,this._compact=void 0}},DTr=class{constructor(){this._queue=[],this._id=0,this._cleared=!1,this._currentlyRunning=!1}add(e){let t=++this._id;return this._queue.push({callback:e,id:t,cancelled:!1}),t}remove(e){let t=this._currentlyRunning,r=t?this._queue.concat(t):this._queue;for(let i of r)if(i.id===e){i.cancelled=!0;return}}run(e=0){if(this._currentlyRunning)throw Error("Attempting to run(), but is already running.");let t=this._currentlyRunning=this._queue;this._queue=[];let r=!1,i;for(let n of t)if(!n.cancelled){try{n.callback(e)}catch(a){r||(r=!0,i=a)}if(this._cleared)break}if(this._cleared=!1,this._currentlyRunning=!1,r)throw i}clear(){this._currentlyRunning&&(this._cleared=!0),this._queue=[]}},Gat=["none","zoom","sourceTiles","visibleLayers","revision"],FTr=class{constructor(e,t,r,i){this._tileKeys=e.map(n=>n.key).sort().join(),this._revision=t,this._zoom=r,this._visibleLayerIds=i}difference(e){return this._revision===(e==null?void 0:e._revision)?this._visibleLayerIds===e._visibleLayerIds?this._tileKeys===e._tileKeys?this._zoom===e._zoom?"none":"zoom":"sourceTiles":"visibleLayers":"revision"}},jT={background:!0,fill:!0,line:!0,raster:!0,hillshade:!0,"color-relief":!0},LTr=class{constructor(e,t){this.needsFollowUpFrame=!1,this.painter=e,this.terrain=t,this.rttSize=t.tileManager.tileSize*t.qualityFactor}getTexture(e){return e.getRTT(this._stacks.length-1).texture}prepareForRender(e,t){let r=t!==this._lastPrepareZoom;this._lastPrepareZoom=t,this._stacks=[],this._prevType=null,this._rttTiles=[],this._renderableTiles=this.terrain.tileManager.getRenderableTiles(),this._renderableLayerIds=e._order.filter(s=>!e._layers[s].isHidden(t));let i=this._renderableLayerIds.join(),n=new Set;for(let s of this._renderableLayerIds){let l=e._layers[s],u=l.source;u&&jT[l.type]&&n.add(u)}this._coordsAscending={},this._rttFingerprints={};for(let s of n){let l=e.tileManagers[s];if(!l)continue;this._coordsAscending[s]={};let u=this._coordsAscending[s],c=l.getSource(),f=c instanceof XT?c.terrainTileRanges:null;for(let p of l.getVisibleCoordinates()){let v=this.terrain.tileManager.getTerrainCoords(p,f);for(let m in v)u[m]||(u[m]=[]),u[m].push(v[m])}this._rttFingerprints[s]={};let h=this._rttFingerprints[s],d=l.getState().revision;for(let p in u)h[p]=new FTr(u[p],d,t,i)}this.needsFollowUpFrame=!1;let a=r||this.painter.options.moving,o=!1;for(let s of this._renderableTiles){let l=this._textureDifference(s);l!=="none"&&(l==="zoom"&&a||l==="visibleLayers"&&r?this.needsFollowUpFrame=!0:l==="zoom"||l==="sourceTiles"?(o?this.needsFollowUpFrame=!0:s.releaseRTT(this.painter),o=!0):s.releaseRTT(this.painter))}}_textureDifference(e){let t="none";for(let r in this._rttFingerprints){let i=this._rttFingerprints[r][e.tileID.key];if(!i)continue;let n=i.difference(e.rttFingerprint[r]);Gat.indexOf(n)>Gat.indexOf(t)&&(t=n)}return t}renderLayer(e,t){if(e.isHidden(this.painter.transform.zoom))return!1;let r=ma(fn({},t),{isRenderingToTexture:!0}),i=e.type,n=this.painter,a=this._renderableLayerIds[this._renderableLayerIds.length-1]===e.id;if(jT[i]&&((!this._prevType||!jT[this._prevType])&&this._stacks.push([]),this._prevType=i,this._stacks[this._stacks.length-1].push(e.id),!a))return!0;if(jT[this._prevType]||jT[i]&&a){this._prevType=i;let o=this._stacks.length-1,s=this._stacks[o]||[];for(let l of this._renderableTiles){if(this._rttTiles.push(l),l.getRTT(o))continue;let u=l.acquireRTT(n,o,this.rttSize);n.bindRTT(u),n.context.clear({color:ea.transparent,stencil:0}),n.currentStencilSource=void 0;for(let c of s){let f=n.style._layers[c],h=f.source?this._coordsAscending[f.source][l.tileID.key]:[l.tileID];n.context.viewport.set([0,0,this.rttSize,this.rttSize]),n.renderTileClippingMasks(f,h,!0),n.renderLayer(n,n.style.tileManagers[f.source],f,h,r),f.source&&(l.rttFingerprint[f.source]=this._rttFingerprints[f.source][l.tileID.key])}u.texture.generateMipmap()}return X4r(this.painter,this.terrain,this._rttTiles,r),this._rttTiles=[],jT[i]}return!1}},PTr={"AttributionControl.ToggleAttribution":"Toggle attribution","AttributionControl.MapFeedback":"Map feedback","FullscreenControl.Enter":"Enter fullscreen","FullscreenControl.Exit":"Exit fullscreen","GeolocateControl.FindMyLocation":"Find my location","GeolocateControl.LocationNotAvailable":"Location not available","LogoControl.Title":"MapLibre logo","Map.Title":"Map","Marker.Title":"Map marker","NavigationControl.ResetBearing":"Drag to rotate map, click to reset north","NavigationControl.ZoomIn":"Zoom in","NavigationControl.ZoomOut":"Zoom out","Popup.Close":"Close popup","ScaleControl.Feet":"ft","ScaleControl.Meters":"m","ScaleControl.Kilometers":"km","ScaleControl.Miles":"mi","ScaleControl.NauticalMiles":"nm","GlobeControl.Enable":"Enable globe","GlobeControl.Disable":"Disable globe","TerrainControl.Enable":"Enable terrain","TerrainControl.Disable":"Disable terrain","CooperativeGesturesHandler.WindowsHelpText":"Use Ctrl + scroll to zoom the map","CooperativeGesturesHandler.MacHelpText":"Use \u2318 + scroll to zoom the map","CooperativeGesturesHandler.MobileHelpText":"Use two fingers to move the map"},ITr=Wat,Hat={hash:!1,interactive:!0,bearingSnap:7,zoomSnap:0,attributionControl:Ast,maplibreLogo:!1,refreshExpiredTiles:!0,canvasContextAttributes:{antialias:!1,preserveDrawingBuffer:!1,powerPreference:"high-performance",failIfMajorPerformanceCaveat:!1,desynchronized:!1,contextType:void 0},scrollZoom:!0,minZoom:-2,maxZoom:22,minPitch:0,maxPitch:60,boxZoom:!0,dragRotate:!0,dragPan:!0,keyboard:!0,doubleClickZoom:!0,touchZoomRotate:!0,touchPitch:!0,cooperativeGestures:!1,trackResize:!0,center:[0,0],elevation:0,zoom:0,bearing:0,pitch:0,roll:0,renderWorldCopies:!0,maxTileCacheSize:null,maxTileCacheZoomLevels:Qh.MAX_TILE_CACHE_ZOOM_LEVELS,transformRequest:null,transformCameraUpdate:null,transformConstrain:null,fadeDuration:300,crossSourceCollisions:!0,clickTolerance:3,localIdeographFontFamily:"sans-serif",pitchWithRotate:!0,rollEnabled:!1,rotateSpeed:.8,pitchSpeed:-.5,reduceMotion:void 0,validateStyle:!0,maxCanvasSize:[4096,4096],cancelPendingTileRequestsWhileZooming:!0,centerClampedToGround:!0,terrainSkirtLength:"auto",zoomLevelsToOverscale:4,anisotropicFilterPitch:20},RTr=class extends mu{get _ownerWindow(){var e,t;return((t=(e=this._container)==null?void 0:e.ownerDocument)==null?void 0:t.defaultView)||window}constructor(e){var n,a,o;super(),this._idleTriggered=!1,this._crossFadingFactor=1,this._renderTaskQueue=new DTr,this._controls=[],this._mapId=_ie(),this._styleUrl=null,this._missingStyleImageResolver=null,this._lostContextStyle={style:null,images:null},this._contextLost=s=>{if(s.preventDefault(),this._frameRequest&&(this._frameRequest=(this._frameRequest.abort(),null)),this.painter.destroy(),this._lostContextStyle=this._getStyleAndImages(),!this.style){this.fire(new pq("webglcontextlost",{originalEvent:s}));return}for(let l of Object.values(this.style._layers))if(l.type==="custom"&&console.warn(`Custom layer with id '${l.id}' cannot be restored after WebGL context loss. You will need to re-add it manually after context restoration.`),l._listeners)for(let[u]of Object.entries(l._listeners))console.warn(`Custom layer with id '${l.id}' had event listeners for event '${u}' which cannot be restored after WebGL context loss. You will need to re-add them manually after context restoration.`);this.style.destroy(),this.style=null,this.fire(new pq("webglcontextlost",{originalEvent:s}))},this._contextRestored=s=>{if(this._lostContextStyle.style&&this.setStyle(this._lostContextStyle.style,{diff:!1}),this._lostContextStyle.images&&this.style){this.style.imageManager.images=this._lostContextStyle.images;for(let l in this._lostContextStyle.images){let u=this._lostContextStyle.images[l];u.isWebGLImage&&this.style.imageManager.updateImage(l,u,!1)}}this._lostContextStyle={style:null,images:null};try{this._setupPainter()}catch(l){this.fire(new An(l));return}this.resize(),this._update(),this._resizeInternal(),this.fire(new pq("webglcontextrestored",{originalEvent:s}))},this._onMapScroll=s=>{if(s.target===this._container)return this._container.scrollTop=0,this._container.scrollLeft=0,!1},this._onWindowOnline=()=>{this._update()};let t=ma(fn(fn({},Hat),e),{canvasContextAttributes:fn(fn({},Hat.canvasContextAttributes),e.canvasContextAttributes)});if(t.minZoom!=null&&t.maxZoom!=null&&t.minZoom>t.maxZoom)throw Error("maxZoom must be greater than or equal to minZoom");if(t.minPitch!=null&&t.maxPitch!=null&&t.minPitch>t.maxPitch)throw Error("maxPitch must be greater than or equal to minPitch");if(t.minPitch!=null&&t.minPitch<0)throw Error("minPitch must be greater than or equal to 0");if(t.maxPitch!=null&&t.maxPitch>180)throw Error("maxPitch must be less than or equal to 180");this._camera=new CTr({minZoom:t.minZoom,maxZoom:t.maxZoom,minPitch:t.minPitch,maxPitch:t.maxPitch,bearingSnap:t.bearingSnap,zoomSnap:t.zoomSnap,renderWorldCopies:t.renderWorldCopies,centerClampedToGround:t.centerClampedToGround,terrain:this.terrain,transformConstrain:t.transformConstrain,requestRenderFrame:s=>this._requestRenderFrame(s),cancelRenderFrame:s=>this._cancelRenderFrame(s),transformCameraUpdate:t.transformCameraUpdate,stopHandlers:()=>{var s;return(s=this._handlers)==null?void 0:s.stop(!1)}}),this._camera.setEventedParent(this),this._interactive=t.interactive,this._maxTileCacheSize=t.maxTileCacheSize,this._maxTileCacheZoomLevels=t.maxTileCacheZoomLevels,this._canvasContextAttributes=fn({},t.canvasContextAttributes),this._trackResize=t.trackResize===!0,this._terrainSkirtLength=t.terrainSkirtLength,this._refreshExpiredTiles=t.refreshExpiredTiles===!0,this._fadeDuration=t.fadeDuration,this._crossSourceCollisions=t.crossSourceCollisions===!0,this._collectResourceTiming=t.collectResourceTiming===!0,this._locale=fn(fn({},PTr),t.locale),this._clickTolerance=t.clickTolerance,this._overridePixelRatio=t.pixelRatio,this._maxCanvasSize=t.maxCanvasSize,this._zoomLevelsToOverscale=t.zoomLevelsToOverscale,this.cancelPendingTileRequestsWhileZooming=t.cancelPendingTileRequestsWhileZooming===!0,this.setAnisotropicFilterPitch(t.anisotropicFilterPitch),t.reduceMotion!==void 0&&(fh.prefersReducedMotion=t.reduceMotion),this._requestManager=new B_r(t.transformRequest),this._container=this._resolveContainer(t.container),t.maxBounds&&this.setMaxBounds(t.maxBounds),this._setupContainer();try{this._setupPainter()}catch(s){throw this._cleanupContainer(),s}this._imageQueueHandle=rg.addThrottleControl(()=>this.isMoving()),this.on("move",()=>this._update(!1)),this.on("moveend",()=>this._update(!1)),this.on("zoom",()=>this._update(!0)),this.on("terrain",()=>{this.painter.terrainFacilitator.depthDirty=!0,this._update(!0)}),this.once("idle",()=>this._idleTriggered=!0),this._handlers=new kTr(this,this._camera,t),typeof window<"u"&&(this._ownerWindow.addEventListener("online",this._onWindowOnline,!1),this._setupResizeObserver());let r=typeof t.hash=="string"&&t.hash||void 0;this._hash=t.hash?new hst(r).addTo(this):void 0,(n=this._hash)!=null&&n._onHashChange()||(this.jumpTo({center:t.center,elevation:t.elevation,zoom:t.zoom,bearing:t.bearing,pitch:t.pitch,roll:t.roll}),t.bounds&&(this.resize(),this.fitBounds(t.bounds,ln({},t.fitBoundsOptions,{duration:0}))));let i=typeof t.style=="string"||((o=(a=t.style)==null?void 0:a.projection)==null?void 0:o.type)!=="globe";this.resize(null,i),this._localIdeographFontFamily=t.localIdeographFontFamily,this._validateStyle=t.validateStyle,t.style&&this.setStyle(t.style,{localIdeographFontFamily:t.localIdeographFontFamily}),t.attributionControl&&this.addControl(new Mst(typeof t.attributionControl=="boolean"?void 0:t.attributionControl)),t.maplibreLogo&&this.addControl(new Sst,t.logoPosition),this.on("style.load",()=>{if(i||this._resizeTransform(),this._camera.transform.unmodified){let s=IT(this.style.stylesheet,["center","zoom","bearing","pitch","roll"]);this.jumpTo(s)}}),this.on("data",s=>{this._update(s.dataType==="style"),this.fire(s.dataType==="style"?new rp("styledata",s):new Is("sourcedata",s))}),this.on("dataloading",s=>{this.fire(s.dataType==="style"?new rp("styledataloading",s):new Is("sourcedataloading",s))}),this.on("dataabort",s=>{this.fire(new Is("sourcedataabort",s))})}_getMapId(){return this._mapId}setGlobalStateProperty(e,t){return this.style.setGlobalStateProperty(e,t),this._update(!0)}getGlobalState(){return this.style.getGlobalState()}addControl(e,t){if(t===void 0&&(t=e.getDefaultPosition?e.getDefaultPosition():"top-right"),!(e!=null&&e.onAdd))return this.fire(new An(Error("Invalid argument to map.addControl(). Argument must be a control with onAdd and onRemove methods.")));let r=e.onAdd(this);this._controls.push(e);let i=this._controlPositions[t];return t.includes("bottom")?i.insertBefore(r,i.firstChild):i.appendChild(r),this}removeControl(e){if(!(e!=null&&e.onRemove))return this.fire(new An(Error("Invalid argument to map.removeControl(). Argument must be a control with onAdd and onRemove methods.")));let t=this._controls.indexOf(e);return t>-1&&this._controls.splice(t,1),e.onRemove(this),this}hasControl(e){return this._controls.includes(e)}coveringTiles(e){return ZT(this._camera.transform,e)}setTransformCameraUpdate(e){this._camera.transformCameraUpdate=e}getCenter(){return new mn(this._camera.transform.center.lng,this._camera.transform.center.lat)}setCenter(e,t){return this._camera.setCenter(e,t),this}getCenterElevation(){return this._camera.transform.elevation}setCenterElevation(e,t){return this._camera.setCenterElevation(e,t),this}setCenterClampedToGround(e){this._camera.setCenterClampedToGround(e)}panBy(e,t,r){return this._camera.panBy(e,t,r),this}panTo(e,t,r){return this._camera.panTo(e,t,r),this}getZoom(){return this._camera.transform.zoom}setZoom(e,t){return this._camera.setZoom(e,t),this}zoomTo(e,t,r){return this._camera.zoomTo(e,t,r),this}zoomIn(e,t){return this._camera.zoomIn(e,t),this}zoomOut(e,t){return this._camera.zoomOut(e,t),this}getVerticalFieldOfView(){return this._camera.transform.fov}setVerticalFieldOfView(e,t){return this._camera.setVerticalFieldOfView(e,t),this}getBearing(){return this._camera.transform.bearing}setBearing(e,t){return this._camera.setBearing(e,t),this}getZoomSnap(){return this._camera.getZoomSnap()}setZoomSnap(e){return this._camera.setZoomSnap(e),this}getPadding(){return this._camera.transform.padding}setPadding(e,t){return this._camera.setPadding(e,t),this}rotateTo(e,t,r){return this._camera.rotateTo(e,t,r),this}resetNorth(e,t){return this._camera.resetNorth(e,t),this}resetNorthPitch(e,t){return this._camera.resetNorthPitch(e,t),this}snapToNorth(e,t){return this._camera.snapToNorth(e,t),this}getPitch(){return this._camera.transform.pitch}setPitch(e,t){return this._camera.setPitch(e,t),this}getRoll(){return this._camera.transform.roll}setRoll(e,t){return this._camera.setRoll(e,t),this}cameraForBounds(e,t){return this._camera.cameraForBounds(e,t)}fitBounds(e,t,r){return this._camera.fitBounds(e,t,r),this}fitScreenCoordinates(e,t,r,i,n){return this._camera.fitScreenCoordinates(e,t,r,i,n),this}jumpTo(e,t){return this._camera.jumpTo(e,t),this}calculateCameraOptionsFromCameraLngLatAltRotation(e,t,r,i,n){return this._camera.calculateCameraOptionsFromCameraLngLatAltRotation(e,t,r,i,n)}easeTo(e,t){return this._camera.easeTo(e,t),this}flyTo(e,t){return this._camera.flyTo(e,t),this}stop(){return this._camera.stop(),this}queryTerrainElevation(e){return this.terrain?this.terrain.getElevationForLngLat(mn.convert(e),this._camera.transform):null}getCenterClampedToGround(){return this._camera.getCenterClampedToGround()}calculateCameraOptionsFromTo(e,t,r,i){return i==null&&this.terrain&&(i=this.terrain.getElevationForLngLat(r,this._camera.transform)),this._camera.transform.calculateCameraOptionsFromTo(e,t,r,i!=null?i:0)}resize(e,t=!0){if(this._lostContextStyle.style!==null)return this;this._resizeInternal(t);let r=!this._camera._moving;return r&&(this.stop(),this.fire(new Mn("movestart",e)).fire(new Mn("move",e))),this.fire(new cc("resize",e)),r&&this.fire(new Mn("moveend",e)),this}_resizeInternal(e=!0){let[t,r]=this._containerDimensions(),i=this._getClampedPixelRatio(t,r);if(this._resizeCanvas(t,r,i),this.painter.resize(t,r,i),this.painter.overLimit()){let n=this.painter.context.gl;this._maxCanvasSize=[n.drawingBufferWidth,n.drawingBufferHeight];let a=this._getClampedPixelRatio(t,r);this._resizeCanvas(t,r,a),this.painter.resize(t,r,a)}this._resizeTransform(e)}_resizeTransform(e=!0){var i;let[t,r]=this._containerDimensions();this._camera.transform.resize(t,r,e),(i=this._camera._requestedCameraState)==null||i.resize(t,r,e)}_getClampedPixelRatio(e,t){let{0:r,1:i}=this._maxCanvasSize,n=this.getPixelRatio(),a=e*n,o=t*n,s=a>r?r/a:1,l=o>i?i/o:1,u=Math.min(s,l);return u<1&&Ma("The canvas is larger than maxCanvasSize and is rendered at a lower pixel ratio to fit. Increase maxCanvasSize, within MAX_TEXTURE_SIZE, to render at full resolution."),u*n}getPixelRatio(){var e;return(e=this._overridePixelRatio)!=null?e:devicePixelRatio}setPixelRatio(e){this._overridePixelRatio=e,this.resize()}getBounds(){return this._camera.transform.getBounds()}getMaxBounds(){return this._camera.transform.getMaxBounds()}setMaxBounds(e){return this._camera.transform.setMaxBounds(Ev.convert(e)),this._update()}setMinZoom(e){if(e!=null||(e=-2),e>=-2&&e<=this._camera.transform.maxZoom){let t=this._camera.transform.zoom,r=this._camera.getTransformForUpdate();return r.setMinZoom(e),this._camera.applyUpdatedTransform(r),this._update(),t!==this._camera.transform.zoom&&this.fire(new Mn("zoomstart")).fire(new Mn("zoom")).fire(new Mn("zoomend")).fire(new Mn("movestart")).fire(new Mn("move")).fire(new Mn("moveend")),this}throw Error("minZoom must be between -2 and the current maxZoom, inclusive")}getMinZoom(e=!1){let t=this._camera.transform;return e?t.applyConstrain(t.center,t.minZoom).zoom:t.minZoom}setMaxZoom(e){if(e!=null||(e=22),e>=this._camera.transform.minZoom){let t=this._camera.transform.zoom,r=this._camera.getTransformForUpdate();return r.setMaxZoom(e),this._camera.applyUpdatedTransform(r),this._update(),t!==this._camera.transform.zoom&&this.fire(new Mn("zoomstart")).fire(new Mn("zoom")).fire(new Mn("zoomend")).fire(new Mn("movestart")).fire(new Mn("move")).fire(new Mn("moveend")),this}throw Error("maxZoom must be greater than the current minZoom")}getMaxZoom(){return this._camera.transform.maxZoom}setMinPitch(e){if(e!=null||(e=0),e<0)throw Error("minPitch must be greater than or equal to 0");if(e>=0&&e<=this._camera.transform.maxPitch){let t=this._camera.transform.pitch,r=this._camera.getTransformForUpdate();return r.setMinPitch(e),this._camera.applyUpdatedTransform(r),this._update(),t!==this._camera.transform.pitch&&this.fire(new Mn("pitchstart")).fire(new Mn("pitch")).fire(new Mn("pitchend")).fire(new Mn("movestart")).fire(new Mn("move")).fire(new Mn("moveend")),this}throw Error("minPitch must be between 0 and the current maxPitch, inclusive")}getMinPitch(){return this._camera.transform.minPitch}setMaxPitch(e){if(e!=null||(e=60),e>180)throw Error("maxPitch must be less than or equal to 180");if(e>=this._camera.transform.minPitch){let t=this._camera.transform.pitch,r=this._camera.getTransformForUpdate();return r.setMaxPitch(e),this._camera.applyUpdatedTransform(r),this._update(),t!==this._camera.transform.pitch&&this.fire(new Mn("pitchstart")).fire(new Mn("pitch")).fire(new Mn("pitchend")).fire(new Mn("movestart")).fire(new Mn("move")).fire(new Mn("moveend")),this}throw Error("maxPitch must be greater than the current minPitch")}getMaxPitch(){return this._camera.transform.maxPitch}getAnisotropicFilterPitch(){return this._anisotropicFilterPitch}setAnisotropicFilterPitch(e){if(e!=null||(e=20),e>180)throw Error("anisotropicFilterPitch must be less than or equal to 180");if(e<0)throw Error("anisotropicFilterPitch must be greater than or equal to 0");return this._anisotropicFilterPitch=e,this._update()}getRenderWorldCopies(){return this._camera.transform.renderWorldCopies}setRenderWorldCopies(e){return this._camera.transform.setRenderWorldCopies(e),this._update()}setTransformConstrain(e){return this._camera.transform.setConstrainOverride(e),this._update()}project(e){return this._camera.transform.locationToScreenPoint(mn.convert(e),this.style&&this.terrain)}unproject(e){return this._camera.transform.screenPointToLocation(tr.convert(e),this.terrain)}isMoving(){var e;return this._camera.isMoving()||((e=this._handlers)==null?void 0:e.isMoving())||!1}isZooming(){var e;return this._camera.isZooming()||((e=this._handlers)==null?void 0:e.isZooming())||!1}isRotating(){var e;return this._camera.isRotating()||((e=this._handlers)==null?void 0:e.isRotating())||!1}_createDelegatedListener(e,t,r){if(e==="mouseenter"||e==="mouseover"){let i=!1;return{layers:t,listener:r,delegates:{mousemove:n=>{let a=t.filter(s=>this.getLayer(s)),o=a.length===0?[]:this.queryRenderedFeatures(n.point,{layers:a});o.length?i||(i=!0,r.call(this,new O0(e,this,n.originalEvent,{features:o}))):i=!1},mouseout:()=>{i=!1}}}}if(e==="mouseleave"||e==="mouseout"){let i=!1;return{layers:t,listener:r,delegates:{mousemove:n=>{let a=t.filter(o=>this.getLayer(o));(a.length===0?[]:this.queryRenderedFeatures(n.point,{layers:a})).length?i=!0:i&&(i=!1,r.call(this,new O0(e,this,n.originalEvent)))},mouseout:n=>{i&&(i=!1,r.call(this,new O0(e,this,n.originalEvent)))}}}}{let i=n=>{let a=t.filter(s=>this.getLayer(s)),o=a.length===0?[]:this.queryRenderedFeatures(n.point,{layers:a});o.length&&(n.features=o,r.call(this,n),delete n.features)};return{layers:t,listener:r,delegates:{[e]:i}}}}_saveDelegatedListener(e,t){var r;this._delegatedListeners||(this._delegatedListeners={}),(r=this._delegatedListeners)[e]||(r[e]=[]),this._delegatedListeners[e].push(t)}_removeDelegatedListener(e,t,r){var n;if(!((n=this._delegatedListeners)!=null&&n[e]))return;let i=this._delegatedListeners[e];for(let a=0;at.includes(s))){for(let s in o.delegates)this.off(s,o.delegates[s]);i.splice(a,1);return}}}on(e,t,r){if(r===void 0)return super.on(e,t);let i=typeof t=="string"?[t]:t,n=this._createDelegatedListener(e,i,r);this._saveDelegatedListener(e,n);for(let a in n.delegates)this.on(a,n.delegates[a]);return{unsubscribe:()=>{this._removeDelegatedListener(e,i,r)}}}once(e,t,r){if(r===void 0)return super.once(e,t);let i=typeof t=="string"?[t]:t,n=this._createDelegatedListener(e,i,r);for(let a in n.delegates){let o=n.delegates[a];n.delegates[a]=(...s)=>{this._removeDelegatedListener(e,i,r),o(...s)}}this._saveDelegatedListener(e,n);for(let a in n.delegates)this.once(a,n.delegates[a]);return this}off(e,t,r){if(r===void 0)return super.off(e,t);let i=typeof t=="string"?[t]:t;return this._removeDelegatedListener(e,i,r),this}queryRenderedFeatures(e,t){if(!this.style)return[];let r,i=e instanceof tr||Array.isArray(e),n=i?e:[[0,0],[this._camera.transform.width,this._camera.transform.height]];if(t||(t=(i?{}:e)||{}),n instanceof tr||typeof n[0]=="number")r=[tr.convert(n)];else{let a=tr.convert(n[0]),o=tr.convert(n[1]);r=[a,new tr(o.x,a.y),o,new tr(a.x,o.y),a]}return this.style.queryRenderedFeatures(r,t,this._camera.transform)}querySourceFeatures(e,t){return this.style.querySourceFeatures(e,t)}setStyle(e,t){return t=ln({},{localIdeographFontFamily:this._localIdeographFontFamily,validate:this._validateStyle},t),this._styleUrl=typeof e=="string"?e:null,t.diff!==!1&&t.localIdeographFontFamily===this._localIdeographFontFamily&&this.style&&e?(this._diffStyle(e,t),this):(this._localIdeographFontFamily=t.localIdeographFontFamily,this._updateStyle(e,t))}setTransformRequest(e){return this._requestManager.setTransformRequest(e),this}_getUIString(e){let t=this._locale[e];if(t==null)throw Error(`Missing UI string '${e}'`);return t}_updateStyle(e,t){var i,n,a;if((i=this._diffStyleRequest)==null||i.abort(),this._diffStyleRequest=null,t.transformStyle&&this.style&&!this.style._loaded){this.style.once("style.load",()=>this._updateStyle(e,t));return}let r=this.style&&t.transformStyle?this.style.serialize():void 0;if(this.style&&(this.style.setEventedParent(null),this.style._remove(!e)),e)this.style=new hae(this,t||{});else return this._frameRequest&&(this._frameRequest=(this._frameRequest.abort(),null)),(a=(n=this.style)==null?void 0:n.projection)==null||a.destroy(),delete this.style,this;return this.style.setEventedParent(this,{style:this.style}),typeof e=="string"?this.style.loadURL(e,t,r):this.style.loadJSON(e,t,r),this}_lazyInitEmptyStyle(){this.style||(this.style=new hae(this,{}),this.style.setEventedParent(this,{style:this.style}),this.style.loadEmpty())}_diffStyle(e,t){return Ki(this,null,function*(){var r;if((r=this._diffStyleRequest)==null||r.abort(),typeof e=="string"){let i=e;this._diffStyleRequest=new AbortController;let n=this._diffStyleRequest;try{let a=yield this._requestManager.transformRequest(i,"Style");if(n.signal.aborted){this._diffStyleRequest=null;return}let o=yield jk(a,n);this._diffStyleRequest=null,this._updateDiff(o.data,t)}catch(a){this._diffStyleRequest=null,Fm(a)||this.fire(new An(Ic(a)))}}else typeof e=="object"&&(this._diffStyleRequest=null,this._updateDiff(e,t))})}_updateDiff(e,t){try{this.style.setState(e,t)&&this._update(!0)}catch(r){Ma(`Unable to perform style diff: ${Ic(r).message}. Rebuilding the style from scratch.`),this._updateStyle(e,t)}}getStyle(){if(this.style)return this.style.serialize()}getStyleUrl(){return this._styleUrl}_getStyleAndImages(){return this.style?{style:this.style.serialize(),images:this.style.imageManager.cloneImages()}:{style:null,images:{}}}isStyleLoaded(){if(!this.style){Ma("There is no style added to the map.");return}return this.style.loaded()}addSource(e,t){return this._lazyInitEmptyStyle(),this.style.addSource(e,t),this._update(!0)}isSourceLoaded(e){var r;let t=(r=this.style)==null?void 0:r.tileManagers[e];if(t===void 0){this.fire(new An(Error(`There is no tile manager with ID '${e}'`)));return}return t.loaded()}setTerrain(e,t={}){if(this.style._checkLoaded(),e&&qT(this,ch.terrain,{value:e},t))return this;if(this._terrainDataCallback&&this.style.off("data",this._terrainDataCallback),!e)this.terrain&&this.terrain.destroy(),this.terrain=null,this.painter.renderToTexture=null,this._camera.terrain=null,this._camera.transform.setMinElevationForCurrentTile(0),this.getCenterClampedToGround()&&this._camera.transform.setElevation(0);else{let r=this.style.tileManagers[e.source];if(!r)throw Error(`cannot load terrain, because there exists no source with ID: ${e.source}`);this.terrain===null&&r.reload();for(let i in this.style._layers){let n=this.style._layers[i];n.type==="hillshade"&&n.source===e.source&&Ma("You are using the same source for a hillshade layer and for 3D terrain. Please consider using two separate sources to improve rendering quality."),n.type==="color-relief"&&n.source===e.source&&Ma("You are using the same source for a color-relief layer and for 3D terrain. Please consider using two separate sources to improve rendering quality.")}this.terrain&&this.terrain.destroy(),this.terrain=new W3r(this.painter,r,e,this._terrainSkirtLength),this.painter.renderToTexture=new LTr(this.painter,this.terrain),this._camera.terrain=this.terrain,this._camera.transform.setMinElevationForCurrentTile(this.terrain.getMinTileElevationForLngLatZoom(this._camera.transform.center,this._camera.transform.tileZoom)),this._camera.transform.setElevation(this.terrain.getElevationForLngLat(this._camera.transform.center,this._camera.transform)),this._terrainDataCallback=i=>this._handleTerrainDataEvent(i,e.source),this.style.on("data",this._terrainDataCallback)}return this.style.triggerSymbolPlacement(),this.fire(new Zat({terrain:e})),this}_handleTerrainDataEvent(e,t){var i;if(e.dataType==="style"){this.terrain.tileManager.releaseAllRTT();return}let r=e.sourceId===t;if(r&&(this.terrain.resetElevationCache(),this.style.triggerSymbolPlacement()),r&&e.tile&&!this._camera.elevationFreeze&&(this._camera.transform.setMinElevationForCurrentTile(this.terrain.getMinTileElevationForLngLatZoom(this._camera.transform.center,this._camera.transform.tileZoom)),this.getCenterClampedToGround()&&this._camera.transform.setElevation(this.terrain.getElevationForLngLat(this._camera.transform.center,this._camera.transform))),e.tile){if(((i=e.source)==null?void 0:i.type)==="image"){this.terrain.tileManager.releaseAllRTT();return}this.terrain.tileManager.releaseRTT(e.tile.tileID)}}getTerrain(){var e,t;return(t=(e=this.terrain)==null?void 0:e.options)!=null?t:null}areTilesLoaded(){var t;let e=(t=this.style)==null?void 0:t.tileManagers;for(let r of Object.values(e))if(!r.areTilesLoaded())return!1;return!0}removeSource(e){return this.style.removeSource(e),this._update(!0)}getSource(e){var t;return(t=this.style)==null?void 0:t.getSource(e)}setSourceTileLodParams(e,t,r){if(r){let i=this.getSource(r);if(!i)throw Error(`There is no source with ID "${r}", cannot set LOD parameters`);i.calculateTileZoom=nae(Math.max(1,e),Math.max(1,t))}else for(let i in this.style.tileManagers)this.style.tileManagers[i].getSource().calculateTileZoom=nae(Math.max(1,e),Math.max(1,t));return this._update(!0),this}refreshTiles(e,t){let r=this.style.tileManagers[e];if(!r)throw Error(`There is no tile manager with ID "${e}", cannot refresh tile`);t===void 0?r.reload(!0):r.refreshTiles(t.map(i=>new l8(i.z,i.x,i.y)))}addImage(e,t,r={}){var n;this._lazyInitEmptyStyle();let i=this._createStyleImage(t,r);return i?(this.style.addImage(e,i),(n=i.userImage)!=null&&n.onAdd&&i.userImage.onAdd(this,e),this):this}setMissingStyleImageResolver(e){var t;return this._missingStyleImageResolver=e,(t=this.style)==null||t.setMissingImageResolver(e),this}_createStyleImage(e,t={}){let{pixelRatio:r=1,sdf:i=!1,stretchX:n,stretchY:a,content:o,textFitWidth:s,textFitHeight:l}=t;if(e instanceof HTMLImageElement||ex(e)){let{width:u,height:c,data:f}=fh.getImageData(e);return{data:new As({width:u,height:c},f),pixelRatio:r,stretchX:n,stretchY:a,content:o,textFitWidth:s,textFitHeight:l,sdf:i,version:0}}if(e.width===void 0||e.height===void 0)return this.fire(new An(Error("Invalid arguments to map.addImage(). The second argument must be an `HTMLImageElement`, `ImageData`, `ImageBitmap`, or object with `width`, `height`, and `data` properties with the same format as `ImageData`"))),null;{let{width:u,height:c,data:f}=e,h=e,d=i8(h.data);return{data:d?new As({width:u,height:c}):new As({width:u,height:c},new Uint8Array(f)),pixelRatio:r,stretchX:n,stretchY:a,content:o,textFitWidth:s,textFitHeight:l,sdf:i,version:0,isWebGLImage:d,userImage:h}}}updateImage(e,t){let r=this.style.getImage(e);if(!r)return this.fire(new An(Error("The map has no image with that id. If you are adding a new image use `map.addImage(...)` instead.")));let{width:i,height:n,data:a}=t instanceof HTMLImageElement||ex(t)?fh.getImageData(t):t;if(i===void 0||n===void 0)return this.fire(new An(Error("Invalid arguments to map.updateImage(). The second argument must be an `HTMLImageElement`, `ImageData`, `ImageBitmap`, or object with `width`, `height`, and `data` properties with the same format as `ImageData`")));if(i!==r.data.width||n!==r.data.height)return this.fire(new An(Error("The width and height of the updated image must be that same as the previous version of the image")));if(r.isWebGLImage=i8(a),r.isWebGLImage)r.userImage=t;else{let o=!(t instanceof HTMLImageElement||ex(t));r.data.replace(a,o)}return this.style.updateImage(e,r),this}getImage(e){return this.style.getImage(e)}hasImage(e){return e?!!this.style.getImage(e):(this.fire(new An(Error("Missing required image id"))),!1)}removeImage(e){this.style.removeImage(e)}loadImage(e){return Ki(this,null,function*(){let t=yield rg.getImage(yield this._requestManager.transformRequest(e,"Image"),new AbortController);if(!t.data)throw Error(`Could not load image ${e}: the response is empty`);return t})}listImages(){var e,t;return(t=(e=this.style)==null?void 0:e.listImages())!=null?t:[]}addLayer(e,t){return this._lazyInitEmptyStyle(),this.style.addLayer(e,t),this._update(!0)}moveLayer(e,t){return this.style.moveLayer(e,t),this._update(!0)}removeLayer(e){return this.style.removeLayer(e),this._update(!0)}getLayer(e){var t;return(t=this.style)==null?void 0:t.getLayer(e)}getLayersOrder(){var e,t;return(t=(e=this.style)==null?void 0:e.getLayersOrder())!=null?t:[]}setLayerZoomRange(e,t,r){return this.style.setLayerZoomRange(e,t,r),this._update(!0)}setFilter(e,t,r={}){var i;return(i=this.style)==null||i.setFilter(e,t,r),this._update(!0)}getFilter(e){return this.style.getFilter(e)}setPaintProperty(e,t,r,i={}){var n;return(n=this.style)==null||n.setPaintProperty(e,t,r,i),this._update(!0)}getPaintProperty(e,t){return this.style.getPaintProperty(e,t)}setLayoutProperty(e,t,r,i={}){return this.style.setLayoutProperty(e,t,r,i),this._update(!0)}getLayoutProperty(e,t){return this.style.getLayoutProperty(e,t)}setGlyphs(e,t={}){return this._lazyInitEmptyStyle(),this.style.setGlyphs(e,t),this._update(!0)}getGlyphs(){return this.style.getGlyphsUrl()}setFontFaces(e){return this._lazyInitEmptyStyle(),this.style.setFontFaces(e),this._update(!0)}getFontFaces(){return this.style.getFontFaces()}addSprite(e,t,r={}){return this._lazyInitEmptyStyle(),this.style.addSprite(e,t,r,i=>{i||this._update(!0)}),this}removeSprite(e){return this._lazyInitEmptyStyle(),this.style.removeSprite(e),this._update(!0)}getSprite(){return this.style.getSprite()}setSprite(e,t={}){return this._lazyInitEmptyStyle(),this.style.setSprite(e,t,r=>{r||this._update(!0)}),this}setLight(e,t={}){return this._lazyInitEmptyStyle(),this.style.setLight(e,t),this._update(!0)}getLight(){return this.style.getLight()}setSky(e,t={}){return this._lazyInitEmptyStyle(),this.style.setSky(e,t),this._update(!0)}getSky(){return this.style.getSky()}setFeatureState(e,t){return this.style.setFeatureState(e,t),this._update()}removeFeatureState(e,t){return this.style.removeFeatureState(e,t),this._update()}getFeatureState(e){return this.style.getFeatureState(e)}getContainer(){return this._container}getCanvasContainer(){return this._canvasContainer}getCanvas(){return this._canvas}_containerDimensions(){let e=0,t=0;return this._container&&(e=this._container.clientWidth||400,t=this._container.clientHeight||300),[e,t]}_shouldHandleInitialResize(){var r;if(!((r=this._container)!=null&&r.clientWidth)||!this._container.clientHeight)return!1;let[e,t]=this._containerDimensions();return e!==this._camera.transform.width||t!==this._camera.transform.height}_setupResizeObserver(){var i;let e=!1,t=fst(n=>{this._trackResize&&!this._removed&&(this.resize(n),this.redraw())},50),r=(i=this._ownerWindow.ResizeObserver)!=null?i:ResizeObserver;this._resizeObserver=new r(n=>{!e&&(e=!0,!this._shouldHandleInitialResize())||t(n)}),this._resizeObserver.observe(this._container)}_resolveContainer(e){if(typeof e=="string"){let t=document.getElementById(e);if(!t)throw Error(`Container '${e}' not found.`);return t}if(e instanceof HTMLElement||e&&typeof e=="object"&&e.nodeType===1)return e;throw Error("Invalid type: 'container' must be a String or HTMLElement.")}_setupContainer(){let e=this._container;e.classList.add("maplibregl-map");let t=this._canvasContainer=$n.create("div","maplibregl-canvas-container",e);this._interactive&&t.classList.add("maplibregl-interactive"),this._canvas=$n.create("canvas","maplibregl-canvas",t),this._canvas.addEventListener("webglcontextlost",this._contextLost,!1),this._canvas.addEventListener("webglcontextrestored",this._contextRestored,!1),this._canvas.setAttribute("tabindex",this._interactive?"0":"-1"),this._canvas.setAttribute("aria-label",this._getUIString("Map.Title")),this._canvas.setAttribute("role","region");let r=this._containerDimensions(),i=this._getClampedPixelRatio(r[0],r[1]);this._resizeCanvas(r[0],r[1],i);let n=this._controlContainer=$n.create("div","maplibregl-control-container",e),a=this._controlPositions={};for(let o of["top-left","top-right","bottom-left","bottom-right"])a[o]=$n.create("div",`maplibregl-ctrl-${o} `,n);this._container.addEventListener("scroll",this._onMapScroll,!1)}_cleanupContainer(){this._canvas.removeEventListener("webglcontextrestored",this._contextRestored,!1),this._canvas.removeEventListener("webglcontextlost",this._contextLost,!1),this._canvasContainer.remove(),this._controlContainer.remove(),this._container.removeEventListener("scroll",this._onMapScroll,!1),this._container.classList.remove("maplibregl-map")}_resizeCanvas(e,t,r){this._canvas.width=Math.floor(r*e),this._canvas.height=Math.floor(r*t),this._canvas.style.width=`${e}px`,this._canvas.style.height=`${t}px`}_setupPainter(){let e=ma(fn({},this._canvasContextAttributes),{alpha:!0,depth:!0,stencil:!0,premultipliedAlpha:!0}),t=null;this._canvas.addEventListener("webglcontextcreationerror",i=>{t=i},{once:!0});let r=this._canvas.getContext("webgl2",e);if(!r)throw new cst(e,t);this.painter=new tTr(r,this._camera.transform)}migrateProjection(e,t){this._camera.migrateProjection(e,t),this.painter.transform=e,this.fire(new Kat({newProjection:this.style.projection.name}))}loaded(){return!this._styleDirty&&!this._sourcesDirty&&!!this.style&&this.style.loaded()}_update(e){var t;return(t=this.style)!=null&&t._loaded?(this._styleDirty||(this._styleDirty=e),this._sourcesDirty=!0,this.triggerRepaint(),this):this}_requestRenderFrame(e){return this._update(),this._renderTaskQueue.add(e)}_cancelRenderFrame(e){this._renderTaskQueue.remove(e)}_render(e){var o,s,l,u,c;let t=this._idleTriggered?this._fadeDuration:0,r=((o=this.style.projection)==null?void 0:o.transitionState)>0;if(this.painter.context.setDirty(),this.painter.setBaseState(),this._renderTaskQueue.run(e),this._removed)return;let i=!1;if(this.style&&this._styleDirty){this._styleDirty=!1;let f=this._camera.transform.zoom,h=Oo();this.style.zoomHistory.update(f,h);let d=new Co(f,{now:h,fadeDuration:t,zoomHistory:this.style.zoomHistory,transition:this.style.getTransition()}),p=d.crossFadingFactor();(p!==1||p!==this._crossFadingFactor)&&(i=!0,this._crossFadingFactor=p),this.style.update(d)}let n=((s=this.style.projection)==null?void 0:s.transitionState)>0!==r;this._camera.transform.setTransitionState((l=this.style.projection)==null?void 0:l.transitionState),this.style&&(this._sourcesDirty||n)&&(this._sourcesDirty=!1,this.style._updateSources(this._camera.transform)),this.terrain?(this.terrain.tileManager.update(this._camera.transform,this.terrain)&&this.terrain.resetElevationCache(),this._camera.transform.setMinElevationForCurrentTile(this.terrain.getMinTileElevationForLngLatZoom(this._camera.transform.center,this._camera.transform.tileZoom)),!this._camera.elevationFreeze&&this.getCenterClampedToGround()&&this._camera.transform.setElevation(this.terrain.getElevationForLngLat(this._camera.transform.center,this._camera.transform))):(this._camera.transform.setMinElevationForCurrentTile(0),this.getCenterClampedToGround()&&this._camera.transform.setElevation(0)),this._placementDirty=(u=this.style)==null?void 0:u._updatePlacement(this._camera.transform,this.showCollisionBoxes,t,this._crossSourceCollisions,n),this.painter.render(this.style,{showTileBoundaries:this.showTileBoundaries,showOverdrawInspector:this._showOverdrawInspector,rotating:this.isRotating(),zooming:this.isZooming(),moving:this.isMoving(),fadeDuration:t,showPadding:this.showPadding,anisotropicFilterPitch:this.getAnisotropicFilterPitch()}),this.fire(new cc("render")),this.loaded()&&!this._loaded&&(this._loaded=!0,this.fire(new cc("load"))),this.style&&(this.style.hasTransitions()||i)&&(this._styleDirty=!0),this.style&&!this._placementDirty&&this.style._releaseSymbolFadeTiles();let a=this._sourcesDirty||this._styleDirty||this._placementDirty||((c=this.painter.renderToTexture)==null?void 0:c.needsFollowUpFrame);return a||this._repaint?this.triggerRepaint():!this.isMoving()&&this.loaded()&&this.fire(new cc("idle")),this._loaded&&!this._fullyLoaded&&!a&&(this._fullyLoaded=!0),this}redraw(){return this.style&&(this._frameRequest&&(this._frameRequest=(this._frameRequest.abort(),null)),this._render(0)),this}remove(){var t,r;this._hash&&this._hash.remove();for(let i of this._controls)i.onRemove(this);this._controls=[],this._frameRequest&&(this._frameRequest=(this._frameRequest.abort(),null)),this._renderTaskQueue.clear(),(t=this._diffStyleRequest)==null||t.abort(),this.painter.destroy(),this._handlers.destroy(),this.setStyle(null),typeof window<"u"&&this._ownerWindow.removeEventListener("online",this._onWindowOnline,!1),rg.removeThrottleControl(this._imageQueueHandle),(r=this._resizeObserver)==null||r.disconnect();let e=this.painter.context.gl.getExtension("WEBGL_lose_context");e!=null&&e.loseContext&&e.loseContext(),this._cleanupContainer(),this._removed=!0,this.fire(new cc("remove"))}triggerRepaint(){this.style&&!this._frameRequest&&(this._frameRequest=new AbortController,fh.frame(this._frameRequest,e=>{this._frameRequest=null;try{this._render(e)}catch(t){if(!Fm(t))throw t}},()=>{},this._ownerWindow))}get showTileBoundaries(){return!!this._showTileBoundaries}set showTileBoundaries(e){this._showTileBoundaries!==e&&(this._showTileBoundaries=e,this._update())}get showPadding(){return!!this._showPadding}set showPadding(e){this._showPadding!==e&&(this._showPadding=e,this._update())}get showCollisionBoxes(){return!!this._showCollisionBoxes}set showCollisionBoxes(e){this._showCollisionBoxes!==e&&(this._showCollisionBoxes=e,e?this.style._generateCollisionBoxes():this._update())}get showOverdrawInspector(){return!!this._showOverdrawInspector}set showOverdrawInspector(e){this._showOverdrawInspector!==e&&(this._showOverdrawInspector=e,this._update())}get repaint(){return!!this._repaint}set repaint(e){this._repaint!==e&&(this._repaint=e,this.triggerRepaint())}get vertices(){return!!this._vertices}set vertices(e){this._vertices=e,this._update()}get version(){return ITr}getCameraTargetElevation(){return this._camera.transform.elevation}getProjection(){return this.style.getProjection()}setProjection(e){return this._lazyInitEmptyStyle(),this.style.setProjection(e),this._update(!0)}},zTr={showCompass:!0,showZoom:!0,visualizePitch:!1,visualizeRoll:!0},BTr=class{constructor(e){this._updateZoomButtons=()=>{let t=this._map.getZoom(),r=t===this._map.getMaxZoom(),i=t===this._map.getMinZoom(!0);this._zoomInButton.disabled=r,this._zoomOutButton.disabled=i,this._zoomInButton.setAttribute("aria-disabled",r.toString()),this._zoomOutButton.setAttribute("aria-disabled",i.toString())},this._rotateCompassArrow=()=>{let t=this._map.getPitch(),r=this._map.getRoll(),i=this._map.getBearing(),n=1/Math.cos(js(t))**.5;if(this.options.visualizePitch&&this.options.visualizeRoll){this._compassIcon.style.transform=`scale(${n}) rotateZ(${-r}deg) rotateX(${t}deg) rotateZ(${-i}deg)`;return}if(this.options.visualizePitch){this._compassIcon.style.transform=`scale(${n}) rotateX(${t}deg) rotateZ(${-i}deg)`;return}if(this.options.visualizeRoll){this._compassIcon.style.transform=`rotate(${-i-r}deg)`;return}this._compassIcon.style.transform=`rotate(${-i}deg)`},this._setButtonTitle=(t,r)=>{let i=this._map._getUIString(`NavigationControl.${r}`);t.title=i,t.setAttribute("aria-label",i)},this.options=ln({},zTr,e),this._container=$n.create("div","maplibregl-ctrl maplibregl-ctrl-group"),this._container.addEventListener("contextmenu",t=>t.preventDefault()),this.options.showZoom&&(this._zoomInButton=this._createButton("maplibregl-ctrl-zoom-in",t=>this._map.zoomIn({},{originalEvent:t})),$n.create("span","maplibregl-ctrl-icon",this._zoomInButton).setAttribute("aria-hidden","true"),this._zoomOutButton=this._createButton("maplibregl-ctrl-zoom-out",t=>this._map.zoomOut({},{originalEvent:t})),$n.create("span","maplibregl-ctrl-icon",this._zoomOutButton).setAttribute("aria-hidden","true")),this.options.showCompass&&(this._compass=this._createButton("maplibregl-ctrl-compass",t=>{this.options.visualizePitch?this._map.resetNorthPitch({},{originalEvent:t}):this._map.resetNorth({},{originalEvent:t})}),this._compassIcon=$n.create("span","maplibregl-ctrl-icon",this._compass),this._compassIcon.setAttribute("aria-hidden","true"))}onAdd(e){return this._map=e,this.options.showZoom&&(this._setButtonTitle(this._zoomInButton,"ZoomIn"),this._setButtonTitle(this._zoomOutButton,"ZoomOut"),this._map.on("move",this._updateZoomButtons),this._updateZoomButtons()),this.options.showCompass&&(this._setButtonTitle(this._compass,"ResetBearing"),this.options.visualizePitch&&this._map.on("pitch",this._rotateCompassArrow),this.options.visualizeRoll&&this._map.on("roll",this._rotateCompassArrow),this._map.on("rotate",this._rotateCompassArrow),this._rotateCompassArrow(),this._handler=new qTr(this._map,this._compass,this.options.visualizePitch)),this._container}onRemove(){this._container.remove(),this.options.showZoom&&this._map.off("move",this._updateZoomButtons),this.options.showCompass&&(this.options.visualizePitch&&this._map.off("pitch",this._rotateCompassArrow),this.options.visualizeRoll&&this._map.off("roll",this._rotateCompassArrow),this._map.off("rotate",this._rotateCompassArrow),this._handler.off(),delete this._handler),delete this._map}_createButton(e,t){let r=$n.create("button",e,this._container);return r.type="button",r.addEventListener("click",t),r}},qTr=class{constructor(e,t,r=!1){this.mousedown=n=>{this.startMove(n,$n.mousePos(this.element,n)),window.addEventListener("mousemove",this.mousemove),window.addEventListener("mouseup",this.mouseup)},this.mousemove=n=>{this.move(n,$n.mousePos(this.element,n))},this.mouseup=n=>{this._rotatePitchHandler.dragEnd(n),this.offTemp()},this.touchstart=n=>{n.targetTouches.length===1?(this._startPos=this._lastPos=$n.touchPos(this.element,n.targetTouches)[0],this.startMove(n,this._startPos),window.addEventListener("touchmove",this.touchmove,{passive:!1}),window.addEventListener("touchend",this.touchend)):this.reset()},this.touchmove=n=>{n.targetTouches.length===1?(this._lastPos=$n.touchPos(this.element,n.targetTouches)[0],this.move(n,this._lastPos)):this.reset()},this.touchend=n=>{n.targetTouches.length===0&&this._startPos&&this._lastPos&&this._startPos.dist(this._lastPos){this._rotatePitchHandler.reset(),delete this._startPos,delete this._lastPos,this.offTemp()},this._clickTolerance=10,this.element=t;let i=new gTr;this._rotatePitchHandler=new E8({clickTolerance:3,move:(n,a)=>{let o=t.getBoundingClientRect(),s=new tr((o.bottom-o.top)/2,(o.right-o.left)/2);return{bearingDelta:Tie(new tr(n.x,a.y),a,s),pitchDelta:r?(a.y-n.y)*-.5:void 0}},moveStateManager:i,enable:!0,assignEvents:()=>{}}),this.map=e,t.addEventListener("mousedown",this.mousedown),t.addEventListener("touchstart",this.touchstart,{passive:!1}),t.addEventListener("touchcancel",this.reset)}startMove(e,t){this._rotatePitchHandler.dragStart(e,t),$n.disableDrag()}move(e,t){let r=this.map,{bearingDelta:i,pitchDelta:n}=this._rotatePitchHandler.dragMove(e,t)||{};i&&r.setBearing(r.getBearing()+i),n&&r.setPitch(r.getPitch()+n)}off(){let e=this.element;e.removeEventListener("mousedown",this.mousedown),e.removeEventListener("touchstart",this.touchstart),window.removeEventListener("touchmove",this.touchmove),window.removeEventListener("touchend",this.touchend),e.removeEventListener("touchcancel",this.reset),this.offTemp()}offTemp(){$n.enableDrag(),window.removeEventListener("mousemove",this.mousemove),window.removeEventListener("mouseup",this.mouseup),window.removeEventListener("touchmove",this.touchmove),window.removeEventListener("touchend",this.touchend)}};Oae={center:"translate(-50%,-50%)",top:"translate(-50%,0)","top-left":"translate(0,0)","top-right":"translate(-100%,0)",bottom:"translate(-50%,-100%)","bottom-left":"translate(0,-100%)","bottom-right":"translate(-100%,-100%)",left:"translate(0,-50%)",right:"translate(-100%,-50%)"};jat={ArrowLeft:[-1,0],ArrowRight:[1,0],ArrowUp:[0,-1],ArrowDown:[0,1]},Cst="#3FB1CE";o3=class extends e0{},Dst=class extends e0{},vae=class extends mu{constructor(e){if(super(),this._onClick=t=>{this.fire(new Dst("click",{originalEvent:t}))},this._onKeyPress=t=>{(t.code==="Space"||t.code==="Enter")&&this.togglePopup()},this._onKeyDown=t=>{if(!this._defaultMarker||!this._draggable||!this._map||!this._lngLat||t.composedPath()[0]!==this._element||t.altKey||t.ctrlKey||t.metaKey)return;let r=jat[t.key];if(!r)return;t.preventDefault(),t.stopPropagation();let i=t.shiftKey?10:1,n=this._map.project(this._lngLat);this.setLngLat(this._map.unproject(new tr(n.x+r[0]*i,n.y+r[1]*i))),this._keyboardDragActive||(this._keyboardDragActive=!0,this.fire(new o3("dragstart"))),this.fire(new o3("drag"))},this._onKeyUp=t=>{jat[t.key]&&this._endKeyboardDrag()},this._onBlur=()=>{this._endKeyboardDrag()},this._onMapClick=t=>{let r=t.originalEvent.target,i=this._element;this._popup&&(r===i||i.contains(r))&&this.togglePopup()},this._update=t=>{if(!this._map)return;let r=this._map.loaded()&&!this._map.isMoving();((t==null?void 0:t.type)==="terrain"||(t==null?void 0:t.type)==="render"&&!r)&&this._map.once("render",this._update),this._lngLat=Est(this._lngLat,this._flatPos,this._map._camera.transform),this._flatPos=this._pos=this._map.project(this._lngLat)._add(this._offset),this._map.terrain&&(this._flatPos=this._map._camera.transform.locationToScreenPoint(this._lngLat)._add(this._offset));let i="";this._rotationAlignment==="viewport"||this._rotationAlignment==="auto"?i=`rotateZ(${this._rotation}deg)`:this._rotationAlignment==="map"&&(i=`rotateZ(${this._rotation-this._map.getBearing()}deg)`);let n="";this._pitchAlignment==="viewport"||this._pitchAlignment==="auto"?n="rotateX(0deg)":this._pitchAlignment==="map"&&(n=`rotateX(${this._map.getPitch()}deg)`),!this._subpixelPositioning&&(!t||t.type==="moveend")&&(this._pos=this._pos.round()),this._element.style.transform=`${Oae[this._anchor]} translate(${this._pos.x}px, ${this._pos.y}px) ${n} ${i}`,fh.frameAsync(new AbortController,this._map._ownerWindow).then(()=>{this._updateOpacity((t==null?void 0:t.type)==="moveend")}).catch(()=>{})},this._onMove=t=>{if(!this._isDragging){let r=this._clickTolerance||this._map._clickTolerance;this._isDragging=t.point.dist(this._pointerdownPos)>=r}this._isDragging&&(this._pos=t.point.sub(this._positionDelta),this._lngLat=this._map.unproject(this._pos),this.setLngLat(this._lngLat),this._element.style.pointerEvents="none",this._state==="pending"&&(this._state="active",this.fire(new o3("dragstart"))),this.fire(new o3("drag")))},this._onUp=()=>{this._element.style.pointerEvents="auto",this._positionDelta=null,this._pointerdownPos=null,this._isDragging=!1,this._map.off("mousemove",this._onMove),this._map.off("touchmove",this._onMove),this._state==="active"&&this.fire(new o3("dragend")),this._state="inactive"},this._addDragHandler=t=>{this._element.contains(t.originalEvent.target)&&(t.preventDefault(),this._positionDelta=t.point.sub(this._pos).add(this._offset),this._pointerdownPos=t.point,this._state="pending",this._map.on("mousemove",this._onMove),this._map.on("touchmove",this._onMove),this._map.once("mouseup",this._onUp),this._map.once("touchend",this._onUp))},this._anchor=(e==null?void 0:e.anchor)||"center",this._color=(e==null?void 0:e.color)||Cst,this._scale=(e==null?void 0:e.scale)||1,this._draggable=(e==null?void 0:e.draggable)||!1,this._clickTolerance=(e==null?void 0:e.clickTolerance)||0,this._subpixelPositioning=(e==null?void 0:e.subpixelPositioning)||!1,this._isDragging=!1,this._roleManaged=!1,this._tabIndexManaged=!1,this._keyboardDragActive=!1,this._state="inactive",this._rotation=(e==null?void 0:e.rotation)||0,this._rotationAlignment=(e==null?void 0:e.rotationAlignment)||"auto",this._pitchAlignment=e!=null&&e.pitchAlignment&&e.pitchAlignment!=="auto"?e.pitchAlignment:this._rotationAlignment,this.setOpacity(e==null?void 0:e.opacity,e==null?void 0:e.opacityWhenCovered),e==null?void 0:e.element)this._element=e.element,this._offset=tr.convert((e==null?void 0:e.offset)||[0,0]);else{this._defaultMarker=!0,this._element=$n.create("div");let t=NTr().cloneNode(!0);t.setAttributeNS(null,"height",`${41*this._scale}px`),t.setAttributeNS(null,"width",`${27*this._scale}px`),UTr(t).setAttributeNS(null,"fill",this._color),this._element.appendChild(t),this._offset=tr.convert((e==null?void 0:e.offset)||[0,-14])}if(this._element.classList.add("maplibregl-marker"),this._element.addEventListener("dragstart",t=>{t.preventDefault()}),this._element.addEventListener("mousedown",t=>{t.preventDefault()}),kst(this._element,this._anchor,"marker"),e==null?void 0:e.className)for(let t of e.className.split(" "))this._element.classList.add(t);this._popup=null}addTo(e){return this.remove(),this._map=e,this._defaultMarker&&!this._element.hasAttribute("aria-label")&&this._element.setAttribute("aria-label",e._getUIString("Marker.Title")),this._updateAccessibilityRole(),e.getCanvasContainer().appendChild(this._element),e.on("move",this._update),e.on("moveend",this._update),e.on("terrain",this._update),e.on("projectiontransition",this._update),this._element.addEventListener("click",this._onClick),this.setDraggable(this._draggable),this._update(),this._map.on("click",this._onMapClick),this}remove(){return this._opacityTimeout&&(clearTimeout(this._opacityTimeout),delete this._opacityTimeout),this._map&&(this._map.off("click",this._onMapClick),this._map.off("move",this._update),this._map.off("moveend",this._update),this._map.off("terrain",this._update),this._map.off("projectiontransition",this._update),this._map.off("mousedown",this._addDragHandler),this._map.off("touchstart",this._addDragHandler),this._map.off("mouseup",this._onUp),this._map.off("touchend",this._onUp),this._map.off("mousemove",this._onMove),this._map.off("touchmove",this._onMove),delete this._map),this._element.removeEventListener("click",this._onClick),this._element.removeEventListener("keydown",this._onKeyDown),this._element.removeEventListener("keyup",this._onKeyUp),this._element.removeEventListener("blur",this._onBlur),this._element.removeEventListener("keypress",this._onKeyPress),this._keyboardDragActive=!1,this._element.remove(),this._popup&&this._popup.remove(),this}getLngLat(){return this._lngLat}setLngLat(e){return this._lngLat=mn.convert(e),this._pos=null,this._update(),this._popup&&this._popup.setLngLat(this._lngLat),this}getElement(){return this._element}setPopup(e){if(this._popup&&(this._popup.remove(),this._popup=null,this._element.removeEventListener("keypress",this._onKeyPress)),e){if(!("offset"in e.options)){let t=13.5/Math.SQRT2;e.options.offset=this._defaultMarker?{top:[0,0],"top-left":[0,0],"top-right":[0,0],bottom:[0,-38.1],"bottom-left":[t,(24.6+t)*-1],"bottom-right":[-t,(24.6+t)*-1],left:[13.5,-24.6],right:[-13.5,-24.6]}:this._offset}this._popup=e,this._element.addEventListener("keypress",this._onKeyPress)}return this._updateTabIndex(),this._updateAccessibilityRole(),this}setSubpixelPositioning(e){return this._subpixelPositioning=e,this}_endKeyboardDrag(){this._keyboardDragActive&&(this._keyboardDragActive=!1,this.fire(new o3("dragend")))}getPopup(){return this._popup}togglePopup(){let e=this._popup;if(this._element.style.opacity===this._opacityWhenCovered)return this;if(e)e.isOpen()?e.remove():(e.setLngLat(this._lngLat),e.addTo(this._map));else return this;return this}_updateOpacity(e=!1){var h,d;let t=(h=this._map)==null?void 0:h.terrain,r=this._map._camera.transform.isLocationOccluded(this._lngLat);if(!t||r){let p=r?this._opacityWhenCovered:this._opacity;this._element.style.opacity!==p&&(this._element.style.opacity=p,this._element.classList.toggle("maplibregl-marker-covered",r));return}if(e)this._opacityTimeout=null;else{if(this._opacityTimeout)return;this._opacityTimeout=setTimeout(()=>{this._opacityTimeout=null},100)}let i=this._map,n=i.terrain.depthAtPoint(this._pos),a=i.terrain.getElevationForLngLat(this._lngLat,i._camera.transform),o=i._camera.transform.lngLatToCameraDepth(this._lngLat,a),s=.006;if(o-ns;(d=this._popup)!=null&&d.isOpen()&&f&&this._popup.remove(),this._element.style.opacity=f?this._opacityWhenCovered:this._opacity,this._element.classList.toggle("maplibregl-marker-covered",f)}getOffset(){return this._offset}setOffset(e){return this._offset=tr.convert(e),this._update(),this}addClassName(e){this._element.classList.add(e)}removeClassName(e){this._element.classList.remove(e)}toggleClassName(e){return this._element.classList.toggle(e)}setDraggable(e){return this._draggable=!!e,this._element.classList.toggle("maplibregl-marker-draggable",this._draggable),this._map&&(e?(this._map.on("mousedown",this._addDragHandler),this._map.on("touchstart",this._addDragHandler)):(this._map.off("mousedown",this._addDragHandler),this._map.off("touchstart",this._addDragHandler))),this._defaultMarker&&(this._draggable?(this._element.addEventListener("keydown",this._onKeyDown),this._element.addEventListener("keyup",this._onKeyUp),this._element.addEventListener("blur",this._onBlur)):(this._element.removeEventListener("keydown",this._onKeyDown),this._element.removeEventListener("keyup",this._onKeyUp),this._element.removeEventListener("blur",this._onBlur),this._endKeyboardDrag())),this._updateTabIndex(),this._updateAccessibilityRole(),this}isDraggable(){return this._draggable}_updateTabIndex(){this._popup||this._defaultMarker&&this._draggable?this._element.hasAttribute("tabindex")||(this._element.setAttribute("tabindex","0"),this._tabIndexManaged=!0):this._tabIndexManaged&&(this._tabIndexManaged=(this._element.getAttribute("tabindex")==="0"&&this._element.removeAttribute("tabindex"),!1))}_updateAccessibilityRole(){if(!this._defaultMarker||this._element.hasAttribute("role")&&!this._roleManaged)return;let e=this._draggable||this._popup?"button":"img";this._element.setAttribute("role",e),this._roleManaged=!0}setRotation(e){return this._rotation=e||0,this._update(),this}getRotation(){return this._rotation}setRotationAlignment(e){return this._rotationAlignment=e||"auto",this._update(),this}getRotationAlignment(){return this._rotationAlignment}setPitchAlignment(e){return this._pitchAlignment=e&&e!=="auto"?e:this._rotationAlignment,this._update(),this}getPitchAlignment(){return this._pitchAlignment}setOpacity(e,t){return(this._opacity===void 0||e===void 0&&t===void 0)&&(this._opacity="1",this._opacityWhenCovered="0.2"),e!==void 0&&(this._opacity=String(e)),t!==void 0&&(this._opacityWhenCovered=String(t)),this._map&&this._updateOpacity(!0),this}},VTr={positionOptions:{enableHighAccuracy:!1,maximumAge:0,timeout:6e3},fitBoundsOptions:{maxZoom:15},trackUserLocation:!1,showAccuracyCircle:!0,showUserLocation:!0},dq=0,x8=!1,s3=class extends e0{},gae=class extends e0{},Fst=class extends e0{},GTr=class extends mu{constructor(e){super(),this._onSuccess=t=>{if(this._map){if(this._isOutOfMapMaxBounds(t)){this._setErrorState(),this.fire(new gae("outofmaxbounds",t)),this._updateMarker(),this._finish();return}if(this.options.trackUserLocation)switch(this._lastKnownPosition=t,this._watchState){case"WAITING_ACTIVE":case"ACTIVE_LOCK":case"ACTIVE_ERROR":this._watchState="ACTIVE_LOCK",this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-waiting"),this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-active-error"),this._geolocateButton.classList.add("maplibregl-ctrl-geolocate-active");break;case"BACKGROUND":case"BACKGROUND_ERROR":this._watchState="BACKGROUND",this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-waiting"),this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-background-error"),this._geolocateButton.classList.add("maplibregl-ctrl-geolocate-background");break;default:throw Error(`Unexpected watchState ${this._watchState}`)}this.options.showUserLocation&&this._watchState!=="OFF"&&this._updateMarker(t),(!this.options.trackUserLocation||this._watchState==="ACTIVE_LOCK")&&this._updateCamera(t),this.options.showUserLocation&&this._dotElement.classList.remove("maplibregl-user-location-dot-stale"),this.fire(new gae("geolocate",t)),this._finish()}},this._updateCamera=t=>{let r=new mn(t.coords.longitude,t.coords.latitude),i=t.coords.accuracy,n=this._map.getBearing(),a=ln({bearing:n},this.options.fitBoundsOptions),o=Ev.fromLngLat(r,i);this._map.fitBounds(o,a,{geolocateSource:!0})},this._updateMarker=t=>{if(t){let r=new mn(t.coords.longitude,t.coords.latitude);this._accuracyCircleMarker.setLngLat(r).addTo(this._map),this._userLocationDotMarker.setLngLat(r).addTo(this._map),this._accuracy=t.coords.accuracy,this._updateCircleRadiusIfNeeded()}else this._userLocationDotMarker.remove(),this._accuracyCircleMarker.remove()},this._onUpdate=()=>{this._updateCircleRadiusIfNeeded()},this._onError=t=>{if(this._map){if(t.code===1){this._watchState="OFF",this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-waiting"),this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-active"),this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-active-error"),this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-background"),this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-background-error"),this._geolocateButton.disabled=!0;let r=this._map._getUIString("GeolocateControl.LocationNotAvailable");this._geolocateButton.title=r,this._geolocateButton.setAttribute("aria-label",r),this._geolocationWatchID!==void 0&&this._clearWatch()}else{if(t.code===3&&x8)return;this._setErrorState()}this._watchState!=="OFF"&&this.options.showUserLocation&&this._dotElement.classList.add("maplibregl-user-location-dot-stale"),this.fire(new Fst("error",t)),this._finish()}},this._finish=()=>{this._timeoutId&&clearTimeout(this._timeoutId),this._timeoutId=void 0},this._onMoveStart=t=>{if(!this._map)return;let r=(t==null?void 0:t[0])instanceof ResizeObserverEntry;!t.geolocateSource&&this._watchState==="ACTIVE_LOCK"&&!r&&!this._map.isZooming()&&(this._watchState="BACKGROUND",this._geolocateButton.classList.add("maplibregl-ctrl-geolocate-background"),this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-active"),this.fire(new s3("trackuserlocationend")),this.fire(new s3("userlocationlostfocus")))},this._setupUI=()=>{this._map&&(this._container.addEventListener("contextmenu",t=>{t.preventDefault()}),this._geolocateButton=$n.create("button","maplibregl-ctrl-geolocate",this._container),$n.create("span","maplibregl-ctrl-icon",this._geolocateButton).setAttribute("aria-hidden","true"),this._geolocateButton.type="button",this._geolocateButton.disabled=!0)},this._finishSetupUI=t=>{if(this._map){if(t===!1){Ma("Geolocation support is not available so the GeolocateControl will be disabled.");let r=this._map._getUIString("GeolocateControl.LocationNotAvailable");this._geolocateButton.disabled=!0,this._geolocateButton.title=r,this._geolocateButton.setAttribute("aria-label",r)}else{let r=this._map._getUIString("GeolocateControl.FindMyLocation");this._geolocateButton.disabled=!1,this._geolocateButton.title=r,this._geolocateButton.setAttribute("aria-label",r)}this.options.trackUserLocation&&(this._geolocateButton.setAttribute("aria-pressed","false"),this._watchState="OFF"),this.options.showUserLocation&&(this._dotElement=$n.create("div","maplibregl-user-location-dot"),this._userLocationDotMarker=new vae({element:this._dotElement}),this._circleElement=$n.create("div","maplibregl-user-location-accuracy-circle"),this._accuracyCircleMarker=new vae({element:this._circleElement,pitchAlignment:"map"}),this.options.trackUserLocation&&(this._watchState="OFF"),this._map.on("zoom",this._onUpdate),this._map.on("move",this._onUpdate),this._map.on("rotate",this._onUpdate),this._map.on("pitch",this._onUpdate)),this._geolocateButton.addEventListener("click",()=>this.trigger()),this._setup=!0,this.options.trackUserLocation&&this._map.on("movestart",this._onMoveStart)}},this.options=ln({},VTr,e)}onAdd(e){return this._map=e,this._container=$n.create("div","maplibregl-ctrl maplibregl-ctrl-group"),this._setupUI(),OTr().then(t=>this._finishSetupUI(t)),this._container}onRemove(){this._geolocationWatchID!==void 0&&(window.navigator.geolocation.clearWatch(this._geolocationWatchID),this._geolocationWatchID=void 0),this.options.showUserLocation&&this._userLocationDotMarker&&this._userLocationDotMarker.remove(),this.options.showAccuracyCircle&&this._accuracyCircleMarker&&this._accuracyCircleMarker.remove(),this._container.remove(),this._map.off("movestart",this._onMoveStart),this._map.off("zoom",this._onUpdate),this._map.off("move",this._onUpdate),this._map.off("rotate",this._onUpdate),this._map.off("pitch",this._onUpdate),this._map=void 0,dq=0,x8=!1}_isOutOfMapMaxBounds(e){let t=this._map.getMaxBounds(),r=e.coords;return t&&(r.longitudet.getEast()||r.latitudet.getNorth())}_setErrorState(){switch(this._watchState){case"WAITING_ACTIVE":this._watchState="ACTIVE_ERROR",this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-active"),this._geolocateButton.classList.add("maplibregl-ctrl-geolocate-active-error");break;case"ACTIVE_LOCK":this._watchState="ACTIVE_ERROR",this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-active"),this._geolocateButton.classList.add("maplibregl-ctrl-geolocate-active-error"),this._geolocateButton.classList.add("maplibregl-ctrl-geolocate-waiting");break;case"BACKGROUND":this._watchState="BACKGROUND_ERROR",this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-background"),this._geolocateButton.classList.add("maplibregl-ctrl-geolocate-background-error"),this._geolocateButton.classList.add("maplibregl-ctrl-geolocate-waiting");break;case"ACTIVE_ERROR":case"BACKGROUND_ERROR":break;case"OFF":case void 0:break;default:throw Error(`Unexpected watchState ${this._watchState}`)}}_updateCircleRadiusIfNeeded(){let e=this._userLocationDotMarker.getLngLat();if(!this.options.showUserLocation||!this.options.showAccuracyCircle||!this._accuracy||!e)return;let t=this._map.project(e),r=this._map.unproject([t.x+100,t.y]),i=e.distanceTo(r)/100,n=2*this._accuracy/i;this._circleElement.style.width=`${n.toFixed(2)}px`,this._circleElement.style.height=`${n.toFixed(2)}px`}trigger(){if(!this._setup)return Ma("Geolocate control triggered before added to a map"),!1;if(this.options.trackUserLocation){switch(this._watchState){case"OFF":this._watchState="WAITING_ACTIVE",this.fire(new s3("trackuserlocationstart"));break;case"WAITING_ACTIVE":case"ACTIVE_LOCK":case"ACTIVE_ERROR":case"BACKGROUND_ERROR":dq--,x8=!1,this._watchState="OFF",this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-waiting"),this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-active"),this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-active-error"),this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-background"),this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-background-error"),this.fire(new s3("trackuserlocationend"));break;case"BACKGROUND":this._watchState="ACTIVE_LOCK",this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-background"),this._lastKnownPosition&&this._updateCamera(this._lastKnownPosition),this.fire(new s3("trackuserlocationstart")),this.fire(new s3("userlocationfocus"));break;default:throw Error(`Unexpected watchState ${this._watchState}`)}switch(this._watchState){case"WAITING_ACTIVE":this._geolocateButton.classList.add("maplibregl-ctrl-geolocate-waiting"),this._geolocateButton.classList.add("maplibregl-ctrl-geolocate-active");break;case"ACTIVE_LOCK":this._geolocateButton.classList.add("maplibregl-ctrl-geolocate-active");break;case"OFF":break;default:throw Error(`Unexpected watchState ${this._watchState}`)}if(this._watchState==="OFF"&&this._geolocationWatchID!==void 0)this._clearWatch();else if(this._geolocationWatchID===void 0){this._geolocateButton.classList.add("maplibregl-ctrl-geolocate-waiting"),this._geolocateButton.setAttribute("aria-pressed","true"),dq++;let e;dq>1?(e={maximumAge:6e5,timeout:0},x8=!0):(e=this.options.positionOptions,x8=!1),this._geolocationWatchID=window.navigator.geolocation.watchPosition(this._onSuccess,this._onError,e)}}else window.navigator.geolocation.getCurrentPosition(this._onSuccess,this._onError,this.options.positionOptions),this._timeoutId=setTimeout(this._finish,1e4);return!0}_clearWatch(){window.navigator.geolocation.clearWatch(this._geolocationWatchID),this._geolocationWatchID=void 0,this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-waiting"),this._geolocateButton.setAttribute("aria-pressed","false"),this.options.showUserLocation&&this._updateMarker(null)}},HTr={maxWidth:100,unit:"metric"},jTr=class{constructor(e){this._onMove=()=>{$at(this._map,this._container,this.options)},this.setUnit=t=>{this.options.unit=t,$at(this._map,this._container,this.options)},this.options=fn(fn({},HTr),e)}getDefaultPosition(){return"bottom-left"}onAdd(e){return this._map=e,this._container=$n.create("div","maplibregl-ctrl maplibregl-ctrl-scale",e.getContainer()),this._map.on("move",this._onMove),this._onMove(),this._container}onRemove(){this._container.remove(),this._map.off("move",this._onMove),this._map=void 0}};mae=class extends e0{},YTr=class extends mu{constructor(e={}){var t;super(),this._onFullscreenChange=()=>{var i;let r=window.document.fullscreenElement||window.document.webkitFullscreenElement;for(;(i=r==null?void 0:r.shadowRoot)!=null&&i.fullscreenElement;)r=r.shadowRoot.fullscreenElement;r===this._container!==this._fullscreen&&this._handleFullscreenChange()},this._onClickFullscreen=()=>{this._isFullscreen()?this._exitFullscreen():this._requestFullscreen()},this._fullscreen=!1,this._pseudo=(t=e.pseudo)!=null?t:!1,e!=null&&e.container&&(e.container instanceof HTMLElement?this._container=e.container:Ma("Full screen control 'container' must be a DOM element.")),"onfullscreenchange"in document?this._fullscreenchange="fullscreenchange":"onmozfullscreenchange"in document?this._fullscreenchange="mozfullscreenchange":"onwebkitfullscreenchange"in document?this._fullscreenchange="webkitfullscreenchange":"onmsfullscreenchange"in document&&(this._fullscreenchange="MSFullscreenChange")}onAdd(e){return this._map=e,this._container||(this._container=this._map.getContainer()),this._controlContainer=$n.create("div","maplibregl-ctrl maplibregl-ctrl-group"),this._setupUI(),this._controlContainer}onRemove(){this._controlContainer.remove(),this._map=null,window.document.removeEventListener(this._fullscreenchange,this._onFullscreenChange)}_setupUI(){let e=this._fullscreenButton=$n.create("button","maplibregl-ctrl-fullscreen",this._controlContainer);$n.create("span","maplibregl-ctrl-icon",e).setAttribute("aria-hidden","true"),e.type="button",this._updateTitle(),this._fullscreenButton.addEventListener("click",this._onClickFullscreen),window.document.addEventListener(this._fullscreenchange,this._onFullscreenChange)}_updateTitle(){let e=this._getTitle();this._fullscreenButton.setAttribute("aria-label",e),this._fullscreenButton.title=e}_getTitle(){return this._map._getUIString(this._isFullscreen()?"FullscreenControl.Exit":"FullscreenControl.Enter")}_isFullscreen(){return this._fullscreen}_handleFullscreenChange(){this._fullscreen=!this._fullscreen,this._fullscreenButton.classList.toggle("maplibregl-ctrl-shrink"),this._fullscreenButton.classList.toggle("maplibregl-ctrl-fullscreen"),this._updateTitle(),this._fullscreen?(this.fire(new mae("fullscreenstart")),this._prevCooperativeGesturesEnabled=this._map.cooperativeGestures.isEnabled(),this._map.cooperativeGestures.disable()):(this.fire(new 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this._map=e,this._container=$n.create("div","maplibregl-ctrl maplibregl-ctrl-group"),this._terrainButton=$n.create("button","maplibregl-ctrl-terrain",this._container),$n.create("span","maplibregl-ctrl-icon",this._terrainButton).setAttribute("aria-hidden","true"),this._terrainButton.type="button",this._terrainButton.addEventListener("click",this._toggleTerrain),this._updateTerrainIcon(),this._map.on("terrain",this._updateTerrainIcon),this._container}onRemove(){this._container.remove(),this._map.off("terrain",this._updateTerrainIcon),this._map=void 0}},ZTr=class{constructor(){this._toggleProjection=()=>{var t;let e=(t=this._map.getProjection())==null?void 0:t.type;e==="mercator"||!e?this._map.setProjection({type:"globe"}):this._map.setProjection({type:"mercator"}),this._updateGlobeIcon()},this._updateGlobeIcon=()=>{var e;this._globeButton.classList.remove("maplibregl-ctrl-globe"),this._globeButton.classList.remove("maplibregl-ctrl-globe-enabled"),((e=this._map.getProjection())==null?void 0:e.type)==="globe"?(this._globeButton.classList.add("maplibregl-ctrl-globe-enabled"),this._globeButton.title=this._map._getUIString("GlobeControl.Disable")):(this._globeButton.classList.add("maplibregl-ctrl-globe"),this._globeButton.title=this._map._getUIString("GlobeControl.Enable"))}}onAdd(e){return this._map=e,this._container=$n.create("div","maplibregl-ctrl 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V(w.paint_raster["raster-saturation"],"raster-saturation"),"raster-contrast":new V(w.paint_raster["raster-contrast"],"raster-contrast"),resampling:new V(w.paint_raster.resampling,"resampling"),"raster-resampling":new V(w.paint_raster["raster-resampling"],"raster-resampling"),"raster-fade-duration":new V(w.paint_raster["raster-fade-duration"],"raster-fade-duration")})),Gm={get paint(){return jm()}};var Xm=class extends de{constructor(t,e){super(t,Gm,e)}},Ym={Int8:Int8Array,Uint8:Uint8Array,Int16:Int16Array,Uint16:Uint16Array,Int32:Int32Array,Uint32:Uint32Array,Float32:Float32Array},bn=class{constructor(t,e){this._structArray=t,this._pos1=e*this.size,this._pos2=this._pos1/2,this._pos4=this._pos1/4,this._pos8=this._pos1/8}},xt=class{constructor(){this.isTransferred=!1,this.capacity=-1,this.resize(0)}static serialize(t,e){return t._trim(),e&&(t.isTransferred=!0,e.push(t.arrayBuffer)),{length:t.length,arrayBuffer:t.arrayBuffer}}static deserialize(t){let e=Object.create(this.prototype);return e.arrayBuffer=t.arrayBuffer,e.length=t.length,e.capacity=t.arrayBuffer.byteLength/e.bytesPerElement,e._refreshViews(),e}_trim(){this.length!==this.capacity&&(this.capacity=this.length,this.arrayBuffer=this.arrayBuffer.slice(0,this.length*this.bytesPerElement),this._refreshViews())}clear(){this.length=0}resize(t){this.reserve(t),this.length=t}reserve(t){if(t>this.capacity){this.capacity=Math.max(t,Math.floor(this.capacity*5),128),this.arrayBuffer=new ArrayBuffer(this.capacity*this.bytesPerElement);let e=this.uint8;this._refreshViews(),e&&this.uint8.set(e)}}_refreshViews(){throw Error("_refreshViews() must be implemented by each concrete StructArray layout")}freeBufferAfterUpload(){this.arrayBuffer=new ArrayBuffer(0),this._refreshViews()}};function At(t,e=1){let r=0,i=0;return{members:t.map(n=>{let a=Wm(n.type),s=r=$h(r,Math.max(e,a)),o=n.components||1;return i=Math.max(i,a),r+=a*o,{name:n.name,type:n.type,components:o,offset:s}}),size:$h(r,Math.max(i,e)),alignment:e}}function Wm(t){return Ym[t].BYTES_PER_ELEMENT}function $h(t,e){return Math.ceil(t/e)*e}var ln=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(t,e){let r=this.length;return this.resize(r+1),this.emplace(r,t,e)}emplace(t,e,r){let i=t*2;return this.int16[i+0]=e,this.int16[i+1]=r,t}};ln.prototype.bytesPerElement=4,C("StructArrayLayout2i4",ln);var co=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(t,e,r){let i=this.length;return this.resize(i+1),this.emplace(i,t,e,r)}emplace(t,e,r,i){let n=t*3;return this.int16[n+0]=e,this.int16[n+1]=r,this.int16[n+2]=i,t}};co.prototype.bytesPerElement=6,C("StructArrayLayout3i6",co);var Nh=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(t,e,r,i){let n=this.length;return this.resize(n+1),this.emplace(n,t,e,r,i)}emplace(t,e,r,i,n){let a=t*4;return this.int16[a+0]=e,this.int16[a+1]=r,this.int16[a+2]=i,this.int16[a+3]=n,t}};Nh.prototype.bytesPerElement=8,C("StructArrayLayout4i8",Nh);var po=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(t,e,r,i,n,a){let s=this.length;return this.resize(s+1),this.emplace(s,t,e,r,i,n,a)}emplace(t,e,r,i,n,a,s){let o=t*6;return this.int16[o+0]=e,this.int16[o+1]=r,this.int16[o+2]=i,this.int16[o+3]=n,this.int16[o+4]=a,this.int16[o+5]=s,t}};po.prototype.bytesPerElement=12,C("StructArrayLayout2i4i12",po);var fo=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(t,e,r,i,n,a){let s=this.length;return this.resize(s+1),this.emplace(s,t,e,r,i,n,a)}emplace(t,e,r,i,n,a,s){let o=t*4,l=t*8;return this.int16[o+0]=e,this.int16[o+1]=r,this.uint8[l+4]=i,this.uint8[l+5]=n,this.uint8[l+6]=a,this.uint8[l+7]=s,t}};fo.prototype.bytesPerElement=8,C("StructArrayLayout2i4ub8",fo);var un=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(t,e){let r=this.length;return this.resize(r+1),this.emplace(r,t,e)}emplace(t,e,r){let i=t*2;return this.float32[i+0]=e,this.float32[i+1]=r,t}};un.prototype.bytesPerElement=8,C("StructArrayLayout2f8",un);var yo=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer)}emplaceBack(t,e,r,i,n,a,s,o,l,u){let h=this.length;return this.resize(h+1),this.emplace(h,t,e,r,i,n,a,s,o,l,u)}emplace(t,e,r,i,n,a,s,o,l,u,h){let c=t*10;return this.uint16[c+0]=e,this.uint16[c+1]=r,this.uint16[c+2]=i,this.uint16[c+3]=n,this.uint16[c+4]=a,this.uint16[c+5]=s,this.uint16[c+6]=o,this.uint16[c+7]=l,this.uint16[c+8]=u,this.uint16[c+9]=h,t}};yo.prototype.bytesPerElement=20,C("StructArrayLayout10ui20",yo);var mo=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer)}emplaceBack(t,e,r,i,n,a,s,o){let l=this.length;return this.resize(l+1),this.emplace(l,t,e,r,i,n,a,s,o)}emplace(t,e,r,i,n,a,s,o,l){let u=t*8;return this.uint16[u+0]=e,this.uint16[u+1]=r,this.uint16[u+2]=i,this.uint16[u+3]=n,this.uint16[u+4]=a,this.uint16[u+5]=s,this.uint16[u+6]=o,this.uint16[u+7]=l,t}};mo.prototype.bytesPerElement=16,C("StructArrayLayout8ui16",mo);var go=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(t,e,r,i,n,a,s,o,l,u,h,c,p){let f=this.length;return this.resize(f+1),this.emplace(f,t,e,r,i,n,a,s,o,l,u,h,c,p)}emplace(t,e,r,i,n,a,s,o,l,u,h,c,p,f){let d=t*14,y=t*7;return this.int16[d+0]=e,this.int16[d+1]=r,this.int16[d+2]=i,this.int16[d+3]=n,this.uint16[d+4]=a,this.uint16[d+5]=s,this.uint16[d+6]=o,this.uint16[d+7]=l,this.int16[d+8]=u,this.int16[d+9]=h,this.int16[d+10]=c,this.int16[d+11]=p,this.float32[y+6]=f,t}};go.prototype.bytesPerElement=28,C("StructArrayLayout4i4ui4i1f28",go);var xo=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(t,e,r){let i=this.length;return this.resize(i+1),this.emplace(i,t,e,r)}emplace(t,e,r,i){let n=t*3;return this.float32[n+0]=e,this.float32[n+1]=r,this.float32[n+2]=i,t}};xo.prototype.bytesPerElement=12,C("StructArrayLayout3f12",xo);var vo=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint32=new Uint32Array(this.arrayBuffer)}emplaceBack(t){let e=this.length;return this.resize(e+1),this.emplace(e,t)}emplace(t,e){let r=t*1;return this.uint32[r+0]=e,t}};vo.prototype.bytesPerElement=4,C("StructArrayLayout1ul4",vo);var bo=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer),this.uint32=new Uint32Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer)}emplaceBack(t,e,r,i,n,a,s,o,l){let u=this.length;return this.resize(u+1),this.emplace(u,t,e,r,i,n,a,s,o,l)}emplace(t,e,r,i,n,a,s,o,l,u){let h=t*10,c=t*5;return this.int16[h+0]=e,this.int16[h+1]=r,this.int16[h+2]=i,this.int16[h+3]=n,this.int16[h+4]=a,this.int16[h+5]=s,this.uint32[c+3]=o,this.uint16[h+8]=l,this.uint16[h+9]=u,t}};bo.prototype.bytesPerElement=20,C("StructArrayLayout6i1ul2ui20",bo);var wo=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(t,e,r,i,n,a){let s=this.length;return this.resize(s+1),this.emplace(s,t,e,r,i,n,a)}emplace(t,e,r,i,n,a,s){let o=t*6;return this.int16[o+0]=e,this.int16[o+1]=r,this.int16[o+2]=i,this.int16[o+3]=n,this.int16[o+4]=a,this.int16[o+5]=s,t}};wo.prototype.bytesPerElement=12,C("StructArrayLayout2i2i2i12",wo);var Uh=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(t,e,r,i,n){let a=this.length;return this.resize(a+1),this.emplace(a,t,e,r,i,n)}emplace(t,e,r,i,n,a){let s=t*4,o=t*8;return this.float32[s+0]=e,this.float32[s+1]=r,this.float32[s+2]=i,this.int16[o+6]=n,this.int16[o+7]=a,t}};Uh.prototype.bytesPerElement=16,C("StructArrayLayout2f1f2i16",Uh);var Do=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(t,e,r,i,n,a){let s=this.length;return this.resize(s+1),this.emplace(s,t,e,r,i,n,a)}emplace(t,e,r,i,n,a,s){let o=t*16,l=t*4,u=t*8;return this.uint8[o+0]=e,this.uint8[o+1]=r,this.float32[l+1]=i,this.float32[l+2]=n,this.int16[u+6]=a,this.int16[u+7]=s,t}};Do.prototype.bytesPerElement=16,C("StructArrayLayout2ub2f2i16",Do);var _o=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer)}emplaceBack(t,e,r){let i=this.length;return this.resize(i+1),this.emplace(i,t,e,r)}emplace(t,e,r,i){let n=t*3;return this.uint16[n+0]=e,this.uint16[n+1]=r,this.uint16[n+2]=i,t}};_o.prototype.bytesPerElement=6,C("StructArrayLayout3ui6",_o);var Ao=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer),this.uint32=new Uint32Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(t,e,r,i,n,a,s,o,l,u,h,c,p,f,d,y,m,g){let x=this.length;return this.resize(x+1),this.emplace(x,t,e,r,i,n,a,s,o,l,u,h,c,p,f,d,y,m,g)}emplace(t,e,r,i,n,a,s,o,l,u,h,c,p,f,d,y,m,g,x){let v=t*26,b=t*13,D=t*52;return this.int16[v+0]=e,this.int16[v+1]=r,this.uint16[v+2]=i,this.uint16[v+3]=n,this.uint32[b+2]=a,this.uint32[b+3]=s,this.uint32[b+4]=o,this.uint16[v+10]=l,this.uint16[v+11]=u,this.uint16[v+12]=h,this.float32[b+7]=c,this.float32[b+8]=p,this.uint8[D+36]=f,this.uint8[D+37]=d,this.uint8[D+38]=y,this.uint32[b+10]=m,this.int16[v+22]=g,this.float32[b+12]=x,t}};Ao.prototype.bytesPerElement=52,C("StructArrayLayout2i2ui3ul3ui2f3ub1ul1i1f52",Ao);var So=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer),this.uint32=new Uint32Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(t,e,r,i,n,a,s,o,l,u,h,c,p,f,d,y,m,g,x,v,b,D,A,_,S,k,z,O,P){let L=this.length;return this.resize(L+1),this.emplace(L,t,e,r,i,n,a,s,o,l,u,h,c,p,f,d,y,m,g,x,v,b,D,A,_,S,k,z,O,P)}emplace(t,e,r,i,n,a,s,o,l,u,h,c,p,f,d,y,m,g,x,v,b,D,A,_,S,k,z,O,P,L){let F=t*34,$=t*17;return this.int16[F+0]=e,this.int16[F+1]=r,this.int16[F+2]=i,this.int16[F+3]=n,this.int16[F+4]=a,this.int16[F+5]=s,this.int16[F+6]=o,this.int16[F+7]=l,this.uint16[F+8]=u,this.uint16[F+9]=h,this.uint16[F+10]=c,this.uint16[F+11]=p,this.uint16[F+12]=f,this.uint16[F+13]=d,this.uint16[F+14]=y,this.uint16[F+15]=m,this.uint16[F+16]=g,this.uint16[F+17]=x,this.uint16[F+18]=v,this.uint16[F+19]=b,this.uint16[F+20]=D,this.uint16[F+21]=A,this.uint16[F+22]=_,this.uint32[$+12]=S,this.float32[$+13]=k,this.float32[$+14]=z,this.uint16[F+30]=O,this.uint16[F+31]=P,this.float32[$+16]=L,t}};So.prototype.bytesPerElement=68,C("StructArrayLayout8i15ui1ul2f2ui1f68",So);var _a=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(t){let e=this.length;return this.resize(e+1),this.emplace(e,t)}emplace(t,e){let r=t*1;return this.float32[r+0]=e,t}};_a.prototype.bytesPerElement=4,C("StructArrayLayout1f4",_a);var Eo=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(t,e,r){let i=this.length;return this.resize(i+1),this.emplace(i,t,e,r)}emplace(t,e,r,i){let n=t*6,a=t*3;return this.uint16[n+0]=e,this.float32[a+1]=r,this.float32[a+2]=i,t}};Eo.prototype.bytesPerElement=12,C("StructArrayLayout1ui2f12",Eo);var Fo=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint32=new Uint32Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer)}emplaceBack(t,e,r){let i=this.length;return this.resize(i+1),this.emplace(i,t,e,r)}emplace(t,e,r,i){let n=t*2,a=t*4;return this.uint32[n+0]=e,this.uint16[a+2]=r,this.uint16[a+3]=i,t}};Fo.prototype.bytesPerElement=8,C("StructArrayLayout1ul2ui8",Fo);var ko=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer)}emplaceBack(t,e){let r=this.length;return this.resize(r+1),this.emplace(r,t,e)}emplace(t,e,r){let i=t*2;return this.uint16[i+0]=e,this.uint16[i+1]=r,t}};ko.prototype.bytesPerElement=4,C("StructArrayLayout2ui4",ko);var qh=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer)}emplaceBack(t){let e=this.length;return this.resize(e+1),this.emplace(e,t)}emplace(t,e){let r=t*1;return this.uint16[r+0]=e,t}};qh.prototype.bytesPerElement=2,C("StructArrayLayout1ui2",qh);var To=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(t,e,r,i){let n=this.length;return this.resize(n+1),this.emplace(n,t,e,r,i)}emplace(t,e,r,i,n){let a=t*4;return this.float32[a+0]=e,this.float32[a+1]=r,this.float32[a+2]=i,this.float32[a+3]=n,t}};To.prototype.bytesPerElement=16,C("StructArrayLayout4f16",To);var Vf=class extends bn{get anchorPointX(){return this._structArray.int16[this._pos2+0]}get anchorPointY(){return this._structArray.int16[this._pos2+1]}get x1(){return this._structArray.int16[this._pos2+2]}get y1(){return this._structArray.int16[this._pos2+3]}get x2(){return this._structArray.int16[this._pos2+4]}get y2(){return this._structArray.int16[this._pos2+5]}get featureIndex(){return this._structArray.uint32[this._pos4+3]}get sourceLayerIndex(){return this._structArray.uint16[this._pos2+8]}get bucketIndex(){return this._structArray.uint16[this._pos2+9]}get anchorPoint(){return new B(this.anchorPointX,this.anchorPointY)}};Vf.prototype.size=20;var Ll=class extends bo{get(t){return new Vf(this,t)}};C("CollisionBoxArray",Ll);var Of=class extends bn{get anchorX(){return this._structArray.int16[this._pos2+0]}get anchorY(){return this._structArray.int16[this._pos2+1]}get glyphStartIndex(){return this._structArray.uint16[this._pos2+2]}get numGlyphs(){return this._structArray.uint16[this._pos2+3]}get vertexStartIndex(){return this._structArray.uint32[this._pos4+2]}get lineStartIndex(){return this._structArray.uint32[this._pos4+3]}get lineLength(){return this._structArray.uint32[this._pos4+4]}get segment(){return this._structArray.uint16[this._pos2+10]}get lowerSize(){return this._structArray.uint16[this._pos2+11]}get upperSize(){return this._structArray.uint16[this._pos2+12]}get lineOffsetX(){return this._structArray.float32[this._pos4+7]}get lineOffsetY(){return this._structArray.float32[this._pos4+8]}get writingMode(){return this._structArray.uint8[this._pos1+36]}get placedOrientation(){return this._structArray.uint8[this._pos1+37]}set placedOrientation(t){this._structArray.uint8[this._pos1+37]=t}get hidden(){return this._structArray.uint8[this._pos1+38]}set hidden(t){this._structArray.uint8[this._pos1+38]=t}get crossTileID(){return this._structArray.uint32[this._pos4+10]}set crossTileID(t){this._structArray.uint32[this._pos4+10]=t}get associatedIconIndex(){return this._structArray.int16[this._pos2+22]}get heightOffset(){return this._structArray.float32[this._pos4+12]}};Of.prototype.size=52;var Rf=class extends Ao{get(t){return new Of(this,t)}};C("PlacedSymbolArray",Rf);var $f=class extends bn{get anchorX(){return this._structArray.int16[this._pos2+0]}get anchorY(){return this._structArray.int16[this._pos2+1]}get rightJustifiedTextSymbolIndex(){return this._structArray.int16[this._pos2+2]}get centerJustifiedTextSymbolIndex(){return this._structArray.int16[this._pos2+3]}get leftJustifiedTextSymbolIndex(){return this._structArray.int16[this._pos2+4]}get verticalPlacedTextSymbolIndex(){return this._structArray.int16[this._pos2+5]}get placedIconSymbolIndex(){return this._structArray.int16[this._pos2+6]}get verticalPlacedIconSymbolIndex(){return this._structArray.int16[this._pos2+7]}get key(){return this._structArray.uint16[this._pos2+8]}get textBoxStartIndex(){return this._structArray.uint16[this._pos2+9]}get textBoxEndIndex(){return this._structArray.uint16[this._pos2+10]}get verticalTextBoxStartIndex(){return this._structArray.uint16[this._pos2+11]}get verticalTextBoxEndIndex(){return this._structArray.uint16[this._pos2+12]}get iconBoxStartIndex(){return this._structArray.uint16[this._pos2+13]}get iconBoxEndIndex(){return this._structArray.uint16[this._pos2+14]}get verticalIconBoxStartIndex(){return this._structArray.uint16[this._pos2+15]}get verticalIconBoxEndIndex(){return this._structArray.uint16[this._pos2+16]}get featureIndex(){return this._structArray.uint16[this._pos2+17]}get numHorizontalGlyphVertices(){return this._structArray.uint16[this._pos2+18]}get numVerticalGlyphVertices(){return this._structArray.uint16[this._pos2+19]}get numIconVertices(){return this._structArray.uint16[this._pos2+20]}get numVerticalIconVertices(){return this._structArray.uint16[this._pos2+21]}get useRuntimeCollisionCircles(){return this._structArray.uint16[this._pos2+22]}get crossTileID(){return this._structArray.uint32[this._pos4+12]}set crossTileID(t){this._structArray.uint32[this._pos4+12]=t}get textBoxScale(){return this._structArray.float32[this._pos4+13]}get collisionCircleDiameter(){return this._structArray.float32[this._pos4+14]}get textAnchorOffsetStartIndex(){return this._structArray.uint16[this._pos2+30]}get textAnchorOffsetEndIndex(){return this._structArray.uint16[this._pos2+31]}get heightOffset(){return this._structArray.float32[this._pos4+16]}};$f.prototype.size=68;var Nf=class extends So{get(t){return new $f(this,t)}};C("SymbolInstanceArray",Nf);var Uf=class extends _a{getoffsetX(t){return this.float32[t*1+0]}};C("GlyphOffsetArray",Uf);var qf=class extends co{getx(t){return this.int16[t*3+0]}gety(t){return this.int16[t*3+1]}gettileUnitDistanceFromAnchor(t){return this.int16[t*3+2]}};C("SymbolLineVertexArray",qf);var jf=class extends bn{get textAnchor(){return this._structArray.uint16[this._pos2+0]}get textOffset0(){return this._structArray.float32[this._pos4+1]}get textOffset1(){return this._structArray.float32[this._pos4+2]}};jf.prototype.size=12;var Gf=class extends Eo{get(t){return new jf(this,t)}};C("TextAnchorOffsetArray",Gf);var Xf=class extends bn{get featureIndex(){return this._structArray.uint32[this._pos4+0]}get sourceLayerIndex(){return this._structArray.uint16[this._pos2+2]}get bucketIndex(){return this._structArray.uint16[this._pos2+3]}};Xf.prototype.size=8;var Yf=class extends Fo{get(t){return new Xf(this,t)}};C("FeatureIndexArray",Yf);var Zm=class extends ln{};var Hm=class extends ln{},Km=class extends ln{},Jm=class extends po{},Qm=class extends fo{},tg=class extends un{},Vr=class extends yo{},jh=class 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Ye)&&e.destroy()}}},vr=class{constructor(t,e,r=()=>!0){this.programConfigurations={};for(let i of t)this.programConfigurations[i.id]=new Jf(i,e,r);this.needsUpload=!1,this._featureMap=new Wf,this._bufferOffset=0}populatePaintArrays(t,e,r,i){for(let n in this.programConfigurations)this.programConfigurations[n].populatePaintArrays(t,e,i);e.id!==void 0&&this._featureMap.add(e.id,r,this._bufferOffset,t),this._bufferOffset=t,this.needsUpload=!0}updatePaintArrays(t,e,r,i){for(let n of r)this.needsUpload=this.programConfigurations[n.id].updatePaintArrays(t,this._featureMap,e,n,i)||this.needsUpload}get(t){return this.programConfigurations[t]}upload(t){if(this.needsUpload){for(let e in this.programConfigurations)this.programConfigurations[e].upload(t);this.needsUpload=!1}}destroy(){for(let t in this.programConfigurations)this.programConfigurations[t].destroy()}};function pg(t,e){return{"text-opacity":["opacity"],"icon-opacity":["opacity"],"text-color":["fill_color"],"icon-color":["fill_color"],"text-halo-color":["halo_color"],"icon-halo-color":["halo_color"],"text-halo-blur":["halo_blur"],"icon-halo-blur":["halo_blur"],"text-halo-width":["halo_width"],"icon-halo-width":["halo_width"],"line-gap-width":["gapwidth"],"line-dasharray":["dasharray_to","dasharray_from"],"line-pattern":["pattern_to","pattern_from","pixel_ratio_to","pixel_ratio_from"],"fill-pattern":["pattern_to","pattern_from","pixel_ratio_to","pixel_ratio_from"],"fill-extrusion-pattern":["pattern_to","pattern_from","pixel_ratio_to","pixel_ratio_from"]}[t]||[t.replace(`${e}-`,"").replace(/-/g,"_")]}function fg(t){return{"line-pattern":{source:Vr,composite:Vr},"fill-pattern":{source:Vr,composite:Vr},"fill-extrusion-pattern":{source:Vr,composite:Vr},"line-dasharray":{source:jh,composite:jh}}[t]}function Wh(t,e,r){var n;let i={color:{source:un,composite:To},number:{source:_a,composite:un}};return((n=fg(t))==null?void 0:n[r])||i[e][r]}C("ConstantBinder",$i),C("CrossFadedConstantBinder",ur),C("SourceExpressionBinder",ke),C("CrossFadedPatternBinder",Hf),C("CrossFadedDasharrayBinder",Kf),C("CompositeExpressionBinder",he),C("ProgramConfiguration",Jf,{omit:["_buffers"]}),C("ProgramConfigurationSet",vr);var zo=2**14-1,Zh=-zo-1;function Ar(t){let e=mt/t.extent,r=t.loadGeometry();for(let i of r)for(let n of i){let a=Math.round(n.x*e),s=Math.round(n.y*e);n.x=Ji(a,Zh,zo),n.y=Ji(s,Zh,zo),(an.x+1||sn.y+1)&&Bt("Geometry exceeds allowed extent, reduce your vector tile buffer size")}return r}function hi(t,e){return{type:t.type,id:t.id,properties:t.properties,geometry:e?Ar(t):[]}}var Hh=-32768;function dg(t,e,r,i,n){t.emplaceBack(Hh+e*8+i,Hh+r*8+n)}var 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p=t[h].feature;e.featureIndex.insert(p,u,h,c,this.index)}}update(t,e,r){this.stateDependentLayers.length&&this.programConfigurations.updatePaintArrays(t,e,this.stateDependentLayers,{imagePositions:r})}addFeatures({options:t,canonical:e,patternPositions:r,patternMap:i}){this.detectSdfPatterns(i);for(let n of this.patternFeatures)this.addFeature(n,n.geometry,n.index,e,r,t.subdivisionGranularity)}detectSdfPatterns(t){for(let e of this.patternFeatures)for(let r in e.patterns){let i=e.patterns[r];this.recordSdfPattern(r,t[i.min]),this.recordSdfPattern(r,t[i.mid]),this.recordSdfPattern(r,t[i.max])}for(let e of this.layers){let r=e.paint.get("fill-pattern").constantOr(null);r&&(this.recordSdfPattern(e.id,t[r.from.toString()]),this.recordSdfPattern(e.id,t[r.to.toString()]))}}recordSdfPattern(t,e){if(!e)return;let r=e.sdf===!0,i=this.sdfPatterns[t];i===void 0?this.sdfPatterns[t]=r:i!==r&&Bt(`Style sheet warning: Cannot mix SDF and non-SDF fill patterns in layer "${t}"`)}isEmpty(){return 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o=cd(s,i,a.fill.getGranularityForZoomLevel(i.z)),l=this.layoutVertexArray;pd((u,h)=>{l.emplaceBack(u,h)},this.segments,this.layoutVertexArray,this.indexArray,o.verticesFlattened,o.indicesTriangles,this.segments2,this.indexArray2,o.indicesLineList)}this.programConfigurations.populatePaintArrays(this.layoutVertexArray.length,t,r,{imagePositions:n,canonical:i})}};C("FillBucket",fd,{omit:["layers","patternFeatures"]});var wx,Dx=()=>wx||(wx=new Xt({"fill-sort-key":new N(w.layout_fill["fill-sort-key"],"fill-sort-key")})),_x,Ax=()=>_x||(_x=new Xt({"fill-antialias":new V(w.paint_fill["fill-antialias"],"fill-antialias"),"fill-opacity":new N(w.paint_fill["fill-opacity"],"fill-opacity"),"fill-layer-opacity":new V(w.paint_fill["fill-layer-opacity"],"fill-layer-opacity"),"fill-color":new N(w.paint_fill["fill-color"],"fill-color"),"fill-outline-color":new N(w.paint_fill["fill-outline-color"],"fill-outline-color"),"fill-translate":new V(w.paint_fill["fill-translate"],"fill-translate"),"fill-translate-anchor":new V(w.paint_fill["fill-translate-anchor"],"fill-translate-anchor"),"fill-pattern":new on(w.paint_fill["fill-pattern"],"fill-pattern")})),Sx={get paint(){return Ax()},get layout(){return Dx()}};var Ex=class extends de{constructor(t,e){super(t,Sx,e)}recalculate(t,e){super.recalculate(t,e);let r=this.paint._values["fill-outline-color"];r.value.kind==="constant"&&r.value.value===void 0&&(this.paint._values["fill-outline-color"]=this.paint._values["fill-color"])}createBucket(t){return new fd(t)}queryRadius(){return Ha(this.paint.get("fill-translate"))}queryIntersectsFeature({queryGeometry:t,geometry:e,transform:r,pixelsToTileUnits:i}){return 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c=s.map(l);u=c.length===1?{type:"LineString",coordinates:c[0]}:{type:"MultiLineString",coordinates:c}}else if(this.type===3){let c=dd(s),p=[];for(let f of c)p.push(f.map(l));u=p.length===1?{type:"Polygon",coordinates:p[0]}:{type:"MultiPolygon",coordinates:p}}else throw Error("unknown feature type");let h={type:"Feature",geometry:u,properties:this.properties};return this.id!=null&&(h.id=this.id),h}};Dn.types=["Unknown","Point","LineString","Polygon"];function dd(t){let e=t.length;if(e<=1)return[t];let r=[],i,n;for(let a=0;a=this._features.length)throw Error("feature index out of bounds");this._pbf.pos=this._features[t];let e=this._pbf.readVarint()+this._pbf.pos;return new Dn(this._pbf,e,this.extent,this._keys,this._values)}};function Cx(t){let e=null,r=t.readVarint()+t.pos;for(;t.pos90||this.lat<-90)throw Error("Invalid LngLat latitude value: must be between -90 and 90")}wrap(){return new Ui(F1(this.lng,-180,180),this.lat)}toArray(){return[this.lng,this.lat]}toString(){return`LngLat(${this.lng}, ${this.lat})`}distanceTo(e){let r=Math.PI/180,i=this.lat*r,n=e.lat*r,a=Math.sin(i)*Math.sin(n)+Math.cos(i)*Math.cos(n)*Math.cos((e.lng-this.lng)*r);return yd*Math.acos(Math.min(a,1))}static convert(e){if(e instanceof Ui)return e;if(Array.isArray(e)&&(e.length===2||e.length===3))return new Ui(Number(e[0]),Number(e[1]));if(!Array.isArray(e)&&typeof e=="object"&&e)return new Ui(Number("lng"in e?e.lng:e.lon),Number(e.lat));throw Error("`LngLatLike` argument must be specified as a LngLat instance, an object {lng: , lat: }, an object {lon: , lat: }, or an array of [, ]")}},md=2*Math.PI*yd;function gd(t){return md*Math.cos(t*Math.PI/180)}function Mx(t){return(180+t)/360}function Bx(t){return(180-180/Math.PI*Math.log(Math.tan(Math.PI/4+t*Math.PI/360)))/360}function Px(t,e){return t/gd(e)}function zx(t){return t*360-180}function Wo(t){let e=180-t*360;return 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${this.numItems}.`);return Ho(this.ids,this.coords,this.nodeSize,0,this.numItems-1,0),this._finished=!0,this}range(e,r,i,n){if(!this._finished)throw Error("Data not yet indexed - call index.finish().");let{ids:a,coords:s,nodeSize:o}=this;dt[0]=0,dt[1]=a.length-1,dt[2]=0;let l=3,u=[];for(;l>0;){let h=dt[--l],c=dt[--l],p=dt[--l];if(c-p<=o){for(let m=p;m<=c;m++){let g=s[2*m],x=s[2*m+1];g>=e&&g<=i&&x>=r&&x<=n&&u.push(a[m])}continue}let f=p+c>>1,d=s[2*f],y=s[2*f+1];d>=e&&d<=i&&y>=r&&y<=n&&u.push(a[f]),(h===0?e<=d:r<=y)&&(dt[l++]=p,dt[l++]=f-1,dt[l++]=1-h),(h===0?i>=d:n>=y)&&(dt[l++]=f+1,dt[l++]=c,dt[l++]=1-h)}return u}within(e,r,i){let n=[];return this.withinInto(e,r,i,n),n}withinInto(e,r,i,n){if(!this._finished)throw Error("Data not yet indexed - call index.finish().");let{ids:a,coords:s,nodeSize:o}=this;dt[0]=0,dt[1]=a.length-1,dt[2]=0;let l=3,u=0,h=i*i;for(;l>0;){let c=dt[--l],p=dt[--l],f=dt[--l];if(p-f<=o){for(let g=f;g<=p;g++)hc(s[2*g],s[2*g+1],e,r)<=h&&(n[u++]=a[g]);continue}let d=f+p>>1,y=s[2*d],m=s[2*d+1];hc(y,m,e,r)<=h&&(n[u++]=a[d]),(c===0?e-i<=y:r-i<=m)&&(dt[l++]=f,dt[l++]=d-1,dt[l++]=1-c),(c===0?e+i>=y:r+i>=m)&&(dt[l++]=d+1,dt[l++]=p,dt[l++]=1-c)}return u}};function Ho(t,e,r,i,n,a){if(n-i<=r)return;let s=i+n>>1;Sd(t,e,s,i,n,a),Ho(t,e,r,i,s-1,1-a),Ho(t,e,r,s+1,n,1-a)}function Sd(t,e,r,i,n,a){for(;n>i;){if(n-i>600){let u=n-i+1,h=r-i+1,c=Math.log(u),p=.5*Math.exp(2*c/3),f=.5*Math.sqrt(c*p*(u-p)/u)*(h-u/2<0?-1:1);Sd(t,e,r,Math.max(i,Math.floor(r-h*p/u+f)),Math.min(n,Math.floor(r+(u-h)*p/u+f)),a)}let s=e[2*r+a],o=i,l=n;for(zi(t,e,i,r),e[2*n+a]>s&&zi(t,e,i,n);os;)l--}e[2*i+a]===s?zi(t,e,i,l):(l++,zi(t,e,l,n)),l<=r&&(i=l+1),r<=l&&(n=l-1)}}function zi(t,e,r,i){Xs(t,r,i),Xs(e,2*r,2*i),Xs(e,2*r+1,2*i+1)}function Xs(t,e,r){let i=t[e];t[e]=t[r],t[r]=i}function hc(t,e,r,i){let n=t-r,a=e-i;return n*n+a*a}var Ko={minZoom:0,maxZoom:16,minPoints:2,radius:40,extent:512,nodeSize:64,log:!1,generateId:!1,reduce:null,map:t=>t},A2=class{constructor(t){this.options=Object.assign(Object.create(Ko),t),this.trees=Array(this.options.maxZoom+1),this.stride=this.options.reduce?7:6,this.clusterProps=[],this.points=[]}load(t){let e=[];for(let r of t){if(!r.geometry)continue;let[i,n]=r.geometry.coordinates,[a,s]=[Zr(i),Hr(n)],o={id:r.id,type:"Point",geometry:[a,s],tags:r.properties};e.push(o)}this.createIndex(e)}initialize(t){let e=[];for(let r of t)r.type==="Point"&&e.push(r);this.createIndex(e)}updateIndex(t,e,r){this.options=Object.assign(Object.create(Ko),r.clusterOptions),this.initialize(t)}createIndex(t){let{log:e,minZoom:r,maxZoom:i}=this.options;e&&console.time("total time");let n=`prepare ${t.length} points`;e&&console.time(n),this.points=t;let a=[];for(let o=0;o=r;o--){let l=Date.now();s=this.trees[o]=this.createTree(this.cluster(s,o)),e&&console.log("z%d: %d clusters in %dms",o,s.numItems,Date.now()-l)}e&&console.timeEnd("total time")}getClusters(t,e){return this.getClustersInternal(t,e).map(r=>ka(r))}getClustersInternal(t,e){let r=((t[0]+180)%360+360)%360-180,i=Math.max(-90,Math.min(90,t[1])),n=t[2]===180?180:((t[2]+180)%360+360)%360-180,a=Math.max(-90,Math.min(90,t[3]));if(t[2]-t[0]>=360)r=-180,n=180;else if(r>n){let h=this.getClustersInternal([r,i,180,a],e),c=this.getClustersInternal([-180,i,n,a],e);return h.concat(c)}let s=this.trees[this.limitZoom(e)],o=s.range(Zr(r),Hr(a),Zr(n),Hr(i)),l=s.flatData,u=[];for(let h of o){let c=this.stride*h;u.push(l[c+5]>1?S2(l,c,this.clusterProps):this.points[l[c+3]])}return u}getChildren(t){let e=this.getOriginId(t),r=this.getOriginZoom(t),i=Error("No cluster with the specified id: "+t),n=this.trees[r];if(!n)throw i;let a=n.flatData;if(e*this.stride>=a.length)throw i;let s=this.options.radius/(this.options.extent*2**(r-1)),o=a[e*this.stride],l=a[e*this.stride+1],u=n.within(o,l,s),h=[];for(let c of u){let p=c*this.stride;a[p+4]===t&&h.push(a[p+5]>1?E2(a,p,this.clusterProps):ka(this.points[a[p+3]]))}if(h.length===0)throw i;return h}getLeaves(t,e,r){e||(e=10),r||(r=0);let i=[];return this.appendLeaves(i,t,e,r,0),i}getTile(t,e,r){let i=this.trees[this.limitZoom(t)];if(!i)return null;let n=2**t,{extent:a,radius:s}=this.options,o=s/a,l=(r-o)/n,u=(r+1+o)/n,h={transformed:!0,features:[],source:null,x:e,y:r,z:t};return this.addTileFeatures(i.range((e-o)/n,l,(e+1+o)/n,u),i.flatData,e,r,n,h),e===0&&this.addTileFeatures(i.range(1-o/n,l,1,u),i.flatData,n,r,n,h),e===n-1&&this.addTileFeatures(i.range(0,l,o/n,u),i.flatData,-1,r,n,h),h}getClusterExpansionZoom(t){return this.getOriginZoom(t)}appendLeaves(t,e,r,i,n){let a=this.getChildren(e);for(let s of a){let o=s.properties;if(o!=null&&o.cluster?n+o.point_count<=i?n+=o.point_count:n=this.appendLeaves(t,o.cluster_id,r,i,n):n1,u,h,c;if(l)u=tu(e,o,this.clusterProps),h=e[o],c=e[o+1];else{let d=this.points[e[o+3]];u=d.tags,[h,c]=d.geometry}let p={type:1,geometry:[[Math.round(this.options.extent*(h*n-r)),Math.round(this.options.extent*(c*n-i))]],tags:u},f;f=l||this.options.generateId?e[o+3]:this.points[e[o+3]].id,f!==void 0&&(p.id=f),a.features.push(p)}}limitZoom(t){return Math.max(this.options.minZoom,Math.min(Math.floor(+t),this.options.maxZoom+1))}cluster(t,e){let{radius:r,extent:i,reduce:n,minPoints:a}=this.options,s=r/(i*2**e),o=t.flatData,l=[],u=this.stride;for(let h=0;he&&(y+=o[g+5])}if(y>d&&y>=a){let m=c*d,g=p*d,x,v=-1,b=((h/u|0)<<5)+(e+1)+this.points.length;for(let D of f){let A=D*u;if(o[A+2]<=e)continue;o[A+2]=e;let _=o[A+5];m+=o[A]*_,g+=o[A+1]*_,o[A+4]=b,n&&(x||(x=this.map(o,h,!0),v=this.clusterProps.length,this.clusterProps.push(x)),n(x,this.map(o,A)))}o[h+4]=b,l.push(m/y,g/y,1/0,b,-1,y),n&&l.push(v)}else{for(let m=0;m1)for(let m of f){let g=m*u;if(!(o[g+2]<=e)){o[g+2]=e;for(let x=0;x>5}getOriginZoom(t){return(t-this.points.length)%32}map(t,e,r){if(t[e+5]>1){let a=this.clusterProps[t[e+6]];return r?Object.assign({},a):a}let i=this.points[t[e+3]].tags,n=this.options.map(i);return r&&n===i?Object.assign({},n):n}};function S2(t,e,r){return{id:t[e+3],type:"Point",tags:tu(t,e,r),geometry:[t[e],t[e+1]]}}function E2(t,e,r){return{type:"Feature",id:t[e+3],properties:tu(t,e,r),geometry:{type:"Point",coordinates:[wd(t[e]),Dd(t[e+1])]}}}function tu(t,e,r){let i=t[e+5],n=i>=1e4?`${Math.round(i/1e3)}k`:i>=1e3?`${Math.round(i/100)/10}k`:i,a=t[e+6],s=a===-1?{}:Object.assign({},r[a]);return Object.assign(s,{cluster:!0,cluster_id:t[e+3],point_count:i,point_count_abbreviated:n})}var Ed="geojsonvt_clip_start",Fd="geojsonvt_clip_end";function cc(t,e,r,i,n){let a=e===n.maxZoom?0:n.tolerance/((1<0&&e.size<(n?s:i)){r.numPoints+=e.points.length/3;return}let o=[];for(let l=0;ls)&&(r.numSimplified++,o.push(e.points[l],e.points[l+1])),r.numPoints++;n&&M2(o,a),t.push(o)}function M2(t,e){let r=0;for(let i=0,n=t.length,a=n-2;i0===e)for(let i=0,n=t.length;i1&&(console.log("invalidating tiles"),console.time("invalidating")),this.invalidateTiles(e),r.debug>1&&console.timeEnd("invalidating");let[i,n,a]=[0,0,0],s=cc(t,i,n,a,r);s.source=t;let o=Jn(i,n,a);if(this.tiles[o]=s,this.tileCoords.push({z:i,x:n,y:a,id:o}),r.debug){let l=`z${i}`;this.stats[l]=(this.stats[l]||0)+1,this.total++}}getClusterExpansionZoom(t){return null}getChildren(t){return null}getLeaves(t,e,r){return null}getTile(t,e,r){let{extent:i,debug:n}=this.options,a=1<1&&console.log("drilling down to z%d-%d-%d",t,e,r);let o=t,l=e,u=r,h;for(;!h&&o>0;)o--,l>>=1,u>>=1,h=this.tiles[Jn(o,l,u)];return!(h!=null&&h.source)||(n>1&&(console.log("found parent tile z%d-%d-%d",o,l,u),console.time("drilling down")),this.splitTile(h.source,o,l,u,t,e,r),n>1&&console.timeEnd("drilling down"),!this.tiles[s])?null:pc(this.tiles[s],i)}splitTile(t,e,r,i,n,a,s){let o=[t,e,r,i],l=this.options,u=l.debug;for(;o.length;){i=o.pop(),r=o.pop(),e=o.pop(),t=o.pop();let h=1<1&&console.time("creation"),p=this.tiles[c]=cc(t,e,r,i,l),this.tileCoords.push({z:e,x:r,y:i,id:c}),u)){u>1&&(console.log("tile z%d-%d-%d (features: %d, points: %d, simplified: %d)",e,r,i,p.numFeatures,p.numPoints,p.numSimplified),console.timeEnd("creation"));let _=`z${e}`;this.stats[_]=(this.stats[_]||0)+1,this.total++}if(p.source=t,n==null){if(e===l.indexMaxZoom||p.numPoints<=l.indexMaxPoints)continue}else{if(e===l.maxZoom||e===n)continue;if(n!=null){let _=n-e;if(r!==a>>_||i!==s>>_)continue}}if(p.source=null,!t.length)continue;u>1&&console.time("clipping");let f=.5*l.buffer/l.extent,d=.5-f,y=.5+f,m=1+f,g=null,x=null,v=null,b=null,D=Te(t,h,r-f,r+y,0,p.minX,p.maxX,l),A=Te(t,h,r+d,r+m,0,p.minX,p.maxX,l);D&&(g=Te(D,h,i-f,i+y,1,p.minY,p.maxY,l),x=Te(D,h,i+d,i+m,1,p.minY,p.maxY,l)),A&&(v=Te(A,h,i-f,i+y,1,p.minY,p.maxY,l),b=Te(A,h,i+d,i+m,1,p.minY,p.maxY,l)),u>1&&console.timeEnd("clipping"),o.push(g||[],e+1,r*2,i*2),o.push(x||[],e+1,r*2,i*2+1),o.push(v||[],e+1,r*2+1,i*2),o.push(b||[],e+1,r*2+1,i*2+1)}}invalidateTiles(t){if(!t.length)return;let e=this.options,{debug:r}=e,i=1/0,n=-1/0,a=1/0,s=-1/0;for(let u of t)i=Math.min(i,u.minX),n=Math.max(n,u.maxX),a=Math.min(a,u.minY),s=Math.max(s,u.maxY);let o=e.buffer/e.extent,l=new Set;for(let u in this.tiles){let h=this.tiles[u],c=1<=f||s=y)continue;let m=!1;for(let g of t)if(g.maxX>=p&&g.minX=d&&g.minY1&&console.log("invalidate tile z%d-%d-%d (features: %d, points: %d, simplified: %d)",h.z,h.x,h.y,h.numFeatures,h.numPoints,h.numSimplified);let g=`z${h.z}`;this.stats[g]=(this.stats[g]||0)-1,this.total--}delete this.tiles[u],l.add(u)}}l.size&&(this.tileCoords=this.tileCoords.filter(u=>!l.has(u.id)))}};function Jn(t,e,r){return((1<24)throw Error("maxZoom should be in the 0-24 range");if(e.promoteId&&e.generateId)throw Error("promoteId and generateId cannot be used together.");let i=Zl(t,e);r&&(console.timeEnd("preprocess data"),console.log("index: maxZoom: %d, maxPoints: %d",e.indexMaxZoom,e.indexMaxPoints),console.time("generate tiles")),i=Ql(i,e),e.updateable&&(this.source=i),this.initializeIndex(i,e)}initializeIndex(t,e){this.tileIndex=e.cluster?new A2(e.clusterOptions):new z2(e),t.length&&this.tileIndex.initialize(t)}getTile(t,e,r){return t=+t,e=+e,r=+r,t<0||t>24?null:this.tileIndex.getTile(t,e,r)}updateData(t,e){let r=this.options;if(!r.updateable)throw Error("to update tile geojson `updateable` option must be set to true");let{affected:i,source:n}=b2(this.source,t,r);e&&({affected:i,source:n}=this.filterUpdate(n,i,e)),i.length&&(this.source=n,this.tileIndex.updateIndex(n,i,r))}filterUpdate(t,e,r){let i=new Set;for(let n of t)n.id!=null&&(r(ka(n))||(e.push(n),i.add(n.id)));return t=t.filter(n=>!i.has(n.id)),{affected:e,source:t}}getData(){if(!this.options.updateable)throw Error("to retrieve data the `updateable` option must be set to true");return u2(this.source)}updateClusterOptions(t,e){let r=this.options.cluster;if(this.options.cluster=t,this.options.clusterOptions=e,r==t){this.tileIndex.updateIndex(this.source,[],this.options);return}this.initializeIndex(this.source,this.options)}getClusterExpansionZoom(t){return this.tileIndex.getClusterExpansionZoom(t)}getClusterChildren(t){return this.tileIndex.getChildren(t)}getClusterLeaves(t,e,r){return this.tileIndex.getLeaves(t,e,r)}},Jo=At([{name:"a_pos_normal",components:2,type:"Int16"},{name:"a_data",components:4,type:"Uint8"}],4),V2=Jo.members;Jo.size,Jo.alignment;var Qo=At([{name:"a_uv_x",components:1,type:"Float32"},{name:"a_split_index",components:1,type:"Float32"}]),O2=Qo.members;Qo.size,Qo.alignment;var R2=Math.cos(75/2*(Math.PI/180)),Id=1/2,fc=2**14/Id,Cd=class{constructor(t){this.zoom=t.zoom,this.overscaling=t.overscaling,this.layers=t.layers,this.layerIds=this.layers.map(e=>e.id),this.index=t.index,this.hasDependencies=!1,this.patternFeatures=[],this.lineClipsArray=[],this.gradients={};for(let e of this.layers)this.gradients[e.id]={};this.layoutVertexArray=new Qm,this.layoutVertexArray2=new tg,this.indexArray=new wn,this.programConfigurations=new vr(t.layers,t.zoom),this.segments=new ee,this.maxLineLength=0,this.stateDependentLayerIds=this.layers.filter(e=>e.isStateDependent()).map(e=>e.id)}populate(t,e,r){this.hasDependencies=Aa("line",this.layers,e)||this.hasLineDasharray(this.layers);let i=this.layers[0].layout.get("line-sort-key"),n=!i.isConstant(),a=[],s=new st(this.zoom),o=this.layers[0]._featureFilter.needGeometry;for(let{feature:l,id:u,index:h,sourceLayerIndex:c}of t){let p=hi(l,o);if(!this.layers[0]._featureFilter.filter(s,p,r))continue;let f=n?i.evaluate(p,{},r):void 0,d={id:u,properties:l.properties,type:l.type,sourceLayerIndex:c,index:h,geometry:o?p.geometry:Ar(l),patterns:{},dashes:{},sortKey:f};a.push(d)}n&&a.sort((l,u)=>l.sortKey-u.sortKey);for(let l of a){let{geometry:u,index:h,sourceLayerIndex:c}=l;this.hasDependencies?(Aa("line",this.layers,e)?Gl("line",this.layers,l,{zoom:this.zoom},e):this.hasLineDasharray(this.layers)&&this.addLineDashDependencies(this.layers,l,this.zoom,e),this.patternFeatures.push(l)):this.addFeature(l,u,h,r,{},{},e.subdivisionGranularity);let p=t[h].feature;e.featureIndex.insert(p,u,h,c,this.index)}}update(t,e,r,i){this.stateDependentLayers.length&&this.programConfigurations.updatePaintArrays(t,e,this.stateDependentLayers,{imagePositions:r,dashPositions:i})}addFeatures({options:t,canonical:e,patternPositions:r,dashPositions:i}){for(let n of this.patternFeatures)this.addFeature(n,n.geometry,n.index,e,r,i,t.subdivisionGranularity)}isEmpty(){return this.layoutVertexArray.length===0}uploadPending(){return!this.uploaded||this.programConfigurations.needsUpload}upload(t){this.uploaded||(this.layoutVertexArray2.length!==0&&(this.layoutVertexBuffer2=t.createVertexBuffer(this.layoutVertexArray2,O2)),this.layoutVertexBuffer=t.createVertexBuffer(this.layoutVertexArray,V2),this.indexBuffer=t.createIndexBuffer(this.indexArray)),this.programConfigurations.upload(t),this.uploaded=!0}destroy(){this.layoutVertexBuffer&&(this.layoutVertexBuffer.destroy(),this.indexBuffer.destroy(),this.programConfigurations.destroy(),this.segments.destroy())}lineFeatureClips(t){if(t.properties&&Object.hasOwn(t.properties,"geojsonvt_clip_start")&&Object.hasOwn(t.properties,"geojsonvt_clip_end"))return{start:+t.properties[Ed],end:+t.properties[Fd]}}addFeature(t,e,r,i,n,a,s){let o=this.layers[0].layout,l=o.get("line-join").evaluate(t,{}),u=o.get("line-cap").evaluate(t,{}),h=o.get("line-miter-limit").evaluate(t,{}),c=o.get("line-round-limit").evaluate(t,{});this.lineClips=this.lineFeatureClips(t);for(let p of e)this.addLine(p,t,l,u,h,c,i,s);this.programConfigurations.populatePaintArrays(this.layoutVertexArray.length,t,r,{imagePositions:n,dashPositions:a,canonical:i})}addLine(t,e,r,i,n,a,s,o){this.distance=0,this.scaledDistance=0,this.totalDistance=0;let l=s?o.line.getGranularityForZoomLevel(s.z):1;if(t=cr(t,l),this.lineClips){this.lineClipsArray.push(this.lineClips);for(let v=0;v=2&&t[h-1].equals(t[h-2]);)h--;let c=0;for(;c0;if(k&&v>c){let L=d.dist(y);if(L>2*p){let F=d.sub(d.sub(y)._mult(p/L)._round());this.updateDistance(y,F),this.addCurrentVertex(F,g,0,0,f),y=F}}let O=y&&m,P=O?r:u?"butt":i;if(O&&P==="round"&&(_n&&(P="bevel"),P==="bevel"&&(_>2&&(P="flipbevel"),_100)b=x.mult(-1);else{let L=_*g.add(x).mag()/g.sub(x).mag();b._perp()._mult(L*(z?-1:1))}this.addCurrentVertex(d,b,0,0,f),this.addCurrentVertex(d,b.mult(-1),0,0,f)}else if(P==="bevel"||P==="fakeround"){let L=-Math.sqrt(_*_-1),F=z?L:0,$=z?0:L;if(y&&this.addCurrentVertex(d,g,F,$,f),P==="fakeround"){let U=Math.round(S*180/Math.PI/20);for(let T=1;T2*p){let F=d.add(m.sub(d)._mult(p/L)._round());this.updateDistance(d,F),this.addCurrentVertex(F,x,0,0,f),d=F}}}}addCurrentVertex(t,e,r,i,n,a=!1){let s=e.x+e.y*r,o=e.y-e.x*r,l=-e.x+e.y*i,u=-e.y-e.x*i;this.addHalfVertex(t,s,o,a,!1,r,n),this.addHalfVertex(t,l,u,a,!0,-i,n),this.distance>fc/2&&this.totalDistance===0&&(this.distance=0,this.updateScaledDistance(),this.addCurrentVertex(t,e,r,i,n,a))}addHalfVertex({x:t,y:e},r,i,n,a,s,o){let l=(this.lineClips?this.scaledDistance*(fc-1):this.scaledDistance)*Id;if(this.layoutVertexArray.emplaceBack((t<<1)+ +!!n,(e<<1)+ +!!a,Math.round(63*r)+128,Math.round(63*i)+128,(s===0?0:s<0?-1:1)+1|(l&63)<<2,l>>6),this.lineClips){let h=(this.scaledDistance-this.lineClips.start)/(this.lineClips.end-this.lineClips.start);this.layoutVertexArray2.emplaceBack(h,this.lineClipsArray.length)}let u=o.vertexLength++;this.e1>=0&&this.e2>=0&&(this.indexArray.emplaceBack(this.e1,u,this.e2),o.primitiveLength++),a?this.e2=u:this.e1=u}updateScaledDistance(){this.scaledDistance=this.lineClips?this.lineClips.start+(this.lineClips.end-this.lineClips.start)*this.distance/this.totalDistance:this.distance}updateDistance(t,e){this.distance+=t.dist(e),this.updateScaledDistance()}hasLineDasharray(t){for(let e of t){let r=e.paint.get("line-dasharray");if(r&&!r.isConstant())return!0}return!1}addLineDashDependencies(t,e,r,i){for(let n of t){let a=n.paint.get("line-dasharray");if(!a||a.value.kind==="constant")continue;let 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V(w.paint_line["line-layer-opacity"],"line-layer-opacity"),"line-color":new N(w.paint_line["line-color"],"line-color"),"line-translate":new V(w.paint_line["line-translate"],"line-translate"),"line-translate-anchor":new V(w.paint_line["line-translate-anchor"],"line-translate-anchor"),"line-width":new N(w.paint_line["line-width"],"line-width"),"line-gap-width":new N(w.paint_line["line-gap-width"],"line-gap-width"),"line-offset":new N(w.paint_line["line-offset"],"line-offset"),"line-blur":new N(w.paint_line["line-blur"],"line-blur"),"line-dasharray":new on(w.paint_line["line-dasharray"],"line-dasharray"),"line-pattern":new on(w.paint_line["line-pattern"],"line-pattern"),"line-gradient":new Wa(w.paint_line["line-gradient"],"line-gradient")})),dc={get paint(){return q2()},get layout(){return N2()}},j2=class extends N{possiblyEvaluate(t,e){return e=new st(Math.floor(e.zoom),{now:e.now,fadeDuration:e.fadeDuration,zoomHistory:e.zoomHistory,transition:e.transition}),super.possiblyEvaluate(t,e)}evaluate(t,e,r,i){return e=Gt({},e,{zoom:Math.floor(e.zoom)}),super.evaluate(t,e,r,i)}},Qn;var G2=class extends de{constructor(t,e){super(t,dc,e),this.gradientVersion=0,Qn||(Qn=new j2(dc.paint.properties["line-width"].specification,"line-floorwidth"),Qn.useIntegerZoom=!0)}_handleSpecialPaintPropertyUpdate(t){if(t==="line-gradient"){let e=this.gradientExpression();this.stepInterpolant=lm(e)?e._styleExpression.expression instanceof vl:!1,this.gradientVersion=(this.gradientVersion+1)%(2**53-1)}}gradientExpression(){return this._transitionablePaint._values["line-gradient"].value.expression}recalculate(t,e){super.recalculate(t,e),this.paint._values["line-floorwidth"]=Qn.possiblyEvaluate(this._transitioningPaint._values["line-width"].value,t)}createBucket(t){return new Cd(t)}queryRadius(t){let e=t,r=yc(Wr("line-width",this,e),Wr("line-gap-width",this,e)),i=Wr("line-offset",this,e);return r/2+Math.abs(i)+Ha(this.paint.get("line-translate"))}queryIntersectsFeature({queryGeometry:t,feature:e,featureState:r,geometry:i,transform:n,pixelsToTileUnits:a}){let s=Ka(t,this.paint.get("line-translate"),this.paint.get("line-translate-anchor"),-n.bearingInRadians,a),o=a/2*yc(this.paint.get("line-width").evaluate(e,r),this.paint.get("line-gap-width").evaluate(e,r)),l=this.paint.get("line-offset").evaluate(e,r);return l&&(i=Dg(i,l*a)),mg(s,i,o)}isTileClipped(){return!0}};function yc(t,e){return e>0?e+2*t:t}var X2=At([{name:"a_pos_offset",components:4,type:"Int16"},{name:"a_data",components:4,type:"Uint16"},{name:"a_pixeloffset",components:4,type:"Int16"},{name:"a_height_offset",components:1,type:"Float32"}],4),Y2=At([{name:"a_projected_pos",components:3,type:"Float32"}],4);At([{name:"a_fade_opacity",components:1,type:"Uint32"}],4);var 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mc=At([{name:"a_pos",components:2,type:"Int16"},{name:"a_anchor_pos",components:2,type:"Int16"},{name:"a_extrude",components:2,type:"Int16"}],4),x5=At([{name:"a_pos",components:2,type:"Float32"},{name:"a_radius",components:1,type:"Float32"},{name:"a_flags",components:2,type:"Int16"}],4);At([{name:"triangle",components:3,type:"Uint16"}]),At([{type:"Int16",name:"anchorX"},{type:"Int16",name:"anchorY"},{type:"Uint16",name:"glyphStartIndex"},{type:"Uint16",name:"numGlyphs"},{type:"Uint32",name:"vertexStartIndex"},{type:"Uint32",name:"lineStartIndex"},{type:"Uint32",name:"lineLength"},{type:"Uint16",name:"segment"},{type:"Uint16",name:"lowerSize"},{type:"Uint16",name:"upperSize"},{type:"Float32",name:"lineOffsetX"},{type:"Float32",name:"lineOffsetY"},{type:"Uint8",name:"writingMode"},{type:"Uint8",name:"placedOrientation"},{type:"Uint8",name:"hidden"},{type:"Uint32",name:"crossTileID"},{type:"Int16",name:"associatedIconIndex"},{type:"Float32",name:"heightOffset"}]),At([{type:"Int16",name:"anchorX"},{type:"Int16",name:"anchorY"},{type:"Int16",name:"rightJustifiedTextSymbolIndex"},{type:"Int16",name:"centerJustifiedTextSymbolIndex"},{type:"Int16",name:"leftJustifiedTextSymbolIndex"},{type:"Int16",name:"verticalPlacedTextSymbolIndex"},{type:"Int16",name:"placedIconSymbolIndex"},{type:"Int16",name:"verticalPlacedIconSymbolIndex"},{type:"Uint16",name:"key"},{type:"Uint16",name:"textBoxStartIndex"},{type:"Uint16",name:"textBoxEndIndex"},{type:"Uint16",name:"verticalTextBoxStartIndex"},{type:"Uint16",name:"verticalTextBoxEndIndex"},{type:"Uint16",name:"iconBoxStartIndex"},{type:"Uint16",name:"iconBoxEndIndex"},{type:"Uint16",name:"verticalIconBoxStartIndex"},{type:"Uint16",name:"verticalIconBoxEndIndex"},{type:"Uint16",name:"featureIndex"},{type:"Uint16",name:"numHorizontalGlyphVertices"},{type:"Uint16",name:"numVerticalGlyphVertices"},{type:"Uint16",name:"numIconVertices"},{type:"Uint16",name:"numVerticalIconVertices"},{type:"Uint16",name:"useRuntimeCollisionCircles"},{type:"Uint32",name:"crossTileID"},{type:"Float32",name:"textBoxScale"},{type:"Float32",name:"collisionCircleDiameter"},{type:"Uint16",name:"textAnchorOffsetStartIndex"},{type:"Uint16",name:"textAnchorOffsetEndIndex"},{type:"Float32",name:"heightOffset"}]),At([{type:"Float32",name:"offsetX"}]),At([{type:"Int16",name:"x"},{type:"Int16",name:"y"},{type:"Int16",name:"tileUnitDistanceFromAnchor"}]),At([{type:"Uint16",name:"textAnchor"},{type:"Float32",components:2,name:"textOffset"}]);var wr=new class{constructor(){this.TIMEOUT=5e3,this.applyArabicShaping=null,this.processBidirectionalText=null,this.processStyledBidirectionalText=null,this.pluginStatus="unavailable",this.pluginURL=null,this.loadScriptResolve=()=>{}}setState(t){this.pluginStatus=t.pluginStatus,this.pluginURL=t.pluginURL}getState(){return{pluginStatus:this.pluginStatus,pluginURL:this.pluginURL}}setMethods(t){if(wr.isParsed())throw Error("RTL text plugin already registered.");this.applyArabicShaping=t.applyArabicShaping,this.processBidirectionalText=t.processBidirectionalText,this.processStyledBidirectionalText=t.processStyledBidirectionalText,this.loadScriptResolve()}isParsed(){return this.applyArabicShaping!=null&&this.processBidirectionalText!=null&&this.processStyledBidirectionalText!=null}getRTLTextPluginStatus(){return this.pluginStatus}syncState(t,e){return rt(this,null,function*(){if(this.isParsed())return this.getState();if(t.pluginStatus!=="loading")return this.setState(t),t;let r=t.pluginURL,i=new Promise(a=>{this.loadScriptResolve=a}),n=new Promise(a=>setTimeout(()=>a(),this.TIMEOUT));if(yield e(r),yield Promise.race([i,n]),this.isParsed()){let a={pluginStatus:"loaded",pluginURL:r};return this.setState(a),a}throw this.setState({pluginStatus:"error",pluginURL:""}),Error(`RTL Text Plugin failed to import scripts from ${r}`)})}};function Z2(t){return/[\\u0600-\\u0604\\u0606-\\u060B\\u060D-\\u061A\\u061C-\\u061E\\u0620-\\u063F\\u0641-\\u064A\\u0656-\\u066F\\u0671-\\u06DC\\u06DE-\\u070D\\u070F-\\u074A\\u074D-\\u077F\\u07C0-\\u07FA\\u07FD-\\u07FF\\u0840-\\u085B\\u085E\\u0860-\\u086A\\u0870-\\u0891\\u0897-\\u08E1\\u08E3-\\u08FF\\u1800\\u1801\\u1804\\u1806-\\u1819\\u1820-\\u1878\\u1880-\\u18AA\\uA840-\\uA877\\uFB50-\\uFD3D\\uFD40-\\uFDCF\\uFDF0-\\uFDFF\\uFE70-\\uFE74\\uFE76-\\uFEFC]|\\uD802[\\uDEC0-\\uDEE6\\uDEEB-\\uDEF6\\uDF80-\\uDF91\\uDF99-\\uDF9C\\uDFA9-\\uDFAF]|\\uD803[\\uDD00-\\uDD27\\uDD30-\\uDD39\\uDE60-\\uDE7E\\uDEC2-\\uDEC7\\uDED0-\\uDED8\\uDEFA-\\uDEFF\\uDF30-\\uDF59\\uDF70-\\uDF89\\uDFB0-\\uDFCB]|\\uD805[\\uDE60-\\uDE6C]|\\uD82F[\\uDC00-\\uDC6A\\uDC70-\\uDC7C\\uDC80-\\uDC88\\uDC90-\\uDC99\\uDC9C-\\uDC9F]|\\uD83A[\\uDD00-\\uDD4B\\uDD50-\\uDD59\\uDD5E\\uDD5F]|\\uD83B[\\uDE00-\\uDE03\\uDE05-\\uDE1F\\uDE21\\uDE22\\uDE24\\uDE27\\uDE29-\\uDE32\\uDE34-\\uDE37\\uDE39\\uDE3B\\uDE42\\uDE47\\uDE49\\uDE4B\\uDE4D-\\uDE4F\\uDE51\\uDE52\\uDE54\\uDE57\\uDE59\\uDE5B\\uDE5D\\uDE5F\\uDE61\\uDE62\\uDE64\\uDE67-\\uDE6A\\uDE6C-\\uDE72\\uDE74-\\uDE77\\uDE79-\\uDE7C\\uDE7E\\uDE80-\\uDE89\\uDE8B-\\uDE9B\\uDEA1-\\uDEA3\\uDEA5-\\uDEA9\\uDEAB-\\uDEBB\\uDEF0\\uDEF1]/gim.test(String.fromCodePoint(t))}function H2(t){return/[\\u0591-\\u05C7\\u05D0-\\u05EA\\u05EF-\\u05F4\\u0600-\\u0604\\u0606-\\u060B\\u060D-\\u061A\\u061C-\\u061E\\u0620-\\u063F\\u0641-\\u064A\\u0656-\\u066F\\u0671-\\u06DC\\u06DE-\\u070D\\u070F-\\u074A\\u074D-\\u07B1\\u07C0-\\u07FA\\u07FD-\\u082D\\u0830-\\u083E\\u0840-\\u085B\\u085E\\u0860-\\u086A\\u0870-\\u0891\\u0897-\\u08E1\\u08E3-\\u08FF\\uFB1D-\\uFB36\\uFB38-\\uFB3C\\uFB3E\\uFB40\\uFB41\\uFB43\\uFB44\\uFB46-\\uFD3D\\uFD40-\\uFDCF\\uFDF0-\\uFDFF\\uFE70-\\uFE74\\uFE76-\\uFEFC]|\\uD802[\\uDC00-\\uDC05\\uDC08\\uDC0A-\\uDC35\\uDC37\\uDC38\\uDC3C\\uDC3F-\\uDC55\\uDC57-\\uDC9E\\uDCA7-\\uDCAF\\uDCE0-\\uDCF2\\uDCF4\\uDCF5\\uDCFB-\\uDD1B\\uDD1F-\\uDD39\\uDD3F-\\uDD59\\uDD80-\\uDDB7\\uDDBC-\\uDDCF\\uDDD2-\\uDE03\\uDE05\\uDE06\\uDE0C-\\uDE13\\uDE15-\\uDE17\\uDE19-\\uDE35\\uDE38-\\uDE3A\\uDE3F-\\uDE48\\uDE50-\\uDE58\\uDE60-\\uDE9F\\uDEC0-\\uDEE6\\uDEEB-\\uDEF6\\uDF00-\\uDF35\\uDF39-\\uDF55\\uDF58-\\uDF72\\uDF78-\\uDF91\\uDF99-\\uDF9C\\uDFA9-\\uDFAF]|\\uD803[\\uDC00-\\uDC48\\uDC80-\\uDCB2\\uDCC0-\\uDCF2\\uDCFA-\\uDD27\\uDD30-\\uDD39\\uDD40-\\uDD65\\uDD69-\\uDD85\\uDD8E\\uDD8F\\uDE60-\\uDE7E\\uDE80-\\uDEA9\\uDEAB-\\uDEAD\\uDEB0\\uDEB1\\uDEC2-\\uDEC7\\uDED0-\\uDED8\\uDEFA-\\uDF27\\uDF30-\\uDF59\\uDF70-\\uDF89\\uDFB0-\\uDFCB\\uDFE0-\\uDFF6]|\\uD83A[\\uDC00-\\uDCC4\\uDCC7-\\uDCD6\\uDD00-\\uDD4B\\uDD50-\\uDD59\\uDD5E\\uDD5F]|\\uD83B[\\uDE00-\\uDE03\\uDE05-\\uDE1F\\uDE21\\uDE22\\uDE24\\uDE27\\uDE29-\\uDE32\\uDE34-\\uDE37\\uDE39\\uDE3B\\uDE42\\uDE47\\uDE49\\uDE4B\\uDE4D-\\uDE4F\\uDE51\\uDE52\\uDE54\\uDE57\\uDE59\\uDE5B\\uDE5D\\uDE5F\\uDE61\\uDE62\\uDE64\\uDE67-\\uDE6A\\uDE6C-\\uDE72\\uDE74-\\uDE77\\uDE79-\\uDE7C\\uDE7E\\uDE80-\\uDE89\\uDE8B-\\uDE9B\\uDEA1-\\uDEA3\\uDEA5-\\uDEA9\\uDEAB-\\uDEBB\\uDEF0\\uDEF1]/gim.test(String.fromCodePoint(t))}function K2(t){return/[\\u02EA\\u02EB\\u2E80-\\u2FDF\\u2FF0-\\u303F\\u3041-\\u3096\\u309D-\\u309F\\u30A1-\\u30FA\\u30FD-\\u30FF\\u3105-\\u312F\\u31A0-\\u4DBF\\u4E00-\\uA48C\\uA490-\\uA4C6\\uF900-\\uFA6D\\uFA70-\\uFAD9\\uFE10-\\uFE1F\\uFE30-\\uFE4F\\uFF00-\\uFFEF]|\\uD81B[\\uDFE0-\\uDFFF]|[\\uD81C-\\uD822\\uD840-\\uD868\\uD86A-\\uD86D\\uD86F-\\uD872\\uD874-\\uD879\\uD880-\\uD883\\uD885-\\uD88C][\\uDC00-\\uDFFF]|\\uD823[\\uDC00-\\uDCD5\\uDCFF-\\uDD1E\\uDD80-\\uDDF2]|\\uD82B[\\uDFF0-\\uDFFF]|\\uD82C[\\uDC00-\\uDEFB]|\\uD83C[\\uDE00-\\uDEFF]|\\uD869[\\uDC00-\\uDEDF\\uDF00-\\uDFFF]|\\uD86E[\\uDC00-\\uDC1D\\uDC20-\\uDFFF]|\\uD873[\\uDC00-\\uDEAD\\uDEB0-\\uDFFF]|\\uD87A[\\uDC00-\\uDFE0\\uDFF0-\\uDFFF]|\\uD87B[\\uDC00-\\uDE5D]|\\uD87E[\\uDC00-\\uDE1D]|\\uD884[\\uDC00-\\uDF4A\\uDF50-\\uDFFF]|\\uD88D[\\uDC00-\\uDC79]/gim.test(String.fromCodePoint(t))}function 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r=this.layers[0].layout,i=r.get("symbol-sort-key"),n=r.get("symbol-z-order");this.canOverlap=Oc(r,"text-overlap","text-allow-overlap")!=="never"||Oc(r,"icon-overlap","icon-allow-overlap")!=="never"||r.get("text-ignore-placement")||r.get("icon-ignore-placement"),this.sortFeaturesByKey=n!=="viewport-y"&&!i.isConstant();let a=n==="viewport-y"||n==="auto"&&!this.sortFeaturesByKey;this.sortFeaturesByY=a&&this.canOverlap,r.get("symbol-placement")==="point"&&(this.writingModes=r.get("text-writing-mode").map(s=>Nd[s])),this.stateDependentLayerIds=this.layers.filter(s=>s.isStateDependent()).map(s=>s.id),this.sourceID=t.sourceID}createArrays(){this.text=new al(new vr(this.layers,this.zoom,t=>t.startsWith("text"))),this.icon=new al(new vr(this.layers,this.zoom,t=>t.startsWith("icon"))),this.glyphOffsetArray=new Uf,this.lineVertexArray=new qf,this.symbolInstances=new Nf,this.textAnchorOffsets=new Gf}calculateGlyphDependencies(t,e,r,i,n){var l;let 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ne(this.overscaledZ,p,l,c,h),x:s,y:o}}};function Hi(t,e,r,i,n){t*=2,t<0&&(t=t*-1-1);let a=1<0;n--){let a=1<pw(n,a,r),t.layers[i])}function pw(t,e,r=""){e.writeVarintField(15,t.version||1),e.writeStringField(1,t.name||""),e.writeVarintField(5,t.extent||4096);let i={jsonPrefix:r,keys:[],values:[],keycache:{},valuecache:{}};for(let s=0;s>31}function yw(t,e){let r=t.loadGeometry(),i=t.type,n=0,a=0;for(let s of r){let o=1;i===1&&(o=s.length),e.writeVarint(Zs(1,o));let l=i===3?s.length-1:s.length;for(let u=0;u=this._numberToString.length)throw Error(`Out of bounds. 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Map(this.propertyVectors.map(e=>[e.name,e]))),this.propertyVectorsMap.get(t)}get numFeatures(){return this.geometryVector.numGeometries}get extent(){return this._extent}getFeatures(){let t=[],e=this.geometryVector.getGeometries();for(let r=0;r>>32-t;var ul=mu,py=65536;function gu(t,e){return t-t%e}function vw(t){return gu(t+31,32)}function bw(t){if(!Number.isFinite(t)||t<=0)return py;let e=gu(Math.floor(t),256);return e===0?256:e}function ww(t){let e=t>>>0;return((e&255)<<24|(e&65280)<<8|e>>>8&65280|e>>>24&255)>>>0}function Dw(t,e,r,i){let n=i,a=t[e]>>>0,s=t[e+1]>>>0;r[n++]=a>>>0&3,r[n++]=a>>>2&3,r[n++]=a>>>4&3,r[n++]=a>>>6&3,r[n++]=a>>>8&3,r[n++]=a>>>10&3,r[n++]=a>>>12&3,r[n++]=a>>>14&3,r[n++]=a>>>16&3,r[n++]=a>>>18&3,r[n++]=a>>>20&3,r[n++]=a>>>22&3,r[n++]=a>>>24&3,r[n++]=a>>>26&3,r[n++]=a>>>28&3,r[n++]=a>>>30&3,r[n++]=s>>>0&3,r[n++]=s>>>2&3,r[n++]=s>>>4&3,r[n++]=s>>>6&3,r[n++]=s>>>8&3,r[n++]=s>>>10&3,r[n++]=s>>>12&3,r[n++]=s>>>14&3,r[n++]=s>>>16&3,r[n++]=s>>>18&3,r[n++]=s>>>20&3,r[n++]=s>>>22&3,r[n++]=s>>>24&3,r[n++]=s>>>26&3,r[n++]=s>>>28&3,r[n]=s>>>30&3}function _w(t,e,r,i){let n=i,a=t[e]>>>0,s=t[e+1]>>>0,o=t[e+2]>>>0;r[n++]=a>>>0&7,r[n++]=a>>>3&7,r[n++]=a>>>6&7,r[n++]=a>>>9&7,r[n++]=a>>>12&7,r[n++]=a>>>15&7,r[n++]=a>>>18&7,r[n++]=a>>>21&7,r[n++]=a>>>24&7,r[n++]=a>>>27&7,r[n++]=(a>>>30|(s&1)<<2)&7,r[n++]=s>>>1&7,r[n++]=s>>>4&7,r[n++]=s>>>7&7,r[n++]=s>>>10&7,r[n++]=s>>>13&7,r[n++]=s>>>16&7,r[n++]=s>>>19&7,r[n++]=s>>>22&7,r[n++]=s>>>25&7,r[n++]=s>>>28&7,r[n++]=(s>>>31|(o&3)<<1)&7,r[n++]=o>>>2&7,r[n++]=o>>>5&7,r[n++]=o>>>8&7,r[n++]=o>>>11&7,r[n++]=o>>>14&7,r[n++]=o>>>17&7,r[n++]=o>>>20&7,r[n++]=o>>>23&7,r[n++]=o>>>26&7,r[n]=o>>>29&7}function Aw(t,e,r,i){let n=i,a=t[e]>>>0,s=t[e+1]>>>0,o=t[e+2]>>>0,l=t[e+3]>>>0;r[n++]=a>>>0&15,r[n++]=a>>>4&15,r[n++]=a>>>8&15,r[n++]=a>>>12&15,r[n++]=a>>>16&15,r[n++]=a>>>20&15,r[n++]=a>>>24&15,r[n++]=a>>>28&15,r[n++]=s>>>0&15,r[n++]=s>>>4&15,r[n++]=s>>>8&15,r[n++]=s>>>12&15,r[n++]=s>>>16&15,r[n++]=s>>>20&15,r[n++]=s>>>24&15,r[n++]=s>>>28&15,r[n++]=o>>>0&15,r[n++]=o>>>4&15,r[n++]=o>>>8&15,r[n++]=o>>>12&15,r[n++]=o>>>16&15,r[n++]=o>>>20&15,r[n++]=o>>>24&15,r[n++]=o>>>28&15,r[n++]=l>>>0&15,r[n++]=l>>>4&15,r[n++]=l>>>8&15,r[n++]=l>>>12&15,r[n++]=l>>>16&15,r[n++]=l>>>20&15,r[n++]=l>>>24&15,r[n]=l>>>28&15}function Sw(t,e,r,i){let n=i,a=t[e]>>>0,s=t[e+1]>>>0,o=t[e+2]>>>0,l=t[e+3]>>>0,u=t[e+4]>>>0;r[n++]=a>>>0&31,r[n++]=a>>>5&31,r[n++]=a>>>10&31,r[n++]=a>>>15&31,r[n++]=a>>>20&31,r[n++]=a>>>25&31,r[n++]=(a>>>30|(s&7)<<2)&31,r[n++]=s>>>3&31,r[n++]=s>>>8&31,r[n++]=s>>>13&31,r[n++]=s>>>18&31,r[n++]=s>>>23&31,r[n++]=(s>>>28|(o&1)<<4)&31,r[n++]=o>>>1&31,r[n++]=o>>>6&31,r[n++]=o>>>11&31,r[n++]=o>>>16&31,r[n++]=o>>>21&31,r[n++]=o>>>26&31,r[n++]=(o>>>31|(l&15)<<1)&31,r[n++]=l>>>4&31,r[n++]=l>>>9&31,r[n++]=l>>>14&31,r[n++]=l>>>19&31,r[n++]=l>>>24&31,r[n++]=(l>>>29|(u&3)<<3)&31,r[n++]=u>>>2&31,r[n++]=u>>>7&31,r[n++]=u>>>12&31,r[n++]=u>>>17&31,r[n++]=u>>>22&31,r[n]=u>>>27&31}function Ew(t,e,r,i){let n=i,a=t[e]>>>0,s=t[e+1]>>>0,o=t[e+2]>>>0,l=t[e+3]>>>0,u=t[e+4]>>>0,h=t[e+5]>>>0;r[n++]=a>>>0&63,r[n++]=a>>>6&63,r[n++]=a>>>12&63,r[n++]=a>>>18&63,r[n++]=a>>>24&63,r[n++]=(a>>>30|(s&15)<<2)&63,r[n++]=s>>>4&63,r[n++]=s>>>10&63,r[n++]=s>>>16&63,r[n++]=s>>>22&63,r[n++]=(s>>>28|(o&3)<<4)&63,r[n++]=o>>>2&63,r[n++]=o>>>8&63,r[n++]=o>>>14&63,r[n++]=o>>>20&63,r[n++]=o>>>26&63,r[n++]=l>>>0&63,r[n++]=l>>>6&63,r[n++]=l>>>12&63,r[n++]=l>>>18&63,r[n++]=l>>>24&63,r[n++]=(l>>>30|(u&15)<<2)&63,r[n++]=u>>>4&63,r[n++]=u>>>10&63,r[n++]=u>>>16&63,r[n++]=u>>>22&63,r[n++]=(u>>>28|(h&3)<<4)&63,r[n++]=h>>>2&63,r[n++]=h>>>8&63,r[n++]=h>>>14&63,r[n++]=h>>>20&63,r[n]=h>>>26&63}function Fw(t,e,r,i){let n=i,a=t[e]>>>0,s=t[e+1]>>>0,o=t[e+2]>>>0,l=t[e+3]>>>0,u=t[e+4]>>>0,h=t[e+5]>>>0,c=t[e+6]>>>0;r[n++]=a>>>0&127,r[n++]=a>>>7&127,r[n++]=a>>>14&127,r[n++]=a>>>21&127,r[n++]=(a>>>28|(s&7)<<4)&127,r[n++]=s>>>3&127,r[n++]=s>>>10&127,r[n++]=s>>>17&127,r[n++]=s>>>24&127,r[n++]=(s>>>31|(o&63)<<1)&127,r[n++]=o>>>6&127,r[n++]=o>>>13&127,r[n++]=o>>>20&127,r[n++]=(o>>>27|(l&3)<<5)&127,r[n++]=l>>>2&127,r[n++]=l>>>9&127,r[n++]=l>>>16&127,r[n++]=l>>>23&127,r[n++]=(l>>>30|(u&31)<<2)&127,r[n++]=u>>>5&127,r[n++]=u>>>12&127,r[n++]=u>>>19&127,r[n++]=(u>>>26|(h&1)<<6)&127,r[n++]=h>>>1&127,r[n++]=h>>>8&127,r[n++]=h>>>15&127,r[n++]=h>>>22&127,r[n++]=(h>>>29|(c&15)<<3)&127,r[n++]=c>>>4&127,r[n++]=c>>>11&127,r[n++]=c>>>18&127,r[n]=c>>>25&127}function kw(t,e,r,i){let n=i,a=t[e]>>>0,s=t[e+1]>>>0,o=t[e+2]>>>0,l=t[e+3]>>>0,u=t[e+4]>>>0,h=t[e+5]>>>0,c=t[e+6]>>>0,p=t[e+7]>>>0;r[n++]=a>>>0&255,r[n++]=a>>>8&255,r[n++]=a>>>16&255,r[n++]=a>>>24&255,r[n++]=s>>>0&255,r[n++]=s>>>8&255,r[n++]=s>>>16&255,r[n++]=s>>>24&255,r[n++]=o>>>0&255,r[n++]=o>>>8&255,r[n++]=o>>>16&255,r[n++]=o>>>24&255,r[n++]=l>>>0&255,r[n++]=l>>>8&255,r[n++]=l>>>16&255,r[n++]=l>>>24&255,r[n++]=u>>>0&255,r[n++]=u>>>8&255,r[n++]=u>>>16&255,r[n++]=u>>>24&255,r[n++]=h>>>0&255,r[n++]=h>>>8&255,r[n++]=h>>>16&255,r[n++]=h>>>24&255,r[n++]=c>>>0&255,r[n++]=c>>>8&255,r[n++]=c>>>16&255,r[n++]=c>>>24&255,r[n++]=p>>>0&255,r[n++]=p>>>8&255,r[n++]=p>>>16&255,r[n]=p>>>24&255}function Tw(t,e,r,i){let n=i,a=t[e]>>>0,s=t[e+1]>>>0,o=t[e+2]>>>0,l=t[e+3]>>>0,u=t[e+4]>>>0,h=t[e+5]>>>0,c=t[e+6]>>>0,p=t[e+7]>>>0,f=t[e+8]>>>0;r[n++]=a>>>0&511,r[n++]=a>>>9&511,r[n++]=a>>>18&511,r[n++]=(a>>>27|(s&15)<<5)&511,r[n++]=s>>>4&511,r[n++]=s>>>13&511,r[n++]=s>>>22&511,r[n++]=(s>>>31|(o&255)<<1)&511,r[n++]=o>>>8&511,r[n++]=o>>>17&511,r[n++]=(o>>>26|(l&7)<<6)&511,r[n++]=l>>>3&511,r[n++]=l>>>12&511,r[n++]=l>>>21&511,r[n++]=(l>>>30|(u&127)<<2)&511,r[n++]=u>>>7&511,r[n++]=u>>>16&511,r[n++]=(u>>>25|(h&3)<<7)&511,r[n++]=h>>>2&511,r[n++]=h>>>11&511,r[n++]=h>>>20&511,r[n++]=(h>>>29|(c&63)<<3)&511,r[n++]=c>>>6&511,r[n++]=c>>>15&511,r[n++]=(c>>>24|(p&1)<<8)&511,r[n++]=p>>>1&511,r[n++]=p>>>10&511,r[n++]=p>>>19&511,r[n++]=(p>>>28|(f&31)<<4)&511,r[n++]=f>>>5&511,r[n++]=f>>>14&511,r[n]=f>>>23&511}function Iw(t,e,r,i){let n=i,a=t[e]>>>0,s=t[e+1]>>>0,o=t[e+2]>>>0,l=t[e+3]>>>0,u=t[e+4]>>>0,h=t[e+5]>>>0,c=t[e+6]>>>0,p=t[e+7]>>>0,f=t[e+8]>>>0,d=t[e+9]>>>0;r[n++]=a>>>0&1023,r[n++]=a>>>10&1023,r[n++]=a>>>20&1023,r[n++]=(a>>>30|(s&255)<<2)&1023,r[n++]=s>>>8&1023,r[n++]=s>>>18&1023,r[n++]=(s>>>28|(o&63)<<4)&1023,r[n++]=o>>>6&1023,r[n++]=o>>>16&1023,r[n++]=(o>>>26|(l&15)<<6)&1023,r[n++]=l>>>4&1023,r[n++]=l>>>14&1023,r[n++]=(l>>>24|(u&3)<<8)&1023,r[n++]=u>>>2&1023,r[n++]=u>>>12&1023,r[n++]=u>>>22&1023,r[n++]=h>>>0&1023,r[n++]=h>>>10&1023,r[n++]=h>>>20&1023,r[n++]=(h>>>30|(c&255)<<2)&1023,r[n++]=c>>>8&1023,r[n++]=c>>>18&1023,r[n++]=(c>>>28|(p&63)<<4)&1023,r[n++]=p>>>6&1023,r[n++]=p>>>16&1023,r[n++]=(p>>>26|(f&15)<<6)&1023,r[n++]=f>>>4&1023,r[n++]=f>>>14&1023,r[n++]=(f>>>24|(d&3)<<8)&1023,r[n++]=d>>>2&1023,r[n++]=d>>>12&1023,r[n]=d>>>22&1023}function Cw(t,e,r,i){let n=i,a=t[e]>>>0,s=t[e+1]>>>0,o=t[e+2]>>>0,l=t[e+3]>>>0,u=t[e+4]>>>0,h=t[e+5]>>>0,c=t[e+6]>>>0,p=t[e+7]>>>0,f=t[e+8]>>>0,d=t[e+9]>>>0,y=t[e+10]>>>0;r[n++]=a>>>0&2047,r[n++]=a>>>11&2047,r[n++]=(a>>>22|(s&1)<<10)&2047,r[n++]=s>>>1&2047,r[n++]=s>>>12&2047,r[n++]=(s>>>23|(o&3)<<9)&2047,r[n++]=o>>>2&2047,r[n++]=o>>>13&2047,r[n++]=(o>>>24|(l&7)<<8)&2047,r[n++]=l>>>3&2047,r[n++]=l>>>14&2047,r[n++]=(l>>>25|(u&15)<<7)&2047,r[n++]=u>>>4&2047,r[n++]=u>>>15&2047,r[n++]=(u>>>26|(h&31)<<6)&2047,r[n++]=h>>>5&2047,r[n++]=h>>>16&2047,r[n++]=(h>>>27|(c&63)<<5)&2047,r[n++]=c>>>6&2047,r[n++]=c>>>17&2047,r[n++]=(c>>>28|(p&127)<<4)&2047,r[n++]=p>>>7&2047,r[n++]=p>>>18&2047,r[n++]=(p>>>29|(f&255)<<3)&2047,r[n++]=f>>>8&2047,r[n++]=f>>>19&2047,r[n++]=(f>>>30|(d&511)<<2)&2047,r[n++]=d>>>9&2047,r[n++]=d>>>20&2047,r[n++]=(d>>>31|(y&1023)<<1)&2047,r[n++]=y>>>10&2047,r[n]=y>>>21&2047}function Mw(t,e,r,i){let n=i,a=t[e]>>>0,s=t[e+1]>>>0,o=t[e+2]>>>0,l=t[e+3]>>>0,u=t[e+4]>>>0,h=t[e+5]>>>0,c=t[e+6]>>>0,p=t[e+7]>>>0,f=t[e+8]>>>0,d=t[e+9]>>>0,y=t[e+10]>>>0,m=t[e+11]>>>0;r[n++]=a>>>0&4095,r[n++]=a>>>12&4095,r[n++]=(a>>>24|(s&15)<<8)&4095,r[n++]=s>>>4&4095,r[n++]=s>>>16&4095,r[n++]=(s>>>28|(o&255)<<4)&4095,r[n++]=o>>>8&4095,r[n++]=o>>>20&4095,r[n++]=l>>>0&4095,r[n++]=l>>>12&4095,r[n++]=(l>>>24|(u&15)<<8)&4095,r[n++]=u>>>4&4095,r[n++]=u>>>16&4095,r[n++]=(u>>>28|(h&255)<<4)&4095,r[n++]=h>>>8&4095,r[n++]=h>>>20&4095,r[n++]=c>>>0&4095,r[n++]=c>>>12&4095,r[n++]=(c>>>24|(p&15)<<8)&4095,r[n++]=p>>>4&4095,r[n++]=p>>>16&4095,r[n++]=(p>>>28|(f&255)<<4)&4095,r[n++]=f>>>8&4095,r[n++]=f>>>20&4095,r[n++]=d>>>0&4095,r[n++]=d>>>12&4095,r[n++]=(d>>>24|(y&15)<<8)&4095,r[n++]=y>>>4&4095,r[n++]=y>>>16&4095,r[n++]=(y>>>28|(m&255)<<4)&4095,r[n++]=m>>>8&4095,r[n]=m>>>20&4095}function Bw(t,e,r,i){let n=i,a=t[e]>>>0,s=t[e+1]>>>0,o=t[e+2]>>>0,l=t[e+3]>>>0,u=t[e+4]>>>0,h=t[e+5]>>>0,c=t[e+6]>>>0,p=t[e+7]>>>0,f=t[e+8]>>>0,d=t[e+9]>>>0,y=t[e+10]>>>0,m=t[e+11]>>>0,g=t[e+12]>>>0,x=t[e+13]>>>0,v=t[e+14]>>>0,b=t[e+15]>>>0;r[n++]=a>>>0&65535,r[n++]=a>>>16&65535,r[n++]=s>>>0&65535,r[n++]=s>>>16&65535,r[n++]=o>>>0&65535,r[n++]=o>>>16&65535,r[n++]=l>>>0&65535,r[n++]=l>>>16&65535,r[n++]=u>>>0&65535,r[n++]=u>>>16&65535,r[n++]=h>>>0&65535,r[n++]=h>>>16&65535,r[n++]=c>>>0&65535,r[n++]=c>>>16&65535,r[n++]=p>>>0&65535,r[n++]=p>>>16&65535,r[n++]=f>>>0&65535,r[n++]=f>>>16&65535,r[n++]=d>>>0&65535,r[n++]=d>>>16&65535,r[n++]=y>>>0&65535,r[n++]=y>>>16&65535,r[n++]=m>>>0&65535,r[n++]=m>>>16&65535,r[n++]=g>>>0&65535,r[n++]=g>>>16&65535,r[n++]=x>>>0&65535,r[n++]=x>>>16&65535,r[n++]=v>>>0&65535,r[n++]=v>>>16&65535,r[n++]=b>>>0&65535,r[n]=b>>>16&65535}function Pw(t,e,r,i){let n=i,a=e;for(let s=0;s<8;s++){let o=t[a++]>>>0;r[n++]=o>>>0&1,r[n++]=o>>>1&1,r[n++]=o>>>2&1,r[n++]=o>>>3&1,r[n++]=o>>>4&1,r[n++]=o>>>5&1,r[n++]=o>>>6&1,r[n++]=o>>>7&1,r[n++]=o>>>8&1,r[n++]=o>>>9&1,r[n++]=o>>>10&1,r[n++]=o>>>11&1,r[n++]=o>>>12&1,r[n++]=o>>>13&1,r[n++]=o>>>14&1,r[n++]=o>>>15&1,r[n++]=o>>>16&1,r[n++]=o>>>17&1,r[n++]=o>>>18&1,r[n++]=o>>>19&1,r[n++]=o>>>20&1,r[n++]=o>>>21&1,r[n++]=o>>>22&1,r[n++]=o>>>23&1,r[n++]=o>>>24&1,r[n++]=o>>>25&1,r[n++]=o>>>26&1,r[n++]=o>>>27&1,r[n++]=o>>>28&1,r[n++]=o>>>29&1,r[n++]=o>>>30&1,r[n++]=o>>>31&1}}function zw(t,e,r,i){let n=i,a=e;for(let s=0;s<8;s++){let o=t[a++]>>>0,l=t[a++]>>>0;r[n++]=o>>>0&3,r[n++]=o>>>2&3,r[n++]=o>>>4&3,r[n++]=o>>>6&3,r[n++]=o>>>8&3,r[n++]=o>>>10&3,r[n++]=o>>>12&3,r[n++]=o>>>14&3,r[n++]=o>>>16&3,r[n++]=o>>>18&3,r[n++]=o>>>20&3,r[n++]=o>>>22&3,r[n++]=o>>>24&3,r[n++]=o>>>26&3,r[n++]=o>>>28&3,r[n++]=o>>>30&3,r[n++]=l>>>0&3,r[n++]=l>>>2&3,r[n++]=l>>>4&3,r[n++]=l>>>6&3,r[n++]=l>>>8&3,r[n++]=l>>>10&3,r[n++]=l>>>12&3,r[n++]=l>>>14&3,r[n++]=l>>>16&3,r[n++]=l>>>18&3,r[n++]=l>>>20&3,r[n++]=l>>>22&3,r[n++]=l>>>24&3,r[n++]=l>>>26&3,r[n++]=l>>>28&3,r[n++]=l>>>30&3}}function Lw(t,e,r,i){let n=i,a=e;for(let s=0;s<8;s++){let o=t[a++]>>>0,l=t[a++]>>>0,u=t[a++]>>>0;r[n++]=o>>>0&7,r[n++]=o>>>3&7,r[n++]=o>>>6&7,r[n++]=o>>>9&7,r[n++]=o>>>12&7,r[n++]=o>>>15&7,r[n++]=o>>>18&7,r[n++]=o>>>21&7,r[n++]=o>>>24&7,r[n++]=o>>>27&7,r[n++]=(o>>>30|(l&1)<<2)&7,r[n++]=l>>>1&7,r[n++]=l>>>4&7,r[n++]=l>>>7&7,r[n++]=l>>>10&7,r[n++]=l>>>13&7,r[n++]=l>>>16&7,r[n++]=l>>>19&7,r[n++]=l>>>22&7,r[n++]=l>>>25&7,r[n++]=l>>>28&7,r[n++]=(l>>>31|(u&3)<<1)&7,r[n++]=u>>>2&7,r[n++]=u>>>5&7,r[n++]=u>>>8&7,r[n++]=u>>>11&7,r[n++]=u>>>14&7,r[n++]=u>>>17&7,r[n++]=u>>>20&7,r[n++]=u>>>23&7,r[n++]=u>>>26&7,r[n++]=u>>>29&7}}function Vw(t,e,r,i){let n=i,a=e;for(let s=0;s<8;s++){let o=t[a++]>>>0,l=t[a++]>>>0,u=t[a++]>>>0,h=t[a++]>>>0;r[n++]=o>>>0&15,r[n++]=o>>>4&15,r[n++]=o>>>8&15,r[n++]=o>>>12&15,r[n++]=o>>>16&15,r[n++]=o>>>20&15,r[n++]=o>>>24&15,r[n++]=o>>>28&15,r[n++]=l>>>0&15,r[n++]=l>>>4&15,r[n++]=l>>>8&15,r[n++]=l>>>12&15,r[n++]=l>>>16&15,r[n++]=l>>>20&15,r[n++]=l>>>24&15,r[n++]=l>>>28&15,r[n++]=u>>>0&15,r[n++]=u>>>4&15,r[n++]=u>>>8&15,r[n++]=u>>>12&15,r[n++]=u>>>16&15,r[n++]=u>>>20&15,r[n++]=u>>>24&15,r[n++]=u>>>28&15,r[n++]=h>>>0&15,r[n++]=h>>>4&15,r[n++]=h>>>8&15,r[n++]=h>>>12&15,r[n++]=h>>>16&15,r[n++]=h>>>20&15,r[n++]=h>>>24&15,r[n++]=h>>>28&15}}function Ow(t,e,r,i){let n=i,a=e;for(let s=0;s<8;s++){let o=t[a++]>>>0,l=t[a++]>>>0,u=t[a++]>>>0,h=t[a++]>>>0,c=t[a++]>>>0;r[n++]=o>>>0&31,r[n++]=o>>>5&31,r[n++]=o>>>10&31,r[n++]=o>>>15&31,r[n++]=o>>>20&31,r[n++]=o>>>25&31,r[n++]=(o>>>30|(l&7)<<2)&31,r[n++]=l>>>3&31,r[n++]=l>>>8&31,r[n++]=l>>>13&31,r[n++]=l>>>18&31,r[n++]=l>>>23&31,r[n++]=(l>>>28|(u&1)<<4)&31,r[n++]=u>>>1&31,r[n++]=u>>>6&31,r[n++]=u>>>11&31,r[n++]=u>>>16&31,r[n++]=u>>>21&31,r[n++]=u>>>26&31,r[n++]=(u>>>31|(h&15)<<1)&31,r[n++]=h>>>4&31,r[n++]=h>>>9&31,r[n++]=h>>>14&31,r[n++]=h>>>19&31,r[n++]=h>>>24&31,r[n++]=(h>>>29|(c&3)<<3)&31,r[n++]=c>>>2&31,r[n++]=c>>>7&31,r[n++]=c>>>12&31,r[n++]=c>>>17&31,r[n++]=c>>>22&31,r[n++]=c>>>27&31}}function Rw(t,e,r,i){let n=i,a=e;for(let s=0;s<8;s++){let o=t[a++]>>>0,l=t[a++]>>>0,u=t[a++]>>>0,h=t[a++]>>>0,c=t[a++]>>>0,p=t[a++]>>>0;r[n++]=o>>>0&63,r[n++]=o>>>6&63,r[n++]=o>>>12&63,r[n++]=o>>>18&63,r[n++]=o>>>24&63,r[n++]=(o>>>30|(l&15)<<2)&63,r[n++]=l>>>4&63,r[n++]=l>>>10&63,r[n++]=l>>>16&63,r[n++]=l>>>22&63,r[n++]=(l>>>28|(u&3)<<4)&63,r[n++]=u>>>2&63,r[n++]=u>>>8&63,r[n++]=u>>>14&63,r[n++]=u>>>20&63,r[n++]=u>>>26&63,r[n++]=h>>>0&63,r[n++]=h>>>6&63,r[n++]=h>>>12&63,r[n++]=h>>>18&63,r[n++]=h>>>24&63,r[n++]=(h>>>30|(c&15)<<2)&63,r[n++]=c>>>4&63,r[n++]=c>>>10&63,r[n++]=c>>>16&63,r[n++]=c>>>22&63,r[n++]=(c>>>28|(p&3)<<4)&63,r[n++]=p>>>2&63,r[n++]=p>>>8&63,r[n++]=p>>>14&63,r[n++]=p>>>20&63,r[n++]=p>>>26&63}}function $w(t,e,r,i){let n=i,a=e;for(let s=0;s<8;s++){let o=t[a++]>>>0,l=t[a++]>>>0,u=t[a++]>>>0,h=t[a++]>>>0,c=t[a++]>>>0,p=t[a++]>>>0,f=t[a++]>>>0;r[n++]=o>>>0&127,r[n++]=o>>>7&127,r[n++]=o>>>14&127,r[n++]=o>>>21&127,r[n++]=(o>>>28|(l&7)<<4)&127,r[n++]=l>>>3&127,r[n++]=l>>>10&127,r[n++]=l>>>17&127,r[n++]=l>>>24&127,r[n++]=(l>>>31|(u&63)<<1)&127,r[n++]=u>>>6&127,r[n++]=u>>>13&127,r[n++]=u>>>20&127,r[n++]=(u>>>27|(h&3)<<5)&127,r[n++]=h>>>2&127,r[n++]=h>>>9&127,r[n++]=h>>>16&127,r[n++]=h>>>23&127,r[n++]=(h>>>30|(c&31)<<2)&127,r[n++]=c>>>5&127,r[n++]=c>>>12&127,r[n++]=c>>>19&127,r[n++]=(c>>>26|(p&1)<<6)&127,r[n++]=p>>>1&127,r[n++]=p>>>8&127,r[n++]=p>>>15&127,r[n++]=p>>>22&127,r[n++]=(p>>>29|(f&15)<<3)&127,r[n++]=f>>>4&127,r[n++]=f>>>11&127,r[n++]=f>>>18&127,r[n++]=f>>>25&127}}function Nw(t,e,r,i){let n=i,a=e;for(let s=0;s<8;s++){let o=t[a++]>>>0,l=t[a++]>>>0,u=t[a++]>>>0,h=t[a++]>>>0,c=t[a++]>>>0,p=t[a++]>>>0,f=t[a++]>>>0,d=t[a++]>>>0;r[n++]=o>>>0&255,r[n++]=o>>>8&255,r[n++]=o>>>16&255,r[n++]=o>>>24&255,r[n++]=l>>>0&255,r[n++]=l>>>8&255,r[n++]=l>>>16&255,r[n++]=l>>>24&255,r[n++]=u>>>0&255,r[n++]=u>>>8&255,r[n++]=u>>>16&255,r[n++]=u>>>24&255,r[n++]=h>>>0&255,r[n++]=h>>>8&255,r[n++]=h>>>16&255,r[n++]=h>>>24&255,r[n++]=c>>>0&255,r[n++]=c>>>8&255,r[n++]=c>>>16&255,r[n++]=c>>>24&255,r[n++]=p>>>0&255,r[n++]=p>>>8&255,r[n++]=p>>>16&255,r[n++]=p>>>24&255,r[n++]=f>>>0&255,r[n++]=f>>>8&255,r[n++]=f>>>16&255,r[n++]=f>>>24&255,r[n++]=d>>>0&255,r[n++]=d>>>8&255,r[n++]=d>>>16&255,r[n++]=d>>>24&255}}function Uw(t,e,r,i){let n=i,a=e;for(let s=0;s<128;s++){let o=t[a++]>>>0;r[n++]=o&65535,r[n++]=o>>>16&65535}}function qw(t,e,r,i,n){let a=ul[n]>>>0,s=e,o=0,l=t[s]>>>0,u=i;for(let h=0;h<8;h++){for(let c=0;c<32;c++)if(o+n<=32){let p=l>>>o&a;r[u+c]=p|0,o+=n,o===32&&(o=0,s++,c!==31&&(l=t[s]>>>0))}else{let p=32-o,f=l>>>o;s++,l=t[s]>>>0;let d=n-p,y=-1>>>32-d>>>0,m=(f|(l&y)<>>0)}}var hl=bw(py),jw=3*hl/256+hl|0;function fy(){let t=new Uint8Array(jw);return{dataToBePacked:Array(33),dataPointers:new Int32Array(33),byteContainer:t,byteContainerI32:new Int32Array(t.buffer,t.byteOffset,t.byteLength>>>2),exceptionSizes:new Int32Array(33)}}function Gw(t=16){if(t<0)throw RangeError(`initialEncodedWordCapacity must be >= 0, got ${t}`);let e=Math.max(16,t|0);return{encodedWords:new Uint32Array(e),decoderWorkspace:fy()}}function Xw(t,e){if(e<=t.encodedWords.length)return t.encodedWords;let r=new Uint32Array(Math.max(16,e*2));return t.encodedWords=r,r}function Yw(t,e,r,i){i.byteContainer.length>>2;if(n.byteOffset&3)for(let o=0;o>>8&255,n[u+2|0]=l>>>16&255,n[u+3|0]=l>>>24&255}else{let o=i.byteContainerI32;(!o||o.buffer!==n.buffer||o.byteOffset!==n.byteOffset||o.length>>2)),o.set(t.subarray(e,e+a))}let s=r&3;if(s>0){let o=t[e+a|0]|0,l=a<<2;for(let u=0;u>>(u<<3)&255}return n}function Ww(t,e,r){let i=t[e++]|0,n=r.dataToBePacked;for(let a=2;a<=32;a=a+1|0){if(!(i>>>a-1&1))continue;if(e>=t.length)throw Error(`FastPFOR decode: truncated exception stream header (bitWidth=${a}, streamWordIndex=${e}, needWords=1, availableWords=${t.length-e}, encodedWords=${t.length})`);let s=t[e++]>>>0,o=vw(s),l=s*a+31>>>5;if(e+l>t.length)throw Error(`FastPFOR decode: truncated exception stream (bitWidth=${a}, size=${s}, streamWordIndex=${e}, needWords=${l}, availableWords=${t.length-e}, encodedWords=${t.length})`);let u=n[a];(!u||u.length>>5)|0,r.exceptionSizes[a]=s}return e}function Zw(t,e,r,i,n){switch(n){case 1:Pw(t,e,r,i);break;case 2:zw(t,e,r,i);break;case 3:Lw(t,e,r,i);break;case 4:Vw(t,e,r,i);break;case 5:Ow(t,e,r,i);break;case 6:Rw(t,e,r,i);break;case 7:$w(t,e,r,i);break;case 8:Nw(t,e,r,i);break;case 16:Uw(t,e,r,i);break;default:qw(t,e,r,i,n)}return e+(n<<3)|0}function Hw(t,e,r,i){if(r+2>e)throw Error(`FastPFOR decode: byteContainer underflow at block=${i} (need 2 bytes for [bitWidth, exceptionCount], bytePos=${r}, byteSize=${e})`);let n=t[r++],a=t[r++];if(n>32)throw Error(`FastPFOR decode: invalid bitWidth=${n} at block=${i} (expected 0..32). This likely indicates corrupted or truncated input.`);return{bitWidth:n,exceptionCount:a,bytePosIn:r}}function Kw(t,e,r,i,n,a){if(r+1>e)throw Error(`FastPFOR decode: exception header underflow at block=${a} (need 1 byte for maxBits, bytePos=${r}, byteSize=${e})`);let s=t[r++];if(s32)throw Error(`FastPFOR decode: invalid maxBits=${s} at block=${a} (bitWidth=${i}, expected ${i}..32)`);let o=s-i|0;if(o<1||o>32)throw Error(`FastPFOR decode: invalid exceptionBitWidth=${o} at block=${a} (bitWidth=${i}, maxBits=${s})`);if(r+n>e)throw Error(`FastPFOR decode: exception positions underflow at block=${a} (need=${n}, have=${e-r})`);return{maxBits:s,exceptionBitWidth:o,bytePosIn:r}}function Jw(t,e,r,i,n,a,s,o,l){let{maxBits:u,exceptionBitWidth:h,bytePosIn:c}=Kw(n,a,s,r,i,l);if(s=c,h===1){let m=1<y)throw Error(`FastPFOR decode: exception stream overflow for exceptionBitWidth=${h} (ptr=${d}, need ${i}, size=${y}) at block ${l}`);for(let m=0;m0&&(c=Jw(n,m,d,y,o,l,c,u,p))}if(h!==i)throw Error(`FastPFOR decode: packed region mismatch (pageStart=${e}, packedStart=${r}, consumedPackedEnd=${h}, expectedPackedEnd=${i}, packedWords=${i-r}, encoded.length=${t.length})`)}function t3(t,e,r,i,n,a){let s=r|0,o=t[s]|0;if(o<=0||s+o>t.length-1)throw Error(`FastPFOR decode: invalid whereMeta=${o} at pageStart=${s} (expected > 0 and pageStart+whereMeta < encoded.length=${t.length})`);let l=s+1|0,u=s+o|0,h=t[u]>>>0,c=h+3>>>2,p=u+1,f=p+c;if(f>=t.length)throw Error(`FastPFOR decode: invalid byteSize=${h} (metaInts=${c}, pageStart=${s}, packedEnd=${u}, byteContainerStart=${p}) causes bitmapPos=${f} out of bounds (encoded.length=${t.length})`);let d=Yw(t,p,h,a),y=h,m=Ww(t,f,a);return a.dataPointers.fill(0),Qw(t,s,l,u,e,i|0,n/256|0,d,y,a),m}function e3(t,e,r,i,n,a){let s=i+gu(n,256),o=i,l=r;for(;o!==s;){let u=Math.min(hl,s-o);l=t3(t,e,l,o,u,a),o=o+u|0}return l}function r3(t,e,r,i,n,a){if(a===0)return e;let s=0,o=e,l=e+r,u=n,h=n,c=n+a,p=0,f=0;for(;o>>s&255;if(s+=8,o+=s>>>5,s&=31,p|=(d&127)<28)throw Error(`FastPFOR VByte: unterminated value (expected MSB=1 terminator within 5 bytes; shift=${f}, partial=${p}, decoded=${h-u}/${a}, inPos=${o}, inEnd=${l})`)}if(h!==c)throw Error(`FastPFOR VByte: truncated stream (decoded=${h-u}, expected=${a}, consumedWords=${o-e}/${r}, vbyteStart=${e}, vbyteEnd=${l})`);return o}function i3(t,e,r){let i=0,n=0,a=new Uint32Array(e),s=r!=null?r:fy();if(t.length>0){let u=t[i]|0;if(i=i+1|0,u&255)throw Error(`FastPFOR decode: invalid alignedLength=${u} (expected multiple of 256)`);if(n+u>a.length)throw Error(`FastPFOR decode: output buffer too small (outPos=${n}, alignedLength=${u}, out.length=${a.length})`);i=e3(t,a,i,n,u,s),n=n+u|0}let o=t.length-i|0,l=e-n|0;return r3(t,i,o,a,n,l),a}function n3(t,e,r,i,n){switch(n){case 2:Dw(t,e,r,i);return;case 3:_w(t,e,r,i);return;case 4:Aw(t,e,r,i);return;case 5:Sw(t,e,r,i);return;case 6:Ew(t,e,r,i);return;case 7:Fw(t,e,r,i);return;case 8:kw(t,e,r,i);return;case 9:Tw(t,e,r,i);return;case 10:Iw(t,e,r,i);return;case 11:Cw(t,e,r,i);return;case 12:Mw(t,e,r,i);return;case 16:Bw(t,e,r,i);return;case 32:for(let u=0;u<32;u=u+1|0)r[i+u|0]=t[e+u|0]|0;return}let a=ul[n]>>>0,s=e,o=0,l=t[s]>>>0;for(let u=0;u<32;u++)if(o+n<=32){let h=l>>>o&a;r[i+u]=h|0,o+=n,o===32&&(o=0,s++,u!==31&&(l=t[s]>>>0))}else{let h=32-o,c=l>>>o;s++,l=t[s]>>>0;let p=ul[n-h]>>>0,f=(c|(l&p)<t.length)throw RangeError(`decodeBigEndianInt32sInto: out of bounds (offset=${e}, byteLength=${r}, bytes.length=${t.length})`);let n=Math.floor(r/4),a=r%4!=0,s=a?n+1:n;if(i.length0){let o=t.byteOffset+e;if(o&3)for(let l=0;l=64)throw Error("Varint too long")}return e.set(n),r}function o3(t,e,r){let i=new Float64Array(r);for(let n=0;n>4,n<128||(n=e[r.get()],r.increment(),i|=(n&127)<<3,n<128)||(n=e[r.get()],r.increment(),i|=(n&127)<<10,n<128)||(n=e[r.get()],r.increment(),i|=(n&127)<<17,n<128)||(n=e[r.get()],r.increment(),i|=(n&127)<<24,n<128)||(n=e[r.get()],r.increment(),i|=(n&1)<<31,n<128))return i*4294967296+(t>>>0);throw Error("Expected varint not more than 10 bytes")}function h3(t,e,r,i){return c3(t,e,r,i,Gw(r>>>2))}function c3(t,e,r,i,n){let a=i.get();if(r&3)throw Error(`FastPFOR: invalid encodedByteLength=${r} at offset=${a} (encodedBytes.length=${t.length}; expected a multiple of 4 bytes for an int32 big-endian word stream)`);let s=r>>>2,o=Xw(n,s);a3(t,a,r,o);let l=i3(o.subarray(0,s),e,n.decoderWorkspace);return i.add(r),l}function et(t){return t>>>1^-(t&1)}function Ot(t){return t>>BigInt(1)^-(t&BigInt(1))}function We(t){return t%2==1?(t+1)/-2:t/2}function p3(t){let e=new Int32Array(t.length);for(let r=0;r=4)for(;i=4)for(;i=4)for(;r=4)for(let i=t[0];r=4)for(;i=4)for(;l>>0;for(let r=1;r>>0;return e}function jc(t){let e=new BigUint64Array(t.length);e[0]=BigInt.asUintN(64,Ot(t[0]));for(let r=1;r>>0,e[1]=et(t[1])>>>0;for(let r=2;r>>0,e[r+1]=e[r-1]+et(t[r+1])>>>0;return e}function F3(t,e,r,i){let n=yy(t,e,r,i);return new Uint32Array(n)}function k3(t){return t[1]}function T3(t){return et(t[1])}function I3(t){if(t.length===2){let e=et(t[1]);return[e,e]}return[et(t[2]),et(t[3])]}function C3(t){return t[1]}function M3(t){return Ot(t[1])}function B3(t){if(t.length===2){let e=Ot(t[1]);return[e,e]}return[Ot(t[2]),Ot(t[3])]}var St;(function(t){t.PRESENT="PRESENT",t.DATA="DATA",t.OFFSET="OFFSET",t.LENGTH="LENGTH"})(St||(St={}));var jt;(function(t){t.NONE="NONE",t.SINGLE="SINGLE",t.SHARED="SHARED",t.VERTEX="VERTEX",t.MORTON="MORTON",t.FSST="FSST"})(jt||(jt={}));var Me;(function(t){t.VERTEX="VERTEX",t.INDEX="INDEX",t.STRING="STRING",t.KEY="KEY"})(Me||(Me={}));var Ct;(function(t){t.VAR_BINARY="VAR_BINARY",t.GEOMETRIES="GEOMETRIES",t.PARTS="PARTS",t.RINGS="RINGS",t.TRIANGLES="TRIANGLES",t.SYMBOL="SYMBOL",t.DICTIONARY="DICTIONARY"})(Ct||(Ct={}));var P3=[St.PRESENT,St.DATA,St.OFFSET,St.LENGTH],Gc=[H.NONE,H.DELTA,H.COMPONENTWISE_DELTA,H.RLE,H.MORTON],z3=[le.NONE,le.FAST_PFOR,le.VARINT],L3=[jt.NONE,jt.SINGLE,jt.SHARED,jt.VERTEX,jt.MORTON,jt.FSST],V3=[Me.VERTEX,Me.INDEX,Me.STRING,Me.KEY],O3=[Ct.VAR_BINARY,Ct.GEOMETRIES,Ct.PARTS,Ct.RINGS,Ct.TRIANGLES,Ct.SYMBOL,Ct.DICTIONARY];function ct(t,e){let r=N3(t,e);return r.logicalLevelTechnique1===H.MORTON?R3(r,t,e):(H.RLE===r.logicalLevelTechnique1||H.RLE===r.logicalLevelTechnique2)&&le.NONE!==r.physicalLevelTechnique?$3(r,t,e):r}function R3(t,e,r){let i=$t(e,r,2);return{physicalStreamType:t.physicalStreamType,logicalStreamType:t.logicalStreamType,logicalLevelTechnique1:t.logicalLevelTechnique1,logicalLevelTechnique2:t.logicalLevelTechnique2,physicalLevelTechnique:t.physicalLevelTechnique,numValues:t.numValues,byteLength:t.byteLength,decompressedCount:t.decompressedCount,numBits:i[0],coordinateShift:i[1]}}function $3(t,e,r){let 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fe=class{constructor(t,e){this.values=t,this._size=e}get(t){let e=Math.floor(t/8),r=t%8;return(this.values[e]>>r&1)==1}set(t,e){let r=Math.floor(t/8),i=t%8;this.values[r]=this.values[r]|+!!e<>r&1}size(){return this._size}getBuffer(){return this.values}};function Er(t,e,r){if(!e)return t;let i=e.size(),n=t.constructor,a=new n(i),s=0;for(let o=0;o=s);){let o=t[i.increment()];if(o<=127){let l=o+3,u=t[i.increment()],h=Math.min(a+l,e);n.fill(u,a,h),a=h}else{let l=256-o;for(let u=0;u=12?X3.decode(t.subarray(e,r)):Y3(t,e,r)}function Y3(t,e,r){let i="",n=e;for(;n239?4:a>223?3:a>191?2:1;if(n+o>r)break;let 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rt(this,null,function*(){this.data=t,this.collisionBoxArray=new Ll;let a=new cu(Object.keys(t.layers).sort()),s=new ku(this.tileID,this.promoteId);s.bucketLayerIDs=[];let o={},l={featureIndex:s,iconDependencies:{},patternDependencies:{},glyphDependencies:{},dashDependencies:{},availableImages:r,subdivisionGranularity:n},u=e.familiesBySource[this.source];for(let S in u){let k=t.layers[S];if(!k)continue;k.version===1&&Bt(`Vector tile source "${this.source}" layer "${S}" does not use vector tile spec v2 and therefore may have some rendering errors.`);let z=a.encode(S),O=[];for(let P=0;PF.id)))}}let h=Ia(l.glyphDependencies,S=>Object.keys(S));for(let S of this.inFlightDependencies)S==null||S.abort();this.inFlightDependencies=[];let c=Promise.resolve({});if(Object.keys(h).length){let S=new AbortController;this.inFlightDependencies.push(S),c=i.sendAsync({type:"GG",data:{stacks:h,source:this.source,tileID:this.tileID,type:"glyphs"}},S)}let p=Object.keys(l.iconDependencies),f=Promise.resolve({});if(p.length){let S=new AbortController;this.inFlightDependencies.push(S),f=i.sendAsync({type:"GI",data:{icons:p,source:this.source,tileID:this.tileID,type:"icons"}},S)}let d=Object.keys(l.patternDependencies),y=Promise.resolve({});if(d.length){let S=new AbortController;this.inFlightDependencies.push(S),y=i.sendAsync({type:"GI",data:{icons:d,source:this.source,tileID:this.tileID,type:"patterns"}},S)}let m=l.dashDependencies,g=Promise.resolve({});if(Object.keys(m).length){let S=new AbortController;this.inFlightDependencies.push(S),g=i.sendAsync({type:"GDA",data:{dashes:m}},S)}let[x,v,b,D]=yield Promise.all([c,f,y,g]),A=new qy(x),_=new ou(v,b);for(let S in o){let k=o[S];k.hasDependencies&&(Ny(k.layers,this.zoom,r),k.addFeatures({options:l,canonical:this.tileID.canonical,glyphMap:x,glyphPositions:A.positions,iconMap:v,iconPositions:_.iconPositions,patternMap:b,patternPositions:_.patternPositions,dashPositions:D,showCollisionBoxes:this.showCollisionBoxes}))}return{buckets:Object.values(o).filter(S=>!S.isEmpty()),featureIndex:s,collisionBoxArray:this.collisionBoxArray,glyphAtlasImage:A.image,imageAtlas:_,dashPositions:D,glyphMap:this.returnDependencies?x:null,iconMap:this.returnDependencies?v:null,glyphPositions:this.returnDependencies?A.positions:null}})}};function Ny(t,e,r){let i=new st(e);for(let n of t)n.recalculate(i,r)}var Gy=class{constructor(){this.loading={},this.loaded={},this.parsing={}}startLoading(t,e){this.loading[t]=e}finishLoading(t){delete this.loading[t]}abort(t){let e=this.loading[t];e!=null&&e.abort&&(e.abort.abort(),delete this.loading[t])}getParsing(t){return this.parsing[t]}setParsing(t,e){this.parsing[t]=e}removeParsing(t){delete this.parsing[t]}markLoaded(t,e){this.loaded[t]=e}getLoaded(t){let e=this.loaded[t];if(e)return e}removeLoaded(t){delete this.loaded[t]}clearLoaded(){this.loaded={}}},Xy=class{constructor(t){this.start=`${t}#start`,this.end=`${t}#end`,this.measure=t,performance.mark(this.start)}finish(){performance.mark(this.end);let t=performance.getEntriesByName(this.measure);return t.length===0&&(performance.measure(this.measure,this.start,this.end),t=performance.getEntriesByName(this.measure),performance.clearMarks(this.start),performance.clearMarks(this.end),performance.clearMeasures(this.measure)),t}},n5=class{constructor(t,e,r,i,n){this.type=t,this.properties=r||{},this.extent=n,this.pointsArray=e,this.id=i}loadGeometry(){return this.pointsArray.map(t=>t.map(e=>new B(e.x,e.y)))}},a5=class{constructor(t,e,r){this.version=2,this._myFeatures=t,this.name=e,this.length=t.length,this.extent=r}feature(t){return this._myFeatures[t]}},s5=class{constructor(){this.layers={}}addLayer(t){this.layers[t.name]=t}};function o5(t,e,r){let{extent:i}=t,n=2**(r.z-e.z),a=(r.x-e.x*n)*i,s=(r.y-e.y*n)*i,o=[];for(let l=0;l0&&l.addLayer(d)}let h={vectorTile:l,rawData:hu(l).buffer};return this.overzoomedTileResultCache.set(s,h),h}reloadTile(t){return rt(this,null,function*(){let e=t.uid,r=this.tileState.getLoaded(e);if(!r)throw Error("Should not be trying to reload a tile that was never loaded or has been removed");if(r.vectorTile)return r.showCollisionBoxes=t.showCollisionBoxes,yield this._parseWorkerTile(r,t)})}abortTile(t){return rt(this,null,function*(){this.tileState.abort(t.uid)})}removeTile(t){return rt(this,null,function*(){this.tileState.removeLoaded(t.uid)})}},u5=class{constructor(){this.loaded={}}loadTile(t){return rt(this,null,function*(){let{uid:e,encoding:r,rawImageData:i,redFactor:n,greenFactor:a,blueFactor:s,baseShift:o}=t,l=i.width+4,u=i.height+4,h=Ca(i)?new Zt({width:l,height:u},yield ap(i,-2,-2,l,u)):i,c=new jl(e,h,r,n,a,s,o);return this.loaded||(this.loaded={}),this.loaded[e]=c,c})}removeTile(t){let e=this.loaded,r=t.uid;e!=null&&e[r]&&delete e[r]}},h5=class{constructor(t,e,r,i=c5){this.actor=t,this.layerIndex=e,this.availableImages=r,this.tileState=new Gy,this._createGeoJSONIndex=i}loadVectorTile(t){if(!this._geoJSONIndex)throw Error("Unable to parse the data into a cluster or geojson");let{z:e,x:r,y:i}=t.tileID.canonical,n=this._geoJSONIndex.getTile(e,r,i);if(!n)return null;let a=new ly(n.features,{version:2,extent:mt});return{vectorTile:a,rawData:hu(a,np).buffer}}loadTile(t){return rt(this,null,function*(){let{uid:e}=t,r=new jy(t);r.abort=new AbortController;try{let i=this.loadVectorTile(t);if(!i)return null;let{vectorTile:n,rawData:a}=i;r.vectorTile=n,this.tileState.markLoaded(e,r);let s={rawData:a};return this.tileState.setParsing(e,s),yield this._parseWorkerTile(r,t)}catch(i){throw this.tileState.markLoaded(e,r),i}})}_parseWorkerTile(t,e){return rt(this,null,function*(){let r=this.tileState.getParsing(t.uid),i=yield t.parse(t.vectorTile,this.layerIndex,this.availableImages,this.actor,e.subdivisionGranularity);if(r){let{rawData:n}=r;i=Gt({rawTileData:n.slice(0),encoding:"mvt"},i),this.tileState.removeParsing(t.uid)}return i})}abortTile(t){return rt(this,null,function*(){this.tileState.abort(t.uid)})}removeTile(t){return rt(this,null,function*(){this.tileState.removeLoaded(t.uid)})}loadData(t){return rt(this,null,function*(){var r;(r=this._pendingRequest)==null||r.abort();let e=this._startRequestTiming(t);this._pendingRequest=new AbortController;try{yield this.loadAndProcessGeoJSON(t,this._pendingRequest),delete this._pendingRequest,this.tileState.clearLoaded();let i={};return t.request&&(i.data=t.data),this._finishRequestTiming(e,t,i),i}catch(i){if(delete this._pendingRequest,!yl(i))throw i;return{abandoned:!0}}})}_startRequestTiming(t){var e;if((e=t.request)!=null&&e.collectResourceTiming)return new Xy(t.request.url)}_finishRequestTiming(t,e,r){let i=t==null?void 0:t.finish();i&&(r.resourceTiming={[e.source]:JSON.parse(JSON.stringify(i))})}reloadTile(t){return rt(this,null,function*(){let e=t.uid,r=this.tileState.getLoaded(e);if(!r)return yield this.loadTile(t);if(r.vectorTile)return r.showCollisionBoxes=t.showCollisionBoxes,yield this._parseWorkerTile(r,t)})}loadAndProcessGeoJSON(t,e){return rt(this,null,function*(){var r;if(t.request&&(t.data=(yield up(t.request,e)).data),t.data){t.data=this._filterGeoJSON(t.data,t.filter,t.source),this._geoJSONIndex=this._createGeoJSONIndex(t.data,t);return}if(t.dataDiff){(r=this._geoJSONIndex)!=null||(this._geoJSONIndex=this._createGeoJSONIndex({type:"FeatureCollection",features:[]},t)),this._geoJSONIndex.updateData(t.dataDiff,this._getFilterPredicate(t.filter,t.source));return}if(t.updateCluster&&this._geoJSONIndex.updateClusterOptions(t.geojsonVtOptions.cluster,Yy(t)),this._geoJSONIndex==null)throw Error(`Input data given to \'${t.source}\' is not a valid GeoJSON object.`)})}_filterGeoJSON(t,e,r){if(t.type!=="FeatureCollection")return t;let i=this._getFilterPredicate(e,r);return i?{type:"FeatureCollection",features:t.features.filter(n=>i(n))}:t}_getFilterPredicate(t,e){if(typeof t!="boolean"&&!(t!=null&&t.length))return;let r=er(t,`sources.${e}.filter`,{type:"boolean","property-type":"data-driven",overridable:!1,transition:!1});if(r.result==="error")throw Error(r.value.map(i=>`${i.key}: ${i.message}`).join(", "));return i=>r.value.evaluate({zoom:0},i)}removeSource(t){return rt(this,null,function*(){var e;(e=this._pendingRequest)==null||e.abort()})}getClusterExpansionZoom(t){return this._geoJSONIndex.getClusterExpansionZoom(t.clusterId)}getClusterChildren(t){return this._geoJSONIndex.getClusterChildren(t.clusterId)}getClusterLeaves(t){return this._geoJSONIndex.getClusterLeaves(t.clusterId,t.limit,t.offset)}};function c5(t,e){let r=Gt(e.geojsonVtOptions||{},{updateable:!0,clusterOptions:Yy(e)});return new Td(t,r)}function Yy({geojsonVtOptions:t,clusterProperties:e,source:r}){if(!e||!t.clusterOptions)return t.clusterOptions;let i={},n={},a={accumulated:null,zoom:0},s={properties:null},o=Object.keys(e);for(let l of o){let[u,h]=e[l],c=er(h,`sources.${r}.clusterProperties.${l}[1]`),p=er(typeof u=="string"?[u,["accumulated"],["get",l]]:u,`sources.${r}.clusterProperties.${l}[0]`);i[l]=c.value,n[l]=p.value}return t.clusterOptions.map=l=>{s.properties=l;let u={};for(let h of o)u[h]=i[h].evaluate(a,s);return u},t.clusterOptions.reduce=(l,u)=>{s.properties=u;for(let h of o)a.accumulated=l[h],l[h]=n[h].evaluate(a,s)},t.clusterOptions}function Uy(t){return rt(this,null,function*(){if(t.endsWith(".mjs")){yield import(t);return}let e=yield fetch(t,{credentials:"same-origin"});if(!e.ok)throw Error(`Failed to load ${t}: ${e.status}`);let r=yield e.text();if(/^[ \\t]*(import|export)\\s/m.test(r)){let i=URL.createObjectURL(new Blob([r],{type:"text/javascript"}));try{yield import(i)}finally{URL.revokeObjectURL(i)}return}globalThis.eval(r)})}var p5=class{constructor(t){this.self=t,this.actor=new sy(t),this.layerIndexes={},this.availableImages={},this.workerSources={},this.demWorkerSources={},this.externalWorkerSourceTypes={},this.globalStates=new Map,this.self.registerWorkerSource=(e,r)=>{if(this.externalWorkerSourceTypes[e])throw Error(`Worker source with name "${e}" already registered.`);this.externalWorkerSourceTypes[e]=r},this.self.addProtocol=sp,this.self.removeProtocol=op,this.self.registerRTLTextPlugin=e=>{wr.setMethods(e)},this.self.makeRequest=Ma,this.actor.registerMessageHandler("LDT",(e,r)=>this._getDEMWorkerSource(e,r.source).loadTile(r)),this.actor.registerMessageHandler("RDT",(e,r)=>rt(this,null,function*(){this._getDEMWorkerSource(e,r.source).removeTile(r)})),this.actor.registerMessageHandler("GCEZ",(e,r)=>rt(this,null,function*(){return this._getWorkerSource(e,r.type,r.source).getClusterExpansionZoom(r)})),this.actor.registerMessageHandler("GCC",(e,r)=>rt(this,null,function*(){return this._getWorkerSource(e,r.type,r.source).getClusterChildren(r)})),this.actor.registerMessageHandler("GCL",(e,r)=>rt(this,null,function*(){return this._getWorkerSource(e,r.type,r.source).getClusterLeaves(r)})),this.actor.registerMessageHandler("LD",(e,r)=>this._getWorkerSource(e,r.type,r.source).loadData(r)),this.actor.registerMessageHandler("LT",(e,r)=>this._getWorkerSource(e,r.type,r.source).loadTile(r)),this.actor.registerMessageHandler("RT",(e,r)=>this._getWorkerSource(e,r.type,r.source).reloadTile(r)),this.actor.registerMessageHandler("AT",(e,r)=>this._getWorkerSource(e,r.type,r.source).abortTile(r)),this.actor.registerMessageHandler("RMT",(e,r)=>this._getWorkerSource(e,r.type,r.source).removeTile(r)),this.actor.registerMessageHandler("RS",(e,r)=>rt(this,null,function*(){var n,a;if(!((a=(n=this.workerSources[e])==null?void 0:n[r.type])!=null&&a[r.source]))return;let i=this.workerSources[e][r.type][r.source];delete this.workerSources[e][r.type][r.source],i.removeSource!==void 0&&i.removeSource(r)})),this.actor.registerMessageHandler("RM",e=>rt(this,null,function*(){delete this.layerIndexes[e],delete this.availableImages[e],delete this.workerSources[e],delete this.demWorkerSources[e],this.globalStates.delete(e)})),this.actor.registerMessageHandler("SR",(e,r)=>rt(this,null,function*(){this.referrer=r})),this.actor.registerMessageHandler("SRPS",(e,r)=>this._syncRTLPluginState(e,r)),this.actor.registerMessageHandler("IS",(e,r)=>rt(this,null,function*(){yield Uy(r)})),this.actor.registerMessageHandler("SI",(e,r)=>this._setImages(e,r)),this.actor.registerMessageHandler("UL",(e,r)=>rt(this,null,function*(){this._getLayerIndex(e).update(r.layers,r.removedIds,this._getGlobalState(e))})),this.actor.registerMessageHandler("UGS",(e,r)=>rt(this,null,function*(){let i=this._getGlobalState(e);for(let n in r)i[n]=r[n]})),this.actor.registerMessageHandler("SL",(e,r)=>rt(this,null,function*(){this._getLayerIndex(e).replace(r,this._getGlobalState(e))}))}_getGlobalState(t){let e=this.globalStates.get(t);return e||(e={},this.globalStates.set(t,e)),e}_setImages(t,e){return rt(this,null,function*(){this.availableImages[t]=e;for(let r in this.workerSources[t]){let i=this.workerSources[t][r];for(let n in i)i[n].availableImages=e}})}_syncRTLPluginState(t,e){return rt(this,null,function*(){return yield wr.syncState(e,Uy)})}_getAvailableImages(t){let e=this.availableImages[t];return e||(e=[]),e}_getLayerIndex(t){let e=this.layerIndexes[t];return e||(e=this.layerIndexes[t]=new i5),e}_getWorkerSource(t,e,r){var i,n;if((i=this.workerSources)[t]||(i[t]={}),(n=this.workerSources[t])[e]||(n[e]={}),!this.workerSources[t][e][r]){let a={sendAsync:(s,o)=>(s.targetMapId=t,this.actor.sendAsync(s,o))};switch(e){case"vector":this.workerSources[t][e][r]=new l5(a,this._getLayerIndex(t),this._getAvailableImages(t));break;case"geojson":this.workerSources[t][e][r]=new h5(a,this._getLayerIndex(t),this._getAvailableImages(t));break;default:this.workerSources[t][e][r]=new this.externalWorkerSourceTypes[e](a,this._getLayerIndex(t),this._getAvailableImages(t))}}return this.workerSources[t][e][r]}_getDEMWorkerSource(t,e){var r,i;return(r=this.demWorkerSources)[t]||(r[t]={}),(i=this.demWorkerSources[t])[e]||(i[e]=new u5),this.demWorkerSources[t][e]}};mr(self)&&(self.worker=new p5(self));export{p5 as default};\n/*! Bundled license information:\n\nmaplibre-gl/dist/maplibre-gl-shared.mjs:\nmaplibre-gl/dist/maplibre-gl-worker.mjs:\n (**\n * MapLibre GL JS\n * @license 3-Clause BSD. Full text of license: https://github.com/maplibre/maplibre-gl-js/blob/v6.9.0/LICENSE.txt\n *)\n*/\n'});var Vst=W((lri,Ust)=>{"use strict";var h3=it(),h6r=uo().sanitizeHTML,d6r=Fte(),qst=V2();function Ost(e,t){this.subplot=e,this.uid=e.uid+"-"+t,this.index=t,this.idSource="source-"+this.uid,this.idLayer=qst.layoutLayerPrefix+this.uid,this.sourceType=null,this.source=null,this.layerType=null,this.below=null,this.visible=!1}var np=Ost.prototype;np.update=function(t){this.visible?this.needsNewImage(t)?this.updateImage(t):this.needsNewSource(t)?(this.removeLayer(),this.updateSource(t),this.updateLayer(t)):this.needsNewLayer(t)?this.updateLayer(t):this.updateStyle(t):(this.updateSource(t),this.updateLayer(t)),this.visible=Lq(t)};np.needsNewImage=function(e){var t=this.subplot.map;return t.getSource(this.idSource)&&this.sourceType==="image"&&e.sourcetype==="image"&&(this.source!==e.source||JSON.stringify(this.coordinates)!==JSON.stringify(e.coordinates))};np.needsNewSource=function(e){return this.sourceType!==e.sourcetype||JSON.stringify(this.source)!==JSON.stringify(e.source)||this.layerType!==e.type};np.needsNewLayer=function(e){return this.layerType!==e.type||this.below!==this.subplot.belowLookup["layout-"+this.index]};np.lookupBelow=function(){return this.subplot.belowLookup["layout-"+this.index]};np.updateImage=function(e){var t=this.subplot.map;t.getSource(this.idSource).updateImage({url:e.source,coordinates:e.coordinates});var r=this.findFollowingMapLayerId(this.lookupBelow());r!==null&&this.subplot.map.moveLayer(this.idLayer,r)};np.updateSource=function(e){var t=this.subplot.map;if(t.getSource(this.idSource)&&t.removeSource(this.idSource),this.sourceType=e.sourcetype,this.source=e.source,!!Lq(e)){var r=p6r(e);t.addSource(this.idSource,r)}};np.findFollowingMapLayerId=function(e){if(e==="traces")for(var t=this.subplot.getMapLayers(),r=0;r0){for(var r=0;r0}function Nst(e){var t={},r={};switch(e.type){case"circle":h3.extendFlat(r,{"circle-radius":e.circle.radius,"circle-color":e.color,"circle-opacity":e.opacity});break;case"line":h3.extendFlat(r,{"line-width":e.line.width,"line-color":e.color,"line-opacity":e.opacity,"line-dasharray":e.line.dash});break;case"fill":h3.extendFlat(r,{"fill-color":e.color,"fill-outline-color":e.fill.outlinecolor,"fill-opacity":e.opacity});break;case"symbol":var i=e.symbol,n=d6r(i.textposition,i.iconsize);h3.extendFlat(t,{"icon-image":i.icon,"icon-size":i.iconsize/10,"text-field":i.text,"text-size":i.textfont.size,"text-anchor":n.anchor,"text-offset":n.offset,"symbol-placement":i.placement}),h3.extendFlat(r,{"icon-color":e.color,"text-color":i.textfont.color,"text-opacity":e.opacity});break;case"raster":h3.extendFlat(r,{"raster-fade-duration":0,"raster-opacity":e.opacity});break}return{layout:t,paint:r}}function p6r(e){var t=e.sourcetype,r=e.source,i={type:t},n;return t==="geojson"?n="data":t==="vector"?n=typeof r=="string"?"url":"tiles":t==="raster"?(n="tiles",i.tileSize=256):t==="image"&&(n="url",i.coordinates=e.coordinates),i[n]=r,e.sourceattribution&&(i.attribution=h6r(e.sourceattribution)),i}Ust.exports=function(t,r,i){var n=new Ost(t,r);return n.update(i),n}});var Qst=W((uri,Jst)=>{"use strict";var Iq=(Rst(),Go(Pst)),v6r=Bst(),Gst=!1,g6r=()=>{Gst||(Gst=!0,Iq.setWorkerUrl(URL.createObjectURL(new Blob([v6r],{type:"text/javascript"}))))},Rq=it(),$st=cm(),Hst=yi(),m6r=ji(),y6r=bf(),Pq=Ds(),Wst=u1(),x6r=Wst.drawMode,_6r=Wst.selectMode,b6r=cu().prepSelect,w6r=cu().clearOutline,T6r=cu().clearSelectionsCache,A6r=cu().selectOnClick,ax=V2(),M6r=Vst();function Yst(e,t){this.id=t,this.gd=e;var r=e._fullLayout,i=e._context;this.container=r._glcontainer.node(),this.isStatic=i.staticPlot,this.uid=r._uid+"-"+this.id,this.div=null,this.xaxis=null,this.yaxis=null,this.createFramework(r),this.map=null,this.styleObj=null,this.traceHash={},this.layerList=[],this.belowLookup={},this.dragging=!1,this.wheeling=!1}var tu=Yst.prototype;tu.plot=function(e,t,r){var i=this,n;i.map?n=new Promise(function(a,o){i.updateMap(e,t,a,o)}):n=new Promise(function(a,o){i.createMap(e,t,a,o)}),r.push(n)};tu.createMap=function(e,t,r,i){var n=this,a=t[n.id],o=n.styleObj=Kst(a.style),s=a.bounds,l=s?[[s.west,s.south],[s.east,s.north]]:null;let u={container:n.div,style:o.style,center:Nae(a.center),zoom:a.zoom,bearing:a.bearing,pitch:a.pitch,maxBounds:l,interactive:!n.isStatic,canvasContextAttributes:{preserveDrawingBuffer:n.isStatic},doubleClickZoom:!1,boxZoom:!1,attributionControl:!1},c=a._fitBounds;c&&(u.bounds=[[c.west,c.south],[c.east,c.north]],u.fitBoundsOptions={padding:ax.fitBoundsPadding}),g6r();let f=n.map=new Iq.Map(u).addControl(new Iq.AttributionControl({compact:!0})),h={};f.setMissingStyleImageResolver(p=>(!h[p]&&/^[a-zA-Z0-9-]+$/.test(p)&&(h[p]=new Promise(v=>{let m=new Image(15,15);m.onload=()=>{f.addImage(p,m,{sdf:!0}),v()},m.onerror=()=>v(),m.crossOrigin="Anonymous",m.src=`https://cdn.jsdelivr.net/npm/@mapbox/maki@8.2.0/icons/${p}.svg`})),h[p])),f.setTransformRequest(function(p){return p=p.replace("https://fonts.openmaptiles.org/Open Sans Extrabold","https://fonts.openmaptiles.org/Open Sans Extra Bold"),p=p.replace("https://tiles.basemaps.cartocdn.com/fonts/Open Sans Extrabold","https://fonts.openmaptiles.org/Open Sans Extra Bold"),p=p.replace("https://fonts.openmaptiles.org/Open Sans Regular,Arial Unicode MS Regular","https://fonts.openmaptiles.org/Klokantech Noto Sans Regular"),{url:p}}),f._canvas.style.left="0px",f._canvas.style.top="0px",n.rejectOnError(i),n.isStatic||n.initFx(e,t);var d=[];d.push(new Promise(function(p){f.once("load",p)})),d=d.concat($st.fetchTraceGeoData(e)),Promise.all(d).then(function(){c&&Xst(n,a),Zst(n,a),n.fillBelowLookup(e,t),n.updateData(e),n.updateLayout(t),n.resolveOnRender(r)}).catch(i)};tu.updateMap=function(e,t,r,i){var n=this,a=n.map,o=t[this.id];n.rejectOnError(i);var s=[],l=Kst(o.style);JSON.stringify(n.styleObj)!==JSON.stringify(l)&&(n.styleObj=l,a.setStyle(l.style),n.traceHash={},s.push(new Promise(function(u){a.once("styledata",u)}))),s=s.concat($st.fetchTraceGeoData(e)),Promise.all(s).then(function(){n.fillBelowLookup(e,t),n.updateData(e);let u=o._fitBounds;u&&(a.fitBounds([[u.west,u.south],[u.east,u.north]],{padding:ax.fitBoundsPadding,animate:!1}),Xst(n,o),Zst(n,o)),n.updateLayout(t),n.resolveOnRender(r)}).catch(i)};function Xst(e,t){let{center:r,zoom:i}=e.getView();t._input.center=t.center=r,t._input.zoom=t.zoom=i,t._input._fitView={center:fn({},r),zoom:i}}function Zst(e,t){let r=e.getView();e.viewInitial={center:Rq.extendFlat({},r.center),bearing:t.bearing,pitch:t.pitch,zoom:r.zoom}}tu.fillBelowLookup=function(e,t){var r=t[this.id],i=r.layers,n,a,o=this.belowLookup={},s=!1;for(n=0;n1)for(n=0;nt.project(i).x,_subplot:t},t.yaxis={_id:"y",c2p:i=>t.project(i).y,_subplot:t},t.updateFramework(e),t.mockAxis={type:"linear",showexponent:"all",exponentformat:"B"},m6r.setConvert(t.mockAxis,e)};tu.initFx=function(e,t){var r=this,i=r.gd,n=r.map;n.on("moveend",function(s){if(r.map){var l=i._fullLayout;if(s.originalEvent||r.wheeling){var u=l[r.id];Hst.call("_storeDirectGUIEdit",i.layout,l._preGUI,r.getViewEdits(u));var c=r.getView();u._input.center=u.center=c.center,u._input.zoom=u.zoom=c.zoom,u._input.bearing=u.bearing=c.bearing,u._input.pitch=u.pitch=c.pitch,i.emit("plotly_relayout",r.getViewEditsWithDerived(c))}s.originalEvent&&s.originalEvent.type==="mouseup"?r.dragging=!1:r.wheeling&&(r.wheeling=!1),l&&l._rehover&&l._rehover()}}),n.on("wheel",function(){r.wheeling=!0}),n.on("mousemove",function(s){var l=r.div.getBoundingClientRect(),u=[s.originalEvent.offsetX,s.originalEvent.offsetY];s.target.getBoundingClientRect=function(){return l},r.xaxis.p2c=function(){return n.unproject(u).lng},r.yaxis.p2c=function(){return n.unproject(u).lat},i._fullLayout._rehover=function(){i._fullLayout._hoversubplot===r.id&&i._fullLayout[r.id]&&Pq.hover(i,s,r.id)},Pq.hover(i,s,r.id),i._fullLayout._hoversubplot=r.id});function a(){Pq.loneUnhover(t._hoverlayer)}n.on("dragstart",function(){r.dragging=!0,a()}),n.on("zoomstart",a),n.on("mouseout",function(){i._fullLayout._hoversubplot=null});function o(){var s=r.getView();i.emit("plotly_relayouting",r.getViewEditsWithDerived(s))}n.on("drag",o),n.on("zoom",o),n.on("dblclick",function(){var s=i._fullLayout[r.id];Hst.call("_storeDirectGUIEdit",i.layout,i._fullLayout._preGUI,r.getViewEdits(s));var l=r.viewInitial;n.setCenter(Nae(l.center)),n.setZoom(l.zoom),n.setBearing(l.bearing),n.setPitch(l.pitch);var u=r.getView();s._input.center=s.center=u.center,s._input.zoom=s.zoom=u.zoom,s._input.bearing=s.bearing=u.bearing,s._input.pitch=s.pitch=u.pitch,i.emit("plotly_doubleclick",null),i.emit("plotly_relayout",r.getViewEditsWithDerived(u))}),r.clearOutline=function(){T6r(r.dragOptions),w6r(r.dragOptions.gd)},r.onClickInPanFn=function(s){return function(l){var u=i._fullLayout.clickmode;u.indexOf("select")>-1&&A6r(l.originalEvent,i,[r.xaxis],[r.yaxis],r.id,s),u.indexOf("event")>-1&&Pq.click(i,l.originalEvent)}}};tu.updateFx=function(e){var t=this,r=t.map,i=t.gd;if(t.isStatic)return;function n(l){var u=t.map.unproject(l);return[u.lng,u.lat]}var a=e.dragmode,o;o=function(l,u){if(u.isRect){var c=l.range={};c[t.id]=[n([u.xmin,u.ymin]),n([u.xmax,u.ymax])]}else{var f=l.lassoPoints={};f[t.id]=u.map(n)}};var s=t.dragOptions;t.dragOptions=Rq.extendDeep(s||{},{dragmode:e.dragmode,element:t.div,gd:i,plotinfo:{id:t.id,domain:e[t.id].domain,xaxis:t.xaxis,yaxis:t.yaxis,fillRangeItems:o},xaxes:[t.xaxis],yaxes:[t.yaxis],subplot:t.id}),r.off("click",t.onClickInPanHandler),_6r(a)||x6r(a)?(r.dragPan.disable(),r.on("zoomstart",t.clearOutline),t.dragOptions.prepFn=function(l,u,c){b6r(l,u,c,t.dragOptions,a)},y6r.init(t.dragOptions)):(r.dragPan.enable(),r.off("zoomstart",t.clearOutline),t.div.onmousedown=null,t.div.ontouchstart=null,t.div.removeEventListener("touchstart",t.div._ontouchstart),t.onClickInPanHandler=t.onClickInPanFn(t.dragOptions),r.on("click",t.onClickInPanHandler))};tu.updateFramework=function(e){var t=e[this.id].domain,r=e._size,i=this.div.style;i.width=r.w*(t.x[1]-t.x[0])+"px",i.height=r.h*(t.y[1]-t.y[0])+"px",i.left=r.l+t.x[0]*r.w+"px",i.top=r.t+(1-t.y[1])*r.h+"px",this.xaxis._offset=r.l+t.x[0]*r.w,this.xaxis._length=r.w*(t.x[1]-t.x[0]),this.yaxis._offset=r.t+(1-t.y[1])*r.h,this.yaxis._length=r.h*(t.y[1]-t.y[0])};tu.updateLayers=function(e){var t=e[this.id],r=t.layers,i=this.layerList,n;if(r.length!==i.length){for(n=0;nS6r});function S6r(e,t){let r=[];for(let l of e){if(l.subplot!==t||l.visible!==!0)continue;if(l.type==="choroplethmap")return null;let{lat:u,lon:c}=l;if(!c||!u)continue;let f=Math.min(c.length,u.length);for(let h=0;h{"use strict";elt=nd(cm())});var alt=W((fri,nlt)=>{"use strict";var Uae=it(),E6r=q_(),k6r=Xc(),ilt=JE(),{getMapFitBounds:C6r}=(rlt(),Go(tlt));nlt.exports=function(t,r,i){E6r(t,r,i,{type:"map",attributes:ilt,handleDefaults:D6r,partition:"y",fullData:i})};function D6r(e,t,r,i){r("style"),r("center.lon"),r("center.lat"),r("zoom"),r("bearing"),r("pitch");let n=r("fitbounds");var a=r("bounds.west"),o=r("bounds.east"),s=r("bounds.south"),l=r("bounds.north");(a===void 0||o===void 0||s===void 0||l===void 0)&&delete t.bounds,k6r(e,t,{name:"layers",handleItemDefaults:F6r}),t._fitBounds=null;let{_fitView:{center:u,zoom:c}={},center:f,zoom:h}=e,d=(f==null?void 0:f.lon)===(u==null?void 0:u.lon)&&(f==null?void 0:f.lat)===(u==null?void 0:u.lat)&&h===c;if(n&&d){let p=C6r(i.fullData,i.id);p&&(t._fitBounds=p)}t._input=e}function F6r(e,t){function r(l,u){return Uae.coerce(e,t,ilt.layers,l,u)}var i=r("visible");if(i){var n=r("sourcetype"),a=n==="raster"||n==="image";r("source"),r("sourceattribution"),n==="vector"&&r("sourcelayer"),n==="image"&&r("coordinates");var o;a&&(o="raster");var s=r("type",o);a&&s!=="raster"&&(s=t.type="raster",Uae.log("Source types *raster* and *image* must drawn *raster* layer 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t.group&&(o=ng.randstr()),t.trace=e.trace,t.curveNumber=e.trace.index,{index:t.pointNumber,key:o,partOfGroup:t.partOfGroup||!1,group:t.group,traceId:e.key,trace:e.trace,node:t,nodePad:e.nodePad,nodeLineColor:e.nodeLineColor,nodeLineWidth:e.nodeLineWidth,textFont:e.textFont,size:e.horizontal?e.height:e.width,visibleWidth:Math.ceil(n),visibleHeight:a,zoneX:-r,zoneY:-i,zoneWidth:n+2*r,zoneHeight:a+2*i,labelY:e.horizontal?t.dy/2+1:t.dx/2+1,left:t.originalLayer===1,sizeAcross:e.width,forceLayouts:e.forceLayouts,horizontal:e.horizontal,reversed:e.reversed,rgb:ig.rgb(t.color),alpha:ig.parse(t.color).alpha,valueFormat:e.valueFormat,valueSuffix:e.valueSuffix,sankey:e.sankey,graph:e.graph,arrangement:e.arrangement,uniqueNodeLabelPathId:[e.guid,e.key,o].join("_"),interactionState:e.interactionState,figure:e}}function ioe(e){e.attr("transform",function(t){return p3(t.node.x0.toFixed(3),t.node.y0.toFixed(3))})}function BAr(e){e.call(ioe)}function Gut(e,t){e.call(BAr),t.attr("d",aoe())}function But(e){e.attr("width",function(t){return t.node.x1-t.node.x0}).attr("height",function(t){return t.visibleHeight})}function roe(e){return e.link.width>1||e.linkLineWidth>0}function qut(e){return e.horizontal?e.reversed?p3(e.translateX+e.width,e.translateY)+"matrix(-1 0 0 1 0 0)":p3(e.translateX,e.translateY)+"matrix(1 0 0 1 0 0)":e.reversed?p3(e.translateX,e.translateY+e.height)+"matrix(0 -1 1 0 0 0)":p3(e.translateX,e.translateY)+"matrix(0 1 1 0 0 0)"}function Out(e,t,r){e.on(".basic",null).on("mouseover.basic",function(i){!i.interactionState.dragInProgress&&!i.partOfGroup&&(r.hover(this,i,t),i.interactionState.hovered=[this,i])}).on("mousemove.basic",function(i){!i.interactionState.dragInProgress&&!i.partOfGroup&&(r.follow(this,i),i.interactionState.hovered=[this,i])}).on("mouseout.basic",function(i){!i.interactionState.dragInProgress&&!i.partOfGroup&&(r.unhover(this,i,t),i.interactionState.hovered=!1)}).on("click.basic",function(i){i.interactionState.hovered&&(r.unhover(this,i,t),i.interactionState.hovered=!1),!i.interactionState.dragInProgress&&!i.partOfGroup&&r.select(this,i,t)})}function qAr(e,t,r,i){var n=e6.behavior.drag().origin(function(a){return{x:a.node.x0+a.visibleWidth/2,y:a.node.y0+a.visibleHeight/2}}).on("dragstart",function(a){if(a.arrangement!=="fixed"&&(ng.ensureSingle(i._fullLayout._infolayer,"g","dragcover",function(s){i._fullLayout._dragCover=s}),ng.raiseToTop(this),a.interactionState.dragInProgress=a.node,Nut(a.node),a.interactionState.hovered&&(r.nodeEvents.unhover.apply(0,a.interactionState.hovered),a.interactionState.hovered=!1),a.arrangement==="snap")){var o=a.traceId+"|"+a.key;a.forceLayouts[o]?a.forceLayouts[o].alpha(1):OAr(e,o,a,i),NAr(e,t,a,o,i)}}).on("drag",function(a){if(a.arrangement!=="fixed"){var o=e6.event.x,s=e6.event.y;a.arrangement==="snap"?(a.node.x0=o-a.visibleWidth/2,a.node.x1=o+a.visibleWidth/2,a.node.y0=s-a.visibleHeight/2,a.node.y1=s+a.visibleHeight/2):(a.arrangement==="freeform"&&(a.node.x0=o-a.visibleWidth/2,a.node.x1=o+a.visibleWidth/2),s=Math.max(0,Math.min(a.size-a.visibleHeight/2,s)),a.node.y0=s-a.visibleHeight/2,a.node.y1=s+a.visibleHeight/2),Nut(a.node),a.arrangement!=="snap"&&(a.sankey.update(a.graph),Gut(e.filter(jut(a)),t))}}).on("dragend",function(a){if(a.arrangement!=="fixed"){a.interactionState.dragInProgress=!1;for(var o=0;o0)window.requestAnimationFrame(a);else{var l=r.node.originalX;r.node.x0=l-r.visibleWidth/2,r.node.x1=l+r.visibleWidth/2,Hut(r,n)}})}function UAr(e,t,r,i){return function(){for(var a=0,o=0;o0&&i.forceLayouts[t].alpha(0)}}function Hut(e,t){for(var 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v=d.selectAll("."+Lo.cn.nodeLabel).data(Kq);v.enter().append("text").classed(Lo.cn.nodeLabel,!0).style("cursor","default"),v.attr("data-notex",1).text(function(m){return m.node.label}).each(function(m){var g=e6.select(this);kAr.font(g,m.textFont),zut.convertToTspans(g,e)}).attr("text-anchor",function(m){return m.horizontal&&m.left!==m.reversed?"end":"start"}).attr("transform",function(m){var g=e6.select(this),w=zut.lineCount(g),b=m.textFont.size*((w-1)*FAr-DAr),_=m.nodeLineWidth/2+LAr;if(!m.horizontal){var T=m.reversed?(m.visibleWidth+b)/2:(m.visibleWidth-b)/2,M=m.reversed?Rut(90):"scale(-1,1)"+Rut(90);return p3(T,_)+M}var x=_,T=(m.visibleHeight-b)/2;return m.left?x=-x:x+=m.visibleWidth,p3(x,T)+(m.reversed?"scale(-1,1)":"")}),v.transition().ease(Lo.ease).duration(Lo.duration)}});var loe=W((Ori,rct)=>{"use strict";var Bf=vi(),soe=it(),Jq=soe.numberFormat,jAr=Wut(),t6=Ds(),$Ar=ni(),lx=toe().cn,P8=soe._;function Yut(e){return e!==""}function r6(e,t){return e.filter(function(r){return r.key===t.traceId})}function Xut(e,t){Bf.select(e).select("path").style("fill-opacity",t),Bf.select(e).select("rect").style("fill-opacity",t)}function Zut(e){Bf.select(e).select("text.name").style("fill","black")}function Kut(e){return function(t){return e.node.sourceLinks.indexOf(t.link)!==-1||e.node.targetLinks.indexOf(t.link)!==-1}}function Jut(e){return function(t){return t.node.sourceLinks.indexOf(e.link)!==-1||t.node.targetLinks.indexOf(e.link)!==-1}}function Qut(e,t,r){t&&r&&r6(r,t).selectAll("."+lx.sankeyLink).filter(Kut(t)).call(ect.bind(0,t,r,!1))}function ooe(e,t,r){t&&r&&r6(r,t).selectAll("."+lx.sankeyLink).filter(Kut(t)).call(tct.bind(0,t,r,!1))}function ect(e,t,r,i){i.style("fill",function(n){if(!n.link.concentrationscale)return n.hoverRgb}).style("fill-opacity",function(n){if(!n.link.concentrationscale)return n.hoverAlpha}),i.each(function(n){var a=n.link.label;a!==""&&r6(t,e).selectAll("."+lx.sankeyLink).filter(function(o){return 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i=t._fullLayout,n=i._paper,a=i._size,o=0;o"),color:Ys(T,"bgcolor")||$Ar.addOpacity(C.color,1),borderColor:Ys(T,"bordercolor"),fontFamily:Ys(T,"font.family"),fontSize:Ys(T,"font.size"),fontColor:Ys(T,"font.color"),fontWeight:Ys(T,"font.weight"),fontStyle:Ys(T,"font.style"),fontVariant:Ys(T,"font.variant"),fontTextcase:Ys(T,"font.textcase"),fontLineposition:Ys(T,"font.lineposition"),fontShadow:Ys(T,"font.shadow"),nameLength:Ys(T,"namelength"),textAlign:Ys(T,"align"),idealAlign:Bf.event.x"),color:Ys(T,"bgcolor")||x.rgb,borderColor:Ys(T,"bordercolor"),fontFamily:Ys(T,"font.family"),fontSize:Ys(T,"font.size"),fontColor:Ys(T,"font.color"),fontWeight:Ys(T,"font.weight"),fontStyle:Ys(T,"font.style"),fontVariant:Ys(T,"font.variant"),fontTextcase:Ys(T,"font.textcase"),fontLineposition:Ys(T,"font.lineposition"),fontShadow:Ys(T,"font.shadow"),nameLength:Ys(T,"namelength"),textAlign:Ys(T,"align"),idealAlign:"left",hovertemplate:T.hovertemplate,hovertemplateLabels:D,eventData:[x.node]},{container:i._hoverlayer.node(),outerContainer:i._paper.node(),gd:t});Xut(R,.85),Zut(R)}}},_=function(M,x,T){t._fullLayout.hovermode!==!1&&(Bf.select(M).call(ooe,x,T),x.node.trace.node.hoverinfo!=="skip"&&(x.node.fullData=x.node.trace,t.emit("plotly_unhover",{event:Bf.event,points:[x.node]})),t6.loneUnhover(i._hoverlayer.node()))};jAr(t,n,r,{width:a.w,height:a.h,margin:{t:a.t,r:a.r,b:a.b,l:a.l}},{linkEvents:{hover:u,follow:v,unhover:m,select:l},nodeEvents:{hover:w,follow:b,unhover:_,select:g}})}});var ict=W(v3=>{"use strict";var WAr=ls().overrideAll,YAr=_c().getModuleCalcData,XAr=loe(),ZAr=sy(),KAr=Np(),JAr=bf(),QAr=cu().prepSelect,uoe=it(),eMr=yi(),Qq="sankey";v3.name=Qq;v3.baseLayoutAttrOverrides=WAr({hoverlabel:ZAr.hoverlabel},"plot","nested");v3.plot=function(e){var t=YAr(e.calcdata,Qq)[0];XAr(e,t),v3.updateFx(e)};v3.clean=function(e,t,r,i){var n=i._has&&i._has(Qq),a=t._has&&t._has(Qq);n&&!a&&(i._paperdiv.selectAll(".sankey").remove(),i._paperdiv.selectAll(".bgsankey").remove())};v3.updateFx=function(e){for(var t=0;t{"use strict";nct.exports=function(t,r){for(var i=t.cd,n=[],a=i[0].trace,o=a._sankey,s=o.graph.nodes,l=a.orientation==="v",u=a.direction==="reversed",c=0;c{"use strict";oct.exports={attributes:Kae(),supplyDefaults:aut(),calc:cut(),plot:loe(),moduleType:"trace",name:"sankey",basePlotModule:ict(),selectPoints:act(),categories:["noOpacity"],meta:{}}});var uct=W((Gri,lct)=>{"use strict";lct.exports=sct()});var fct=W(i6=>{"use strict";var cct=Ko();i6.name="indicator";i6.plot=function(e,t,r,i){cct.plotBasePlot(i6.name,e,t,r,i)};i6.clean=function(e,t,r,i){cct.cleanBasePlot(i6.name,e,t,r,i)}});var foe=W((jri,mct)=>{"use strict";var ux=tn().extendFlat,dct=tn().extendDeep,rMr=ls().overrideAll,pct=Ho(),vct=Vl(),iMr=us().attributes,sl=ec(),nMr=Da().templatedArray,eO=D5(),hct=_s().descriptionOnlyNumbers,coe=pct({editType:"plot",colorEditType:"plot"}),I8={color:{valType:"color",editType:"plot"},line:{color:{valType:"color",dflt:vct.defaultLine,editType:"plot"},width:{valType:"number",min:0,dflt:0,editType:"plot"},editType:"calc"},thickness:{valType:"number",min:0,max:1,dflt:1,editType:"plot"},editType:"calc"},gct={valType:"info_array",items:[{valType:"number",editType:"plot"},{valType:"number",editType:"plot"}],editType:"plot"},aMr=nMr("step",dct({},I8,{range:gct}));mct.exports={mode:{valType:"flaglist",editType:"calc",flags:["number","delta","gauge"],dflt:"number"},value:{valType:"number",editType:"calc",anim:!0},align:{valType:"enumerated",values:["left","center","right"],editType:"plot"},domain:iMr({name:"indicator",trace:!0,editType:"calc"}),title:{text:{valType:"string",editType:"plot"},align:{valType:"enumerated",values:["left","center","right"],editType:"plot"},font:ux({},coe,{}),editType:"plot"},number:{valueformat:{valType:"string",dflt:"",editType:"plot",description:hct("value")},font:ux({},coe,{}),prefix:{valType:"string",dflt:"",editType:"plot"},suffix:{valType:"string",dflt:"",editType:"plot"},editType:"plot"},delta:{reference:{valType:"number",editType:"calc"},position:{valType:"enumerated",values:["top","bottom","left","right"],dflt:"bottom",editType:"plot"},relative:{valType:"boolean",editType:"plot",dflt:!1},valueformat:{valType:"string",editType:"plot",description:hct("value")},increasing:{symbol:{valType:"string",dflt:eO.INCREASING.SYMBOL,editType:"plot"},color:{valType:"color",dflt:eO.INCREASING.COLOR,editType:"plot"},editType:"plot"},decreasing:{symbol:{valType:"string",dflt:eO.DECREASING.SYMBOL,editType:"plot"},color:{valType:"color",dflt:eO.DECREASING.COLOR,editType:"plot"},editType:"plot"},font:ux({},coe,{}),prefix:{valType:"string",dflt:"",editType:"plot"},suffix:{valType:"string",dflt:"",editType:"plot"},editType:"calc"},gauge:{shape:{valType:"enumerated",editType:"plot",dflt:"angular",values:["angular","bullet"]},bar:dct({},I8,{color:{dflt:"green"}}),bgcolor:{valType:"color",editType:"plot"},bordercolor:{valType:"color",dflt:vct.defaultLine,editType:"plot"},borderwidth:{valType:"number",min:0,dflt:1,editType:"plot"},axis:rMr({range:gct,visible:ux({},sl.visible,{dflt:!0}),tickmode:sl.minor.tickmode,nticks:sl.nticks,tick0:sl.tick0,dtick:sl.dtick,tickvals:sl.tickvals,ticktext:sl.ticktext,ticks:ux({},sl.ticks,{dflt:"outside"}),ticklen:sl.ticklen,tickwidth:sl.tickwidth,tickcolor:sl.tickcolor,ticklabelstep:sl.ticklabelstep,showticklabels:sl.showticklabels,labelalias:sl.labelalias,tickfont:pct({}),tickangle:sl.tickangle,tickformat:sl.tickformat,tickformatstops:sl.tickformatstops,tickprefix:sl.tickprefix,showtickprefix:sl.showtickprefix,ticksuffix:sl.ticksuffix,showticksuffix:sl.showticksuffix,separatethousands:sl.separatethousands,exponentformat:sl.exponentformat,minexponent:sl.minexponent,showexponent:sl.showexponent,editType:"plot"},"plot"),steps:aMr,threshold:{line:{color:ux({},I8.line.color,{}),width:ux({},I8.line.width,{dflt:1}),editType:"plot"},thickness:ux({},I8.thickness,{dflt:.85}),value:{valType:"number",editType:"calc",dflt:!1},editType:"plot"},editType:"plot"}}});var hoe=W(($ri,yct)=>{"use strict";yct.exports={defaultNumberFontSize:80,bulletNumberDomainSize:.25,bulletPadding:.025,innerRadius:.75,valueThickness:.5,titlePadding:5,horizontalPadding:10}});var bct=W((Wri,_ct)=>{"use strict";var ag=it(),rO=foe(),oMr=us().defaults,xct=Da(),sMr=Xc(),tO=hoe(),lMr=Xx(),uMr=vw(),cMr=wy(),fMr=Ty();function hMr(e,t,r,i){function n(x,T){return ag.coerce(e,t,rO,x,T)}oMr(t,i,n),n("mode"),t._hasNumber=t.mode.indexOf("number")!==-1,t._hasDelta=t.mode.indexOf("delta")!==-1,t._hasGauge=t.mode.indexOf("gauge")!==-1;var a=n("value");t._range=[0,typeof a=="number"?1.5*a:1];var o=new Array(2),s;if(t._hasNumber){n("number.valueformat");var l=ag.extendFlat({},i.font);l.size=void 0,ag.coerceFont(n,"number.font",l),t.number.font.size===void 0&&(t.number.font.size=tO.defaultNumberFontSize,o[0]=!0),n("number.prefix"),n("number.suffix"),s=t.number.font.size}var u;if(t._hasDelta){var c=ag.extendFlat({},i.font);c.size=void 0,ag.coerceFont(n,"delta.font",c),t.delta.font.size===void 0&&(t.delta.font.size=(t._hasNumber?.5:1)*(s||tO.defaultNumberFontSize),o[1]=!0),n("delta.reference",t.value),n("delta.relative"),n("delta.valueformat",t.delta.relative?"2%":""),n("delta.increasing.symbol"),n("delta.increasing.color"),n("delta.decreasing.symbol"),n("delta.decreasing.color"),n("delta.position"),n("delta.prefix"),n("delta.suffix"),u=t.delta.font.size}t._scaleNumbers=(!t._hasNumber||o[0])&&(!t._hasDelta||o[1])||!1;var f=ag.extendFlat({},i.font);f.size=.25*(s||u||tO.defaultNumberFontSize),ag.coerceFont(n,"title.font",f),n("title.text");var h,d,p,v;function m(x,T){return ag.coerce(h,d,rO.gauge,x,T)}function g(x,T){return ag.coerce(p,v,rO.gauge.axis,x,T)}if(t._hasGauge){h=e.gauge,h||(h={}),d=xct.newContainer(t,"gauge"),m("shape");var w=t._isBullet=t.gauge.shape==="bullet";w||n("title.align","center");var b=t._isAngular=t.gauge.shape==="angular";b||n("align","center"),m("bgcolor",i.paper_bgcolor),m("borderwidth"),m("bordercolor"),m("bar.color"),m("bar.line.color"),m("bar.line.width");var _=tO.valueThickness*(t.gauge.shape==="bullet"?.5:1);m("bar.thickness",_),sMr(h,d,{name:"steps",handleItemDefaults:dMr}),m("threshold.value"),m("threshold.thickness"),m("threshold.line.width"),m("threshold.line.color"),p={},h&&(p=h.axis||{}),v=xct.newContainer(d,"axis"),g("visible"),t._range=g("range",t._range);var M={font:i.font,noAutotickangles:!0,outerTicks:!0,noTicklabelshift:!0,noTicklabelstandoff:!0};lMr(p,v,g,"linear"),fMr(p,v,g,"linear",M),cMr(p,v,g,"linear",M),uMr(p,v,g,M)}else n("title.align","center"),n("align","center"),t._isAngular=t._isBullet=!1;t._length=null}function dMr(e,t){function r(i,n){return ag.coerce(e,t,rO.gauge.steps,i,n)}r("color"),r("line.color"),r("line.width"),r("range"),r("thickness")}_ct.exports={supplyDefaults:hMr}});var Tct=W((Yri,wct)=>{"use strict";function pMr(e,t){var r=[],i=t.value;typeof t._lastValue!="number"&&(t._lastValue=t.value);var n=t._lastValue,a=n;return t._hasDelta&&typeof t.delta.reference=="number"&&(a=t.delta.reference),r[0]={y:i,lastY:n,delta:i-a,relativeDelta:(i-a)/a},r}wct.exports={calc:pMr}});var Cct=W((Xri,kct)=>{"use strict";var _3=vi(),vMr=(db(),Go(hb)).interpolate,Act=(db(),Go(hb)).interpolateNumber,cx=it(),gMr=cx.strScale,z8=cx.strTranslate,mMr=cx.rad2deg,yMr=Hl().MID_SHIFT,x3=Ji(),g3=hoe(),nO=uo(),Oc=ji(),xMr=mM(),_Mr=TF(),bMr=ec(),n6=ni(),doe={left:"start",center:"middle",right:"end"},m3={left:0,center:.5,right:1},Mct=/[yzafpnµmkMGTPEZY]/;function B8(e){return e&&e.duration>0}kct.exports=function(t,r,i,n){var a=t._fullLayout,o;B8(i)&&n&&(o=n()),cx.makeTraceGroups(a._indicatorlayer,r,"trace").each(function(s){var l=s[0],u=l.trace,c=_3.select(this),f=u._hasGauge,h=u._isAngular,d=u._isBullet,p=u.domain,v={w:a._size.w*(p.x[1]-p.x[0]),h:a._size.h*(p.y[1]-p.y[0]),l:a._size.l+a._size.w*p.x[0],r:a._size.r+a._size.w*(1-p.x[1]),t:a._size.t+a._size.h*(1-p.y[1]),b:a._size.b+a._size.h*p.y[0]},m=v.l+v.w/2,g=v.t+v.h/2,w=Math.min(v.w/2,v.h),b=g3.innerRadius*w,_,M,x,T=u.align||"center";if(M=g,!f)_=v.l+m3[T]*v.w,x=function(R){return Sct(R,v.w,v.h)};else if(h&&(_=m,M=g+w/2,x=function(R){return SMr(R,.9*b)}),d){var A=g3.bulletPadding,y=1-g3.bulletNumberDomainSize+A;_=v.l+(y+(1-y)*m3[T])*v.w,x=function(R){return Sct(R,(g3.bulletNumberDomainSize-A)*v.w,v.h)}}AMr(t,c,s,{numbersX:_,numbersY:M,numbersScaler:x,transitionOpts:i,onComplete:o});var E,S;f&&(E={range:u.gauge.axis.range,color:u.gauge.bgcolor,line:{color:u.gauge.bordercolor,width:0},thickness:1},S={range:u.gauge.axis.range,color:"rgba(0, 0, 0, 0)",line:{color:u.gauge.bordercolor,width:u.gauge.borderwidth},thickness:1});var C=c.selectAll("g.angular").data(h?s:[]);C.exit().remove();var k=c.selectAll("g.angularaxis").data(h?s:[]);k.exit().remove(),h&&TMr(t,c,s,{radius:w,innerRadius:b,gauge:C,layer:k,size:v,gaugeBg:E,gaugeOutline:S,transitionOpts:i,onComplete:o});var D=c.selectAll("g.bullet").data(d?s:[]);D.exit().remove();var F=c.selectAll("g.bulletaxis").data(d?s:[]);F.exit().remove(),d&&wMr(t,c,s,{gauge:D,layer:F,size:v,gaugeBg:E,gaugeOutline:S,transitionOpts:i,onComplete:o});var P=c.selectAll("text.title").data(s);P.exit().remove(),P.enter().append("text").classed("title",!0),P.attr("text-anchor",function(){return d?doe.right:doe[u.title.align]}).text(u.title.text).call(x3.font,u.title.font).call(nO.convertToTspans,t),P.attr("transform",function(){var R=v.l+v.w*m3[u.title.align],L,I=g3.titlePadding,B=x3.bBox(P.node());if(f){if(h)if(u.gauge.axis.visible){var O=x3.bBox(k.node());L=O.top-I-B.bottom}else L=v.t+v.h/2-w/2-B.bottom-I;d&&(L=M-(B.top+B.bottom)/2,R=v.l-g3.bulletPadding*v.w)}else L=u._numbersTop-I-B.bottom;return z8(R,L)})})};function wMr(e,t,r,i){var n=r[0].trace,a=i.gauge,o=i.layer,s=i.gaugeBg,l=i.gaugeOutline,u=i.size,c=n.domain,f=i.transitionOpts,h=i.onComplete,d,p,v,m,g;a.enter().append("g").classed("bullet",!0),a.attr("transform",z8(u.l,u.t)),o.enter().append("g").classed("bulletaxis",!0).classed("crisp",!0),o.selectAll("g.xbulletaxistick,path,text").remove();var w=u.h,b=n.gauge.bar.thickness*w,_=c.x[0],M=c.x[0]+(c.x[1]-c.x[0])*(n._hasNumber||n._hasDelta?1-g3.bulletNumberDomainSize:1);d=R8(e,n.gauge.axis),d._id="xbulletaxis",d.domain=[_,M],d.setScale(),p=Oc.calcTicks(d),v=Oc.makeTransTickFn(d),m=Oc.getTickSigns(d)[2],g=u.t+u.h,d.visible&&(Oc.drawTicks(e,d,{vals:d.ticks==="inside"?Oc.clipEnds(d,p):p,layer:o,path:Oc.makeTickPath(d,g,m),transFn:v}),Oc.drawLabels(e,d,{vals:p,layer:o,transFn:v,labelFns:Oc.makeLabelFns(d,g)}));function x(k){k.attr("width",function(D){return Math.max(0,d.c2p(D.range[1])-d.c2p(D.range[0]))}).attr("x",function(D){return d.c2p(D.range[0])}).attr("y",function(D){return .5*(1-D.thickness)*w}).attr("height",function(D){return D.thickness*w})}var T=[s].concat(n.gauge.steps),A=a.selectAll("g.bg-bullet").data(T);A.enter().append("g").classed("bg-bullet",!0).append("rect"),A.select("rect").call(x).call(y3),A.exit().remove();var y=a.selectAll("g.value-bullet").data([n.gauge.bar]);y.enter().append("g").classed("value-bullet",!0).append("rect"),y.select("rect").attr("height",b).attr("y",(w-b)/2).call(y3),B8(f)?y.select("rect").transition().duration(f.duration).ease(f.easing).each("end",function(){h&&h()}).each("interrupt",function(){h&&h()}).attr("width",Math.max(0,d.c2p(Math.min(n.gauge.axis.range[1],r[0].y)))):y.select("rect").attr("width",typeof r[0].y=="number"?Math.max(0,d.c2p(Math.min(n.gauge.axis.range[1],r[0].y))):0),y.exit().remove();var E=r.filter(function(){return 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Jct=W(_oe=>{"use strict";var sO=tn().extendFlat;_oe.splitToPanels=function(e){var t=[0,0],r=sO({},e,{key:"header",type:"header",page:0,prevPages:t,currentRepaint:[null,null],dragHandle:!0,values:e.calcdata.headerCells.values[e.specIndex],rowBlocks:e.calcdata.headerRowBlocks,calcdata:sO({},e.calcdata,{cells:e.calcdata.headerCells})}),i=sO({},e,{key:"cells1",type:"cells",page:0,prevPages:t,currentRepaint:[null,null],dragHandle:!1,values:e.calcdata.cells.values[e.specIndex],rowBlocks:e.calcdata.rowBlocks}),n=sO({},e,{key:"cells2",type:"cells",page:1,prevPages:t,currentRepaint:[null,null],dragHandle:!1,values:e.calcdata.cells.values[e.specIndex],rowBlocks:e.calcdata.rowBlocks});return[i,n,r]};_oe.splitToCells=function(e){var t=RMr(e);return(e.values||[]).slice(t[0],t[1]).map(function(r,i){var n=typeof r=="string"&&r.match(/[<$&> ]/)?"_keybuster_"+Math.random():"";return{keyWithinBlock:i+n,key:t[0]+i,column:e,calcdata:e.calcdata,page:e.page,rowBlocks:e.rowBlocks,value:r}})};function 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w.columns},Po.keyFun);u.enter().append("g").classed(Ti.cn.yColumn,!0),u.exit().remove(),u.attr("transform",function(w){return ap(w.x,0)}),i&&u.call(Ms.behavior.drag().origin(function(w){var b=Ms.select(this);return ift(b,w,-Ti.uplift),qMr(this),w.calcdata.columnDragInProgress=!0,q8(a.filter(function(_){return w.calcdata.key===_.key}),t),w}).on("drag",function(w){var b=Ms.select(this),_=function(T){return(w===T?Ms.event.x:T.x)+T.columnWidth/2};w.x=Math.max(-Ti.overdrag,Math.min(w.calcdata.width+Ti.overdrag-w.columnWidth,Ms.event.x));var M=oft(u).filter(function(T){return T.calcdata.key===w.calcdata.key}),x=M.sort(function(T,A){return _(T)-_(A)});x.forEach(function(T,A){T.xIndex=A,T.x=w===T?T.x:T.xScale(T)}),u.filter(function(T){return w!==T}).transition().ease(Ti.transitionEase).duration(Ti.transitionDuration).attr("transform",function(T){return ap(T.x,0)}),b.call(OMr).attr("transform",ap(w.x,-Ti.uplift))}).on("dragend",function(w){var b=Ms.select(this),_=w.calcdata;w.x=w.xScale(w),w.calcdata.columnDragInProgress=!1,ift(b,w,0),ZMr(t,_,_.columns.map(function(M){return M.xIndex}))})),u.each(function(w){woe.setClipUrl(Ms.select(this),tft(t,w),t)});var c=u.selectAll("."+Ti.cn.columnBlock).data(aft.splitToPanels,Po.keyFun);c.enter().append("g").classed(Ti.cn.columnBlock,!0).attr("id",function(w){return w.key}),c.style("cursor",function(w){return w.dragHandle?"ew-resize":w.calcdata.scrollbarState.barWiggleRoom?"ns-resize":"default"});var f=c.filter(KMr),h=c.filter(Eoe);i&&h.call(Ms.behavior.drag().origin(function(w){return Ms.event.stopPropagation(),w}).on("drag",uO(t,a,-1)).on("dragend",function(){})),Toe(t,a,f,c),Toe(t,a,h,c);var d=a.selectAll("."+Ti.cn.scrollAreaClip).data(Po.repeat,Po.keyFun);d.enter().append("clipPath").classed(Ti.cn.scrollAreaClip,!0).attr("id",function(w){return eft(t,w)});var p=d.selectAll("."+Ti.cn.scrollAreaClipRect).data(Po.repeat,Po.keyFun);p.enter().append("rect").classed(Ti.cn.scrollAreaClipRect,!0).attr("x",-Ti.overdrag).attr("y",-Ti.uplift).attr("fill","none"),p.attr("width",function(w){return w.width+2*Ti.overdrag}).attr("height",function(w){return w.height+Ti.uplift});var v=u.selectAll("."+Ti.cn.columnBoundary).data(Po.repeat,Po.keyFun);v.enter().append("g").classed(Ti.cn.columnBoundary,!0);var m=u.selectAll("."+Ti.cn.columnBoundaryClippath).data(Po.repeat,Po.keyFun);m.enter().append("clipPath").classed(Ti.cn.columnBoundaryClippath,!0),m.attr("id",function(w){return tft(t,w)});var g=m.selectAll("."+Ti.cn.columnBoundaryRect).data(Po.repeat,Po.keyFun);g.enter().append("rect").classed(Ti.cn.columnBoundaryRect,!0).attr("fill","none"),g.attr("width",function(w){return w.columnWidth+2*lO(w)}).attr("height",function(w){return w.calcdata.height+2*lO(w)+Ti.uplift}).attr("x",function(w){return-lO(w)}).attr("y",function(w){return-lO(w)}),koe(null,h,a)};function lO(e){return Math.ceil(e.calcdata.maxLineWidth/2)}function eft(e,t){return"clip"+e._fullLayout._uid+"_scrollAreaBottomClip_"+t.key}function tft(e,t){return"clip"+e._fullLayout._uid+"_columnBoundaryClippath_"+t.calcdata.key+"_"+t.specIndex}function oft(e){return[].concat.apply([],e.map(function(t){return t})).map(function(t){return t.__data__})}function q8(e,t,r){function i(u){var c=u.rowBlocks;return Moe(c,c.length-1)+(c.length?cO(c[c.length-1],1/0):1)}var n=e.selectAll("."+Ti.cn.scrollbarKit).data(Po.repeat,Po.keyFun);n.enter().append("g").classed(Ti.cn.scrollbarKit,!0).style("shape-rendering","geometricPrecision"),n.each(function(u){var c=u.scrollbarState;c.totalHeight=i(u),c.scrollableAreaHeight=u.groupHeight-Aoe(u),c.currentlyVisibleHeight=Math.min(c.totalHeight,c.scrollableAreaHeight),c.ratio=c.currentlyVisibleHeight/c.totalHeight,c.barLength=Math.max(c.ratio*c.currentlyVisibleHeight,Ti.goldenRatio*Ti.scrollbarWidth),c.barWiggleRoom=c.currentlyVisibleHeight-c.barLength,c.wiggleRoom=Math.max(0,c.totalHeight-c.scrollableAreaHeight),c.topY=c.barWiggleRoom===0?0:u.scrollY/c.wiggleRoom*c.barWiggleRoom,c.bottomY=c.topY+c.barLength,c.dragMultiplier=c.wiggleRoom/c.barWiggleRoom}).attr("transform",function(u){var c=u.width+Ti.scrollbarWidth/2+Ti.scrollbarOffset;return ap(c,Aoe(u))});var a=n.selectAll("."+Ti.cn.scrollbar).data(Po.repeat,Po.keyFun);a.enter().append("g").classed(Ti.cn.scrollbar,!0);var o=a.selectAll("."+Ti.cn.scrollbarSlider).data(Po.repeat,Po.keyFun);o.enter().append("g").classed(Ti.cn.scrollbarSlider,!0),o.attr("transform",function(u){return ap(0,u.scrollbarState.topY||0)});var s=o.selectAll("."+Ti.cn.scrollbarGlyph).data(Po.repeat,Po.keyFun);s.enter().append("line").classed(Ti.cn.scrollbarGlyph,!0).attr("stroke","black").attr("stroke-width",Ti.scrollbarWidth).attr("stroke-linecap","round").attr("y1",Ti.scrollbarWidth/2),s.attr("y2",function(u){return u.scrollbarState.barLength-Ti.scrollbarWidth/2}).attr("stroke-opacity",function(u){return u.columnDragInProgress||!u.scrollbarState.barWiggleRoom||r?0:.4}),s.transition().delay(0).duration(0),s.transition().delay(Ti.scrollbarHideDelay).duration(Ti.scrollbarHideDuration).attr("stroke-opacity",0);var l=a.selectAll("."+Ti.cn.scrollbarCaptureZone).data(Po.repeat,Po.keyFun);l.enter().append("line").classed(Ti.cn.scrollbarCaptureZone,!0).attr("stroke","white").attr("stroke-opacity",.01).attr("stroke-width",Ti.scrollbarCaptureWidth).attr("stroke-linecap","butt").attr("y1",0).on("mousedown",function(u){var c=Ms.event.y,f=this.getBoundingClientRect(),h=u.scrollbarState,d=c-f.top,p=Ms.scale.linear().domain([0,h.scrollableAreaHeight]).range([0,h.totalHeight]).clamp(!0);h.topY<=d&&d<=h.bottomY||uO(t,e,null,p(d-h.barLength/2))(u)}).call(Ms.behavior.drag().origin(function(u){return Ms.event.stopPropagation(),u.scrollbarState.scrollbarScrollInProgress=!0,u}).on("drag",uO(t,e)).on("dragend",function(){})),l.attr("y2",function(u){return u.scrollbarState.scrollableAreaHeight}),t._context.staticPlot&&(s.remove(),l.remove())}function Toe(e,t,r,i){var n=UMr(r),a=VMr(n);$Mr(a);var o=GMr(a);YMr(o);var s=jMr(a),l=HMr(s);WMr(l),sft(l,t,i,e),Coe(a)}function UMr(e){var t=e.selectAll("."+Ti.cn.columnCells).data(Po.repeat,Po.keyFun);return t.enter().append("g").classed(Ti.cn.columnCells,!0),t.exit().remove(),t}function VMr(e){var t=e.selectAll("."+Ti.cn.columnCell).data(aft.splitToCells,function(r){return r.keyWithinBlock});return t.enter().append("g").classed(Ti.cn.columnCell,!0),t.exit().remove(),t}function GMr(e){var t=e.selectAll("."+Ti.cn.cellRect).data(Po.repeat,function(r){return r.keyWithinBlock});return t.enter().append("rect").classed(Ti.cn.cellRect,!0),t}function HMr(e){var t=e.selectAll("."+Ti.cn.cellText).data(Po.repeat,function(r){return r.keyWithinBlock});return t.enter().append("text").classed(Ti.cn.cellText,!0).style("cursor",function(){return"auto"}).on("mousedown",function(){Ms.event.stopPropagation()}),t}function jMr(e){var t=e.selectAll("."+Ti.cn.cellTextHolder).data(Po.repeat,function(r){return r.keyWithinBlock});return t.enter().append("g").classed(Ti.cn.cellTextHolder,!0).style("shape-rendering","geometricPrecision"),t}function $Mr(e){e.each(function(t,r){var i=t.calcdata.cells.font,n=t.column.specIndex,a={size:qf(i.size,n,r),color:qf(i.color,n,r),family:qf(i.family,n,r),weight:qf(i.weight,n,r),style:qf(i.style,n,r),variant:qf(i.variant,n,r),textcase:qf(i.textcase,n,r),lineposition:qf(i.lineposition,n,r),shadow:qf(i.shadow,n,r)};t.rowNumber=t.key,t.align=qf(t.calcdata.cells.align,n,r),t.cellBorderWidth=qf(t.calcdata.cells.line.width,n,r),t.font=a})}function WMr(e){e.each(function(t){woe.font(Ms.select(this),t.font)})}function YMr(e){e.attr("width",function(t){return t.column.columnWidth}).attr("stroke-width",function(t){return t.cellBorderWidth}).each(function(t){var r=Ms.select(this);Qct.stroke(r,qf(t.calcdata.cells.line.color,t.column.specIndex,t.rowNumber)),Qct.fill(r,qf(t.calcdata.cells.fill.color,t.column.specIndex,t.rowNumber))})}function sft(e,t,r,i){e.text(function(n){var a=n.column.specIndex,o=n.rowNumber,s=n.value,l=typeof s=="string",u=l&&s.match(/
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ap(0,f)}),e&&(nft(e,r,t,u,i.prevPages,i,0),nft(e,r,t,u,i.prevPages,i,1),q8(r,e))}}function uO(e,t,r,i){return function(a){var o=a.calcdata?a.calcdata:a,s=t.filter(function(f){return o.key===f.key}),l=r||o.scrollbarState.dragMultiplier,u=o.scrollY;o.scrollY=i===void 0?o.scrollY+l*Ms.event.dy:i;var c=s.selectAll("."+Ti.cn.yColumn).selectAll("."+Ti.cn.columnBlock).filter(Eoe);return koe(e,c,s),o.scrollY===u}}function nft(e,t,r,i,n,a,o){var s=i[o]!==n[o];s&&(clearTimeout(a.currentRepaint[o]),a.currentRepaint[o]=setTimeout(function(){var l=r.filter(function(u,c){return c===o&&i[c]!==n[c]});Toe(e,t,l,r),n[o]=i[o]}))}function QMr(e,t,r,i){return function(){var a=Ms.select(t.parentNode);a.each(function(o){var s=o.fragments;a.selectAll("tspan.line").each(function(v,m){s[m].width=this.getComputedTextLength()});var l=s[s.length-1].width,u=s.slice(0,-1),c=[],f,h,d=0,p=o.column.columnWidth-2*Ti.cellPad;for(o.value="";u.length;)f=u.shift(),h=f.width+l,d+h>p&&(o.value+=c.join(Ti.wrapSpacer)+Ti.lineBreaker,c=[],d=0),c.push(f.text),d+=h;d&&(o.value+=c.join(Ti.wrapSpacer)),o.wrapped=!0}),a.selectAll("tspan.line").remove(),sft(a.select("."+Ti.cn.cellText),r,e,i),Ms.select(t.parentNode.parentNode).call(Coe)}}function eSr(e,t,r,i,n){return function(){if(!n.settledY){var o=Ms.select(t.parentNode),s=Soe(n),l=n.key-s.firstRowIndex,u=s.rows[l].rowHeight,c=n.cellHeightMayIncrease?t.parentNode.getBoundingClientRect().height+2*Ti.cellPad:u,f=Math.max(c,u),h=f-s.rows[l].rowHeight;h&&(s.rows[l].rowHeight=f,e.selectAll("."+Ti.cn.columnCell).call(Coe),koe(null,e.filter(Eoe),0),q8(r,i,!0)),o.attr("transform",function(){var d=this,p=d.parentNode,v=p.getBoundingClientRect(),m=Ms.select(d.parentNode).select("."+Ti.cn.cellRect).node().getBoundingClientRect(),g=d.transform.baseVal.consolidate(),w=m.top-v.top+(g?g.matrix.f:Ti.cellPad);return ap(lft(n,Ms.select(d.parentNode).select("."+Ti.cn.cellTextHolder).node().getBoundingClientRect().width),w)}),n.settledY=!0}}}function lft(e,t){switch(e.align){case"left":return Ti.cellPad;case"right":return e.column.columnWidth-(t||0)-Ti.cellPad;case"center":return(e.column.columnWidth-(t||0))/2;default:return Ti.cellPad}}function Coe(e){e.attr("transform",function(t){var r=t.rowBlocks[0].auxiliaryBlocks.reduce(function(o,s){return o+cO(s,1/0)},0),i=Soe(t),n=cO(i,t.key),a=n+r;return ap(0,a)}).selectAll("."+Ti.cn.cellRect).attr("height",function(t){return rSr(Soe(t),t.key).rowHeight})}function Moe(e,t){for(var r=0,i=t-1;i>=0;i--)r+=tSr(e[i]);return r}function cO(e,t){for(var r=0,i=0;i{"use strict";var iSr=_c().getModuleCalcData,nSr=Doe(),fO="table";hO.name=fO;hO.plot=function(e){var t=iSr(e.calcdata,fO)[0];t.length&&nSr(e,t)};hO.clean=function(e,t,r,i){var n=i._has&&i._has(fO),a=t._has&&t._has(fO);n&&!a&&i._paperdiv.selectAll(".table").remove()}});var hft=W((sii,fft)=>{"use strict";fft.exports={attributes:poe(),supplyDefaults:Oct(),calc:Uct(),plot:Doe(),moduleType:"trace",name:"table",basePlotModule:cft(),categories:["noOpacity"],meta:{}}});var pft=W((lii,dft)=>{"use strict";dft.exports=hft()});var xft=W((uii,yft)=>{"use strict";var vft=Ho(),gft=Vl(),Foe=ec(),aSr=_s().descriptionWithDates,oSr=ls().overrideAll,mft=Du().dash,Loe=tn().extendFlat;yft.exports={color:{valType:"color",editType:"calc"},smoothing:{valType:"number",dflt:1,min:0,max:1.3,editType:"calc"},title:{text:{valType:"string",dflt:"",editType:"calc"},font:vft({editType:"calc"}),offset:{valType:"number",dflt:10,editType:"calc"},editType:"calc"},type:{valType:"enumerated",values:["-","linear","date","category"],dflt:"-",editType:"calc"},autotypenumbers:Foe.autotypenumbers,autorange:{valType:"enumerated",values:[!0,!1,"reversed"],dflt:!0,editType:"calc"},rangemode:{valType:"enumerated",values:["normal","tozero","nonnegative"],dflt:"normal",editType:"calc"},range:{valType:"info_array",editType:"calc",items:[{valType:"any",editType:"calc"},{valType:"any",editType:"calc"}]},fixedrange:{valType:"boolean",dflt:!1,editType:"calc"},cheatertype:{valType:"enumerated",values:["index","value"],dflt:"value",editType:"calc"},tickmode:{valType:"enumerated",values:["linear","array"],dflt:"array",editType:"calc"},nticks:{valType:"integer",min:0,dflt:0,editType:"calc"},tickvals:{valType:"data_array",editType:"calc"},ticktext:{valType:"data_array",editType:"calc"},showticklabels:{valType:"enumerated",values:["start","end","both","none"],dflt:"start",editType:"calc"},labelalias:Loe({},Foe.labelalias,{editType:"calc"}),tickfont:vft({editType:"calc"}),tickangle:{valType:"angle",dflt:"auto",editType:"calc"},tickprefix:{valType:"string",dflt:"",editType:"calc"},showtickprefix:{valType:"enumerated",values:["all","first","last","none"],dflt:"all",editType:"calc"},ticksuffix:{valType:"string",dflt:"",editType:"calc"},showticksuffix:{valType:"enumerated",values:["all","first","last","none"],dflt:"all",editType:"calc"},showexponent:{valType:"enumerated",values:["all","first","last","none"],dflt:"all",editType:"calc"},exponentformat:{valType:"enumerated",values:["none","e","E","power","SI","B","SI 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pO=W((cii,wft)=>{"use strict";var sSr=Ho(),_ft=xft(),bft=Vl(),dO=sSr({editType:"calc"}),lSr=Ns().zorder;dO.family.dflt='"Open Sans", verdana, arial, sans-serif';dO.size.dflt=12;dO.color.dflt=bft.defaultLine;wft.exports={carpet:{valType:"string",editType:"calc"},x:{valType:"data_array",editType:"calc+clearAxisTypes"},y:{valType:"data_array",editType:"calc+clearAxisTypes"},a:{valType:"data_array",editType:"calc"},a0:{valType:"number",dflt:0,editType:"calc"},da:{valType:"number",dflt:1,editType:"calc"},b:{valType:"data_array",editType:"calc"},b0:{valType:"number",dflt:0,editType:"calc"},db:{valType:"number",dflt:1,editType:"calc"},cheaterslope:{valType:"number",dflt:1,editType:"calc"},aaxis:_ft,baxis:_ft,font:dO,color:{valType:"color",dflt:bft.defaultLine,editType:"plot"},zorder:lSr}});var Mft=W((fii,Aft)=>{"use strict";var Tft=it().isArray1D;Aft.exports=function(t,r,i){var n=i("x"),a=n&&n.length,o=i("y"),s=o&&o.length;if(!a&&!s)return!1;if(r._cheater=!n,(!a||Tft(n))&&(!s||Tft(o))){var l=a?n.length:1/0;s&&(l=Math.min(l,o.length)),r.a&&r.a.length&&(l=Math.min(l,r.a.length)),r.b&&r.b.length&&(l=Math.min(l,r.b.length)),r._length=l}else r._length=null;return!0}});var kft=W((hii,Eft)=>{"use strict";var uSr=pO(),Sft=ni().addOpacity,cSr=yi(),O8=it(),fSr=Xx(),hSr=wy(),dSr=Ty(),pSr=_F(),vSr=i1(),gSr=bw();Eft.exports=function(t,r,i){var n=i.letter,a=i.font||{},o=uSr[n+"axis"];function s(y,E){return O8.coerce(t,r,o,y,E)}function l(y,E){return O8.coerce2(t,r,o,y,E)}i.name&&(r._name=i.name,r._id=i.name),s("autotypenumbers",i.autotypenumbersDflt);var u=s("type");if(u==="-"&&(i.data&&mSr(r,i.data),r.type==="-"?r.type="linear":u=t.type=r.type),s("smoothing"),s("cheatertype"),s("showticklabels"),s("labelprefix",n+" = 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b=l("startlinecolor",f),_=l("startlinewidth",m),M=s("startline",r.showgrid||!!b||!!_);M||(delete r.startlinecolor,delete r.startlinewidth);var x=l("endlinecolor",f),T=l("endlinewidth",m),A=s("endline",r.showgrid||!!x||!!T);return A||(delete r.endlinecolor,delete r.endlinewidth),w?(s("minorgridcount"),s("minorgridwidth",m),s("minorgriddash",g),s("minorgridcolor",Sft(v,.06)),r.minorgridcount||(delete r.minorgridwidth,delete r.minorgriddash,delete r.minorgridcolor)):(delete r.gridcolor,delete r.gridwidth,delete r.griddash),r.showticklabels==="none"&&(delete r.tickfont,delete r.tickangle,delete r.showexponent,delete r.exponentformat,delete r.minexponent,delete r.tickformat,delete r.showticksuffix,delete r.showtickprefix),r.showticksuffix||delete r.ticksuffix,r.showtickprefix||delete r.tickprefix,s("tickmode"),r};function mSr(e,t){if(e.type==="-"){var r=e._id,i=r.charAt(0),n=i+"calendar",a=e[n];e.type=gSr(t,a,{autotypenumbers:e.autotypenumbers})}}});var Dft=W((dii,Cft)=>{"use strict";var 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o=ikr(t,r,a,n);if(!o){r.visible=!1;return}nkr(t,r,n,a,{x:!0}),a("xhoverformat"),a("yhoverformat"),a("line.width"),ndt(t,r,a,"increasing"),ndt(t,r,a,"decreasing"),a("text"),a("hovertext"),a("hovertemplate"),a("hovertemplatefallback"),a("whiskerwidth"),n._requestRangeslider[r.xaxis]=!0,a("zorder")};function ndt(e,t,r,i){var n=r(i+".line.color");r(i+".line.width",t.line.width),r(i+".fillcolor",rkr.addOpacity(n,.5))}});var cdt=W((cni,udt)=>{"use strict";var sdt=it(),ldt=ji(),okr=Wp(),skr=Voe().calcCommon;udt.exports=function(e,t){var r=e._fullLayout,i=ldt.getFromId(e,t.xaxis),n=ldt.getFromId(e,t.yaxis),a=i.makeCalcdata(t,"x"),o=okr(t,i,"x",a).vals,s=skr(e,t,a,o,n,lkr);return s.length?(sdt.extendFlat(s[0].t,{num:r._numBoxes,dPos:sdt.distinctVals(o).minDiff/2,posLetter:"x",valLetter:"y"}),r._numBoxes++,s):[{t:{empty:!0}}]};function lkr(e,t,r,i){return{min:r,q1:Math.min(e,i),med:i,q3:Math.max(e,i),max:t}}});var hdt=W((fni,fdt)=>{"use 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this.isSmith?0:a.hole},this.getSector=function(a){return this.isSmith?[0,360]:a.sector},this.getRadial=function(a){return this.isSmith?a.realaxis:a.radialaxis},this.getAngular=function(a){return this.isSmith?a.imaginaryaxis:a.angularaxis},r||(this.radialTickLayout=null,this.angularTickLayout=null)}var fc=Ddt.prototype;Pdt.exports=function(t,r,i){return new Ddt(t,r,i)};fc.plot=function(e,t){for(var r=this,i=t[r.id],n=!1,a=0;am?(g=u,w=u*m,M=(c-w)/n.h/2,b=[s[0],s[1]],_=[l[0]+M,l[1]-M]):(g=c/m,w=c,M=(u-g)/n.w/2,b=[s[0]+M,s[1]-M],_=[l[0],l[1]]),r.xLength2=g,r.yLength2=w,r.xDomain2=b,r.yDomain2=_;var 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t=this,r=t.isSmith,i=t.gd,n=t.layers,a=e._zoomlayer,o=dx.MINZOOM,s=dx.OFFEDGE,l=t.radius,u=t.innerRadius,c=t.cx,f=t.cy,h=t.cxx,d=t.cyy,p=t.sectorInRad,v=t.vangles,m=t.radialAxis,g=Hm.clampTiny,w=Hm.findXYatLength,b=Hm.findEnclosingVertexAngles,_=dx.cornerHalfWidth,M=dx.cornerLen/2,x,T,A=Gm.makeDragger(n,"path","maindrag",e.dragmode===!1?"none":"crosshair");T3.select(A).attr("d",t.pathSubplot()).attr("transform",Gu(c,f)),A.onmousemove=function(te){Mdt.hover(i,te,t.id),i._fullLayout._lasthover=A,i._fullLayout._hoversubplot=t.id},A.onmouseout=function(te){i._dragging||qO.unhover(i,te)};var y={element:A,gd:i,subplot:t.id,plotinfo:{id:t.id,xaxis:t.xaxis,yaxis:t.yaxis},xaxes:[t.xaxis],yaxes:[t.yaxis]},E,S,C,k,D,F,P,R,L;function I(te,ce){return Math.sqrt(te*te+ce*ce)}function B(te,ce){return I(te-h,ce-d)}function O(te,ce){return Math.atan2(d-ce,te-h)}function $(te,ce){return[te*Math.cos(ce),te*Math.sin(-ce)]}function Y(te,ce){if(te===0)return t.pathSector(2*_);var ge=M/te,Ce=ce-ge,be=ce+ge,he=Math.max(0,Math.min(te,l)),oe=he-_,Ee=he+_;return"M"+$(oe,Ce)+"A"+[oe,oe]+" 0,0,0 "+$(oe,be)+"L"+$(Ee,be)+"A"+[Ee,Ee]+" 0,0,1 "+$(Ee,Ce)+"Z"}function K(te,ce,ge){if(te===0)return t.pathSector(2*_);var Ce=$(te,ce),be=$(te,ge),he=g((Ce[0]+be[0])/2),oe=g((Ce[1]+be[1])/2),Ee,ye;if(he&&oe){var ue=oe/he,ee=-1/ue,ae=w(_,ue,he,oe);Ee=w(M,ee,ae[0][0],ae[0][1]),ye=w(M,ee,ae[1][0],ae[1][1])}else{var xe,re;oe?(xe=M,re=_):(xe=_,re=M),Ee=[[he-xe,oe-re],[he+xe,oe-re]],ye=[[he-xe,oe+re],[he+xe,oe+re]]}return"M"+Ee.join("L")+"L"+ye.reverse().join("L")+"Z"}function j(){C=null,k=null,D=t.pathSubplot(),F=!1;var te=i._fullLayout[t.id];P=OO.luminosity(te.bgcolor),R=Gm.makeZoombox(a,P,c,f,D),R.attr("fill-rule","evenodd"),L=Gm.makeCorners(a,c,f),ese(i)}function q(te,ce){return ce=Math.max(Math.min(ce,l),u),teo?(te-1&&te===1&&Fkr(ce,i,[t.xaxis],[t.yaxis],t.id,y),ge.indexOf("event")>-1&&Mdt.click(i,ce,t.id)}y.prepFn=function(te,ce,ge){var Ce=i._fullLayout.dragmode,be=A.getBoundingClientRect();i._fullLayout._calcInverseTransform(i);var he=i._fullLayout._invTransform;x=i._fullLayout._invScaleX,T=i._fullLayout._invScaleY;var oe=hs.apply3DTransform(he)(ce-be.left,ge-be.top);if(E=oe[0],S=oe[1],v){var Ee=Hm.findPolygonOffset(l,p[0],p[1],v);E+=h+Ee[0],S+=d+Ee[1]}switch(Ce){case"zoom":y.clickFn=Q,r||(v?y.moveFn=X:y.moveFn=U,y.doneFn=H,j(te,ce,ge));break;case"select":case"lasso":Dkr(te,ce,ge,y,Ce);break}},qO.init(y)};fc.updateRadialDrag=function(e,t,r){var i=this,n=i.gd,a=i.layers,o=i.radius,s=i.innerRadius,l=i.cx,u=i.cy,c=i.radialAxis,f=dx.radialDragBoxSize,h=f/2;if(!c.visible)return;var d=px(i.radialAxisAngle),p=c._rl,v=p[0],m=p[1],g=p[r],w=.75*(p[1]-p[0])/(1-i.getHole(t))/o,b,_,M;r?(b=l+(o+h)*Math.cos(d),_=u-(o+h)*Math.sin(d),M="radialdrag"):(b=l+(s-h)*Math.cos(d),_=u-(s-h)*Math.sin(d),M="radialdrag-inner");var x=Gm.makeRectDragger(a,M,"crosshair",-h,-h,f,f),T={element:x,gd:n};e.dragmode===!1&&(T.dragmode=!1),j8(T3.select(x),c.visible&&s0!=(r?E>v:E=90||n>90&&a>=450?d=1:s<=0&&u<=0?d=0:d=Math.max(s,u),n<=180&&a>=180||n>180&&a>=540?c=-1:o>=0&&l>=0?c=0:c=Math.min(o,l),n<=270&&a>=270||n>270&&a>=630?f=-1:s>=0&&u>=0?f=0:f=Math.min(s,u),a>=360?h=1:o<=0&&l<=0?h=0:h=Math.max(o,l),[c,f,h,d]}function Ldt(e,t){var r=function(n){return hs.angleDist(e,n)},i=hs.findIndexOfMin(t,r);return t[i]}function j8(e,t,r){return t?(e.attr("display",null),e.attr(r)):e&&e.attr("display","none"),e}});var rse=W((yni,Odt)=>{"use strict";var 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Gdt=W((xni,Vdt)=>{"use strict";var UO=it(),Okr=ni(),Nkr=Da(),Ukr=q_(),Vkr=_c().getSubplotData,Gkr=Xx(),Hkr=vw(),jkr=wy(),$kr=Ty(),Wkr=_F(),Ykr=vM(),Xkr=NG(),Zkr=bw(),Udt=rse(),Kkr=Zoe(),VO=PO(),Ndt=VO.axisNames;function Jkr(e,t,r,i){var n=r("bgcolor");i.bgColor=Okr.combine(n,i.paper_bgcolor);var a=r("sector");r("hole");var o=Vkr(i.fullData,VO.name,i.id),s=i.layoutOut,l;function u(R,L){return r(l+"."+R,L)}for(var c=0;c{"use strict";var e8r=_c().getSubplotCalcData,t8r=it().counterRegex,r8r=tse(),jdt=PO(),$dt=jdt.attr,S3=jdt.name,Hdt=t8r(S3),Wdt={};Wdt[$dt]={valType:"subplotid",dflt:S3,editType:"calc"};function i8r(e){for(var t=e._fullLayout,r=e.calcdata,i=t._subplots[S3],n=0;n{"use 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$O=W((wni,Qdt)=>{"use strict";var jO=it(),v6=$o(),u8r=bd(),c8r=jp(),Kdt=Nw(),f8r=$p(),h8r=y1(),d8r=v1().PTS_LINESONLY,p8r=$8();function v8r(e,t,r,i){function n(s,l){return jO.coerce(e,t,p8r,s,l)}var a=Jdt(e,t,i,n);if(!a){t.visible=!1;return}n("thetaunit"),n("mode",a{"use strict";var g8r=it(),ept=ji();tpt.exports=function(t,r,i){var n={},a=i[r.subplot]._subplot,o,s;a?(o=a.radialAxis,s=a.angularAxis):(a=i[r.subplot],o=a.radialaxis,s=a.angularaxis);var l=o.c2l(t.r);n.rLabel=ept.tickText(o,l,!0).text;var u=s.thetaunit==="degrees"?g8r.rad2deg(t.theta):t.theta;return n.thetaLabel=ept.tickText(s,u,!0).text,n}});var npt=W((Ani,ipt)=>{"use strict";var rpt=sn(),m8r=Kn().BADNUM,y8r=ji(),x8r=wd(),_8r=x1(),b8r=w0(),w8r=Td().calcMarkerSize;ipt.exports=function(t,r){for(var i=t._fullLayout,n=r.subplot,a=i[n].radialaxis,o=i[n].angularaxis,s=a.makeCalcdata(r,"r"),l=o.makeCalcdata(r,"theta"),u=r._length,c=new Array(u),f=0;f{"use strict";var T8r=$w(),apt=Kn().BADNUM;opt.exports=function(t,r,i){for(var n=r.layers.frontplot.select("g.scatterlayer"),a=r.xaxis,o=r.yaxis,s={xaxis:a,yaxis:o,plot:r.framework,layerClipId:r._hasClipOnAxisFalse?r.clipIds.forTraces:null},l=r.radialAxis,u=r.angularAxis,c=0;c{"use strict";var A8r=Zw();function M8r(e,t,r,i){var n=A8r(e,t,r,i);if(!(!n||n[0].index===!1)){var a=n[0];if(a.index===void 0)return n;var o=e.subplot,s=a.cd[a.index],l=a.trace;if(o.isPtInside(s))return a.xLabelVal=void 0,a.yLabelVal=void 0,lpt(s,l,o,a),a.hovertemplate=l.hovertemplate,n}}function lpt(e,t,r,i){var n=r.radialAxis,a=r.angularAxis;n._hovertitle="r",a._hovertitle="\u03B8";var o={};o[t.subplot]={_subplot:r};var s=t._module.formatLabels(e,t,o);i.rLabel=s.rLabel,i.thetaLabel=s.thetaLabel;var l=e.hi||t.hoverinfo,u=[];function c(h,d){u.push(h._hovertitle+": "+d)}if(!t.hovertemplate){var f=l.split("+");f.indexOf("all")!==-1&&(f=["r","theta","text"]),f.indexOf("r")!==-1&&c(n,i.rLabel),f.indexOf("theta")!==-1&&c(a,i.thetaLabel),f.indexOf("text")!==-1&&i.text&&(u.push(i.text),delete 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Rpt=it(),sCr=$O().handleRThetaDefaults,lCr=rL(),uCr=ose();zpt.exports=function(t,r,i,n){function a(s,l){return Rpt.coerce(t,r,uCr,s,l)}var o=sCr(t,r,n,a);if(!o){r.visible=!1;return}a("thetaunit"),a("base"),a("offset"),a("width"),a("text"),a("hovertext"),a("hovertemplate"),a("hovertemplatefallback"),lCr(t,r,a,i,n),Rpt.coerceSelectionMarkerOpacity(r,a)}});var Opt=W((Hni,qpt)=>{"use strict";var cCr=it(),fCr=sse();qpt.exports=function(e,t,r){var i={},n;function a(l,u){return cCr.coerce(e[n]||{},t[n],fCr,l,u)}for(var o=0;o{"use strict";var Npt=bc().hasColorscale,Upt=Zc(),hCr=it().isArrayOrTypedArray,dCr=DM(),pCr=b_().setGroupPositions,vCr=w0(),gCr=yi().traceIs,mCr=it().extendFlat;function yCr(e,t){for(var r=e._fullLayout,i=t.subplot,n=r[i].radialaxis,a=r[i].angularaxis,o=n.makeCalcdata(t,"r"),s=a.makeCalcdata(t,"theta"),l=t._length,u=new Array(l),c=o,f=s,h=0;h{"use strict";var Gpt=vi(),KO=sn(),m6=it(),_Cr=Ji(),use=RO();Hpt.exports=function(t,r,i){var 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r=this._validateYear(e),i=e.month(),n=this.toChineseMonth(r,i),a=["\u4E00\u6708","\u4E8C\u6708","\u4E09\u6708","\u56DB\u6708","\u4E94\u6708","\u516D\u6708","\u4E03\u6708","\u516B\u6708","\u4E5D\u6708","\u5341\u6708","\u5341\u4E00\u6708","\u5341\u4E8C\u6708"][n-1];return this.isIntercalaryMonth(r,i)&&(a="\u95F0"+a),a},monthNamesShort:function(e){if(typeof e=="string"){var t=e.match(GDr);return t?t[0]:""}var r=this._validateYear(e),i=e.month(),n=this.toChineseMonth(r,i),a=["\u4E00","\u4E8C","\u4E09","\u56DB","\u4E94","\u516D","\u4E03","\u516B","\u4E5D","\u5341","\u5341\u4E00","\u5341\u4E8C"][n-1];return this.isIntercalaryMonth(r,i)&&(a="\u95F0"+a),a},parseMonth:function(e,t){e=this._validateYear(e);var r=parseInt(t),i;if(isNaN(r))t[0]==="\u95F0"&&(i=!0,t=t.substring(1)),t[t.length-1]==="\u6708"&&(t=t.substring(0,t.length-1)),r=1+["\u4E00","\u4E8C","\u4E09","\u56DB","\u4E94","\u516D","\u4E03","\u516B","\u4E5D","\u5341","\u5341\u4E00","\u5341\u4E8C"].indexOf(t);else{var 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HDr(e,t,r,i){var n,a;if(typeof e=="object")n=e,a=t||{};else{var o=typeof e=="number"&&e>=1888&&e<=2111;if(!o)throw new Error("Solar year outside range 1888-2111");var s=typeof t=="number"&&t>=1&&t<=12;if(!s)throw new Error("Solar month outside range 1 - 12");var l=typeof r=="number"&&r>=1&&r<=31;if(!l)throw new Error("Solar day outside range 1 - 31");n={year:e,month:t,day:r},a=i||{}}var u=_x[n.year-_x[0]],c=n.year<<9|n.month<<5|n.day;a.year=c>=u?n.year:n.year-1,u=_x[a.year-_x[0]];var f=u>>9&4095,h=u>>5&15,d=u&31,p,v=new Date(f,h-1,d),m=new Date(n.year,n.month-1,n.day);p=Math.round((m-v)/(24*3600*1e3));var g=xx[a.year-xx[0]],w;for(w=0;w<13;w++){var b=g&1<<12-w?30:29;if(p>13;return!_||w<_?(a.isIntercalary=!1,a.month=1+w):w===_?(a.isIntercalary=!0,a.month=w):(a.isIntercalary=!1,a.month=w),a.day=1+p,a}function jDr(e,t,r,i,n){var a,o;if(typeof e=="object")o=e,a=t||{};else{var s=typeof e=="number"&&e>=1888&&e<=2111;if(!s)throw new Error("Lunar year outside range 1888-2111");var l=typeof 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this.daysPerMonth[r.month()-1]+(r.month()===13&&this.leapYear(r.year())?1:0)},weekDay:function(e,t,r){return(this.dayOfWeek(e,t,r)||7)<6},toJD:function(e,t,r){var i=this._validate(e,t,r,C3.local.invalidDate);return e=i.year(),e<0&&e++,i.day()+(i.month()-1)*30+(e-1)*365+Math.floor(e/4)+this.jdEpoch-1},fromJD:function(e){var t=Math.floor(e)+.5-this.jdEpoch,r=Math.floor((t-Math.floor((t+366)/1461))/365)+1;r<=0&&r--,t=Math.floor(e)+.5-this.newDate(r,1,1).toJD();var i=Math.floor(t/30)+1,n=t-(i-1)*30+1;return this.newDate(r,i,n)}});C3.calendars.coptic=Ase});var c1t=W(()=>{var $m=ff(),WDr=qu();function Mse(e){this.local=this.regionalOptions[e||""]||this.regionalOptions[""]}Mse.prototype=new 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T6.baseCalendar;r7r(uN.prototype,{name:"Persian",jdEpoch:19483205e-1,daysPerMonth:[31,31,31,31,31,31,30,30,30,30,30,29],hasYearZero:!1,minMonth:1,firstMonth:1,minDay:1,regionalOptions:{"":{name:"Persian",epochs:["BP","AP"],monthNames:["Farvardin","Ordibehesht","Khordad","Tir","Mordad","Shahrivar","Mehr","Aban","Azar","Dey","Bahman","Esfand"],monthNamesShort:["Far","Ord","Kho","Tir","Mor","Sha","Meh","Aba","Aza","Dey","Bah","Esf"],dayNames:["Yekshanbeh","Doshanbeh","Seshanbeh","Chah\u0101rshanbeh","Panjshanbeh","Jom'eh","Shanbeh"],dayNamesShort:["Yek","Do","Se","Cha","Panj","Jom","Sha"],dayNamesMin:["Ye","Do","Se","Ch","Pa","Jo","Sh"],digits:null,dateFormat:"yyyy/mm/dd",firstDay:6,isRTL:!1}},leapYear:function(e){var t=this._validate(e,this.minMonth,this.minDay,T6.local.invalidYear);return lN(t.year())},weekOfYear:function(e,t,r){var i=this.newDate(e,t,r);return i.add(-((i.dayOfWeek()+1)%7),"d"),Math.floor((i.dayOfYear()-1)/7)+1},daysInMonth:function(e,t){var r=this._validate(e,t,this.minDay,T6.local.invalidMonth);return this.daysPerMonth[r.month()-1]+(r.month()===12&&this.leapYear(r.year())?1:0)},weekDay:function(e,t,r){return this.dayOfWeek(e,t,r)!==5},toJD:function(e,t,r){var i=this._validate(e,t,r,T6.local.invalidDate);e=i.year(),t=i.month(),r=i.day();var n=0;if(e>0)for(var a=1;a0?e-1:e)*365+n+this.jdEpoch-1},fromJD:function(e){e=Math.floor(e)+.5;var t=475+(e-this.toJD(475,1,1))/365.242197,r=Math.floor(t);r<=0&&r--,e>this.toJD(r,12,lN(r)?30:29)&&(r++,r===0&&r++);var i=e-this.toJD(r,1,1)+1,n=i<=186?Math.ceil(i/31):Math.ceil((i-6)/30),a=e-this.toJD(r,n,1)+1;return this.newDate(r,n,a)}});T6.calendars.persian=uN;T6.calendars.jalali=uN});var b1t=W(()=>{var P3=ff(),i7r=qu(),cN=P3.instance();function Ise(e){this.local=this.regionalOptions[e||""]||this.regionalOptions[""]}Ise.prototype=new P3.baseCalendar;i7r(Ise.prototype,{name:"Taiwan",jdEpoch:24194025e-1,yearsOffset:1911,daysPerMonth:[31,28,31,30,31,30,31,31,30,31,30,31],hasYearZero:!1,minMonth:1,firstMonth:1,minDay:1,regionalOptions:{"":{name:"Taiwan",epochs:["BROC","ROC"],monthNames:["January","February","March","April","May","June","July","August","September","October","November","December"],monthNamesShort:["Jan","Feb","Mar","Apr","May","Jun","Jul","Aug","Sep","Oct","Nov","Dec"],dayNames:["Sunday","Monday","Tuesday","Wednesday","Thursday","Friday","Saturday"],dayNamesShort:["Sun","Mon","Tue","Wed","Thu","Fri","Sat"],dayNamesMin:["Su","Mo","Tu","We","Th","Fr","Sa"],digits:null,dateFormat:"yyyy/mm/dd",firstDay:1,isRTL:!1}},leapYear:function(r){var t=this._validate(r,this.minMonth,this.minDay,P3.local.invalidYear),r=this._t2gYear(t.year());return cN.leapYear(r)},weekOfYear:function(n,t,r){var i=this._validate(n,this.minMonth,this.minDay,P3.local.invalidYear),n=this._t2gYear(i.year());return cN.weekOfYear(n,i.month(),i.day())},daysInMonth:function(e,t){var r=this._validate(e,t,this.minDay,P3.local.invalidMonth);return this.daysPerMonth[r.month()-1]+(r.month()===2&&this.leapYear(r.year())?1:0)},weekDay:function(e,t,r){return(this.dayOfWeek(e,t,r)||7)<6},toJD:function(n,t,r){var i=this._validate(n,t,r,P3.local.invalidDate),n=this._t2gYear(i.year());return cN.toJD(n,i.month(),i.day())},fromJD:function(e){var t=cN.fromJD(e),r=this._g2tYear(t.year());return this.newDate(r,t.month(),t.day())},_t2gYear:function(e){return e+this.yearsOffset+(e>=-this.yearsOffset&&e<=-1?1:0)},_g2tYear:function(e){return e-this.yearsOffset-(e>=1&&e<=this.yearsOffset?1:0)}});P3.calendars.taiwan=Ise});var w1t=W(()=>{var I3=ff(),n7r=qu(),fN=I3.instance();function Rse(e){this.local=this.regionalOptions[e||""]||this.regionalOptions[""]}Rse.prototype=new I3.baseCalendar;n7r(Rse.prototype,{name:"Thai",jdEpoch:15230985e-1,yearsOffset:543,daysPerMonth:[31,28,31,30,31,30,31,31,30,31,30,31],hasYearZero:!1,minMonth:1,firstMonth:1,minDay:1,regionalOptions:{"":{name:"Thai",epochs:["BBE","BE"],monthNames:["January","February","March","April","May","June","July","August","September","October","November","December"],monthNamesShort:["Jan","Feb","Mar","Apr","May","Jun","Jul","Aug","Sep","Oct","Nov","Dec"],dayNames:["Sunday","Monday","Tuesday","Wednesday","Thursday","Friday","Saturday"],dayNamesShort:["Sun","Mon","Tue","Wed","Thu","Fri","Sat"],dayNamesMin:["Su","Mo","Tu","We","Th","Fr","Sa"],digits:null,dateFormat:"dd/mm/yyyy",firstDay:0,isRTL:!1}},leapYear:function(r){var t=this._validate(r,this.minMonth,this.minDay,I3.local.invalidYear),r=this._t2gYear(t.year());return fN.leapYear(r)},weekOfYear:function(n,t,r){var i=this._validate(n,this.minMonth,this.minDay,I3.local.invalidYear),n=this._t2gYear(i.year());return fN.weekOfYear(n,i.month(),i.day())},daysInMonth:function(e,t){var r=this._validate(e,t,this.minDay,I3.local.invalidMonth);return this.daysPerMonth[r.month()-1]+(r.month()===2&&this.leapYear(r.year())?1:0)},weekDay:function(e,t,r){return(this.dayOfWeek(e,t,r)||7)<6},toJD:function(n,t,r){var i=this._validate(n,t,r,I3.local.invalidDate),n=this._t2gYear(i.year());return fN.toJD(n,i.month(),i.day())},fromJD:function(e){var t=fN.fromJD(e),r=this._g2tYear(t.year());return this.newDate(r,t.month(),t.day())},_t2gYear:function(e){return e-this.yearsOffset-(e>=1&&e<=this.yearsOffset?1:0)},_g2tYear:function(e){return e+this.yearsOffset+(e>=-this.yearsOffset&&e<=-1?1:0)}});I3.calendars.thai=Rse});var T1t=W(()=>{var R3=ff(),a7r=qu();function zse(e){this.local=this.regionalOptions[e||""]||this.regionalOptions[""]}zse.prototype=new R3.baseCalendar;a7r(zse.prototype,{name:"UmmAlQura",hasYearZero:!1,minMonth:1,firstMonth:1,minDay:1,regionalOptions:{"":{name:"Umm al-Qura",epochs:["BH","AH"],monthNames:["Al-Muharram","Safar","Rabi' al-awwal","Rabi' Al-Thani","Jumada Al-Awwal","Jumada Al-Thani","Rajab","Sha'aban","Ramadan","Shawwal","Dhu al-Qi'dah","Dhu al-Hijjah"],monthNamesShort:["Muh","Saf","Rab1","Rab2","Jum1","Jum2","Raj","Sha'","Ram","Shaw","DhuQ","DhuH"],dayNames:["Yawm al-Ahad","Yawm al-Ithnain","Yawm al-Thal\u0101th\u0101\u2019","Yawm al-Arba\u2018\u0101\u2019","Yawm al-Kham\u012Bs","Yawm al-Jum\u2018a","Yawm al-Sabt"],dayNamesMin:["Ah","Ith","Th","Ar","Kh","Ju","Sa"],digits:null,dateFormat:"yyyy/mm/dd",firstDay:6,isRTL:!0}},leapYear:function(e){var t=this._validate(e,this.minMonth,this.minDay,R3.local.invalidYear);return this.daysInYear(t.year())===355},weekOfYear:function(e,t,r){var i=this.newDate(e,t,r);return i.add(-i.dayOfWeek(),"d"),Math.floor((i.dayOfYear()-1)/7)+1},daysInYear:function(e){for(var t=0,r=1;r<=12;r++)t+=this.daysInMonth(e,r);return t},daysInMonth:function(e,t){for(var r=this._validate(e,t,this.minDay,R3.local.invalidMonth),i=r.toJD()-24e5+.5,n=0,a=0;ai)return wx[n]-wx[n-1];n++}return 30},weekDay:function(e,t,r){return this.dayOfWeek(e,t,r)!==5},toJD:function(e,t,r){var i=this._validate(e,t,r,R3.local.invalidDate),n=12*(i.year()-1)+i.month()-15292,a=i.day()+wx[n-1]-1;return a+24e5-.5},fromJD:function(e){for(var t=e-24e5+.5,r=0,i=0;it);i++)r++;var n=r+15292,a=Math.floor((n-1)/12),o=a+1,s=n-12*a,l=t-wx[r-1]+1;return this.newDate(o,s,l)},isValid:function(e,t,r){var i=R3.baseCalendar.prototype.isValid.apply(this,arguments);return i&&(e=e.year!=null?e.year:e,i=e>=1276&&e<=1500),i},_validate:function(e,t,r,i){var n=R3.baseCalendar.prototype._validate.apply(this,arguments);if(n.year<1276||n.year>1500)throw i.replace(/\{0\}/,this.local.name);return n}});R3.calendars.ummalqura=zse;var 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M1t=W((Zai,A1t)=>{"use strict";A1t.exports=ff();s1t();l1t();u1t();c1t();f1t();h1t();d1t();p1t();g1t();y1t();x1t();_1t();b1t();w1t();T1t()});var L1t=W((Kai,F1t)=>{"use strict";var E1t=M1t(),Q8=it(),k1t=Kn(),o7r=k1t.EPOCHJD,s7r=k1t.ONEDAY,Ose={valType:"enumerated",values:Q8.sortObjectKeys(E1t.calendars),editType:"calc",dflt:"gregorian"},C1t=function(e,t,r,i){var n={};return n[r]=Ose,Q8.coerce(e,t,n,r,i)},l7r=function(e,t,r,i){for(var n=0;n{"use strict";P1t.exports=L1t()});var p7r=W((Qai,z1t)=>{var R1t=B4e();R1t.register([OTe(),S6e(),UAe(),lMe(),wMe(),ySe(),FSe(),xEe(),YEe(),Dke(),m8e(),GPe(),LIe(),Tze(),fBe(),VBe(),hqe(),SOe(),jOe(),uNe(),bNe(),RNe(),ZNe(),hUe(),XVe(),vGe(),zXe(),zZe(),OKe(),fJe(),flt(),Slt(),Zlt(),uct(),Pct(),pft(),zht(),s0t(),k0t(),edt(),pdt(),dpt(),Lpt(),Kpt(),Lvt(),n1t(),I1t()]);z1t.exports=R1t});return p7r();})(); +/*! + * The buffer module from node.js, for the browser. + * + * @author Feross Aboukhadijeh + * @license MIT + */ +/*! ieee754. BSD-3-Clause License. Feross Aboukhadijeh */ +/*! + * Determine if an object is a Buffer + * + * @author Feross Aboukhadijeh + * @license MIT + */ +/*! + * pad-left + * + * Copyright (c) 2014-2015, Jon Schlinkert. + * Licensed under the MIT license. + */ +/*! + * repeat-string + * + * Copyright (c) 2014-2015, Jon Schlinkert. + * Licensed under the MIT License. + */ +/*! Bundled license information: + +native-promise-only/lib/npo.src.js: + (*! Native Promise Only + v0.8.1 (c) Kyle Simpson + MIT License: http://getify.mit-license.org + *) + +polybooljs/index.js: + (* + * @copyright 2016 Sean Connelly (@voidqk), http://syntheti.cc + * @license MIT + * @preserve Project Home: https://github.com/voidqk/polybooljs + *) + +ieee754/index.js: + (*! ieee754. BSD-3-Clause License. Feross Aboukhadijeh *) + +buffer/index.js: + (*! + * The buffer module from node.js, for the browser. + * + * @author Feross Aboukhadijeh + * @license MIT + *) + +safe-buffer/index.js: + (*! safe-buffer. MIT License. Feross Aboukhadijeh *) + +assert/build/internal/util/comparisons.js: + (*! + * The buffer module from node.js, for the browser. + * + * @author Feross Aboukhadijeh + * @license MIT + *) + +object-assign/index.js: + (* + object-assign + (c) Sindre Sorhus + @license MIT + *) + +maplibre-gl/dist/maplibre-gl-shared.mjs: +maplibre-gl/dist/maplibre-gl.mjs: + (** + * MapLibre GL JS + * @license 3-Clause BSD. Full text of license: https://github.com/maplibre/maplibre-gl-js/blob/v6.9.0/LICENSE.txt + *) +*/ + +window.Plotly = Plotly; +return Plotly; +})); \ No newline at end of file diff --git a/code/lite3_ROS/web_console/stretch_nav_control.py b/code/lite3_ROS/web_console/stretch_nav_control.py new file mode 100644 index 0000000000000000000000000000000000000000..c1207e137c76d6c91e4dd252bb1fcc7e9d5d1bb3 --- /dev/null +++ b/code/lite3_ROS/web_console/stretch_nav_control.py @@ -0,0 +1,191 @@ +"""Execution gates and transforms for the live Stretch/CROSS adapter, without I/O.""" +import math +from dataclasses import dataclass +from pathlib import Path + +import numpy as np + + +def wrap(angle): + return math.atan2(math.sin(angle), math.cos(angle)) + + +def alignment_correction(previous, current, base): + """Map-pose correction at the current base, independent of the odom origin. + + Alignment translations describe the coordinate origin. A small rotation + about a distant robot can move that origin substantially without moving + the estimated robot position. Compare both alignments at the same base. + """ + previous, current, base = [np.asarray(value, dtype=float) for value in (previous, current, base)] + if any(value.shape != (4, 4) or not np.isfinite(value).all() for value in (previous, current, base)): + raise ValueError('Invalid map alignment or base transform') + before, after = previous @ base, current @ base + distance = float(np.linalg.norm(after[:3, 3] - before[:3, 3])) + rotation = previous[:3, :3].T @ current[:3, :3] + angle = float(np.arccos(np.clip((np.trace(rotation) - 1.) / 2., -1., 1.))) + return distance, angle + + +def execution_gate(plan, robot, *, now, robot_received, heartbeat, state='active', max_plan_age=1.2): + """Require fresh planning evidence and CROSS's stable map commitment. + + CROSS carries its committed pose through map-match gaps using odometry. + Retrieval verification is diagnostic, not a separate execution deadline. + The PC plan-age gate starts at receipt. Independently, the robot lease + validates full source-image age, including transport and compute time. + """ + if state not in ('preparing', 'active'): + return 'teleop owns control' + if now - heartbeat > 2.: + return 'viewer heartbeat expired' + if robot is None or now - robot_received > .3: + return 'robot status stale' + if robot.get('is_runstopped') is not False or robot.get('is_homed') is not True: + return 'robot run-stopped or unhomed' + if not robot.get('posture_ok'): + return 'arm must already be retracted' + if robot.get('latched'): + return 'robot stop latched' + if robot.get('head_error'): + return 'head observation fault: ' + str(robot['head_error']) + if state == 'active' and not robot.get('healthy'): + return 'robot state/camera/TF unavailable' + if plan is None or now - plan['input_received'] > max_plan_age: + return 'sensor/plan evidence stale' + if not np.isfinite([plan['input_received'], plan.get('goal_distance', math.nan)]).all(): + return 'invalid plan timing or goal' + if not plan.get('localized') or plan.get('localized_streak', 0) < 3: + return 'waiting for stable committed localization' + if plan.get('recovery_pending'): + return 'map correction recovery' + if not plan.get('route_ids'): + return 'no global route' + if plan.get('arrived'): + return 'goal reached' + if plan.get('observation_hold'): + if plan.get('head_target') is not None and robot.get('head_enabled') is not True: + return 'leased head control unavailable' + return '' + if plan.get('planner_status') == 2 and plan.get('scan_authorized'): + return '' + if plan.get('planner_status') == 2 or len(plan.get('path_odom', [])) < 2: + return 'no executable local path' + return '' + + +@dataclass +class PlanWait: + """Hold at zero through a short perception gap, without re-arming the lease. + + Physical faults and lost localization never qualify for a transient hold. + A brief missing status stream also permits only zero velocity. An active + run can continue only after fresh robot status and its current plan pass + the full gate again. Sustained gaps end the run. + """ + timeout: float = 3. + since: float | None = None + + def holds(self, reason, now): + if reason not in ('sensor/plan evidence stale', 'no executable local path', 'robot status stale'): + self.since = None + return False + if self.since is None: + self.since = now + return now - self.since < self.timeout + + +def competing_controllers(proc_root='/proc'): + """Identify known local base clients that publish even while their keys are up.""" + found = [] + for entry in Path(proc_root).iterdir(): + if not entry.name.isdecimal(): + continue + try: + args = (entry / 'cmdline').read_bytes().split(b'\0') + words = [a.decode(errors='replace') for a in args if a] + except (OSError, PermissionError): + continue + if not words or not Path(words[0]).name.startswith('python'): + continue + for word in words[1:]: + if Path(word).name in ('teleop.py', 'manual_teleop.py', 'depth_nav_live.py') or word == 'stretch.app.manual_teleop': + found.append({'pid': int(entry.name), 'client': Path(word).name}) + break + return found + + +def remaining_path(path_world, pose): + """Trim a saved odom path at the nearest segment and return forward/left.""" + points = np.asarray(path_world, dtype=float).reshape(-1, 2) + pose = np.asarray(pose, dtype=float) + if len(points) < 2 or not np.isfinite(points).all() or not np.isfinite(pose).all(): + return np.empty((0, 2)) + delta = np.diff(points, axis=0) + t = np.clip(np.sum((pose[:2] - points[:-1]) * delta, axis=1) + / np.maximum(np.sum(delta ** 2, axis=1), 1e-9), 0., 1.) + projected = points[:-1] + t[:, None] * delta + k = int(np.argmin(np.linalg.norm(projected - pose[:2], axis=1))) + ahead = np.vstack([projected[k], points[k + 1:]]) - pose[:2] + c, s = np.cos(pose[2]), np.sin(pose[2]) + return ahead @ np.array([[c, -s], [s, c]]) + + +def depth_obstacles(depth, K, camera, base_z=0.): + """Current measured returns for a short-horizon veto, separate from CROSS planning.""" + depth, K, camera = map(np.asarray, (depth, K, camera)) + vv, uu = np.mgrid[0:depth.shape[0]:3, 0:depth.shape[1]:3] + z = depth[::3, ::3] + valid = np.isfinite(z) & (z > .12) & (z < 3.) + if valid.sum() < 100: + raise ValueError('insufficient measured depth for execution guard') + z, uu, vv = z[valid], uu[valid], vv[valid] + pc = np.column_stack([(uu - K[0, 2]) * z / K[0, 0], + (vv - K[1, 2]) * z / K[1, 1], z]) + world = pc @ camera[:3, :3].T + camera[:3, 3] + return world[(world[:, 2] > base_z + .12) & (world[:, 2] < base_z + 1.8), :2] + + +def depth_veto(points_world, pose, v, w, *, horizon=1., half_width=.23, half_length=.23): + """Veto a 1 s swept rectangle when measured points intersect it. + + The starting footprint is excluded as a robot self mask. This is a veto of + known returns, not evidence that unobserved near-field space is free. + """ + points, pose = np.asarray(points_world), np.asarray(pose) + c, s = np.cos(pose[2]), np.sin(pose[2]) + local = (points - pose[:2]) @ np.array([[c, -s], [s, c]]) + local = local[(np.abs(local[:, 0]) > .20) | (np.abs(local[:, 1]) > .20)] + for t in np.linspace(0., horizon, 16): + theta = w * t + center = np.array([v * t, 0.]) if abs(w) < 1e-6 else np.array([ + v / w * np.sin(theta), v / w * (1. - np.cos(theta))]) + c, s = np.cos(theta), np.sin(theta) + relative = (local - center) @ np.array([[c, -s], [s, c]]) + inside = (np.abs(relative[:, 0]) <= half_length) & (np.abs(relative[:, 1]) <= half_width) + if inside.sum() >= 3: + return True + return False + + +def attachment_clear(points_world, pose, target_xy): + """Reject a straight local attachment intersecting measured obstacle returns. + + Use the execution guard's footprint and robot self mask. Unknown space is + left to the native local planner; this check only vetoes measured returns. + """ + points, pose, target = map(np.asarray, (points_world, pose, target_xy)) + if not all(np.isfinite(value).all() for value in (points, pose, target)): + raise ValueError('Invalid attachment geometry') + c, s = np.cos(pose[2]), np.sin(pose[2]) + rotation = np.array([[c, -s], [s, c]]) + local = (points - pose[:2]) @ rotation + local = local[(np.abs(local[:, 0]) > .20) | (np.abs(local[:, 1]) > .20)] + end = (target - pose[:2]) @ rotation + steps = max(2, int(np.ceil(np.linalg.norm(end) / .025)) + 1) + for fraction in np.linspace(0., 1., steps): + relative = local - fraction * end + inside = (np.abs(relative[:, 0]) <= .23) & (np.abs(relative[:, 1]) <= .23) + if inside.sum() >= 3: + return False + return True diff --git a/code/lite3_ROS/web_console/stretch_nav_footprint.py b/code/lite3_ROS/web_console/stretch_nav_footprint.py new file mode 100644 index 0000000000000000000000000000000000000000..6fffd2058a9e1f76c4b4a86577169d79c53c3013 --- /dev/null +++ b/code/lite3_ROS/web_console/stretch_nav_footprint.py @@ -0,0 +1,87 @@ +"""Explain the learned command-footprint veto without changing its thresholds.""" + +import math + +import numpy as np + + +def command_footprint_report(grid, planning_base, pose, v, w, horizon=1.0, max_cells=12): + """Use the execution guard's exact sweep; return its first blocking cells. + + Cell centres are reported in the planning base and continuous odom frames. + Learned predictions under the image-time body are excluded, matching native + cross_nav's own-footprint rule. Newly swept space and the separate measured + depth veto retain their checks. Ignored predictions remain in diagnostics. + """ + prob, obs = np.asarray(grid["prob"]), np.asarray(grid["obs"]) + n, res = len(prob), float(grid["res"]) + if prob.shape != (n, n) or obs.shape != prob.shape or res <= 0: + raise ValueError("Invalid command footprint grid") + offsets = np.array(np.meshgrid(np.linspace(-0.23, 0.23, 11), np.linspace(-0.23, 0.23, 11))).reshape(2, -1).T + yaw = math.atan2(planning_base[1, 0], planning_base[0, 0]) + c, s = math.cos(yaw), math.sin(yaw) + world_to_plan = np.array([[c, -s], [s, c]]) + c, s = math.cos(pose[2]), math.sin(pose[2]) + world_to_robot = np.array([[c, -s], [s, c]]) + ignored = set() + + def cells_at(indices): + cells = [] + for row, col in indices: + body_xy = (n / 2 - np.array([row, col]) - 0.5) * res + point = body_xy @ world_to_plan.T + planning_base[:2, 3] + cells.append({ + "row": int(row), "column": int(col), "grid_body_xy": body_xy.tolist(), + "world_xy": point.tolist(), "probability": float(prob[row, col]), + "observability": float(obs[row, col]), + "uncertainty": float(grid["err"][row, col]) if "err" in grid else None, + }) + return cells + + def result(clear, reason, blocked=(), t=None): + return {"clear": clear, "reason": reason, "sweep_time_s": t, + "blocking_cell_count": len(blocked), "cells": cells_at(blocked[:max_cells]), + "ignored_current_body_cell_count": len(ignored), + "self_cells": cells_at(sorted(ignored)[:min(4, max_cells)])} + + for t in np.linspace(0.0, horizon, 16): + angle = w * t + center = ( + np.array([v * t, 0.0]) + if abs(w) < 1e-6 + else np.array([v / w * math.sin(angle), v / w * (1.0 - math.cos(angle))]) + ) + c, s = math.cos(angle), math.sin(angle) + local = offsets @ np.array([[c, s], [-s, c]]) + center + world = local @ world_to_robot.T + pose[:2] + fl = (world - planning_base[:2, 3]) @ world_to_plan + rc = np.floor(n / 2 - fl / res).astype(int) + if ((rc < 0) | (rc >= n)).any(): + return result(False, "outside learned grid", t=float(t)) + occupied = (prob[rc[:, 0], rc[:, 1]] > 0.6) & (obs[rc[:, 0], rc[:, 1]] > 0.5) + centres = (n / 2 - rc - 0.5) * res + # Freeze this exemption at the image-time planning base. Moving into + # a predicted obstacle after that image must never mask the obstacle. + own_body = (np.abs(centres) <= 0.23).all(1) + ignored.update(map(tuple, rc[occupied & own_body])) + if (occupied & ~own_body).any(): + blocked = np.unique(rc[occupied & ~own_body], axis=0) + return result(False, "learned occupancy", blocked, float(t)) + return result(True, "clear") + + +def depth_support(report, points_world): + """Label nearby measured returns; absence of returns is not free-space proof.""" + points = np.asarray(points_world, float).reshape(-1, 2) + def support(cells): + result = [] + for cell in cells: + distances = np.linalg.norm(points - cell["world_xy"], axis=1) + count = int((distances <= 0.10).sum()) + result.append({**cell, "nearby_depth_returns": count, "depth_supported": count >= 3, + "nearest_depth_return_m": float(distances.min()) if len(distances) else None}) + return result + cells = support(report["cells"]) + return {**report, "cells": cells, "self_cells": support(report.get("self_cells", [])), + "depth_supported_cells": sum(c["depth_supported"] for c in cells), + "depth_note": "Nearby obstacle returns only; no returns does not establish free space"} diff --git a/code/lite3_ROS/web_console/stretch_nav_geometry.py b/code/lite3_ROS/web_console/stretch_nav_geometry.py new file mode 100644 index 0000000000000000000000000000000000000000..6173aefce2bb8692fab4c55e8ef425bfcd50b35a --- /dev/null +++ b/code/lite3_ROS/web_console/stretch_nav_geometry.py @@ -0,0 +1,99 @@ +"""Measured-depth BEV baseline for passive CROSS planner inspection. + +This is explicitly not CROSS's learned occupancy or observability head. Floor +height is an odometry-frame prior. The output probabilities are fixed planning +encodings, not calibrated predictions or proof of safe execution. +""" +import cv2 +import numpy as np + + +def body_yaw(transform): + return float(np.arctan2(transform[1, 0], transform[0, 0])) + + +def body_to_world(points, base): + yaw = body_yaw(base) + rotation = np.array([[np.cos(yaw), -np.sin(yaw)], [np.sin(yaw), np.cos(yaw)]]) + return np.asarray(points) @ rotation.T + base[:2, 3] + + +def world_to_body(point, base): + yaw = body_yaw(base) + rotation = np.array([[np.cos(yaw), -np.sin(yaw)], [np.sin(yaw), np.cos(yaw)]]) + return (np.asarray(point)[:2] - base[:2, 3]) @ rotation + + +def measured_bev(depth, K, camera, base, *, size=200, res=.05, max_depth=3., + floor_z=0., obstacle_min=.2, obstacle_max=1.6): + """Robot-centered (rows forward, columns right) occupancy encoding and visibility. + + Floor visibility is tested against the current depth image, including + occlusion. Elevated returns set occupancy directly. Unobserved cells stay + unknown. Actual base/camera transforms account for head pan, tilt and offset. + """ + depth = np.asarray(depth, dtype=float) + K, camera, base = [np.asarray(value, dtype=float) for value in (K, camera, base)] + if depth.ndim != 2 or K.shape != (3, 3) or camera.shape != (4, 4) or base.shape != (4, 4): + raise ValueError('Invalid depth or calibrated transforms') + if not np.isfinite(np.r_[K.ravel(), camera.ravel(), base.ravel(), floor_z]).all(): + raise ValueError('Nonfinite geometry') + rr, cc = np.mgrid[:size, :size] + fl = np.stack([(size / 2 - rr - .5) * res, (size / 2 - cc - .5) * res], -1) + xy = body_to_world(fl.reshape(-1, 2), base) + ground = np.column_stack([xy, np.full(len(xy), floor_z)]) + ground_camera = (ground - camera[:3, 3]) @ camera[:3, :3] + z = ground_camera[:, 2] + forward = (z > .1) & (z <= max_depth) + denominator = np.where(forward, z, 1.) + u = np.rint(K[0, 0] * ground_camera[:, 0] / denominator + K[0, 2]).astype(int) + v = np.rint(K[1, 1] * ground_camera[:, 1] / denominator + K[1, 2]).astype(int) + h, w = depth.shape + inside = forward & (u >= 0) & (u < w) & (v >= 0) & (v < h) + sample = np.full(len(xy), np.nan) + sample[inside] = depth[v[inside], u[inside]] + visible = inside & np.isfinite(sample) & (sample > .1) & (sample <= max_depth) + visible &= sample >= z - .08 + observed = visible.reshape(size, size).astype(np.float32) + probability = np.where(observed > 0, .01, .5).astype(np.float32) + + vv, uu = np.mgrid[0:h:3, 0:w:3] + zz = depth[::3, ::3] + valid = np.isfinite(zz) & (zz > .1) & (zz <= max_depth) + zz, uu, vv = zz[valid], uu[valid], vv[valid] + pc = np.column_stack([(uu - K[0, 2]) * zz / K[0, 0], + (vv - K[1, 2]) * zz / K[1, 1], zz]) + points = pc @ camera[:3, :3].T + camera[:3, 3] + height = points[:, 2] - floor_z + yaw = body_yaw(base) + d = points[:, :2] - base[:2, 3] + forward_xy = d[:, 0] * np.cos(yaw) + d[:, 1] * np.sin(yaw) + left_xy = -d[:, 0] * np.sin(yaw) + d[:, 1] * np.cos(yaw) + row = np.floor(size / 2 - forward_xy / res).astype(int) + col = np.floor(size / 2 - left_xy / res).astype(int) + in_grid = (row >= 0) & (row < size) & (col >= 0) & (col < size) + obstacle = ((height >= obstacle_min) & (height <= obstacle_max)) | (height < -.2) + selected = in_grid & obstacle + probability[row[selected], col[selected]] = .99 + observed[row[selected], col[selected]] = 1. + heights = np.full((size, size), -np.inf, np.float32) + np.maximum.at(heights, (row[in_grid], col[in_grid]), height[in_grid]) + return {'prob': probability, 'obs': observed, 'height': heights, 'res': res, + 'points_odom': points[::max(1, len(points) // 2500)], + 'source': 'measured_depth_geometry', 'floor_z_odom': float(floor_z), + 'occupied_cells': int((probability > .6).sum()), + 'observed_cells': int((observed > .5).sum())} + + +def bev_png(probability, observed, layer='occupancy'): + p, v = np.asarray(probability), np.asarray(observed) + image = np.full((*p.shape, 3), (33, 49, 64), np.uint8) + if layer == 'occupancy': + image[v > .5] = (63, 192, 159) + image[p > .6] = (239, 110, 105) + else: + image[v > .5] = (68, 166, 218) + success, encoded = cv2.imencode('.png', image[..., ::-1]) + if not success: + raise OSError('Could not encode BEV') + return encoded.tobytes() diff --git a/code/lite3_ROS/web_console/stretch_nav_learned.py b/code/lite3_ROS/web_console/stretch_nav_learned.py new file mode 100644 index 0000000000000000000000000000000000000000..d1e29b9751ccaf7d85fb7b2e553c4920844af37c --- /dev/null +++ b/code/lite3_ROS/web_console/stretch_nav_learned.py @@ -0,0 +1,57 @@ +"""Place native camera-centred CROSS BEVs in the recorded robot base frame.""" +import cv2 +import numpy as np + +from .stretch_nav_geometry import body_yaw + + +def reproject_bev(prob, obs, err, rotation_bev_camera, camera, base, res): + """Resample at cell centres, preserving probabilities and unknown borders. + + Native axes are right/forward/up at the camera. The planner consumes a grid + centred on the base, with rows forward and columns right of the base heading. + Both frames use recorded odom up; camera height therefore cancels in XY. + """ + arrays = [np.asarray(a, dtype=np.float32) for a in (prob, obs, err)] + n = arrays[0].shape[0] + if any(a.shape != (n, n) or not np.isfinite(a).all() for a in arrays): + raise ValueError('Learned BEV layers must be finite matching square grids') + camera, base, rotation = map(np.asarray, (camera, base, rotation_bev_camera)) + if not all(np.isfinite(a).all() for a in (camera, base, rotation)) or res <= 0: + raise ValueError('Invalid learned BEV transform or resolution') + yaw = body_yaw(base) + # Destination pixel (column, row) -> base forward/left -> odom -> camera BEV. + dst = np.array([[0., 0.], [n - 1., 0.], [0., n - 1.]], np.float32) + forward = (n / 2 - dst[:, 1] - .5) * res + left = (n / 2 - dst[:, 0] - .5) * res + world = np.column_stack([ + base[0, 3] + np.cos(yaw) * forward - np.sin(yaw) * left, + base[1, 3] + np.sin(yaw) * forward + np.cos(yaw) * left, + np.full(3, camera[2, 3]), + ]) + native = (world - camera[:3, 3]) @ camera[:3, :3] @ rotation.T + src = np.column_stack([native[:, 0] / res + n / 2 - .5, + n / 2 - native[:, 1] / res - .5]).astype(np.float32) + affine = cv2.getAffineTransform(dst, src) + warped = [cv2.warpAffine(a, affine, (n, n), + flags=cv2.INTER_LINEAR | cv2.WARP_INVERSE_MAP, borderMode=cv2.BORDER_CONSTANT, + borderValue=border) for a, border in zip(arrays, (.5, 0., 1.))] + return {'prob': warped[0], 'obs': warped[1], 'err': warped[2], + 'base_pixel_to_camera_pixel': affine} + + +def learned_png(prob, obs, err, layer): + """Continuous, explicitly separate occupancy/observability/error scales.""" + values = {'occupancy': prob, 'visibility': obs, 'uncertainty': err}[layer] + palette = { + 'occupancy': [(55, 183, 148), (222, 190, 96), (233, 91, 101)], + 'visibility': [(25, 42, 60), (48, 128, 182), (173, 226, 255)], + 'uncertainty': [(25, 42, 60), (155, 112, 70), (255, 174, 76)], + }[layer] + p = np.clip(np.asarray(values, dtype=np.float32), 0., 1.) + image = np.stack([np.interp(p, [0., .5, 1.], np.array(palette)[:, channel]) + for channel in range(3)], axis=-1).astype(np.uint8) + success, encoded = cv2.imencode('.png', image[..., ::-1]) + if not success: + raise OSError('Could not encode learned BEV') + return encoded.tobytes() diff --git a/code/lite3_ROS/web_console/stretch_nav_recovery.py b/code/lite3_ROS/web_console/stretch_nav_recovery.py new file mode 100644 index 0000000000000000000000000000000000000000..ad6eede19f07709bfaaf6ccd2de1cbe1d9fb0f38 --- /dev/null +++ b/code/lite3_ROS/web_console/stretch_nav_recovery.py @@ -0,0 +1,391 @@ +"""Odometry-frame recovery and corner observation for the Stretch adapter. + +No hardware or CROSS imports. A moving head changes the observation transform, +never the neutral camera reference used to attach the base to the saved route. +""" + +import math +from collections import deque +from dataclasses import dataclass + +import numpy as np + +from .stretch_nav_control import alignment_correction, wrap +from .stretch_nav_geometry import world_to_body + + +def camera_in_base(camera, base): + """T_base_camera from the two TF poses at the *image* timestamp.""" + camera, base = np.asarray(camera, float), np.asarray(base, float) + for value in (camera, base): + if value.shape != (4, 4) or not np.isfinite(value).all(): + raise ValueError("Invalid timestamped camera/base TF") + if ( + not np.allclose(value[3], [0, 0, 0, 1], atol=1e-5) + or not np.allclose(value[:3, :3].T @ value[:3, :3], np.eye(3), atol=1e-4) + or np.linalg.det(value[:3, :3]) < 0.99 + ): + raise ValueError("Non-rigid camera/base TF") + return np.linalg.inv(base) @ camera + + +def camera_yaw(camera_base): + forward = np.asarray(camera_base)[:3, 2] + if np.linalg.norm(forward[:2]) < 0.2: + raise ValueError("Camera points too vertically for a corner scan") + return math.atan2(forward[1], forward[0]) + + +def camera_pitch(camera_base): + forward = np.asarray(camera_base)[:3, 2] + if not np.isfinite(forward).all() or np.linalg.norm(forward) < 0.9: + raise ValueError("Invalid camera direction") + return math.atan2(forward[2], np.linalg.norm(forward[:2])) + + +def clear_goal_cache(episode): + """Discard goal-specific routes, retaining occupancy, bumps and metric scale.""" + episode.route, episode.route_age = None, 0 + episode.no_route, episode.side, episode.expect = 0, 0.0, 0.0 + + +class MeasuredObstacleMemory: + """Short odometry-frame depth history, so a pan does not erase the front. + + This veto retains known returns for 12 seconds. Native occupancy memory + remains separate; retained moving-object returns may delay a command. + """ + + def __init__(self, horizon=12.0): + self.horizon, self.frames = horizon, deque() + self.preserve_from = None + + def observing(self, active, now): + """Keep pre-scan returns throughout a stationary survey and its exit.""" + if active and self.preserve_from is None: + self.preserve_from = now - self.horizon + elif not active and self.preserve_from is not None: + if self.frames: + self.frames = deque([(now, np.vstack([p for _, p in self.frames]))]) + self.preserve_from = None + + def update(self, points, now, origin): + points = np.asarray(points, float).reshape(-1, 2) + if not np.isfinite(points).all(): + raise ValueError("Nonfinite measured obstacle history") + if len(points): + cells, counts = np.unique(np.round(points / 0.02), axis=0, return_counts=True) + points = np.repeat(cells, np.minimum(counts, 3), axis=0) * 0.02 + self.frames.append((now, points)) + cutoff = now - self.horizon if self.preserve_from is None else self.preserve_from + while self.frames and self.frames[0][0] < cutoff: + self.frames.popleft() + combined = np.vstack([p for _, p in self.frames]) + combined = combined[np.linalg.norm(combined - np.asarray(origin)[:2], axis=1) < 3.5] + cells, counts = np.unique(np.round(combined / 0.02), axis=0, return_counts=True) + return np.repeat(cells, np.minimum(counts, 3), axis=0) * 0.02 + + +@dataclass +class CorrectionRecovery: + timeout: float = 12.0 + pending: bool = False + since: float = 0.0 + stable_since: float = 0.0 + samples: int = 0 + anchor: object = None + + def update(self, previous, current, base, now): + """Hold after a large correction, then require a coherent new alignment. + + Compare at the current base to avoid odom-origin artifacts. The anchor + also catches a succession of small corrections that add up to drift. + """ + distance, angle = (0.0, 0.0) if previous is None else alignment_correction(previous, current, base) + large = distance > 0.5 or angle > math.radians(25) + started = large and not self.pending + if started: + self.pending, self.since = True, now + self.anchor, self.stable_since, self.samples = np.asarray(current).copy(), now, 0 + if self.pending: + if now - self.since > self.timeout: + raise RuntimeError("Map pose correction did not settle within 12 s") + spread, turn = alignment_correction(self.anchor, current, base) + if large or distance > 0.12 or angle > math.radians(5) or spread > 0.20 or turn > math.radians(8): + self.anchor, self.stable_since, self.samples = np.asarray(current).copy(), now, 0 + else: + self.samples += 1 + if self.samples >= 3 and now - self.stable_since >= 0.6: + self.pending = False + return { + "started": started, + "large": large, + "pending": self.pending, + "distance_m": distance, + "rotation_deg": math.degrees(angle), + "deadline": self.since + self.timeout, + "stable_samples": self.samples, + } + + +def route_subgoal(route_xy, base, goal_xy, lookahead=1.5): + """Arc-length subgoal, stopping short of an upcoming sharp bend.""" + xy = np.asarray(route_xy, float).reshape(-1, 2) + origin = np.asarray(base)[:2, 3] + if not len(xy): + xy = np.asarray(goal_xy, float)[None, :2] + xy = np.vstack([origin, xy]) + xy = xy[np.r_[True, np.linalg.norm(np.diff(xy, axis=0), axis=1) > 0.03]] + if len(xy) == 1: + return {"target": xy[0], "corner": None} + arc = np.r_[0.0, np.cumsum(np.linalg.norm(np.diff(xy, axis=0), axis=1))] + + def at(d): + return np.array([np.interp(d, arc, xy[:, k]) for k in (0, 1)]) + + # Sample over a finite baseline: adjacent camera poses alone give noisy + # curvature. Include the bend's actual location, rather than cutting it. + bends = [] + for distance in np.arange(0.35, min(arc[-1] - 0.35, 1.8), 0.05): + if distance - 0.3 < arc[1]: + continue # The base->first-camera connector is not an aisle bend. + point = at(distance) + before, after = point - at(distance - 0.3), at(distance + 0.35) - point + angle = math.atan2(before[0] * after[1] - before[1] * after[0], np.dot(before, after)) + if abs(angle) >= math.radians(40): + bends.append((abs(angle), distance, point, angle)) + elif bends: + break # Only the first bend, not a sharper turn much farther away. + if bends: + _, distance, point, angle = max(bends, key=lambda v: v[0]) + after = at(min(arc[-1], distance + 0.6)) - point + approach = at(max(0.0, distance - 0.30)) + body_corner = world_to_body(point, base) + if abs(math.atan2(body_corner[1], body_corner[0])) > math.radians(30): + # The recorded camera trail may lie to one side of the base. Peek + # from the incoming aisle before asking for lateral displacement. + forward = base[:2, 0] / np.linalg.norm(base[:2, 0]) + approach = origin + max(0.0, body_corner[0] - 0.30) * forward + return { + "target": approach, + "corner": point, + "outgoing": after / np.linalg.norm(after), + "angle_deg": math.degrees(angle), + } + return {"target": at(min(lookahead, arc[-1])), "corner": None} + + +def observed_branch(grid, base, corner, outgoing): + """Fraction of a short branch strip seen in the current learned BEV.""" + p = np.asarray(corner) + np.linspace(0.1, 0.7, 7)[:, None] * np.asarray(outgoing) + lateral = np.array([-outgoing[1], outgoing[0]]) + p = (p[:, None] + np.array([-0.15, 0.0, 0.15])[None, :, None] * lateral).reshape(-1, 2) + fl = np.array([world_to_body(v, base) for v in p]) + n = len(grid["obs"]) + rc = np.floor(n / 2 - fl / grid["res"]).astype(int) + inside = ((rc >= 0) & (rc < n)).all(1) + seen = np.zeros(len(p), bool) + seen[inside] = grid["obs"][rc[inside, 0], rc[inside, 1]] > 0.5 + return float(seen.mean()) + + +class CornerObserver: + """Approach -> look -> return -> advance; at most two short peeks. + + Only processed, settled camera TF views count. The control thread keeps + zero base velocity for look/return, except a bounded, guarded scan rotation + when the desired view is outside the head's joint limits. + """ + + def __init__(self): + self.phase = "cruise" + self.corner = self.outgoing = self.approach = None + self.since = 0.0 + self.count = self.peeks = 0 + self.coverage = 0.0 + self.view_coverages = [] + self.previous_mount = None + self.done_at = None + self.scan_only = False + self.scan_cooldown = -math.inf + + def reset(self): + self.__init__() + + def restore_neutral(self, base, now): + """A correction may interrupt a scan with the head still turned.""" + self.reset() + self.phase, self.since, self.scan_only = "return", now, True + self.corner = self.approach = base[:2, 3].copy() + self.outgoing = base[:2, 0].copy() + + def update(self, hint, base, mount, neutral, joint, grid, now, *, no_route=False, force_observation=False): + target = hint["target"] + yaw = math.atan2(base[1, 0], base[0, 0]) + origin = base[:2, 3] + result = { + "phase": self.phase, + "target": target, + "hold": False, + "head_target": None, + "scan_w": 0.0, + "coverage": self.coverage, + "speed_scale": 1.0, + "lookahead": 0.4, + } + if force_observation and self.phase == "advance": + self.phase, self.approach = "approach", origin.copy() + if self.phase == "advance": + if np.dot(origin - self.corner, self.outgoing) > 0.4 or np.linalg.norm(origin - self.done_at) > 1.0: + self.phase = "cruise" + else: + result.update(phase="advance", speed_scale=0.5, lookahead=0.22) + # Retain the bend as an intermediate waypoint until passed. + result["target"] = self.corner + 0.65 * self.outgoing + return result + if self.phase == "cruise": + if hint["corner"] is not None: + self.corner, self.outgoing = hint["corner"].copy(), hint["outgoing"].copy() + self.approach = target.copy() + self.phase, self.peeks, self.scan_only = "approach", 0, False + self.coverage = 0.0 + elif no_route and now >= self.scan_cooldown: + direction = target - origin + if np.linalg.norm(direction) < 0.1: + return result + self.corner, self.outgoing = origin.copy(), direction / np.linalg.norm(direction) + self.approach = origin.copy() + self.phase, self.scan_only = "approach", True + self.coverage = 0.0 + else: + return result + if self.phase == "approach": + if force_observation: + self.approach = origin.copy() + result.update(phase="approach", target=self.approach, speed_scale=0.5, lookahead=0.22) + if np.linalg.norm(origin - self.approach) > (0.04 if self.peeks else 0.16): + return result + self.phase, self.since, self.count = "look", now, 0 + self.view_coverages = [] + self.coverage = 0.0 + self.previous_mount = None + if self.phase in ("look", "return"): + if now - self.since > 18.0: + raise RuntimeError("Corner camera scan timed out; no unobserved advance") + joint = np.asarray(joint, float) + if len(joint) < 11 or not np.isfinite(joint).all(): + raise ValueError("Head joint feedback unavailable for corner observation") + desired = ( + wrap(math.atan2(self.outgoing[1], self.outgoing[0]) - yaw) + if self.phase == "look" + else camera_yaw(neutral) + ) + error = wrap(desired - camera_yaw(mount)) + pan = joint[9] + error + clamped = float(np.clip(pan, -2.8, 0.65)) + tilt = joint[10] + if self.phase == "return": + tilt += camera_pitch(neutral) - camera_pitch(mount) + result.update( + phase=self.phase, + hold=True, + head_target=[clamped, float(np.clip(tilt, -1.4, 0.0))], + speed_scale=0.5, + lookahead=0.22, + target=self.approach, + ) + # Head first. Base rotation is allowed only after the limited head + # position is reached; the independent footprint veto still applies. + if abs(pan - clamped) > 0.10 and abs(joint[9] - clamped) < 0.08: + result["scan_w"] = math.copysign(0.15, error) + settled = ( + self.previous_mount is not None and np.linalg.norm(mount[:3, 3] - self.previous_mount[:3, 3]) < 0.005 + ) + if settled: + _, moved = alignment_correction(self.previous_mount, mount, np.eye(4)) + settled = moved < math.radians(1) + self.previous_mount = mount.copy() + pitch_ready = self.phase != "return" or abs(camera_pitch(neutral) - camera_pitch(mount)) < math.radians(4) + self.count = self.count + 1 if settled and abs(error) < math.radians(6) and pitch_ready else 0 + if self.phase == "look" and self.count: + self.view_coverages.append(observed_branch(grid, base, self.corner, self.outgoing)) + self.view_coverages = self.view_coverages[-2:] + self.coverage = min(self.view_coverages) + if self.count >= 2: + if self.phase == "look": + self.phase, self.count, self.since = "return", 0, now + elif self.scan_only: + self.phase, self.scan_cooldown = "cruise", now + 12.0 + elif self.coverage >= 0.5: + self.phase, self.done_at = "advance", origin.copy() + elif self.peeks < 2 and np.linalg.norm(self.corner - origin) > 0.14: + # A closer, short approach followed by another stationary + # look. Native planning + rectangle checks must clear it. + self.approach = origin + 0.12 * (self.corner - origin) / np.linalg.norm(self.corner - origin) + self.peeks += 1 + self.phase = "approach" + else: + raise RuntimeError("Corner remains occluded after bounded peeks; reposition required") + self.previous_mount = None + result["coverage"] = self.coverage + return result + + +def rectangle_command_clear(grid, planning_base, pose, v, w, horizon=1.0): + """Actual 1 s swept square, including pure rotation, in the learned grid.""" + from .stretch_nav_footprint import command_footprint_report + + return command_footprint_report(grid, planning_base, pose, v, w, horizon, max_cells=0)["clear"] + + +def rectangle_path_clear(path, grid, half_width=0.23, half_length=0.23, horizon=1.2): + """Check an oriented swept body against observed learned occupancy. + + Unknown is not relabelled free here. The native visibility planner handles + observation requests, while measured depth remains a separate hard veto. + """ + path = np.vstack([[0.0, 0.0], np.asarray(path, float).reshape(-1, 2)]) + if not np.isfinite(path).all(): + return False + offsets = ( + np.array(np.meshgrid(np.linspace(-half_length, half_length, 11), np.linspace(-half_width, half_width, 11))) + .reshape(2, -1) + .T + ) + travelled, heading = 0.0, 0.0 + n, res = len(grid["prob"]), grid["res"] + # Match native cross_nav: the robot already occupies this area. Keep the + # original prediction intact for diagnostics and for all newly swept cells. + probability = np.asarray(grid["prob"]).copy() + axis = (n / 2 - np.arange(n) - 0.5) * res + probability[(np.abs(axis[:, None]) <= half_length) & (np.abs(axis[None, :]) <= half_width)] = 0.0 + for a, b in zip(path[:-1], path[1:]): + d = float(np.linalg.norm(b - a)) + if d < 1e-5: + continue + yaw = math.atan2(*(b - a)[::-1]) + for angle in np.linspace(heading, heading + wrap(yaw - heading), 8): + c, s = math.cos(angle), math.sin(angle) + points = offsets @ np.array([[c, s], [-s, c]]) + a + rc = np.floor(n / 2 - points / res).astype(int) + inside = ((rc >= 0) & (rc < n)).all(1) + if ( + not inside.all() + or ((probability[rc[:, 0], rc[:, 1]] > 0.6) & (grid["obs"][rc[:, 0], rc[:, 1]] > 0.5)).any() + ): + return False + count = max(2, int(d / 0.04) + 1) + for t in np.linspace(0.0, min(1.0, max(0.0, horizon - travelled) / d), count): + c, s = math.cos(yaw), math.sin(yaw) + points = offsets @ np.array([[c, s], [-s, c]]) + a + t * (b - a) + rc = np.floor(n / 2 - points / res).astype(int) + inside = ((rc >= 0) & (rc < n)).all(1) + if ( + not inside.all() + or ((probability[rc[:, 0], rc[:, 1]] > 0.6) & (grid["obs"][rc[:, 0], rc[:, 1]] > 0.5)).any() + ): + return False + travelled, heading = travelled + d, yaw + if travelled >= horizon: + break + return True diff --git a/code/lite3_ROS/web_console/stretch_nav_replay.py b/code/lite3_ROS/web_console/stretch_nav_replay.py new file mode 100644 index 0000000000000000000000000000000000000000..87334dc5f1985fe14f82105e779d12eb7ba2214e --- /dev/null +++ b/code/lite3_ROS/web_console/stretch_nav_replay.py @@ -0,0 +1,226 @@ +"""Disk-backed, read-only playback of Stretch navigation recordings.""" + +import json +import math +from bisect import bisect_right +from pathlib import Path +from urllib.parse import urlencode + +LAYERS = ("occupancy", "visibility", "uncertainty") + + +def save_bev_frame(directory, frame, images, *, source="recorded", only_missing=False): + """Commit already encoded layers together; meta.json marks a complete frame.""" + if not isinstance(frame, int) or frame < 0 or source not in ("recorded", "reconstructed"): + raise ValueError("Invalid replay BEV frame") + root = Path(directory) / "replay" / "bev" / f"{frame:08d}" + if only_missing and (root / "meta.json").is_file(): + return + if any(not isinstance(images.get(f"{name}.png"), bytes) for name in LAYERS): + raise ValueError("All three encoded BEV layers are required") + root.mkdir(parents=True, exist_ok=True) + for name in LAYERS: + path = root / f"{name}.png" + temporary = path.with_suffix(".png.tmp") + temporary.write_bytes(images[path.name]) + temporary.replace(path) + path = root / "meta.json" + temporary = path.with_suffix(".json.tmp") + temporary.write_text(json.dumps({"frame_idx": frame, "source": source}) + "\n") + temporary.replace(path) + marker = root.parent.parent / "last_bev.json" + temporary = marker.with_suffix(".json.tmp") + temporary.write_text(json.dumps({"frame_idx": frame, "source": source}) + "\n") + temporary.replace(marker) + + +def read_rows(path): + """An in-flight last JSONL line may be incomplete; earlier corruption is an error.""" + if not path.is_file(): + return [] + lines = path.read_text().splitlines(keepends=True) + rows = [] + for index, line in enumerate(lines): + if not line.strip(): + continue + try: + rows.append(json.loads(line)) + except json.JSONDecodeError: + if index == len(lines) - 1 and not line.endswith("\n"): + break + raise + return rows + + +def confined(root, relative): + path = (root / relative).resolve() + if not path.is_relative_to(root): + raise ValueError("Replay asset escaped its recording") + return path + + +class ReplayArchive: + def __init__(self, directory): + self.root = Path(directory).resolve() + status = self.root / "final_status.json" + if not status.is_file(): + status = self.root / "review.json" + self.base = json.loads(status.read_text()) + if self.base.get("phase") != "stopped": + raise ValueError("Replay requires a stopped recording") + self.raw = read_rows(self.root / "capture/observations.jsonl") + self.raw_ids = [int(row["frame_idx"]) for row in self.raw] + self.raw_by_id = dict(zip(self.raw_ids, self.raw)) + self.times = [float(row["relative_time_s"]) for row in self.raw] + if not all(math.isfinite(t) for t in self.times) or self.times != sorted(self.times): + raise ValueError("Invalid recording timeline") + if self.raw_ids != sorted(set(self.raw_ids)): + raise ValueError("Invalid recording frame order") + self.plans = read_rows(self.root / "observations.jsonl") + self.plan_ids = [row["frame_idx"] for row in self.plans] + if self.plan_ids != sorted(set(self.plan_ids)): + raise ValueError("Invalid recorded plan order") + self.controls = sorted(read_rows(self.root / "commands.jsonl"), key=lambda row: row["time_unix"]) + self.control_times = [row["time_unix"] for row in self.controls] + self.robots = sorted(read_rows(self.root / "robot_status.jsonl"), key=lambda row: row["received_unix"]) + self.robot_times = [row["received_unix"] for row in self.robots] + self.events = read_rows(self.root / "events.jsonl") + self.bevs = {} + for path in (self.root / "replay/bev").glob("*/meta.json"): + if not path.parent.name.isdecimal(): + continue + index = int(path.parent.name) + if index not in self.raw_by_id: + continue + meta = json.loads(confined(self.root, path.relative_to(self.root)).read_text()) + if all(confined(self.root, path.parent.relative_to(self.root) / f"{name}.png").is_file() + for name in LAYERS): + self.bevs[index] = {"path": path.parent.relative_to(self.root), "source": meta["source"]} + # Older sessions kept only the last displayed BEV. Never show it early. + last_bev = next((p for p in reversed(self.plans) if p.get("bev_size")), None) + if last_bev and last_bev["frame_idx"] not in self.bevs and all( + confined(self.root, Path("review_bev") / f"{name}.png").is_file() for name in LAYERS + ): + self.bevs[last_bev["frame_idx"]] = {"path": Path("review_bev"), "source": "recorded"} + self.bev_ids = sorted(self.bevs) + + @staticmethod + def latest(rows, keys, value): + index = bisect_right(keys, value) - 1 + return rows[index] if index >= 0 else None + + def manifest(self): + received = [r.get("received_unix_s", -math.inf) for r in self.raw] + markers = [] + start = 0 + for event in self.events: + if not received: + break + if event['time_unix'] > received[-1] + 1.0: + continue # Exclude later review-server shutdown events. + index = max(0, min(len(self.raw) - 1, bisect_right(received, event["time_unix"]) - 1)) + if event["type"] == "start_requested": + start = index + markers.append({"index": index, "time_s": self.times[index], "type": event["type"], + "label": event.get("reason", event["type"].replace("_", " "))}) + return { + "run": self.root.name, "frames": [{"frame_idx": i, "time_s": t} for i, t in zip(self.raw_ids, self.times)], + "outcome": self.base.get("reason", "Run ended"), + "duration_s": self.times[-1] if self.times else 0.0, "start_index": start, "events": markers, + "bev_frames": len(self.bev_ids), "processed_frames": len(self.plans), + "recorded_bev_frames": sum(m["source"] == "recorded" for m in self.bevs.values()), + "reconstructed_bev_frames": sum(m["source"] == "reconstructed" for m in self.bevs.values()), + } + + def frame(self, index): + if index < 0 or index >= len(self.raw): + raise KeyError("Unknown replay index") + raw = self.raw[index] + number = raw["frame_idx"] + plan = self.latest(self.plans, self.plan_ids, number) + plan = dict(plan) if plan else {"frame_idx": None, "trajectory": [], "global_route": [], + "local_path_display": [], "planner_name": "Before first processed observation"} + stamp = raw.get("received_unix_s", -math.inf) + control = self.latest(self.controls, self.control_times, stamp) or {} + robot = dict(self.latest(self.robots, self.robot_times, stamp) or {}) + if raw.get("head_joints") is not None: + joint = list(robot.get("joint_positions", [0.0] * 11)) + if len(joint) >= 11: + joint[9:11] = raw["head_joints"] + robot["joint_positions"] = joint + bev_index = bisect_right(self.bev_ids, number) - 1 + bev = self.bev_ids[bev_index] if bev_index >= 0 else None + if bev is not None: + source_plan = self.latest(self.plans, self.plan_ids, bev) or {} + plan.update(bev_size=source_plan.get("bev_size", 400), bev_res=source_plan.get("bev_res", 0.05)) + query = {"run": self.root.name} + replay = { + "index": index, "time_s": raw["relative_time_s"], "frame_idx": number, + "map_frame": plan["frame_idx"], "bev_frame": bev, + "bev_time_s": self.raw_by_id[bev]["relative_time_s"] if bev is not None else None, + "bev_source": self.bevs[bev]["source"] if bev is not None else None, + "rgb_url": "/api/replay/rgb?" + urlencode({**query, "frame": number}), + "bev_urls": {name: "/api/replay/bev?" + urlencode({**query, "frame": bev, "layer": name}) + for name in LAYERS} if bev is not None else {}, + } + return { + **{key: self.base.get(key) for key in ("goal_keyframe", "max_plan_age_s", "v_max", "w_max")}, + "phase": "stopped", "ready": False, "review": True, "playback": True, + "gate": "Replay; motion controls disabled", "recorded_phase": control.get("phase", "teleop"), + "reason": control.get("reason", "Recorded observations"), "frame": plan, "robot": robot, + "control": control, "replay": replay, "capture_frame": number, + "processed": bisect_right(self.plan_ids, number), + "motion_commands": control.get("nonzero_motion_commands", 0), + } + + def image(self, number, layer=None): + if layer is None: + if number not in self.raw_by_id: + raise KeyError("Unknown recorded RGB frame") + relative = Path("capture/rgb") / f"{number:08d}.jpg" + else: + if layer not in LAYERS or number not in self.bevs: + raise KeyError("Unknown recorded BEV frame or layer") + relative = self.bevs[number]["path"] / f"{layer}.png" + return confined(self.root, relative).read_bytes() + + +class ReplayService: + """Only completed recordings in the current run's parent are selectable.""" + + def __init__(self, current): + self.current = Path(current).resolve() + self.parent = self.current.parent + self.cache = {} + + def directories(self): + result = {} + for path in [self.current, *self.parent.glob("stretch_cross_nav_live_*")]: + root = path.resolve() + if root.parent != self.parent or not (root / "map.json").is_file(): + continue + status = root / "final_status.json" + if not status.is_file(): + status = root / "review.json" + if not status.is_file(): + continue + data = json.loads(status.read_text()) + capture = root / "capture/observations.jsonl" + if data.get("phase") == "stopped" and capture.is_file() and capture.stat().st_size > 0: + result[root.name] = (root, data) + return result + + def listing(self): + return [{"id": key, "goal_keyframe": data.get("goal_keyframe"), "reason": data.get("reason")} + for key, (_, data) in sorted(self.directories().items(), reverse=True)] + + def get(self, key=None): + key = key or self.current.name + root, _ = self.directories()[key] + # A backfill can add images while the read-only page is open. + signature = tuple((root / name).stat().st_mtime_ns if (root / name).exists() else 0 + for name in ("capture/observations.jsonl", "observations.jsonl", "replay/bev", + "replay/last_bev.json")) + if key not in self.cache or self.cache[key][0] != signature: + self.cache[key] = (signature, ReplayArchive(root)) + return self.cache[key][1] diff --git a/code/lite3_ROS/web_console/stretch_nav_report.py b/code/lite3_ROS/web_console/stretch_nav_report.py new file mode 100644 index 0000000000000000000000000000000000000000..16bcf983ca263882b9fceb36209fbe67b4ecbaf1 --- /dev/null +++ b/code/lite3_ROS/web_console/stretch_nav_report.py @@ -0,0 +1,352 @@ +"""Saved native CROSS relocalization, native graph routing and learned or geometric BEV planning.""" +import heapq +import json +from pathlib import Path +from types import SimpleNamespace + +import cv2 +import numpy as np + +from .stretch_nav_geometry import body_to_world, body_yaw, measured_bev, bev_png, world_to_body +from .stretch_nav_learned import reproject_bev, learned_png + + +def clean_json(value): + if isinstance(value, dict): + return {str(k): clean_json(v) for k, v in value.items()} + if isinstance(value, (list, tuple)): + return [clean_json(v) for v in value] + if isinstance(value, np.ndarray): + return clean_json(value.tolist()) + if isinstance(value, np.generic): + return clean_json(value.item()) + if isinstance(value, float) and not np.isfinite(value): + return None + return value + + +def save_json(path, data): + temporary = path.with_suffix('.json.tmp') + temporary.write_text(json.dumps(clean_json(data), indent=2, allow_nan=False) + '\n') + temporary.replace(path) + + +def positions(transform, points): + points = np.asarray(points, dtype=float).reshape(-1, 3) + return points @ transform[:3, :3].T + transform[:3, 3] + + +class SavedRoute: + """Feed saved native pose/odometry records to CROSS's unmodified PlanningSystem. + + Choose a local attachment by connection distance plus remaining native graph + cost. Keep the previous route when competing routes have nearly equal cost. + No new visual or geometric shortcut edges are invented by this adapter. + """ + def __init__(self, map_path, *, attachment_radius=.75, switch_margin=.25): + from cross.db.store import read_map + from cross.core.types import Edge, EdgeType + from cross.core.planning_system import PlanningSystem + + data = read_map(map_path) + records = list(data['db_data']['keyframes']) + list(data['hypo_data']['temp_keyframes']) + nodes = {int(r['id']): SimpleNamespace(id=int(r['id']), temporary=bool(r['temporary']), + pose_mu=r['pose_mu'].cpu(), pose_charts=r.get('pose_charts')) for r in records} + edges = {tuple(key): Edge(mean=r['mean'].cpu(), std=r['std'].cpu(), type=EdgeType[r['type']]) + for key, r in data['hypo_data']['odom_edges'].items()} + adjacency = {} + for a, b in edges: + adjacency.setdefault(a, set()).add(b) + adjacency.setdefault(b, set()).add(a) + manager = SimpleNamespace(nodes=nodes, odom_edges=edges, proximity_edges={}, proximity_adjacency={}, + chart_aware=bool(data.get('coordinate_charts_version')), odom_adjacency=lambda: adjacency) + self.permanent = {k: v for k, v in nodes.items() if not v.temporary} + self.matrices = {k: v.pose_mu[0].matrix().numpy() for k, v in nodes.items()} + self.current = next(iter(self.permanent)) + system = SimpleNamespace(device='cpu', hypothesis_manager=manager, + get_current_kf=lambda: {'closest_perm_node': nodes[self.current]}) + self.planning = PlanningSystem(system, config={'use_temporary_keyframes': False}) + self.attachment_radius = attachment_radius + self.switch_margin = switch_margin + if not np.isfinite([attachment_radius, switch_margin]).all() or ( + attachment_radius <= 0 or switch_margin < 0 + ): + raise ValueError('Invalid route attachment limits') + self._goal = None + self._cost_to_goal = {} + self._previous_ids = () + + def reset_attachment(self): + """Forget route continuity after a global localization correction.""" + self._previous_ids = () + + def _set_goal(self, goal_id): + if goal_id not in self.permanent: + raise ValueError('Goal must be an original permanent keyframe') + if goal_id == self._goal: + return + # The saved graph is immutable. Compute cost-to-go once per goal using + # exactly the neighbors and edge weights used by native CROSS planning. + # Reverse edges also handle directed graphs without assuming symmetry. + native = self.planning.planner + reverse = {key: [] for key in self.permanent} + for key in self.permanent: + for neighbor in native._get_neighbors(key): + if neighbor not in reverse: + continue + cost = native._get_edge_cost(key, neighbor) + if cost < 0 or np.isnan(cost): + raise ValueError('Invalid native planning edge cost') + if np.isfinite(cost): + reverse[neighbor].append((key, cost)) + costs, queue = {goal_id: 0.}, [(0., goal_id)] + while queue: + cost, key = heapq.heappop(queue) + if cost > costs[key]: + continue + for neighbor, weight in reverse[key]: + candidate = cost + weight + if candidate < costs.get(neighbor, np.inf): + costs[neighbor] = candidate + heapq.heappush(queue, (candidate, neighbor)) + self.planning.set_goal(goal_kf_id=goal_id) + self._goal, self._cost_to_goal, self._previous_ids = goal_id, costs, () + + def route(self, camera_pose, goal_id, *, can_attach=None): + """Select a bounded local start; optional predicate checks its connection. + + ``can_attach(keyframe_id, map_position)`` may veto an attachment using + current measured obstacles. Local planning still decides how to move. + """ + camera_pose = np.asarray(camera_pose, dtype=float) + if camera_pose.shape != (4, 4) or not np.isfinite(camera_pose).all(): + raise ValueError('Invalid committed camera pose') + self._set_goal(int(goal_id)) + distances = {key: float(np.linalg.norm(self.matrices[key][:3, 3] - camera_pose[:3, 3])) + for key in self.permanent} + nearest = min(distances, key=distances.get) + # All bounded local starts compete on total cost. A window relative to + # the nearest frame can discard a valid short route at an overlapping + # visit, even though its attachment remains close and unobstructed. + radius = self.attachment_radius + candidates = [] + for key, distance in distances.items(): + remaining = self._cost_to_goal.get(key, np.inf) + if distance > radius or not np.isfinite(remaining): + continue + if can_attach is not None and not can_attach(key, self.matrices[key][:3, 3]): + continue + candidates.append((distance + remaining, distance, key)) + diagnostics = {'nearest_keyframe': nearest, 'nearest_distance_m': distances[nearest], + 'attachment_limit_m': radius, 'candidate_count': len(candidates), + 'connection_check': 'measured_depth' if can_attach is not None else 'map_distance_only', + 'switch_margin_m': self.switch_margin} + if not candidates: + self._previous_ids = () + return {'status': 'no_local_graph_attachment', 'start_keyframe': None, + 'ids': [], 'positions': [], 'attachment': diagnostics} + best = min(candidates) + previous = set(self._previous_ids) + continuing = [candidate for candidate in candidates if candidate[2] in previous] + if continuing: + keep = min(continuing) + if keep[0] <= best[0] + self.switch_margin: + best = keep + total, distance, self.current = best + # Native backbone expansion has no segment to expand for [goal]. Keep + # that valid singleton so the live controller can approach/declare arrival. + result = ({'detailed_path': [self.current], 'detailed_cost': 0., 'detail_level': 'backbone'} + if self.current == self._goal else self.planning.plan_to_goal(algorithm='astar')) + if not result or not result.get('detailed_path'): + self._previous_ids = () + return {'status': 'no_graph_route', 'start_keyframe': self.current, + 'ids': [], 'positions': [], 'attachment': diagnostics} + ids = result['detailed_path'] + self._previous_ids = tuple(ids) + diagnostics.update(distance_m=distance, remaining_m=result['detailed_cost'], + total_m=distance + result['detailed_cost'], + selection_total_m=total, + best_candidate_total_m=min(candidates)[0], selected_on_previous_route=self.current in previous) + return {'status': 'route_found', 'start_keyframe': self.current, 'ids': ids, + 'positions': [self.matrices[k][:3, 3] for k in ids], + 'cost_m': result['detailed_cost'], 'algorithm': 'native CROSS A*', + 'attachment': diagnostics, + 'start_rule': 'local connection distance + remaining native graph cost, with route continuity', + 'detail_level': result['detail_level']} + + +def build_report(capture, probe, map_run, output, goal_id=None): + from cross_nav.policy.bev_policy import BEVPlannerPolicy, Episode + + capture, probe, map_run, output = map(Path, (capture, probe, map_run, output)) + output.mkdir(parents=True, exist_ok=True) + (output / 'frames').mkdir(exist_ok=True) + save_json(output / 'state.json', {'status': 'building', 'robot_commands_sent': 0}) + rows = json.loads((probe / 'observations.json').read_text()) + learned = (probe / 'bevs').is_dir() + size, resolution = (400, .05) if learned else (200, .05) + raw_rows = {r['frame_idx']: r for r in map(json.loads, (capture / 'observations.jsonl').read_text().splitlines())} + source_run = json.loads((map_run / 'run.json').read_text()) + source_graph = json.loads((map_run / 'graph.json').read_text()) + display = np.asarray(source_run['T_display_from_map']) + route_planner = SavedRoute(map_run / 'map.pkl') + committed = [row for row in rows if row['localized']] + if not committed: + raise ValueError('No committed native relocalization observations') + final = committed[-1] + final_raw = raw_rows[final['capture_frame']] + final_map_camera = np.asarray(final['map_pose']) + final_odom_camera = np.asarray(final_raw['camera_pose']) + final_base = np.asarray(final_raw['base_pose_matrix']) + T_map_odom = final_map_camera @ np.linalg.inv(final_odom_camera) + if goal_id is None: + nearest_id = min(route_planner.permanent, key=lambda k: np.linalg.norm( + route_planner.matrices[k][:3, 3] - final_map_camera[:3, 3])) + candidates = [] + for key in route_planner.permanent: + point = route_planner.matrices[key][:3, 3] + point_odom = positions(np.linalg.inv(T_map_odom), [point])[0] + fl = world_to_body(point_odom, final_base) + if 1.5 <= np.linalg.norm(fl) <= 4.5 and fl[0] > .5: + # Repeated visits can be nearby in space but far along the graph. + candidates.append((np.linalg.norm(fl - [3., 0.]) + .02 * abs(key - nearest_id), key)) + goal_id = min(candidates)[1] if candidates else min(route_planner.permanent, + key=lambda k: np.linalg.norm(route_planner.matrices[k][:3, 3] - final_map_camera[:3, 3])) + if int(goal_id) not in route_planner.permanent: + raise ValueError('Goal must be an original permanent map keyframe') + + # Native CPU policy consumes cached network predictions or the geometric baseline. + cross_root = Path('/workspace/CROSS') + config = json.loads((cross_root / 'cross_nav/configs/policy/bev_planner_vfin2.json').read_text()) + for field in ('backbone', 'occupancy', 'visibility', 'visibility_gravity'): + config[field] = None + policy = BEVPlannerPolicy(config, predictor=SimpleNamespace(size=size, res=resolution)) + episode = Episode() + selected = sorted(set(np.linspace(0, len(rows) - 1, 25).astype(int).tolist() + + [i for i, row in enumerate(rows) if row['localized']])) + frames, trajectory = [], [] + for number, row_index in enumerate(selected): + row = rows[row_index] + index = row['capture_frame'] + raw = raw_rows[index] + camera, base = np.asarray(raw['camera_pose']), np.asarray(raw['base_pose_matrix']) + depth = cv2.imread(str(capture / 'depth' / f'{index:08d}.png'), cv2.IMREAD_UNCHANGED).astype(float) / 1000 + geometry = measured_bev(depth, raw['camera_K'], camera, base) + frame_dir = output / 'frames' / f'{index:08d}' + frame_dir.mkdir(exist_ok=True) + np.savez_compressed(frame_dir / 'geometry.npz', prob=geometry['prob'], obs=geometry['obs'], + height=geometry['height'], K=raw['camera_K'], T_odom_camera=camera, T_odom_base=base) + bev_meta = row.get('bev', {}) + fresh = bool(row.get('bev_fresh', False)) if learned else True + if learned: + if fresh: + with np.load(probe / 'bevs' / f'{index:08d}.npz') as native: + planned_bev = reproject_bev(native['prob'], native['obs'], native['err'], + native['R_bev_from_cam'], camera, base, resolution) + else: + planned_bev = {'prob': np.full((size, size), .5, np.float32), + 'obs': np.zeros((size, size), np.float32), + 'err': np.ones((size, size), np.float32)} + np.savez_compressed(frame_dir / 'learned_base.npz', **planned_bev) + for layer in ('occupancy', 'visibility', 'uncertainty'): + (frame_dir / f'{layer}.png').write_bytes(learned_png( + planned_bev['prob'], planned_bev['obs'], planned_bev['err'], layer)) + else: + planned_bev = {**geometry, 'err': np.zeros((size, size), np.float32)} + for layer in ('occupancy', 'visibility'): + (frame_dir / f'{layer}.png').write_bytes(bev_png(geometry['prob'], geometry['obs'], layer)) + map_camera = np.asarray(row['map_pose']) + graph_route = {'status': 'waiting_for_committed_pose', 'ids': [], 'positions': []} + goal_body = np.array([2., 0.]) + global_positions = [] + local_goal_kind = 'local 2 m forward demo; map localization pending' + if row['localized']: + alignment = map_camera @ np.linalg.inv(camera) + graph_route = route_planner.route(map_camera, goal_id) + global_positions = positions(display, graph_route['positions']) + route_points_odom = positions(np.linalg.inv(alignment), graph_route['positions']) + if len(route_points_odom): + distances = np.linalg.norm(route_points_odom[:, :2] - base[:2, 3], axis=1) + eligible = np.flatnonzero(distances >= 1.5) + target = route_points_odom[eligible[0] if len(eligible) else -1] + goal_body = world_to_body(target, base) + local_goal_kind = 'subgoal on native CROSS graph route' + trajectory.append(positions(display, [map_camera[:3, 3]])[0]) + maps = {'prob': planned_bev['prob'][None], 'obs': planned_bev['obs'][None], + 'err': planned_bev['err'][None], 'log_scale': np.array([bev_meta.get('log_scale', 0.)]), + 'odometry': np.array([bev_meta.get('scale_source') == 'anchors']), + 'up_head_deg': np.array([bev_meta.get('gravity_head_deg', 0.)]), + 'n_views': np.array([bev_meta.get('n_views', 1)]), 'fresh': np.array([fresh])} + # Zero actual commanded travel: passive pushing must not create fictitious bump events. + odom = np.array([*base[:2, 3], body_yaw(base)]) + paths, details = policy.plan_maps(maps, goal_body[None], [episode], + [{'ep': 'passive', 'odom': odom, 'expect': 0.}], [True]) + debug = details[0] + local_path = paths[0] + local_display = [] + camera_display = None + if row['localized']: + alignment = map_camera @ np.linalg.inv(camera) + path_odom_xy = body_to_world(local_path, base) + path_odom = np.column_stack([path_odom_xy, np.zeros(len(path_odom_xy))]) + local_display = positions(display @ alignment, path_odom) + camera_display = positions(display, [map_camera[:3, 3]])[0] + matches = sorted(row['retrieval'], key=lambda r: r['score'], reverse=True)[:6] + status_names = ['goal route', 'local waypoint', 'no route / scan', 'near-goal approach', + 'remembered route', 'relaxed local route', 'episode-map route'] + record = {'frame_idx': index, 'time_s': raw['relative_time_s'], 'localized': row['localized'], + 'weights': row['weights'], 'retrieval': matches, 'graph_route': graph_route, + 'global_route_display': global_positions, 'local_path_body': local_path, + 'local_path_display': local_display, 'camera_display': camera_display, + 'goal_body': goal_body, 'goal_kind': local_goal_kind, 'goal_keyframe': int(goal_id), + 'planner_status': status_names[int(debug['status'])], 'planner_status_code': int(debug['status']), + 'blind_zone_assumed': bool(debug['blind_zone']), 'vis_threshold': debug['vis_threshold'], + 'bev_source': 'cross_shared_vggt_heads' if learned else 'measured_depth_geometry', + 'learned_bev_heads_available': learned, 'bev_fresh': fresh, 'bev_metadata': bev_meta, + 'robot_commands_sent': 0, 'bev_size': size, 'bev_resolution_m': resolution, + 'floor_z_odom': 0., 'camera_height_m': float(camera[2, 3]), + 'occupied_cells': int((planned_bev['prob'] > .6).sum()), + 'observed_cells': int((planned_bev['obs'] > .5).sum()), + 'measured_depth_occupied_cells': geometry['occupied_cells'], + 'occupancy_range': [planned_bev['prob'].min(), planned_bev['prob'].max()], + 'observability_range': [planned_bev['obs'].min(), planned_bev['obs'].max()], + 'camera_K': raw['camera_K'], 'T_odom_camera': camera, 'T_odom_base': base, + 'native_map_camera_pose': map_camera if row['localized'] else None, + 'point_cloud_odom': geometry['points_odom'], + 'retrieval_note': 'Native last-step diagnostics; may carry between backend observation frames.'} + save_json(frame_dir / 'frame.json', record) + frames.append({'id': index, 'time_s': raw['relative_time_s'], 'localized': row['localized']}) + save_json(output / 'state.json', {'status': 'building', 'frames_ready': number + 1, + 'frames_total': len(selected), 'robot_commands_sent': 0}) + nodes = [{'id': node['id'], 'position': positions(display, [np.asarray(node['pose'])[:3, 3]])[0], + 'frame_idx': node.get('frame_idx')} for node in source_graph['nodes'] if not node['temporary']] + map_data = {'nodes': nodes, 'trajectory': trajectory, 'goal_keyframe': int(goal_id), + 'recording': '2026-10-22--15-48-58', 'coordinates': source_run['coordinates']} + save_json(output / 'map.json', map_data) + manifest = {'status': 'ready', 'capture': str(capture.resolve()), 'probe': str(probe.resolve()), + 'map_run': str(map_run.resolve()), 'phone_dataset': source_run['dataset'], 'frames': frames, + 'default_frame': len(frames) - 1, 'goal_keyframe': int(goal_id), + 'native_probe_result': json.loads((probe / 'result.json').read_text()), + 'learned_bev_heads_available': learned, + 'bev_source': 'cross_shared_vggt_heads' if learned else 'measured_depth_geometry', + 'bev_size': size, 'bev_resolution_m': resolution, + 'checkpoint_provenance': json.loads((probe / 'run.json').read_text()).get('checkpoint_provenance') if learned else None, + 'native_local_planner': 'cross_nav.policy.bev_policy.BEVPlannerPolicy.plan_maps', + 'native_graph_planner': 'cross.core.planning_system.PlanningSystem (A*)', + 'raw_depth_max_m': 3., 'robot_commands_sent': 0, + 'notes': (["Trained occupancy and observability heads read CROSS's shared VGGT pass.", + 'RGB and external camera odometry only; raw depth is a separate comparison.', + 'Recorded camera TF supplies gravity and camera-to-base reprojection.', + 'Occupancy error and observability are distinct learned confidence outputs.', + 'The native nav service observation cadence (obs_max_interval_steps=1) is enabled.', + 'Plans are passive inspection results, with no robot commands.', + 'The local planner uses its native circular footprint and recovery rules; no physical drive test.'] + if learned else ['The occupancy/observability navigation heads are not used in this comparison.', + 'BEV probabilities are geometric encodings, not learned/calibrated confidence.', + 'The floor is assumed at odom Z=0; camera pan/tilt/offset come from timestamped TF.', + 'Plans are passive inspection results, with no robot commands.', + 'The local planner uses its native circular footprint and recovery rules; no physical drive test.'])} + save_json(output / 'manifest.json', manifest) + save_json(output / 'state.json', {'status': 'ready', 'frames_ready': len(frames), + 'goal_keyframe': int(goal_id), 'robot_commands_sent': 0}) + return manifest diff --git a/code/lite3_ROS/web_console/stretch_nav_survey.py b/code/lite3_ROS/web_console/stretch_nav_survey.py new file mode 100644 index 0000000000000000000000000000000000000000..70689c27e148cad1a7d1231da3cd558e4e17a0e8 --- /dev/null +++ b/code/lite3_ROS/web_console/stretch_nav_survey.py @@ -0,0 +1,131 @@ +"""Stationary yaw/pitch observations for blocked Stretch navigation; no I/O.""" + +import math + +import numpy as np + +from .stretch_nav_control import alignment_correction, wrap +from .stretch_nav_recovery import camera_pitch, camera_yaw + +HEAD_TARGET_TOLERANCE_RAD = math.radians(4) + + +class HeadSurvey: + """Observe floor and both sides, then restore the driving camera pose. + + Targets are frozen from image-time joint/TF feedback. Only distinct, + settled processed images count. No survey result requests base motion. + At most two passes are allowed until the base moves 20 cm; the enclosing + controller has an independent 90 s/100 degree recovery budget. + """ + + def __init__(self): + self.active = False + self.origin = self.base = None + self.passes = self.index = 0 + self.targets = [] + self.views = [] + self.started = self.since = self.next_allowed = 0.0 + self.previous_mount = self.stable_since = None + self.last_frame = -1 + self.count = 0 + self.reason = "" + + def cancel(self): + self.active = False + self.next_allowed = 0.0 + + def start(self, base, mount, neutral, joint, now, reason): + if self.active: + return False + joint = np.asarray(joint, float) + if joint.ndim != 1 or len(joint) < 11 or not np.isfinite(joint).all(): + raise ValueError("Timestamped head joint feedback unavailable for survey") + base = np.asarray(base, float) + if self.origin is None or np.linalg.norm(base[:2, 3] - self.origin) > 0.2: + self.origin, self.passes = base[:2, 3].copy(), 0 + if now < self.next_allowed: + return False + if self.passes >= 2: + raise RuntimeError("Head survey exhausted two passes without forward progress; footprint remains blocked") + pan = float(np.clip(joint[9] + wrap(camera_yaw(neutral) - camera_yaw(mount)), -2.8, 0.65)) + tilt = float(np.clip(joint[10] + camera_pitch(neutral) - camera_pitch(mount), -1.4, 0.0)) + # Look far enough down to inspect the otherwise hidden near floor. + down_pitch = max(-1.25, min(-1.05, camera_pitch(neutral) - 0.45)) + down = float(np.clip(joint[10] + down_pitch - camera_pitch(mount), -1.4, 0.0)) + left, right = min(0.65, pan + 0.55), max(-2.8, pan - 0.70) + self.targets = [ + ("front floor", [pan, down]), + ("left floor", [left, down]), + ("right floor", [right, down]), + ("right surroundings", [right, tilt]), + ("left surroundings", [left, tilt]), + ("return to driving view", [pan, tilt]), + ] + self.base = base.copy() + self.passes += 1 + self.index, self.count, self.last_frame = 0, 0, -1 + self.started = self.since = now + self.previous_mount = self.stable_since = None + self.views, self.reason, self.active = [], reason, True + return True + + def snapshot(self): + return { + "active": self.active, + "pass": self.passes, + "view": min(self.index + 1, len(self.targets)), + "total": len(self.targets), + "label": self.targets[min(self.index, len(self.targets) - 1)][0] if self.targets else "idle", + "settled_views": len(self.views), + "reason": self.reason, + } + + def update(self, base, mount, joint, frame, now): + if not self.active: + raise RuntimeError("No active head survey") + distance, angle = alignment_correction(self.base, base, np.eye(4)) + if distance > 0.05 or angle > math.radians(5): + raise RuntimeError("Base moved during stationary head survey") + if now - self.started > 40.0 or now - self.since > 12.0: + raise RuntimeError("Head survey timed out waiting for settled camera observations") + joint = np.asarray(joint, float) + if len(joint) < 11 or not np.isfinite(joint).all(): + raise ValueError("Timestamped head joint feedback unavailable for survey") + label, target = self.targets[self.index] + complete = False + if frame > self.last_frame: + # Successful hardware actions can settle a few degrees short of + # their targets. Use the same four-degree allowance as the corner + # pitch return; geometry uses the measured image-time camera TF. + reached = np.max(np.abs(joint[9:11] - target)) < HEAD_TARGET_TOLERANCE_RAD + settled = False + if self.previous_mount is not None: + moved, turned = alignment_correction(self.previous_mount, mount, np.eye(4)) + settled = moved < 0.005 and turned < math.radians(1) + self.previous_mount, self.last_frame = np.asarray(mount).copy(), frame + if reached and settled: + self.count += 1 + self.stable_since = now if self.stable_since is None else self.stable_since + else: + self.count, self.stable_since = 0, None + if self.count >= 2 and now - self.stable_since >= 0.4: + self.views.append({"label": label, "frame_idx": int(frame), "head_joints": joint[9:11].tolist(), + "camera_in_base": np.asarray(mount).tolist()}) + self.index += 1 + self.since, self.count = now, 0 + self.stable_since = self.previous_mount = None + if self.index == len(self.targets): + self.active, complete, self.next_allowed = False, True, now + 3.0 + return { + "phase": "survey_return" if label == "return to driving view" else "survey", + "target": self.base[:2, 3].copy(), + "hold": True, + "head_target": target, + "scan_w": 0.0, + "coverage": 0.0, + "speed_scale": 0.5, + "lookahead": 0.22, + "survey_complete": complete, + "survey_label": label, + } diff --git a/code/lite3_ROS/web_console/stretch_nav_viewer.py b/code/lite3_ROS/web_console/stretch_nav_viewer.py new file mode 100644 index 0000000000000000000000000000000000000000..c0bd6ab8214480c34a1453e5445c657a2ae9bff0 --- /dev/null +++ b/code/lite3_ROS/web_console/stretch_nav_viewer.py @@ -0,0 +1,178 @@ +"""Loopback-only saved pipeline viewer; its actions never send robot commands.""" +import argparse +from http.server import BaseHTTPRequestHandler, ThreadingHTTPServer +import json +from pathlib import Path +import secrets +import subprocess +import threading + +ROOT = Path(__file__).resolve().parents[1] +STATIC = ROOT / 'web_console/static' + + +class Report: + def __init__(self, directory, comparison=None): + self.root = Path(directory).resolve() + kind = 'learned' if self.manifest()['learned_bev_heads_available'] else 'depth' + self.sources = {kind: self.root} + if comparison: + self.sources['depth'] = Path(comparison).resolve() + self.source = next(iter(self.sources)) + self.token = secrets.token_urlsafe(24) + self.worker = None + self.lock = threading.Lock() + + def manifest(self): + return json.loads((self.root / 'manifest.json').read_text()) + + def frame(self, index): + if index not in {row['id'] for row in self.manifest()['frames']}: + raise KeyError('Unknown saved frame') + return self.root / 'frames' / f'{index:08d}' + + def status(self): + state = json.loads((self.root / 'state.json').read_text()) + manifest = self.manifest() + capture = json.loads((Path(manifest['capture']) / 'capture.json').read_text()) + return {**state, 'manifest': manifest, 'capture': capture, 'token': self.token, + 'version': (self.root / 'manifest.json').stat().st_mtime_ns, + 'source': self.source, 'sources': list(self.sources), + 'replanning': self.worker is not None and self.worker.poll() is None} + + def select_source(self, source): + with self.lock: + if source not in self.sources: + raise ValueError('Unknown BEV report') + if self.worker is not None and self.worker.poll() is None: + raise ValueError('Wait for the current replan to finish') + self.source, self.root = source, self.sources[source] + + def replan(self, goal): + nodes = json.loads((self.root / 'map.json').read_text())['nodes'] + if isinstance(goal, bool) or goal not in {n['id'] for n in nodes}: + raise ValueError('Choose an original permanent keyframe') + with self.lock: + if self.worker is not None and self.worker.poll() is None: + raise ValueError('A replan is already running') + manifest = self.manifest() + command = ['/workspace/miniforge3/envs/cross_latest/bin/python', '-u', + str(ROOT / 'scripts/build_stretch_nav_report.py'), '--capture', manifest['capture'], + '--probe', manifest['probe'], '--map-run', manifest['map_run'], '--output', str(self.root), + '--goal-id', str(goal)] + with (self.root / 'replan.log').open('ab') as log: + self.worker = subprocess.Popen(command, cwd=ROOT, stdin=subprocess.DEVNULL, + stdout=log, stderr=subprocess.STDOUT) + + +class Handler(BaseHTTPRequestHandler): + def log_message(self, *_): + pass + + def send(self, code, value, content_type='application/json'): + if not isinstance(value, bytes): + value = json.dumps(value, allow_nan=False).encode() + self.send_response(code) + self.send_header('Content-Type', content_type) + self.send_header('Content-Length', str(len(value))) + self.send_header('Cache-Control', 'no-store') + self.send_header('X-Content-Type-Options', 'nosniff') + self.send_header('Content-Security-Policy', "default-src 'self'; script-src 'self' 'unsafe-eval'; " + "style-src 'self' 'unsafe-inline'; img-src 'self' data: blob:; worker-src 'self' blob:; " + "connect-src 'self'; frame-ancestors 'none'") + self.end_headers() + try: + self.wfile.write(value) + except (BrokenPipeError, ConnectionResetError): + pass + + def do_GET(self): + report = self.server.report + path = self.path.split('?', 1)[0] + assets = {'/': ('cross_nav.html', 'text/html; charset=utf-8'), + '/cross_nav.js': ('cross_nav.js', 'text/javascript; charset=utf-8'), + '/cross_nav.css': ('cross_nav.css', 'text/css; charset=utf-8'), + '/vendor/plotly.min.js': ('vendor/plotly.min.js', 'text/javascript; charset=utf-8')} + try: + if path in assets: + file, mime = assets[path] + return self.send(200, (STATIC / file).read_bytes(), mime) + if path == '/api/status': + return self.send(200, report.status()) + if path == '/api/map': + return self.send(200, (report.root / 'map.json').read_bytes()) + parts = path.strip('/').split('/') + if len(parts) == 3 and parts[:2] == ['api', 'frame']: + return self.send(200, (report.frame(int(parts[2])) / 'frame.json').read_bytes()) + if len(parts) == 4 and parts[:2] == ['api', 'bev'] and parts[3] in ( + 'occupancy.png', 'visibility.png', 'uncertainty.png'): + return self.send(200, (report.frame(int(parts[2])) / parts[3]).read_bytes(), 'image/png') + if len(parts) == 4 and parts[:2] == ['api', 'image']: + manifest = report.manifest() + if parts[2] == 'robot': + index = int(parts[3]) + report.frame(index) + file = Path(manifest['capture']) / 'rgb' / f'{index:08d}.jpg' + elif parts[2] == 'phone': + node = next(n for n in json.loads((report.root / 'map.json').read_text())['nodes'] + if n['id'] == int(parts[3])) + file = Path(manifest['phone_dataset']) / 'rgb' / f"{node['frame_idx']:08d}.jpg" + else: + raise KeyError('Unknown image source') + return self.send(200, file.read_bytes(), 'image/jpeg') + if path == '/api/live.jpg': + capture = Path(report.manifest()['capture']) + latest = json.loads((capture / 'latest.json').read_text()) + return self.send(200, (capture / 'rgb' / f"{latest['frame_idx']:08d}.jpg").read_bytes(), 'image/jpeg') + return self.send(404, {'error': 'Not found'}) + except (KeyError, OSError, StopIteration): + self.send(404, {'error': 'Saved pipeline data unavailable'}) + except (ValueError, TypeError) as exc: + self.send(400, {'error': str(exc)}) + + def do_POST(self): + report = self.server.report + if self.headers.get('X-Session') != report.token: + return self.send(403, {'error': 'Invalid viewer session'}) + expected = f'http://127.0.0.1:{self.server.server_port}' + if self.headers.get('Origin') not in (None, expected): + return self.send(403, {'error': 'Wrong origin'}) + try: + length = int(self.headers.get('Content-Length', 0)) + if not 0 <= length <= 2048: + raise ValueError('Request too large') + data = json.loads(self.rfile.read(length) or b'{}') + if self.path == '/api/goal': + report.replan(data.get('goal_keyframe')) + return self.send(202, {'status': 'replanning', 'robot_commands_sent': 0}) + if self.path == '/api/source': + report.select_source(data.get('source')) + return self.send(200, {'source': report.source, 'robot_commands_sent': 0}) + if self.path == '/api/stop-capture': + (Path(report.manifest()['capture']) / 'STOP').touch() + return self.send(200, {'status': 'capture_stop_requested', 'robot_commands_sent': 0}) + self.send(404, {'error': 'Unknown action'}) + except (ValueError, TypeError) as exc: + self.send(400, {'error': str(exc)}) + + +def main(argv=None): + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument('--report', type=Path, required=True) + parser.add_argument('--comparison', type=Path) + parser.add_argument('--port', type=int, default=8087) + args = parser.parse_args(argv) + server = ThreadingHTTPServer(('127.0.0.1', args.port), Handler) + server.daemon_threads = True + server.report = Report(args.report, args.comparison) + print(f'Stretch / CROSS pipeline: http://127.0.0.1:{args.port}', flush=True) + try: + server.serve_forever() + except KeyboardInterrupt: + pass + finally: + server.server_close() + + +if __name__ == '__main__': + main() diff --git a/code/lite3_ROS/web_console/stretch_transport.py b/code/lite3_ROS/web_console/stretch_transport.py new file mode 100644 index 0000000000000000000000000000000000000000..7f40acd9873398642431a04348fe8acf3a22ca72 --- /dev/null +++ b/code/lite3_ROS/web_console/stretch_transport.py @@ -0,0 +1,24 @@ +"""Camera timing diagnostics. These estimates never grant a control lease.""" + +import math + + +def camera_transport_diagnostics(packet, robot, robot_received, received): + result = {'source_age_at_send_s': packet.get('sensor_age')} + if not robot: + return result + status_age = received - robot_received + result['status_local_age_s'] = status_age + if robot.get('frame_id') is not None: + result['source_frame_gap'] = robot['frame_id'] - packet['frame_id'] + # Both source stamps use the robot's ROS clock. Avoid comparing clocks on + # different hosts. Unknown status transit time makes this a lower bound + # under a steady ROS clock, rather than an exact one-way network latency. + ros_now = robot.get('ros_now_s') + stamp = packet.get('sensor_stamp') + if ros_now is not None and stamp is not None and 0 <= status_age < .5: + age = ros_now + status_age - stamp + if math.isfinite(age): + result['source_age_via_status_s'] = age + result['post_publish_delay_via_status_s'] = age - packet.get('sensor_age', 0.) + return result diff --git a/code/lite3_ROS/web_console/stretch_vggt_debug.py b/code/lite3_ROS/web_console/stretch_vggt_debug.py new file mode 100644 index 0000000000000000000000000000000000000000..0640dbb05bac7ada9abf9e8af19c22b569a47de9 --- /dev/null +++ b/code/lite3_ROS/web_console/stretch_vggt_debug.py @@ -0,0 +1,401 @@ +"""Lossless, disk-backed VGGT inference archives without changing CROSS source.""" + +from __future__ import annotations + +import functools +import hashlib +import inspect +import json +import math +import queue +import subprocess +import threading +import time +import zipfile +from pathlib import Path + +import numpy as np + + +def model_provenance(cross_root): + root = Path(cross_root).resolve() + revision = subprocess.run(["git", "-C", str(root), "rev-parse", "HEAD"], + check=True, capture_output=True, text=True).stdout.strip() + files = {} + for name in ("vggt_omega_cross_1b_512.pt", "nav/cross_nav_occupancy.pt", "nav/cross_nav_observability.pt"): + path = root / "models/VGGT-Omega-CROSS" / name + digest = hashlib.sha256() + with path.open("rb") as stream: + for block in iter(lambda: stream.read(8 * 1024 * 1024), b""): + digest.update(block) + files[name] = {"bytes": path.stat().st_size, "sha256": digest.hexdigest()} + return {"cross_git_revision": revision, "checkpoints": files} + + +def snapshot(value): + """Own CPU copies: CUDA-graph outputs and planner buffers are reused.""" + if isinstance(value, np.ndarray): + if value.dtype.hasobject: + raise TypeError("Object arrays are not permitted in VGGT debug archives") + return value.copy() + if hasattr(value, "detach"): + tensor = value.detach().cpu() + # Every bfloat16 value is represented exactly by float32. + if str(tensor.dtype) == "torch.bfloat16": + tensor = tensor.float() + return tensor.numpy().copy() + if isinstance(value, np.generic): + return value.item() + if isinstance(value, dict): + return {str(key): snapshot(item) for key, item in value.items()} + if isinstance(value, (tuple, list)): + return [snapshot(item) for item in value] + if value is None or isinstance(value, (str, bool, int, float)): + return value + raise TypeError(f"Unsupported VGGT debug value: {type(value).__name__}") + + +def atomic_json(path, data): + temporary = path.with_suffix(path.suffix + ".tmp") + temporary.write_text(json.dumps(data, indent=2, allow_nan=False) + "\n") + temporary.replace(path) + + +def write_npz(path, arrays): + """Fast, lossless ZIP compression; no pickle and no reduced precision.""" + temporary = path.with_suffix(path.suffix + ".tmp") + with zipfile.ZipFile(temporary, "w", compression=zipfile.ZIP_DEFLATED, compresslevel=1) as archive: + for key, array in arrays.items(): + with archive.open(key + ".npy", "w", force_zip64=True) as stream: + np.lib.format.write_array(stream, np.asarray(array), allow_pickle=False) + temporary.replace(path) + + +def pack(value, arrays, name="data"): + if isinstance(value, np.ndarray): + key = name.replace("/", "_") + if key in arrays: + raise ValueError(f"Duplicate archive array key: {key}") + arrays[key] = value + return {"npz_key": key, "shape": list(value.shape), "dtype": str(value.dtype)} + if isinstance(value, dict): + return {key: pack(item, arrays, f"{name}.{key}") for key, item in value.items()} + if isinstance(value, list): + return [pack(item, arrays, f"{name}.{index}") for index, item in enumerate(value)] + if isinstance(value, float) and not math.isfinite(value): + return {"nonfinite": str(value)} + return value + + +class _RecordingHead: + def __init__(self, original, recorder): + self.original, self.recorder = original, recorder + self.signature = inspect.signature(original) + + def __getattr__(self, name): + return getattr(self.original, name) + + def __call__(self, *args, **kwargs): + result = self.original(*args, **kwargs) + recorder = self.recorder + if recorder.current is not None: + started = time.perf_counter() + if recorder.active_pass is None: + raise RuntimeError("BEV prediction has no matching recorded VGGT pass") + bound = self.signature.bind(*args, **kwargs) + bound.apply_defaults() + keys = ("pts", "patch_hw", "hw", "log_scale", "up_cam", "views") + recorder.active_pass["head_calls"].append({ + "inputs": snapshot({key: bound.arguments.get(key) for key in keys}), + "outputs": snapshot(result), + }) + recorder.copy_s += time.perf_counter() - started + return result + + +class VggtDebugRecorder: + """Archive every actual pass, with bounded asynchronous compression. + + Hooks delegate unchanged and return the original objects. No robot or + network transport is imported. A full queue or write failure is explicit; + a live caller can close navigation rather than silently lose debug data. + """ + + def __init__(self, directory, metadata=None, *, on_error=None, max_pending=8): + if max_pending < 1: + raise ValueError("VGGT debug queue must have a positive bound") + self.root = Path(directory).resolve() + self.root.mkdir(parents=True, exist_ok=False) + (self.root / "views").mkdir() + (self.root / "frames").mkdir() + self.on_error = on_error + self.pending = queue.Queue(maxsize=max_pending) + self.error = None + self.run_error = None + self.closed = False + self.current = self.active_pass = None + self.hooks = [] + self.assets = set() + self.frames = self.passes = self.bytes = 0 + self.write_s = self.copy_s = 0.0 + self.submitted = set() + self.started = time.time() + atomic_json(self.root / "run.json", { + "schema_version": 1, "created_unix": self.started, "metadata": metadata or {}, + "input_encoding": "Exact per-view CHW tensors; shared content-addressed lossless NPZ assets", + "bfloat16_storage": "Converted losslessly to float32; original dtype recorded on inference inputs", + "outputs": "Geometry predictions, raw float BEV-head outputs, consumed BEV, base grid and planner state", + "intermediate_transformer_tokens_saved": False, + "write_policy": "Bounded asynchronous lossless compression; no sampling or silent drops", + }) + self._status("running") + self.worker = threading.Thread(target=self._worker, name="vggt-debug-writer", daemon=True) + self.worker.start() + + def _status(self, phase): + atomic_json(self.root / "status.json", { + "status": phase, "frames": self.frames, "passes": self.passes, + "unique_views": len(self.assets), "bytes": self.bytes, + "write_s": self.write_s, "snapshot_s": self.copy_s, + "queued_frames": self.pending.qsize(), "error": str(self.error) if self.error else None, + "run_error": self.run_error, + }) + + def check(self): + if self.error is not None: + raise RuntimeError(f"VGGT debug archive failed: {self.error}") from self.error + if self.closed: + raise RuntimeError("VGGT debug archive is closed") + + def attach(self, estimator): + import torch + + self.check() + backend = estimator.backend + if not callable(getattr(backend, "infer", None)) or not callable(getattr(backend, "nav", None)): + raise ValueError("VGGT debug capture requires a backend with infer() and an enabled BEV head") + original_infer = backend.infer + infer_signature = inspect.signature(original_infer) + original_estimate = estimator.estimate_pose + estimate_signature = inspect.signature(original_estimate) + run = json.loads((self.root / "run.json").read_text()) + run["runtime"] = {"torch": str(torch.__version__), "cuda": torch.version.cuda, + "backend": type(backend).__name__, "estimator": type(estimator).__name__, + "cuda_graphs": bool(getattr(backend, "cuda_graphs", False)), + "compiled": bool(getattr(backend, "_compiled", False))} + atomic_json(self.root / "run.json", run) + + @functools.wraps(original_infer) + def infer(images, *args, **kwargs): + if self.current is None: + return original_infer(images, *args, **kwargs) + started = time.perf_counter() + self.active_pass = {"images": snapshot(images), "image_dtype": str(images.dtype), "head_calls": []} + self.current["passes"].append(self.active_pass) + self.copy_s += time.perf_counter() - started + try: + result = original_infer(images, *args, **kwargs) + except BaseException as exc: + self.active_pass["inference_error"] = str(exc) + raise + started = time.perf_counter() + try: + bound = infer_signature.bind(images, *args, **kwargs) + bound.apply_defaults() + names = ("c2w", "K", "depth", "depth_conf", "hw", "covis", "log_scale") + prediction = {name: getattr(result, name, None) for name in names} + nav = getattr(backend, "last_nav", None) + self.active_pass.update({ + "infer_args": snapshot({key: bound.arguments.get(key) for key in ("n_depth", "focal")}), + "effective_calib_focal": snapshot(getattr(backend, "calib_focal", None)), + "prediction": snapshot(prediction), + "pose_encoding": snapshot(nav.get("pose_enc")) if nav else None, + }) + finally: + self.copy_s += time.perf_counter() - started + return result + + @functools.wraps(original_estimate) + def estimate(*args, **kwargs): + if self.current is None: + return original_estimate(*args, **kwargs) + begin = len(self.current["passes"]) + bound = estimate_signature.bind(*args, **kwargs) + bound.apply_defaults() + anchor = bound.arguments.get("odom_anchor") + context = {key: bound.arguments.get(key) for key in ("ref_rel_poses", "ref_cam_ids")} + context["source_context"] = bound.arguments.get("kwargs", {}) + context["odom_anchor"] = ({key: value for key, value in anchor.items() + if key not in ("image", "extra_images")} if anchor else None) + result = original_estimate(*args, **kwargs) + calls = self.current["passes"][begin:] + for index, call in enumerate(calls): + call["estimate_context"] = snapshot(context) + call["estimator_info"] = snapshot(getattr(estimator, "last_info", {})) if index == 0 else {} + call["principal_point_rotation"] = snapshot(getattr(estimator, "_R_model_to_cam", None)) + call["camera_calibrations"] = snapshot(getattr(estimator, "_cameras", None)) + if index == 0: + poses, valid, confidence = result + call["relative_pose_result"] = snapshot({ + "poses": poses.matrix() if hasattr(poses, "matrix") else poses, + "valid": valid, "confidence": confidence, + }) + return result + + self._replace(backend, "infer", infer) + self._replace(estimator, "estimate_pose", estimate) + self._replace(backend, "nav", _RecordingHead(backend.nav, self)) + + def _replace(self, owner, name, replacement): + self.hooks.append((owner, name, name in vars(owner), vars(owner).get(name))) + setattr(owner, name, replacement) + + def begin_frame(self, raw): + self.check() + if self.current is not None: + raise RuntimeError("Previous VGGT debug frame was not completed") + number = int(raw["frame_idx"]) + if number < 0 or number in self.submitted: + raise ValueError("VGGT debug frame IDs must be unique and nonnegative") + self.current = {"capture_frame": number, "source": snapshot({key: value for key, value in raw.items() + if key not in ("rgb_jpg", "depth_png")}), "passes": []} + self.active_pass = None + + def finish_frame(self, **outputs): + self.check() + if self.current is None: + raise RuntimeError("No current VGGT debug frame") + started = time.perf_counter() + self.current["outputs"] = snapshot(outputs) + self.copy_s += time.perf_counter() - started + job, self.current, self.active_pass = self.current, None, None + try: + self.pending.put_nowait(job) + except queue.Full as exc: + self.current = job + raise RuntimeError("VGGT debug writer cannot keep up; no frames were silently dropped") from exc + self.submitted.add(job["capture_frame"]) + + def _view(self, image): + image = np.ascontiguousarray(image) + digest = hashlib.sha256(str((image.dtype.str, image.shape)).encode() + image.tobytes()).hexdigest() + if digest not in self.assets: + path = self.root / "views" / f"{digest}.npz" + write_npz(path, {"image": image}) + self.bytes += path.stat().st_size + self.assets.add(digest) + return {"asset": digest, "shape": list(image.shape), "dtype": str(image.dtype)} + + def _write(self, job): + started = time.perf_counter() + number = job["capture_frame"] + directory = self.root / "frames" / f"{number:08d}" + directory.mkdir() + audit = job.get("outputs", {}).get("observation", {}).get("retrieval", []) + for call in job["passes"]: + images = call.pop("images") + tags = call.get("estimator_info", {}).get("view_tags", []) + call["views"] = [] + for index, image in enumerate(images): + tag = tags[index] if index < len(tags) else f"view_{index}" + view = {"index": index, "role": tag, **self._view(image)} + if tag.startswith("ref") and tag.endswith("_L"): + reference = int(tag[3:-2]) + if reference < len(audit): + view["reference"] = audit[reference] + call["views"].append(view) + arrays = {} + data = pack(job, arrays) + write_npz(directory / "arrays.npz", arrays) + # This JSON is the completion marker, written after all referenced assets. + atomic_json(directory / "frame.json", data) + with (self.root / "index.jsonl").open("a") as stream: + stream.write(json.dumps({"capture_frame": number, "passes": len(job["passes"]), + "file": f"frames/{number:08d}/frame.json"}) + "\n") + self.frames += 1 + self.passes += len(job["passes"]) + self.bytes += sum(path.stat().st_size for path in directory.iterdir()) + self.write_s += time.perf_counter() - started + self._status("running") + + def _worker(self): + while True: + job = self.pending.get() + try: + if job is None: + return + if self.error is None: + self._write(job) + except BaseException as exc: + self.error = exc + if self.on_error: + try: + self.on_error(exc) + except Exception as callback_error: + self.error = RuntimeError(f"{exc}; archive error callback also failed: {callback_error}") + finally: + self.pending.task_done() + + def close(self, error=None): + if self.closed: + return + self.run_error = str(error) if error else None + # Retain an interrupted inference and whatever outputs were available. + if self.current is not None: + job, self.current = self.current, None + job["interrupted"] = str(error) if error else "Frame interrupted before completion" + self.pending.put(job) + for owner, name, existed, value in reversed(self.hooks): + if existed: + setattr(owner, name, value) + else: + delattr(owner, name) + self.hooks.clear() + self.active_pass = None + self.pending.put(None) + self.worker.join() + self.closed = True + self._status("failed" if self.error else "closed") + if self.error is not None: + raise RuntimeError(f"VGGT debug archive failed: {self.error}") from self.error + + +def planner_snapshot(episode): + result = {key: getattr(episode, key, None) for key in + ("pose", "expect", "bumps", "route", "route_age", "no_route", "side", "log_scale", "n_bumps")} + world = getattr(episode, "world", None) + result["world"] = ({key: getattr(world, key) for key in ("o", "num", "den", "seen", "c")} + if world is not None else None) + return result + + +def load_debug_frame(directory, number): + root = Path(directory).resolve() + frame = root / "frames" / f"{int(number):08d}" + if int(number) < 0 or frame.resolve().parent != (root / "frames").resolve(): + raise ValueError("Invalid debug frame") + data = json.loads((frame / "frame.json").read_text()) + with np.load(frame / "arrays.npz", allow_pickle=False) as archive: + def unpack(value): + if isinstance(value, dict): + if "npz_key" in value: + array = archive[value["npz_key"]].copy() + if list(array.shape) != value["shape"] or str(array.dtype) != value["dtype"]: + raise ValueError("VGGT debug array metadata mismatch") + return array + return {key: unpack(item) for key, item in value.items()} + if isinstance(value, list): + return [unpack(item) for item in value] + return value + return unpack(data) + + +def load_debug_view(directory, asset): + if len(asset) != 64 or any(char not in "0123456789abcdef" for char in asset): + raise ValueError("Invalid VGGT view asset") + root = Path(directory).resolve() + path = root / "views" / f"{asset}.npz" + if path.resolve().parent != (root / "views").resolve(): + raise ValueError("VGGT view asset escapes archive") + with np.load(path, allow_pickle=False) as archive: + return archive["image"].copy() diff --git a/code/stretch_ai/LICENSE b/code/stretch_ai/LICENSE new file mode 100644 index 0000000000000000000000000000000000000000..345b3999fa91382cac3671cda97df5d70503c1b8 --- /dev/null +++ b/code/stretch_ai/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright 2024 Hello Robot, Inc. + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/code/stretch_ai/scripts/capture_lingbot_rgbd_ros2.py b/code/stretch_ai/scripts/capture_lingbot_rgbd_ros2.py new file mode 100644 index 0000000000000000000000000000000000000000..284cf3a9062e74700c6995264f1260d99a9dfcf7 --- /dev/null +++ b/code/stretch_ai/scripts/capture_lingbot_rgbd_ros2.py @@ -0,0 +1,176 @@ +#!/usr/bin/env python3 +"""Capture synchronized head RGB-D and TF without issuing robot commands. + +Run inside the robot's ROS 2 environment. Images are saved losslessly, with +depth in metres, and rotated clockwise to match Stretch's upright head view. +""" + +import argparse +import json +import time +from pathlib import Path + +import cv2 +import message_filters +import numpy as np +import rclpy +from cv_bridge import CvBridge +from rclpy.qos import qos_profile_sensor_data +from rclpy.time import Time +from sensor_msgs.msg import CameraInfo, Image +from tf2_ros import Buffer, TransformException, TransformListener + + +def stamp_seconds(stamp): + return stamp.sec + stamp.nanosec * 1e-9 + + +def transform_matrix(transform): + q = transform.rotation + x, y, z, w = q.x, q.y, q.z, q.w + matrix = np.eye(4, dtype=np.float64) + matrix[:3, :3] = [ + [1 - 2 * (y * y + z * z), 2 * (x * y - z * w), 2 * (x * z + y * w)], + [2 * (x * y + z * w), 1 - 2 * (x * x + z * z), 2 * (y * z - x * w)], + [2 * (x * z - y * w), 2 * (y * z + x * w), 1 - 2 * (x * x + y * y)], + ] + t = transform.translation + matrix[:3, 3] = [t.x, t.y, t.z] + return matrix + + +def rotate_intrinsics_clockwise(k, height): + """Rotate both the pixel axes and optical frame, including principal point.""" + return np.array( + [[k[1, 1], 0, height - 1 - k[1, 2]], [0, k[0, 0], k[0, 2]], [0, 0, 1]], + dtype=np.float32, + ) + + +def main(): + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("--output", type=Path, required=True) + parser.add_argument("--frames", type=int, default=12) + parser.add_argument("--interval", type=float, default=0.2) + parser.add_argument("--timeout", type=float, default=40) + parser.add_argument("--world-frame", default="map") + args = parser.parse_args() + args.output.mkdir(parents=True, exist_ok=False) + + rclpy.init() + node = rclpy.create_node("lingbot_depth_readonly_capture") + bridge = CvBridge() + tf_buffer = Buffer() + listener = TransformListener(tf_buffer, node) + state = {"info": None, "pair": None} + info_sub = node.create_subscription( + CameraInfo, + "/camera/color/camera_info", + lambda msg: state.update(info=msg), + qos_profile_sensor_data, + ) + color_sub = message_filters.Subscriber( + node, Image, "/camera/color/image_raw", qos_profile=qos_profile_sensor_data + ) + depth_sub = message_filters.Subscriber( + node, Image, "/camera/aligned_depth_to_color/image_raw", qos_profile=qos_profile_sensor_data + ) + sync = message_filters.ApproximateTimeSynchronizer( + [color_sub, depth_sub], queue_size=10, slop=0.02 + ) + sync.registerCallback(lambda color, depth: state.update(pair=(color, depth))) + # T_native_optical_from_upright_optical for a clockwise image rotation. + optical_rotation = np.eye(4) + optical_rotation[:3, :3] = [[0, 1, 0], [-1, 0, 0], [0, 0, 1]] + records = [] + start = time.monotonic() + last_stamp = -float("inf") + last_error = "No synchronized image pair received" + try: + while len(records) < args.frames and time.monotonic() - start < args.timeout: + rclpy.spin_once(node, timeout_sec=0.1) + if state["info"] is None or state["pair"] is None: + continue + color_msg, depth_msg = state["pair"] + stamp = stamp_seconds(color_msg.header.stamp) + if stamp - last_stamp < args.interval: + continue + try: + pose_msg = tf_buffer.lookup_transform( + args.world_frame, + color_msg.header.frame_id, + Time.from_msg(color_msg.header.stamp), + ) + robot_pose_msg = tf_buffer.lookup_transform( + args.world_frame, "base_link", Time.from_msg(color_msg.header.stamp) + ) + except TransformException as exc: + last_error = str(exc) + continue + rgb_native = bridge.imgmsg_to_cv2(color_msg, desired_encoding="rgb8") + raw = bridge.imgmsg_to_cv2(depth_msg, desired_encoding="passthrough") + if depth_msg.encoding == "16UC1": + depth_native = raw.astype(np.float32) / 1000.0 + elif depth_msg.encoding == "32FC1": + depth_native = raw.astype(np.float32) + else: + raise ValueError(f"Unsupported depth encoding: {depth_msg.encoding}") + if rgb_native.shape[:2] != depth_native.shape: + raise ValueError("Color and aligned depth dimensions differ") + info = state["info"] + k_native = np.array(info.k).reshape(3, 3) + k = rotate_intrinsics_clockwise(k_native, rgb_native.shape[0]) + rgb = np.rot90(rgb_native, k=3).copy() + depth = np.rot90(depth_native, k=3).copy() + pose = transform_matrix(pose_msg.transform) @ optical_rotation + robot_pose = transform_matrix(robot_pose_msg.transform) + directory = args.output / f"frame_{len(records):03d}" + directory.mkdir() + if not cv2.imwrite(str(directory / "rgb.png"), cv2.cvtColor(rgb, cv2.COLOR_RGB2BGR)): + raise OSError("Could not write RGB image") + np.save(directory / "depth_input_m.npy", depth) + cv2.imwrite( + str(directory / "raw_depth.png"), np.nan_to_num(depth * 1000).astype(np.uint16) + ) + np.savetxt(directory / "intrinsics.txt", k) + np.savetxt(directory / "camera_pose.txt", pose) + np.savetxt(directory / "robot_pose.txt", robot_pose) + record = { + "directory": directory.name, + "rgb_timestamp_s": stamp, + "depth_timestamp_s": stamp_seconds(depth_msg.header.stamp), + "sync_difference_s": abs(stamp - stamp_seconds(depth_msg.header.stamp)), + "tf_timestamp_s": stamp_seconds(pose_msg.header.stamp), + "source_optical_frame": color_msg.header.frame_id, + "world_frame": args.world_frame, + "image_rotation": "90 degrees clockwise", + "shape_hw": list(depth.shape), + "intrinsics_pixels": k.tolist(), + "intrinsics_native_pixels": k_native.tolist(), + "camera_pose_world_from_upright_optical": pose.tolist(), + "robot_pose_world_from_base_link": robot_pose.tolist(), + "distortion_native": list(info.d), + "distortion_model": info.distortion_model, + "rgb_encoding_source": color_msg.encoding, + "depth_encoding_source": depth_msg.encoding, + "depth_unit": "metres", + } + (directory / "metadata.json").write_text(json.dumps(record, indent=2) + "\n") + records.append(record) + last_stamp = stamp + print( + f"Captured {directory.name}: {depth.shape}, sync={record['sync_difference_s']:.6f}s", + flush=True, + ) + (args.output / "capture.json").write_text( + json.dumps({"frames": records, "elapsed_s": time.monotonic() - start}, indent=2) + "\n" + ) + if len(records) != args.frames: + raise TimeoutError(f"Captured {len(records)}/{args.frames}: {last_error}") + finally: + node.destroy_node() + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/code/stretch_ai/scripts/depth_nav_control.py b/code/stretch_ai/scripts/depth_nav_control.py new file mode 100644 index 0000000000000000000000000000000000000000..dc96f30373960ed69075ef1861af420453868373 --- /dev/null +++ b/code/stretch_ai/scripts/depth_nav_control.py @@ -0,0 +1,363 @@ +"""CPU navigation controls and robot-local velocity leases; no ROS/model imports.""" + +import math +from bisect import bisect_left +from dataclasses import dataclass + +import numpy as np + + +def wrap_angle(angle): + return math.atan2(math.sin(angle), math.cos(angle)) + + +def validated_head_target(command, enabled): + """Validate optional leased observation; the depth stack leaves it off.""" + target = command.get("head_target") + if target is None: + return None + if not enabled: + raise ValueError("head control disabled") + target = np.asarray(target, dtype=float) + if target.shape != (2,) or not np.isfinite(target).all(): + raise ValueError("invalid head target") + if not -2.8 <= target[0] <= .65 or not -1.4 <= target[1] <= 0.: + raise ValueError("head target outside observation limits") + if float(command.get("v", math.inf)) != 0. or abs(float(command.get("w", math.inf))) > .15: + raise ValueError("head observation requires a stopped or slowly rotating base") + return target + + +def interpolate_head(samples, stamp, max_gap=.10): + """Head joint feedback at the RGB/TF time, never latest-state substitution.""" + if not samples: + return None + stamps = [v[0] for v in samples] + k = bisect_left(stamps, stamp) + if k < len(samples) and abs(stamps[k] - stamp) < 1e-6: + return np.asarray(samples[k][1], float).copy() + if 0 < k < len(samples) and 0 < stamps[k] - stamps[k - 1] <= max_gap: + t = (stamp - stamps[k - 1]) / (stamps[k] - stamps[k - 1]) + return (1. - t) * np.asarray(samples[k - 1][1]) + t * np.asarray(samples[k][1]) + return None + + +class LeasedHeadController: + """Asynchronous head action with explicit cancellation, including late ACKs. + + The relay supplies a ROS goal factory; tests supply ordinary fake futures. + A failure remains visible until the session is restarted. + """ + def __init__(self, client, make_goal): + self.client, self.make_goal = client, make_goal + self.future = self.goal = self.result = None + self.sent = None + self.cancel_requested = False + self.cancel_sent = False + self.cancel_future = None + self.state, self.error = 'idle' if client is not None else 'disabled', '' + + def _cancel(self): + self.cancel_requested = True + if self.goal is not None and not self.cancel_sent: + self.cancel_future = self.goal.cancel_goal_async() + self.cancel_sent, self.state = True, 'cancelling' + + def update(self, target, joint, allowed): + target = None if target is None else np.asarray(target, float) + want = allowed and target is not None and not self.error + changed = want and self.sent is not None and np.max(np.abs(target - self.sent)) > .04 + if not want or changed: + self._cancel() + if self.future is not None and self.future.done(): + self.goal = self.future.result() + self.future = None + if self.goal is None or not self.goal.accepted: + self.error, self.state, self.goal = 'head trajectory rejected', 'failed', None + else: + self.result, self.state = self.goal.get_result_async(), 'moving' + if self.cancel_requested: + self._cancel() + if self.result is not None and self.result.done(): + response = self.result.result() + if not self.cancel_requested and (response is None or response.result.error_code != 0): + detail = '' if response is None else f" ({response.result.error_code}): {getattr(response.result, 'error_string', '')}" + self.error, self.state = 'head trajectory failed' + detail, 'failed' + else: + self.state = 'cancelled' if self.cancel_requested else 'settled' + self.goal = self.result = None + if not want: + self.sent = None + elif not self.error and self.future is None and self.goal is None and (self.sent is None or changed): + if self.client is None or not self.client.server_is_ready(): + self.error, self.state = 'head trajectory server unavailable', 'failed' + else: + # Tilt has a lower velocity bound than pan. A downward survey + # must allow that slower joint to reach its observation pose. + travel = np.abs(target - np.asarray(joint)[9:11]) / np.array([.35, .25]) + duration = max(.5, float(np.max(travel)) + .5) + self.future = self.client.send_goal_async(self.make_goal(target, duration)) + self.sent, self.cancel_requested, self.cancel_sent = target.copy(), False, False + self.state = 'requested' + + def close(self): + self._cancel() + if self.future is not None: + def cancel_late(future): + handle = future.result() + if handle is not None and handle.accepted and not self.cancel_sent: + self.cancel_future = handle.cancel_goal_async() + self.cancel_sent = True + if self.future.done(): + cancel_late(self.future) + else: + self.future.add_done_callback(cancel_late) + + +class HeadControlMode: + """Yield the bridge's streaming controller for head-only ROS trajectories. + + Only prepare() makes a request, after explicit navigation handoff. Restore + the original state on close, including a disable ACK racing shutdown. + """ + def __init__(self, disable, enable, request): + self.disable, self.enable, self.request = disable, enable, request + self.original = None + self.future = self.restore_future = None + self.owned = self.ready = self.closing = False + self.error = '' + + def prepare(self, streaming): + if self.closing or self.error or streaming is None: + return False + if self.original is None: + self.original = bool(streaming) + if not self.original: + self.ready = streaming is False + return self.ready + if self.future is None and not self.owned: + if not self.disable.service_is_ready(): + return False + self.future = self.disable.call_async(self.request()) + if self.future is not None and self.future.done(): + result = self.future.result() + self.future = None + if result is None or not result.success: + self.error = 'could not yield streaming head control' + return False + self.owned = True + self.ready = self.owned and streaming is False + return self.ready + + def close(self): + self.closing = True + if self.original is not True or self.restore_future is not None: + return + def restore(_future=None): + if self.restore_future is None: + if not self.enable.service_is_ready(): + self.error = 'could not restore streaming head control' + else: + self.restore_future = self.enable.call_async(self.request()) + if self.future is not None and not self.future.done(): + self.future.add_done_callback(restore) + elif self.owned or self.future is not None: + restore() + + +def relative_goal_to_world(forward_left, pose): + """Freeze a ROS body-frame (x forward, y left) goal in world XY.""" + forward, left = np.asarray(forward_left, dtype=float) + x, y, yaw = np.asarray(pose, dtype=float) + if not np.isfinite([forward, left, x, y, yaw]).all(): + raise ValueError("Goal and pose must be finite") + return np.array( + [ + x + forward * math.cos(yaw) - left * math.sin(yaw), + y + forward * math.sin(yaw) + left * math.cos(yaw), + ] + ) + + +def twist_rollout(pose, v, w, horizon, samples=24): + t = np.linspace(0, horizon, samples) + if abs(w) < 1e-6: + local = np.column_stack([v * t, np.zeros_like(t)]) + else: + local = np.column_stack([v / w * np.sin(w * t), v / w * (1 - np.cos(w * t))]) + c, s = math.cos(pose[2]), math.sin(pose[2]) + return local @ np.array([[c, s], [-s, c]]) + pose[:2] + + +def rollout_allowed(pose, v, w, grid, planning_pose, args): + from depth_only_path_planner import ego_to_cells, world_to_ego + from depth_nav_footprint import collisions_at + from depth_nav_trajectories import body_extent + + samples = max( + 24, + int( + np.ceil( + (abs(v) + body_extent(args) * abs(w)) + * args.control_horizon + / (args.grid_resolution / 4) + ) + ) + + 1, + ) + points = twist_rollout(pose, v, w, args.control_horizon, samples) + local = world_to_ego(points, planning_pose[:2], planning_pose[2]) + rows, cols, inside = ego_to_cells(local, args, grid["blocked"].shape) + headings = pose[2] - planning_pose[2] + w * np.linspace(0, args.control_horizon, len(points)) + if collisions_at(local, headings, grid, args).any(): + return False, "command footprint intersects depth obstacles or map boundary" + if ( + args.unknown_policy != "assume" + and (grid["unknown_footprint"][rows, cols] > args.max_control_unknown_ratio + 1e-6).any() + ): + return False, "command footprint lacks observed floor support" + return True, "clear" + + +def pursuit_velocity(path_world, pose, goal_world, args): + from depth_only_path_planner import world_to_ego + + distance = float(np.linalg.norm(goal_world - pose[:2])) + if distance <= args.goal_tolerance: + return 0.0, 0.0 + if not len(path_world): + return 0.0, 0.0 + nearest = int(np.argmin(np.linalg.norm(path_world - pose[:2], axis=1))) + ahead = path_world[nearest:] + lengths = np.r_[0, np.cumsum(np.linalg.norm(np.diff(ahead, axis=0), axis=1))] + target = ahead[min(len(ahead) - 1, int(np.searchsorted(lengths, args.pursuit_lookahead)))] + right, forward = world_to_ego(target[None], pose[:2], pose[2])[0] + heading = math.atan2(-right, forward) + if abs(heading) > args.turn_in_place_angle or forward <= 0: + return 0.0, float( + np.clip(args.turn_gain * heading, -args.max_angular_speed, args.max_angular_speed) + ) + curvature = -2 * right / max(right**2 + forward**2, 0.01) + v = min(args.max_linear_speed, max(0.0, distance - args.goal_tolerance) * 0.5) + if abs(curvature) > 1e-6: + v = min(v, args.max_angular_speed / abs(curvature)) + return float(v), float(v * curvature) + + +def candidate_prefix_allowed(paths, grid, goal_distance, args): + """Batch-check each candidate's first pursuit command without Python loops.""" + from depth_only_path_planner import ego_to_cells + from depth_nav_footprint import collisions_at + + lengths = np.cumsum(np.linalg.norm(np.diff(paths, axis=1), axis=-1), axis=1) + reaches = lengths >= args.pursuit_lookahead + index = np.where(reaches.any(axis=1), reaches.argmax(axis=1) + 1, paths.shape[1] - 1) + target = paths[np.arange(len(paths)), index] + right, forward = target[:, 0], target[:, 1] + heading = np.arctan2(-right, forward) + curvature = -2 * right / np.maximum(right**2 + forward**2, 0.01) + v = np.full( + len(paths), min(args.max_linear_speed, max(0.0, goal_distance - args.goal_tolerance) * 0.5) + ) + v = np.minimum(v, args.max_angular_speed / np.maximum(np.abs(curvature), 1e-9)) + turn = (np.abs(heading) > args.turn_in_place_angle) | (forward <= 0) + w = np.where( + turn, + np.clip(args.turn_gain * heading, -args.max_angular_speed, args.max_angular_speed), + v * curvature, + ) + v[turn] = 0 + t = np.linspace(0, args.control_horizon, 24)[None] + angle = w[:, None] * t + radius = v / np.where(np.abs(w) < 1e-6, 1.0, w) + rollout = np.stack( + [-radius[:, None] * (1 - np.cos(angle)), radius[:, None] * np.sin(angle)], axis=-1 + ) + straight = np.abs(w) < 1e-6 + rollout[straight, :, 0] = 0 + rollout[straight, :, 1] = v[straight, None] * t + rows, cols, inside = ego_to_cells(rollout, args, grid["blocked"].shape) + rr, cc = np.clip(rows, 0, grid["blocked"].shape[0] - 1), np.clip( + cols, 0, grid["blocked"].shape[1] - 1 + ) + invalid = collisions_at(rollout, angle, grid, args) | ( + (grid["unknown_footprint"][rr, cc] > args.max_control_unknown_ratio + 1e-6) + & (args.unknown_policy != "assume") + ) + return ~invalid.any(axis=1) + + +@dataclass +class VelocityLease: + """Fail closed on stale evidence/state, bad commands, expiry and latched stop.""" + + max_ttl: float = 0.35 + max_frame_age: float = 0.8 + max_v: float = 0.15 + max_w: float = 0.4 + session: str | None = None + armed: bool = False + latched: bool = False + sequence: int = -1 + expires: float = -math.inf + evidence_expires: float = -math.inf + velocity: tuple = (0.0, 0.0) + reason: str = "unarmed" + + def arm(self, session, healthy): + if self.latched or not healthy or not isinstance(session, str) or not session: + return False + if self.session is not None and self.session != session: + return False + self.session, self.armed = session, True + return True + + def stop(self, reason, latch=False): + self.velocity = (0.0, 0.0) + self.expires = -math.inf + self.reason = reason + if latch: + self.latched, self.armed = True, False + + def accept(self, command, now, frame_age, healthy): + if self.latched: + return False + try: + seq = int(command["seq"]) + ttl, v, w = map(float, (command["ttl"], command["v"], command["w"])) + except (ValueError, TypeError, KeyError): + self.stop("malformed command") + return False + if ( + self.latched + or not self.armed + or not healthy + or command.get("session") != self.session + or seq <= self.sequence + or not np.isfinite([ttl, v, w, frame_age]).all() + or not 0 < ttl <= self.max_ttl + or not 0 <= frame_age < self.max_frame_age + or not 0 <= v <= self.max_v + or abs(w) > self.max_w + ): + self.stop("rejected command or stale evidence") + return False + self.sequence = seq + self.velocity = (v, w) + self.expires = now + ttl + self.evidence_expires = now + self.max_frame_age - frame_age + self.reason = "command active" + return True + + def output(self, now, healthy, runstopped=False): + if runstopped and self.armed: + self.stop("run-stop latched; restart the live session", latch=True) + if self.latched: + return (0.0, 0.0) + if not healthy: + self.stop("state, camera or posture unavailable") + if now >= min(self.expires, self.evidence_expires): + self.stop( + "command/evidence expired" if self.armed and not self.latched else self.reason + ) + return self.velocity if self.armed and not self.latched else (0.0, 0.0) diff --git a/code/stretch_ai/scripts/depth_nav_debug.py b/code/stretch_ai/scripts/depth_nav_debug.py new file mode 100644 index 0000000000000000000000000000000000000000..31d2e5b5955f6862af1b5f8a7fa5cda2cf5f6d3b --- /dev/null +++ b/code/stretch_ai/scripts/depth_nav_debug.py @@ -0,0 +1,539 @@ +"""Bounded asynchronous debug recording; no robot, model or GPU operations.""" + +from collections import OrderedDict +from datetime import datetime, timezone +import hashlib +import json +from pathlib import Path +import queue +import sys +import threading +import time +from types import SimpleNamespace + +import numpy as np + + +def clean_json(value): + if isinstance(value, np.ndarray) and value.ndim == 0: + return clean_json(value.item()) + if isinstance(value, dict): + return {str(k): clean_json(v) for k, v in value.items()} + if isinstance(value, (list, tuple, np.ndarray)): + return [clean_json(v) for v in value] + if isinstance(value, np.generic): + return clean_json(value.item()) + if isinstance(value, float) and not np.isfinite(value): + return None + if isinstance(value, Path): + return str(value) + return value + + +def freeze_voxels(snapshot, now): + names = ( + "points", + "colors", + "state", + "keys", + "ids", + "scores", + "age_s", + "last_frame", + "evidence_frame", + "geometry_frame", + "geometry_support", + "last_hit_support", + "source_raw_depth_m", + "source_refined_depth_m", + ) + result = {name: snapshot[name].copy() for name in names if name in snapshot} + for name in ("last_seen", "last_hit", "last_supported"): + if name in snapshot: + result[name + "_age_s"] = (now - snapshot[name]).astype(np.float32) + return result + + +def current_view(point, arrays, args): + """Explain why sparse projective clearing can/cannot remove a sample.""" + if not all( + k in arrays + for k in ("camera_pose", "camera_K", "raw_depth_m", "refined_depth_m", "retained_mask") + ): + return {"status": "not_recorded"} + pose, k = arrays["camera_pose"], arrays["camera_K"] + camera = (point - pose[:3, 3]) @ pose[:3, :3] + z = float(camera[2]) + max_depth = getattr(args, "max_depth", 5.0) # Older runs used a 5 m limit. + if z <= 0.3: + return {"status": "behind_or_too_close_to_camera_for_clearing", "camera_z_m": z} + distance = float(np.linalg.norm(camera)) + if z > max_depth: + return { + "status": "outside_clearing_depth_limit", + "camera_z_m": z, + "camera_distance_m": distance, + "depth_limit_m": max_depth, + } + u = int(np.rint(k[0, 0] * camera[0] / z + k[0, 2])) + v = int(np.rint(k[1, 1] * camera[1] / z + k[1, 2])) + h, w = arrays["raw_depth_m"].shape + if not (1 <= u < w - 1 and 1 <= v < h - 1): + return {"status": "outside_clearing_image_patch", "pixel_uv": [u, v], "camera_z_m": z} + raw = arrays["raw_depth_m"][v - 1 : v + 2, u - 1 : u + 2] + refined = arrays["refined_depth_m"][v - 1 : v + 2, u - 1 : u + 2] + from lingbot_voxel_map import VoxelMapConfig, clearing_patch_evidence + + clear, valid, agreement, farther = clearing_patch_evidence( + raw.reshape(9), + refined.reshape(9), + z, + VoxelMapConfig(voxel_size=args.voxel_size, max_depth_m=max_depth), + ) + status = ( + "reliable_farther_patch" + if clear + else ( + "occluded_or_same_depth" + if valid.all() and not farther.all() + else "missing_or_disagreeing_depth" + ) + ) + return { + "status": status, + "pixel_uv": [u, v], + "camera_z_m": z, + "camera_distance_m": distance, + "depth_limit_kind": "optical_axis", + "raw_depth_m": float(raw[1, 1]), + "refined_depth_m": float(refined[1, 1]), + "valid_patch_fraction": float(valid.mean()), + "farther_patch_fraction": float(farther.mean()), + "agreement_patch_fraction": float(agreement.mean()), + "retained_patch_fraction": float( + arrays["retained_mask"][v - 1 : v + 2, u - 1 : u + 2].mean() + ), + } + + +def collision_report(context, trigger): + from depth_nav_footprint import collisions_at, footprint_witnesses + from depth_nav_control import twist_rollout + from depth_nav_trajectories import body_extent + from depth_only_path_planner import ( + ego_to_cells, + ego_to_world, + world_to_ego, + obstacle_height_mask, + ) + + arrays, meta = context["arrays"], context["metadata"] + if "voxel_points" not in arrays or "hard_source" not in arrays: + return { + "stage": meta.get("stage", "unknown"), + "note": "Frame did not reach mapping/planning", + } + args = SimpleNamespace(**meta["settings"]) + planning_pose = arrays["planning_pose"] + control = trigger.get("control", {}) + pose = np.asarray(control.get("robot_pose") or planning_pose.tolist(), dtype=float) + if pose.shape != (3,) or not np.isfinite(pose).all(): + pose = planning_pose + v, w = float(control.get("proposed_v", 0)), float(control.get("proposed_w", 0)) + samples = max( + 24, + int( + np.ceil( + (abs(v) + body_extent(args) * abs(w)) + * args.control_horizon + / (args.grid_resolution / 4) + ) + ) + + 1, + ) + world = twist_rollout(pose, v, w, args.control_horizon, samples) + points = world_to_ego(world, planning_pose[:2], planning_pose[2]) + headings = pose[2] - planning_pose[2] + w * np.linspace(0, args.control_horizon, samples) + grid = {key: arrays[key] for key in ("hard_source", "blocked", "unknown_footprint")} + grid.update(direct_footprint=True, collision_cache={}) + for key in ("collision_cells", "collision_cell_size", "collision_cell_angle"): + if key in arrays: + grid[key] = arrays[key] if key == "collision_cells" else float(arrays[key]) + collides = collisions_at(points, headings, grid, args) + first = int(np.flatnonzero(collides)[0]) if collides.any() else 0 + contacts, boundary = footprint_witnesses(points[first], headings[first], grid, args) + report = { + "command_first_collision_s": ( + None + if not collides.any() + else float(np.linspace(0, args.control_horizon, samples)[first]) + ), + "map_boundary_contact": boundary, + "collision_cell_count": len(contacts), + "contact_cells_ego": contacts[:16].tolist(), + "contact_voxels": [], + "contact_pose_ego": [ + float(points[first, 0]), + float(points[first, 1]), + float(headings[first]), + ], + "collision_cell_size_m": grid.get("collision_cell_size", args.grid_resolution), + "collision_cell_angle_rad": grid.get("collision_cell_angle", 0.0), + } + voxels, state = arrays["voxel_points"], arrays["voxel_state"] + plane = arrays["floor_plane"] + height = voxels @ plane[:3] + plane[3] if len(plane) == 4 else np.zeros(len(voxels)) + hazard = obstacle_height_mask(height, args) + active = hazard & ((state == 1) | ((state == 0) & args.block_uncertain_obstacles)) + local = world_to_ego(voxels, planning_pose[:2], planning_pose[2]) + if "collision_cells" in grid: + voxel_cells = np.floor(voxels[:, :2] / args.voxel_size).astype(np.int64) + contact_cells = np.floor( + ego_to_world(contacts, planning_pose[:2], planning_pose[2]) / args.voxel_size + ).astype(np.int64) + else: + r, c, _ = ego_to_cells(local, args, grid["hard_source"].shape) + voxel_cells = np.column_stack([r, c]) + r, c, _ = ego_to_cells(contacts, args, grid["hard_source"].shape) + contact_cells = np.column_stack([r, c]) + selected = np.zeros(len(voxels), bool) + for cell in contact_cells[:16]: + selected |= (voxel_cells == cell).all(axis=1) & active + for index in np.flatnonzero(selected)[:16]: + score = float(arrays.get("voxel_scores", np.full(len(voxels), np.nan))[index]) + origin = ( + "aged_sensor_supported_surface" + if state[index] == 0 and score >= 0.7 + else ( + "unconfirmed_model_or_sensor_disagreement" + if state[index] == 0 and np.isfinite(score) + else ( + "uncertain_origin_not_recorded" + if state[index] == 0 + else "sensor_supported_surface" + ) + ) + ) + entry = { + "index": int(index), + "world_xyz": voxels[index].tolist(), + "ego_xy": local[index].tolist(), + "height_m": float(height[index]), + "state": int(state[index]), + "score": score, + "origin": origin, + "current_view": current_view(voxels[index], arrays, args), + } + point_delta = local[index] - points[first] + heading = headings[first] + if args.footprint_shape == "rectangle": + width = np.cos(heading) * point_delta[0] + np.sin(heading) * point_delta[1] + length = ( + -np.sin(heading) * point_delta[0] + + np.cos(heading) * point_delta[1] + - args.robot_length_offset + ) + gap = np.hypot( + max(0.0, abs(width) - args.robot_width / 2 - args.safety_margin), + max(0.0, abs(length) - args.robot_length / 2 - args.safety_margin), + ) + else: + gap = max(0.0, np.linalg.norm(point_delta) - args.robot_radius - args.safety_margin) + entry["point_inside_actual_footprint"] = bool(gap <= 1e-9) + entry["point_clearance_m"] = float(gap) + for name in ( + "ids", + "age_s", + "last_seen_age_s", + "last_hit_age_s", + "last_supported_age_s", + "last_frame", + "evidence_frame", + "geometry_frame", + "geometry_support", + "last_hit_support", + "source_raw_depth_m", + "source_refined_depth_m", + ): + if "voxel_" + name in arrays: + entry[name] = arrays["voxel_" + name][index].item() + distance2 = ((voxels - voxels[index]) ** 2).sum(axis=1) + entry["neighbors_within_10cm"] = int(((distance2 <= 0.1**2) & (state != 2)).sum()) - 1 + report["contact_voxels"].append(entry) + report["unknown_space_contacts"] = bool( + len(contacts) and not report["contact_voxels"] and args.unknown_policy == "block" + ) + if ( + "proposal_scores" in arrays + and len(arrays.get("bank_poses", [])) + and not len(arrays["proposal_valid"]) + ): + report["rejected_candidate_examples"] = [] + for index in np.argsort(arrays["proposal_scores"])[:3]: + path = arrays["bank_poses"][index] + hit = collisions_at(path[:, :2], path[:, 2], grid, args) + report["rejected_candidate_examples"].append( + { + "index": int(index), + "first_collision_pose": ( + None if not hit.any() else path[np.flatnonzero(hit)[0]].tolist() + ), + } + ) + return clean_json(report) + + +class DebugRecorder: + """No file writes on control/inference threads. Retain bounded snapshots.""" + + def __init__(self, output, args): + self.output = Path(output) + self.directory = self.output / "debug" + self.directory.mkdir(exist_ok=True) + self.max_snapshots = args.debug_max_snapshots + self.interval = args.debug_snapshot_interval + self.stuck_seconds = args.debug_stuck_seconds + self.started = time.monotonic() + self.jobs = queue.Queue(maxsize=128) + self.lock = threading.Lock() + self.contexts = OrderedDict() + self.stop = threading.Event() + self.last_periodic = self.last_incident = -np.inf + self.last_control = -np.inf + self.control_key = None + self.pause_snapshots = {} + self.progress_pose = None + self.progress_time = self.started + self.was_commanding_motion = False + self.counter = self.written_events = self.written_snapshots = self.dropped = 0 + self.pending_snapshots = 0 + self.last_snapshot = self.last_error = "" + sources = self.directory / "source" + sources.mkdir(exist_ok=True) + hashes = {} + for name in ( + "depth_nav_live.py", + "depth_nav_control.py", + "depth_nav_footprint.py", + "depth_nav_trajectories.py", + "depth_nav_memory.py", + "depth_nav_debug.py", + "depth_nav_live_viewer.html", + "lingbot_voxel_map.py", + "lingbot_depth_geometry.py", + "lingbot_depth_model.py", + "lingbot_depth_eval.py", + "depth_nav_robot_relay.py", + "capture_lingbot_rgbd_ros2.py", + ): + path = Path(__file__).with_name(name) + data = path.read_bytes() + (sources / name).write_bytes(data) + hashes[name] = hashlib.sha256(data).hexdigest() + manifest = { + "schema_version": 1, + "started_utc": datetime.now(timezone.utc).isoformat(), + "python": sys.version, + "numpy": np.__version__, + "settings": clean_json(vars(args)), + "source_sha256": hashes, + "snapshots_compressed": False, + } + (self.output / "run_manifest.json").write_text(json.dumps(manifest, indent=2) + "\n") + self.thread = threading.Thread(target=self._write, name="depth-nav-debug", daemon=True) + self.thread.start() + self.event("session_start", {"execute": args.execute}) + + def _enqueue(self, job): + try: + self.jobs.put_nowait(job) + return True + except queue.Full: + self.dropped += 1 + return False + + def event(self, kind, data): + record = { + "event": kind, + "utc": datetime.now(timezone.utc).isoformat(), + "elapsed_s": time.monotonic() - self.started, + **clean_json(data), + } + self._enqueue(("event", record)) + + def publish(self, context): + with self.lock: + self.contexts[context["metadata"]["frame_id"]] = context + while len(self.contexts) > 3: + self.contexts.popitem(last=False) + now = time.monotonic() + if self.interval > 0 and now - self.last_periodic >= self.interval: + self.last_periodic = now + self.incident("periodic", {"frame_id": context["metadata"]["frame_id"]}, periodic=True) + + def incident(self, reason, data, *, force=False, periodic=False, context=None): + now = time.monotonic() + with self.lock: + if context is None: + context = self.contexts.get(data.get("frame_id")) + if context is None and self.contexts: + context = next(reversed(self.contexts.values())) + if context is None: + return False + if self.pending_snapshots >= 2 or ( + not force and not periodic and now - self.last_incident < 10 + ): + return False + self.counter += 1 + name = f"snapshot_{self.counter:06d}" + self.pending_snapshots += 1 + if not periodic: + self.last_incident = now + trigger = { + "reason": reason, + "utc": datetime.now(timezone.utc).isoformat(), + "elapsed_s": now - self.started, + **clean_json(data), + } + trigger["source_frame_age_s"] = max( + 0.0, now - context["metadata"].get("received_monotonic", now) + ) + queued = self._enqueue(("snapshot", (name, context, trigger))) + if not queued: + with self.lock: + self.pending_snapshots -= 1 + return queued + + def control(self, data, now): + key = ( + data["reason"], + bool(data["v"] or data["w"]), + bool(abs(data["v"]) > 0.001), + int(np.sign(data["w"])) if abs(data["w"]) > 0.02 else 0, + data.get("robot_reason"), + data.get("healthy"), + data.get("armed"), + data.get("goal_version"), + ) + changed = key != self.control_key + if changed or now - self.last_control >= 1.0: + self.control_key, self.last_control = key, now + self.event("control", data) + if data.get("execute") and data.get("armed"): + if any( + word in data["reason"] + for word in ("overlaps", "intersects", "admissible", "lacks", "stale") + ): + # A clear/stale oscillation is one recurring cause, not a new + # incident every frame. Keep every transition in events.jsonl, + # but bound the expensive image/map captures per pause cause. + cause = data["reason"] + if now - self.pause_snapshots.get(cause, -np.inf) >= 10: + if self.incident( + "control_pause", + {"frame_id": data.get("frame_id"), "control": data}, + force=True, + ): + self.pause_snapshots[cause] = now + pose = data.get("robot_pose") + if pose is not None: + xy = np.asarray(pose)[:2] + moving = bool(data["v"] or data["w"]) + if ( + self.progress_pose is None + or (moving and not self.was_commanding_motion) + or np.linalg.norm(xy - self.progress_pose) >= 0.10 + ): + self.progress_pose, self.progress_time = xy.copy(), now + if moving and now - self.progress_time >= self.stuck_seconds: + self.incident( + "no_translation", + { + "frame_id": data.get("frame_id"), + "control": data, + "no_translation_s": now - self.progress_time, + }, + ) + self.was_commanding_motion = moving + else: + self.was_commanding_motion = False + + def status(self): + return { + "enabled": True, + "directory": str(self.directory), + "snapshots_written": self.written_snapshots, + "pending_snapshots": self.pending_snapshots, + "events_written": self.written_events, + "dropped_jobs": self.dropped, + "last_snapshot": self.last_snapshot, + "error": self.last_error, + } + + def _write(self): + try: + with (self.output / "events.jsonl").open("w", buffering=1) as log: + while not self.stop.is_set() or not self.jobs.empty(): + try: + kind, job = self.jobs.get(timeout=0.05) + except queue.Empty: + continue + try: + if kind == "event": + log.write(json.dumps(job, allow_nan=False) + "\n") + self.written_events += 1 + else: + name, context, trigger = job + arrays = {k: v for k, v in context["arrays"].items() if v is not None} + # Stored ZIP avoids compression competing for CPU. + np.savez(self.directory / (name + ".npz"), **arrays) + document = { + "schema_version": 1, + "snapshot": name, + "trigger": trigger, + "frame": clean_json(context["metadata"]), + "diagnosis": collision_report(context, trigger), + "viewer_payload": context.get("viewer_payload"), + } + (self.directory / (name + ".json")).write_text( + json.dumps(document, allow_nan=False) + "\n" + ) + self.written_snapshots += 1 + self.last_snapshot = str(self.directory / (name + ".json")) + log.write( + json.dumps( + { + "event": "snapshot_saved", + "snapshot": name, + "trigger": trigger, + "source_frame_id": context["metadata"]["frame_id"], + "diagnosis": document["diagnosis"], + } + ) + + "\n" + ) + snapshots = sorted(self.directory.glob("snapshot_*.json")) + for old in snapshots[: -self.max_snapshots]: + old.with_suffix(".npz").unlink(missing_ok=True) + old.unlink(missing_ok=True) + except Exception as exc: + self.last_error = f"{type(exc).__name__}: {exc}" + if kind == "snapshot": + (self.directory / (name + ".npz")).unlink(missing_ok=True) + (self.directory / (name + ".json")).unlink(missing_ok=True) + log.write( + json.dumps({"event": "debug_error", "error": self.last_error}) + "\n" + ) + finally: + if kind == "snapshot": + with self.lock: + self.pending_snapshots -= 1 + self.jobs.task_done() + except Exception as exc: + self.last_error = f"{type(exc).__name__}: {exc}" + + def close(self): + self.stop.set() + self.thread.join(timeout=3) + if self.thread.is_alive(): + self.last_error = "Debug writer did not finish within shutdown timeout" diff --git a/code/stretch_ai/scripts/depth_nav_footprint.py b/code/stretch_ai/scripts/depth_nav_footprint.py new file mode 100644 index 0000000000000000000000000000000000000000..1c7482ee853e0a7f7f4635a39374ab36f51080a8 --- /dev/null +++ b/code/stretch_ai/scripts/depth_nav_footprint.py @@ -0,0 +1,236 @@ +"""Bounded CPU footprint checks against unexpanded occupied BEV cells.""" + +from functools import lru_cache + +import numpy as np +from scipy.signal import fftconvolve +from scipy.spatial import cKDTree + + +@lru_cache(maxsize=256) +def raster_footprint(shape, width, length, length_offset, radius, margin, resolution, bins, index): + """Cells intersecting the body; no arbitrary obstacle or raster padding.""" + angle = index * 2 * np.pi / bins + c, s = np.cos(angle), np.sin(angle) + extent = ( + radius + margin + if shape == "circle" + else np.hypot(width / 2 + margin, length / 2 + margin + abs(length_offset)) + ) + rad = int(np.ceil((extent + resolution / np.sqrt(2)) / resolution)) + rr, cc = np.mgrid[-rad : rad + 1, -rad : rad + 1] + x, y, half_cell = cc * resolution, -rr * resolution, resolution / 2 + if shape == "circle": + # Exact circle versus square-cell intersection. + dx = np.maximum(np.abs(x) - half_cell, 0) + dy = np.maximum(np.abs(y) - half_cell, 0) + mask = dx**2 + dy**2 <= (radius + margin) ** 2 + else: + # Separating-axis tests for the rotated body rectangle and a grid cell. + x = x + s * length_offset + y = y - c * length_offset + hw, hl = width / 2 + margin, length / 2 + margin + cell_projection = half_cell * (abs(c) + abs(s)) + mask = ( + (np.abs(c * x + s * y) <= hw + cell_projection + 1e-9) + & (np.abs(-s * x + c * y) <= hl + cell_projection + 1e-9) + & (np.abs(x) <= hw * abs(c) + hl * abs(s) + half_cell + 1e-9) + & (np.abs(y) <= hw * abs(s) + hl * abs(c) + half_cell + 1e-9) + ) + mask.setflags(write=False) + return mask + + +def body_mask(args, index=0): + return raster_footprint( + args.footprint_shape, + args.robot_width, + args.robot_length, + args.robot_length_offset, + args.robot_radius, + args.safety_margin, + args.grid_resolution, + args.footprint_heading_bins, + index, + ) + + +def collisions_at(points, headings, grid, args, *, check_boundary=True): + """Exact continuous-pose rectangle versus unexpanded occupied cell squares. + + A per-map KD tree supplies only nearby occupied cells. Bounded batches + avoid a poses × full-map allocation. Heading and translation are not + snapped to bins or cell centres, which used to miss long-body corners. + """ + from depth_only_path_planner import ego_to_cells + + rows, cols, inside = ego_to_cells(points, args, grid["blocked"].shape) + if not grid.get("direct_footprint", False): + rr, cc = np.clip(rows, 0, grid["blocked"].shape[0] - 1), np.clip( + cols, 0, grid["blocked"].shape[1] - 1 + ) + return ~inside | grid["blocked"][rr, cc] + shape = rows.shape + p = np.asarray(points).reshape(-1, 2) + angle = np.broadcast_to(headings, shape).reshape(-1) + c, s = np.cos(angle), np.sin(angle) + half = grid.get("collision_cell_size", args.grid_resolution) / 2 + cell_angle = grid.get("collision_cell_angle", 0.0) + cell_c, cell_s = np.cos(cell_angle), np.sin(cell_angle) + hw = args.robot_width / 2 + args.safety_margin + hl = args.robot_length / 2 + args.safety_margin + if args.footprint_shape == "circle": + centers = p + ex = ey = radius = args.robot_radius + args.safety_margin + else: + centers = p + np.column_stack([-s, c]) * args.robot_length_offset + ex, ey = hw * np.abs(c) + hl * np.abs(s), hw * np.abs(s) + hl * np.abs(c) + radius = np.hypot(hw, hl) + h, w = grid["blocked"].shape + result = ( + (centers[:, 0] - ex < -args.width / 2) + | (centers[:, 0] + ex > w * args.grid_resolution - args.width / 2) + | (centers[:, 1] - ey < -args.rear_range) + | (centers[:, 1] + ey > h * args.grid_resolution - args.rear_range) + ) + if not check_boundary: + result[:] = False + cache = grid["collision_cache"] + if "occupied_tree" not in cache: + rr, cc = np.nonzero(grid["hard_source"]) + cells = np.column_stack( + [ + (cc + 0.5) * args.grid_resolution - args.width / 2, + (h - rr - 0.5) * args.grid_resolution - args.rear_range, + ] + ) + cells = grid.get("collision_cells", cells) + cache["occupied_tree"] = cKDTree(cells) + tree = cache["occupied_tree"] + if not tree.n: + return result.reshape(shape) + # Fast conservative lookup is ONLY a broad phase. Its discretization + # envelope covers angle-bin and sub-cell offsets; the exact SAT below + # decides every potential hit, so it adds no obstacle/body inflation. + bins = args.footprint_heading_bins + indices = np.rint(angle * bins / (2 * np.pi)).astype(int) % bins + if args.footprint_shape == "circle": + indices[:] = 0 + broad = np.zeros(len(p), dtype=bool) + flat_rows, flat_cols, flat_inside = rows.ravel(), cols.ravel(), inside.ravel() + extent = radius + (abs(args.robot_length_offset) if args.footprint_shape == "rectangle" else 0) + envelope = args.grid_resolution / np.sqrt(2) + 2 * extent * np.sin(np.pi / (2 * bins)) + if "collision_cells" in grid: + envelope += 2 * half * np.sqrt(2) + for index in np.unique(indices[flat_inside & ~result]): + index = int(index) + if index not in cache: + mask = raster_footprint( + args.footprint_shape, + args.robot_width, + args.robot_length, + args.robot_length_offset, + args.robot_radius, + args.safety_margin + envelope, + args.grid_resolution, + bins, + index, + ) + cache[index] = fftconvolve(grid["hard_source"], mask[::-1, ::-1], mode="same") > 0.5 + select = flat_inside & ~result & (indices == index) + broad[select] = cache[index][flat_rows[select], flat_cols[select]] + nearby = np.flatnonzero(broad & ~result) + for start in range(0, len(nearby), 1024): + poses = nearby[start : start + 1024] + neighbours = tree.query_ball_point(centers[poses], radius + half * np.sqrt(2)) + counts = np.fromiter((len(n) for n in neighbours), dtype=int, count=len(poses)) + if not counts.sum(): + continue + index = np.repeat(poses, counts) + cell_index = np.concatenate(neighbours).astype(int) + delta = tree.data[cell_index] - centers[index] + dx, dy = delta[:, 0], delta[:, 1] + cell_dx, cell_dy = cell_c * dx + cell_s * dy, -cell_s * dx + cell_c * dy + if args.footprint_shape == "circle": + hit = ( + np.maximum(np.abs(cell_dx) - half, 0) ** 2 + + np.maximum(np.abs(cell_dy) - half, 0) ** 2 + <= radius**2 + ) + else: + cc, ss = c[index], s[index] + relative_c, relative_s = cc * cell_c + ss * cell_s, ss * cell_c - cc * cell_s + projection = half * (np.abs(relative_c) + np.abs(relative_s)) + hit = ( + (np.abs(cc * dx + ss * dy) <= hw + projection + 1e-9) + & (np.abs(-ss * dx + cc * dy) <= hl + projection + 1e-9) + & ( + np.abs(cell_dx) + <= hw * np.abs(relative_c) + hl * np.abs(relative_s) + half + 1e-9 + ) + & ( + np.abs(cell_dy) + <= hw * np.abs(relative_s) + hl * np.abs(relative_c) + half + 1e-9 + ) + ) + result[index[hit]] = True + return result.reshape(shape) + + +def path_headings(points): + delta = np.diff(points, axis=-2) + headings = np.arctan2(-delta[..., 0], delta[..., 1]) + # The robot starts at the current heading; subsequent poses follow the path. + return np.concatenate([np.zeros((*headings.shape[:-1], 1)), headings], axis=-1) + + +def footprint_witnesses(point, heading, grid, args): + """Exact occupied-cell contacts for one pose, used only for debug reports.""" + h, w = grid["hard_source"].shape + rr, cc = np.nonzero(grid["hard_source"]) + cells = grid.get( + "collision_cells", + np.column_stack( + [ + (cc + 0.5) * args.grid_resolution - args.width / 2, + (h - rr - 0.5) * args.grid_resolution - args.rear_range, + ] + ), + ) + half = grid.get("collision_cell_size", args.grid_resolution) / 2 + angle = grid.get("collision_cell_angle", 0.0) + c, s, ca, sa = np.cos(heading), np.sin(heading), np.cos(angle), np.sin(angle) + center = np.asarray(point) + ( + np.array([-s, c]) * args.robot_length_offset if args.footprint_shape == "rectangle" else 0 + ) + delta = cells - center + dx, dy = delta[:, 0], delta[:, 1] + cx, cy = ca * dx + sa * dy, -sa * dx + ca * dy + if args.footprint_shape == "circle": + radius = args.robot_radius + args.safety_margin + hit = ( + np.maximum(np.abs(cx) - half, 0) ** 2 + np.maximum(np.abs(cy) - half, 0) ** 2 + <= radius**2 + ) + ex = ey = radius + else: + hw, hl = ( + args.robot_width / 2 + args.safety_margin, + args.robot_length / 2 + args.safety_margin, + ) + rc, rs = c * ca + s * sa, s * ca - c * sa + projection = half * (abs(rc) + abs(rs)) + hit = ( + (np.abs(c * dx + s * dy) <= hw + projection + 1e-9) + & (np.abs(-s * dx + c * dy) <= hl + projection + 1e-9) + & (np.abs(cx) <= hw * abs(rc) + hl * abs(rs) + half + 1e-9) + & (np.abs(cy) <= hw * abs(rs) + hl * abs(rc) + half + 1e-9) + ) + ex, ey = hw * abs(c) + hl * abs(s), hw * abs(s) + hl * abs(c) + boundary = ( + center[0] - ex < -args.width / 2 + or center[0] + ex > w * args.grid_resolution - args.width / 2 + or center[1] - ey < -args.rear_range + or center[1] + ey > h * args.grid_resolution - args.rear_range + ) + return cells[hit], bool(boundary) diff --git a/code/stretch_ai/scripts/depth_nav_live.py b/code/stretch_ai/scripts/depth_nav_live.py new file mode 100644 index 0000000000000000000000000000000000000000..bd4edf100f0f7bbb36f848c4305e2c531de3346c --- /dev/null +++ b/code/stretch_ai/scripts/depth_nav_live.py @@ -0,0 +1,1605 @@ +#!/usr/bin/env python3 +"""Live LingBot depth-only local navigation with an HTTP map/plan viewer. + +--goal X Y is metres forward/left at startup, then fixed in the TF world frame. +--execute switches navigation mode and enables leased base velocity commands. +The script never commands head or joint posture changes. Unobserved floor is +assumed traversable by default; --traversable-height controls the ground band. +""" + +import argparse +import base64 +import gzip +import io +import json +import math +import shlex +import signal +import subprocess +import sys +import tarfile +import threading +import time +import traceback +import uuid +from collections import OrderedDict, deque +from datetime import datetime, timezone +from functools import partial +from http.server import BaseHTTPRequestHandler, ThreadingHTTPServer +from pathlib import Path +from types import SimpleNamespace + +import cv2 +import numpy as np +from threadpoolctl import threadpool_limits + +import depth_only_path_planner as planning +from depth_nav_control import ( + relative_goal_to_world, + rollout_allowed, + wrap_angle, +) +from depth_nav_trajectories import ( + buffered_footprint_args, + sample_trajectories, + score_trajectories, + trajectory_velocity, +) +from depth_nav_memory import RouteMemory +from depth_nav_debug import DebugRecorder, freeze_voxels +from lingbot_depth_geometry import depth_points, filter_depth_mask, fit_floor_plane +from lingbot_depth_model import ( + DEFAULT_MODEL, + MODEL_HELP, + load_local_model, + resolve_local_checkpoint, +) +from lingbot_voxel_map import SurfaceVoxelMap, VoxelMapConfig, depth_limit_mask + + +def plan_freshness(plan, goal_version, now, max_age): + """Age is measured from input receipt, including all computation time.""" + if plan is None: + return "unavailable" + if plan["version"] != goal_version: + return "goal_changed" + return "stale" if now - plan["received"] > max_age else "fresh" + + +class LiveState: + def __init__(self, args): + self.args = args + self.lock = threading.Lock() + self.done = threading.Event() + self.robot = None + self.robot_received = -math.inf + self.goal = None + self.goal_version = 0 + self.plan = None + self.payload = None + self.last_voxels = None + self.prepared = not args.execute + self.control = {"reason": "waiting for relay", "v": 0.0, "w": 0.0} + self.token = uuid.uuid4().hex + self.error = "" + self.debug = None + self.stop_reason = "" + self.last_control_record = {} + self.perception_pause = "" + + def update_perception_gate(self, retained_count): + """Invalidate the old plan immediately on insufficient filtered data.""" + minimum = self.args.min_filtered_points + reason = ( + f"only {retained_count} filtered depth points (minimum {minimum}); waiting for a usable frame" + if retained_count < minimum + else "" + ) + with self.lock: + self.perception_pause = reason + if reason: + self.plan = None + return not bool(reason) + + def set_goal(self, goal): + with self.lock: + if self.robot is None or time.monotonic() - self.robot_received > 0.5: + raise ValueError("Cannot set a relative goal without a fresh robot pose") + self.goal = relative_goal_to_world(goal, np.asarray(self.robot["base_pose"])) + self.goal_version += 1 + self.plan = None # Stop until a new plan targets this goal. + target = self.goal.copy() + if self.debug: + self.debug.event( + "goal_set", {"goal_world": target.tolist(), "goal_version": self.goal_version} + ) + return target + + def request_stop(self, reason): + if not self.stop_reason: + self.stop_reason = reason + self.done.set() + + def publish_plan(self, plan): + """Make collision-checked control available before viewer preparation.""" + with self.lock: + if ( + plan["version"] != self.goal_version + or self.perception_pause + or self.done.is_set() + ): + return False + self.plan = {**plan, "published": time.monotonic()} + return True + + def view(self): + with self.lock: + return { + "payload": self.payload, + "control": self.control, + "execute": self.args.execute, + "stopped": self.done.is_set(), + "error": self.error, + "plan_age": None if self.plan is None else time.monotonic() - self.plan["received"], + "max_plan_age": getattr(self.args, "max_plan_age", 0.6), + "goal_world": None if self.goal is None else self.goal.tolist(), + "token": self.token, + "debug": {"enabled": False} if self.debug is None else self.debug.status(), + "stop_reason": self.stop_reason, + "perception_pause": self.perception_pause, + } + + +class ViewerHandler(BaseHTTPRequestHandler): + def __init__(self, *args, state, assets, **kwargs): + self.state, self.assets = state, assets + super().__init__(*args, **kwargs) + + def log_message(self, *_): + pass + + def send_body(self, body, content_type, code=200): + self.send_response(code) + self.send_header("Content-Type", content_type) + self.send_header("Content-Length", str(len(body))) + self.send_header("Cache-Control", "no-store") + self.end_headers() + self.wfile.write(body) + + def do_GET(self): + try: + if self.path in self.assets: + body, kind = self.assets[self.path] + self.send_body(body, kind) + elif self.path == "/state": + self.send_body( + json.dumps(self.state.view(), allow_nan=False).encode(), "application/json" + ) + else: + self.send_body(b"Not found", "text/plain", 404) + except (BrokenPipeError, ConnectionResetError): + pass + + def do_POST(self): + try: + # Browser control is local by default, token-bound and same-origin. + if self.headers.get("Sec-Fetch-Site") == "cross-site": + raise ValueError("Cross-site control rejected") + length = int(self.headers.get("Content-Length", 0)) + if not 0 < length < 1024: + raise ValueError("Invalid request length") + command = json.loads(self.rfile.read(length)) + if command.get("token") != self.state.token: + raise ValueError("Invalid session token") + if self.path == "/stop": + self.state.request_stop("browser stop") + result = {"stopped": True} + elif self.path == "/debug" and not self.state.done.is_set(): + if self.state.debug is None: + raise ValueError("Debug recording is disabled") + result = { + "queued": self.state.debug.incident( + "user_mark", {"control": self.state.last_control_record.copy()}, force=True + ) + } + elif self.path == "/goal" and not self.state.done.is_set(): + result = {"goal_world": self.state.set_goal(command["goal"]).tolist()} + else: + raise ValueError("Unknown command or stopped session") + self.send_body(json.dumps(result).encode(), "application/json") + except (ValueError, KeyError, TypeError) as exc: + self.send_body(json.dumps({"error": str(exc)}).encode(), "application/json", 400) + + +def start_viewer(state): + from plotly.offline import get_plotlyjs + + assets = { + "/": ( + Path(__file__).with_name("depth_nav_live_viewer.html").read_bytes(), + "text/html; charset=utf-8", + ), + "/plotly.js": (get_plotlyjs().encode(), "text/javascript"), + } + server = ThreadingHTTPServer( + (state.args.viewer_host, state.args.viewer_port), + partial(ViewerHandler, state=state, assets=assets), + ) + threading.Thread(target=server.serve_forever, daemon=True).start() + return server + + +def save_final_view(state, output): + """Freeze the last interactive map without a running HTTP service.""" + if state.payload is None: + return + from plotly.offline import get_plotlyjs + + view = state.view() + text = json.dumps(view, separators=(",", ":"), allow_nan=False).replace("<", "\\u003c") + template = Path(__file__).with_name("depth_nav_live_viewer.html").read_text() + template = template.replace( + '', "" + ) + template = template.replace( + "'use strict';\nlet data=", "'use strict';\nconst staticView=" + text + ";\nlet data=", 1 + ) + template = template.replace( + "const response=await fetch('/state',{cache:'no-store'});", + "const response=staticView?{ok:true,json:async()=>staticView}:await fetch('/state',{cache:'no-store'});", + ) + template = template.replace( + "

Depth-only path planning

", "

Depth-only navigation · final map

" + ) + (output / "last_map.html").write_text(template) + + +class RobotRelayProcess: + """Install only temporary helper scripts and keep their process identity.""" + + def __init__(self, args, output): + self.args = args + self.process = None + self.directory = f"/tmp/stretch_depth_nav_{uuid.uuid4().hex}" + self.ssh = [ + "ssh", + "-o", + "BatchMode=yes", + "-o", + "ConnectTimeout=5", + f"{args.ssh_user}@{args.robot_ip}", + ] + self.container = args.container + self.output = Path(output) + self.log = (output / "robot_relay.log").open("w") + + def remote(self, words, **kwargs): + return subprocess.run(self.ssh + [shlex.join(words)], check=True, **kwargs) + + def start(self): + if self.container is None: + result = self.remote( + ["docker", "ps", "--format", "{{.ID}} {{.Image}}"], + capture_output=True, + text=True, + timeout=10, + ) + matches = [ + line.split()[0] + for line in result.stdout.splitlines() + if "stretch-ai-ros2-bridge" in line + ] + if len(matches) != 1: + raise RuntimeError( + f"Expected one running bridge container, found {matches}; use --container" + ) + self.container = matches[0] + archive = io.BytesIO() + with tarfile.open(fileobj=archive, mode="w") as tar: + for name in ( + "depth_nav_robot_relay.py", + "depth_nav_control.py", + "capture_lingbot_rgbd_ros2.py", + ): + path = Path(__file__).with_name(name) + tar.add(path, arcname=name) + script = ( + f"mkdir -p {shlex.quote(self.directory)} && tar -x -C {shlex.quote(self.directory)}" + ) + self.remote( + ["docker", "exec", "-i", self.container, "bash", "-c", script], + input=archive.getvalue(), + timeout=15, + ) + words = [ + "python3", + "-u", + f"{self.directory}/depth_nav_robot_relay.py", + "--world-frame", + self.args.world_frame, + "--fps", + str(self.args.plan_hz), + "--max-frame-age", + str(self.args.relay_max_frame_age), + "--max-ttl", + str(self.args.command_ttl), + ] + if getattr(self.args, "enable_head", False): + words.append("--enable-head") + script = ( + "source /opt/ros/humble/setup.bash && source /robot/ament_ws/install/setup.bash && " + + shlex.join(words) + ) + remote = [ + "docker", + "exec", + "-i", + "-e", + "OPENBLAS_NUM_THREADS=1", + "-e", + "OMP_NUM_THREADS=1", + self.container, + "bash", + "-lc", + script, + ] + self.process = subprocess.Popen( + self.ssh + [shlex.join(remote)], + stdin=subprocess.PIPE, + stdout=self.log, + stderr=subprocess.STDOUT, + ) + + def close(self): + result = {"verified": self.process is None, "attempts": 0, + "container": self.container, "directory": self.directory, "errors": []} + if self.process is not None: + # Check the command line as well as the PID: a PID can be recycled. + prefix = (f"import os,signal,pathlib; p=pathlib.Path({(self.directory+'/depth_nav_robot_relay.pid')!r}); " + "pid=int(p.read_text()) if p.exists() else -1; " + "c=pathlib.Path('/proc')/str(pid)/'cmdline'; " + f"alive=c.exists() and {(self.directory+'/depth_nav_robot_relay.py').encode()!r} in c.read_bytes().split(bytes([0])); ") + for attempt in range(3): + result['attempts'] = attempt + 1 + try: + self.remote(["docker", "exec", self.container, "python3", "-c", + prefix + "os.kill(pid,signal.SIGTERM) if alive else None"], + capture_output=True, text=True, timeout=4) + try: + self.process.wait(timeout=4) + except subprocess.TimeoutExpired: + pass + self.remote(["docker", "exec", self.container, "python3", "-c", + prefix + "raise SystemExit(3 if alive else 0)"], + capture_output=True, text=True, timeout=4) + result['verified'] = True + break + except (subprocess.SubprocessError, OSError) as exc: + detail = str(exc) + ' ' + str(getattr(exc, 'stderr', '') or '') + result['errors'].append(detail) + if 'no such container' in detail.lower(): + result['verified'] = True + break + if not self.log.closed: + self.log.write('RELAY_CLOSE_RETRY ' + detail + '\n') + self.log.flush() + time.sleep(.2) + if self.process.poll() is None: + self.process.terminate() + self.log.close() + result['process_exit_code'] = None if self.process is None else self.process.poll() + (self.output / 'robot_relay_close.json').write_text(json.dumps(result, indent=2) + '\n') + return result['verified'] + + +def control_loop(state, args, session): + """Own all control sockets in one thread; never wait for model inference.""" + import zmq + + context = zmq.Context() + recv = context.socket(zmq.SUB) + recv.setsockopt(zmq.SUBSCRIBE, b"") + recv.setsockopt(zmq.CONFLATE, 1) + recv.setsockopt(zmq.LINGER, 0) + recv.connect(f"tcp://{args.robot_ip}:4513") + send = context.socket(zmq.PUSH) + send.setsockopt(zmq.SNDHWM, 1) + send.setsockopt(zmq.IMMEDIATE, 1) + send.setsockopt(zmq.LINGER, 0) + send.connect(f"tcp://{args.robot_ip}:4512") + sequence, previous_pose, previous_pose_time = 0, None, None + transmission = {} + + def transmit(command): + try: + send.send_json(command, flags=zmq.NOBLOCK) + queued = True + except zmq.Again: + queued = False # Relay will expire the old command locally. + transmission.update(command_type=command["type"], command_queued=queued) + + try: + while not state.done.is_set(): + now = time.monotonic() + if recv.poll(0): + robot = recv.recv_pyobj() + with state.lock: + state.robot, state.robot_received = robot, now + pose = robot.get("base_pose") + if pose is not None: + pose = np.asarray(pose, dtype=float) + if previous_pose is not None and args.execute: + dt = now - previous_pose_time + jump = ( + np.linalg.norm(pose[:2] - previous_pose[:2]) + > 0.20 + args.max_linear_speed * dt + ) + jump |= ( + abs(wrap_angle(pose[2] - previous_pose[2])) + > 0.35 + args.max_angular_speed * dt + ) + if jump: + raise RuntimeError( + "Localization jumped; stopping and discarding the old plan" + ) + previous_pose, previous_pose_time = pose, now + if robot.get("latched"): + raise RuntimeError(robot.get("reason", "robot relay latched stop")) + if args.execute and robot.get("is_runstopped"): + raise RuntimeError("Run-stop pressed; restart the script after release") + with state.lock: + robot, robot_time, plan, goal, prepared = ( + state.robot, + state.robot_received, + state.plan, + state.goal, + state.prepared, + ) + perception_pause = state.perception_pause + v, w, reason = 0.0, 0.0, "waiting for a fresh plan" + proposed_v, proposed_w = 0.0, 0.0 + fresh_robot = robot is not None and now - robot_time <= args.max_state_age + if args.execute and prepared and fresh_robot and robot.get("healthy"): + if robot.get("armed") and robot.get("session") != session: + raise RuntimeError("Robot relay belongs to another navigation session") + if perception_pause: + reason = "perception paused: " + perception_pause + sequence += 1 + transmit( + { + "type": "velocity", + "session": session, + "seq": sequence, + "frame_id": robot.get("frame_id"), + "ttl": args.command_ttl, + "v": 0.0, + "w": 0.0, + } + ) + elif not robot.get("armed"): + transmit({"type": "arm", "session": session}) + reason = "arming robot-local command lease" + elif plan_freshness(plan, state.goal_version, now, args.max_plan_age) == "fresh": + pose = np.asarray(robot["base_pose"], dtype=float) + if goal is not None and np.linalg.norm(goal - pose[:2]) <= args.goal_tolerance: + reason = "goal reached" + state.request_stop(reason) + elif plan["floor_valid"]: + v, w = trajectory_velocity(plan, pose, goal, args) + proposed_v, proposed_w = v, w + allowed, reason = rollout_allowed( + pose, v, w, plan["grid"], plan["pose"], args + ) + if not allowed or not len(plan["path_world"]): + v, w = 0.0, 0.0 + if not len(plan["path_world"]): + reason = ( + "current body overlaps occupied map cells" + if plan.get("initial_body_collision") + else "no admissible sampled motion" + ) + else: + reason = "floor reference unavailable" + sequence += 1 + transmit( + { + "type": "velocity", + "session": session, + "seq": sequence, + "frame_id": plan["frame_id"], + "ttl": args.command_ttl, + "v": v, + "w": w, + } + ) + else: + reason = { + "stale": "plan stale; velocity held at zero", + "unavailable": "plan unavailable; velocity held at zero", + "goal_changed": "waiting for current-goal plan; velocity held at zero", + }[plan_freshness(plan, state.goal_version, now, args.max_plan_age)] + sequence += 1 + transmit( + { + "type": "velocity", + "session": session, + "seq": sequence, + "frame_id": robot.get("frame_id"), + "ttl": args.command_ttl, + "v": 0.0, + "w": 0.0, + } + ) + elif not args.execute: + reason = "read-only live planning; --execute enables navigation" + elif not fresh_robot: + reason = "robot status stale; lease expires" + else: + reason = "waiting for navigation mode, retracted arm and fresh RGB-D/TF" + with state.lock: + state.control = { + "reason": reason, + "v": v, + "w": w, + "armed": bool(robot and robot.get("armed")), + "robot_v": None if robot is None else robot.get("v"), + "robot_w": None if robot is None else robot.get("w"), + } + control_record = { + **state.control, + "execute": args.execute, + "proposed_v": proposed_v, + "proposed_w": proposed_w, + "seq": sequence, + "goal_version": state.goal_version, + "goal_world": None if goal is None else goal.tolist(), + "frame_id": None if plan is None else plan["frame_id"], + "plan_age_s": None if plan is None else now - plan["received"], + "max_plan_age_s": args.max_plan_age, + "plan_ready_ms": None if plan is None else plan.get("ready_ms"), + "plan_published_age_s": ( + None if plan is None or "published" not in plan else now - plan["published"] + ), + "state_age_s": now - robot_time, + "robot_pose": ( + None + if robot is None or robot.get("base_pose") is None + else np.asarray(robot["base_pose"]).tolist() + ), + } + if state.debug: + control_record.update(transmission) + for key in ( + "healthy", + "is_homed", + "is_runstopped", + "posture_ok", + "control_mode", + "tf_age", + "sensor_age", + "capture_error", + "joint_positions", + ): + control_record[key] = None if robot is None else robot.get(key) + control_record["robot_reason"] = None if robot is None else robot.get("reason") + state.last_control_record = control_record + state.debug.control(control_record, now) + state.done.wait(0.05) + except Exception as exc: + state.error = str(exc) + if state.debug: + state.debug.event( + "control_error", {"error": str(exc), "traceback": traceback.format_exc()} + ) + state.request_stop("control error: " + str(exc)) + finally: + if args.execute: + for _ in range(3): + transmit({"type": "stop", "session": session}) + time.sleep(0.03) + if state.debug: + state.debug.event("stop_requested", {"attempts": 3, **transmission}) + recv.close() + send.close() + context.term() + + +def prepare_navigation_mode(state, args): + """Switch mode only; navigation posture presets implicitly move the head.""" + import zmq + + context = zmq.Context() + send = context.socket(zmq.PUB) + send.setsockopt(zmq.LINGER, 0) + send.connect(f"tcp://{args.robot_ip}:4402") + try: + state.done.wait(0.3) # Allow PUB/SUB subscription propagation. + for command, complete in [ + ( + {"control_mode": "navigation"}, + lambda r: r.get("control_mode") == "navigation" and r.get("posture_ok"), + ), + ]: + deadline, next_send, action = time.monotonic() + 20, 0, None + while not state.done.is_set(): + with state.lock: + robot, received = state.robot, state.robot_received + if time.monotonic() > deadline: + raise TimeoutError(f"Robot did not complete preparation: {command}") + if robot is None or time.monotonic() - received > 0.5: + state.done.wait(0.05) + continue + if robot.get("is_runstopped") or robot.get("is_homed") is not True: + raise RuntimeError("Cannot prepare navigation while run-stopped or unhomed") + if not robot.get("posture_ok"): + raise RuntimeError( + "Navigation requires an already-retracted arm (extension <= 0.06 m); camera/joint posture commands are disabled" + ) + if ( + action is not None + and robot.get("bridge_step", -1) >= action["step"] + and complete(robot) + ): + break + if time.monotonic() >= next_send: + if action is None: + action = {**command, "step": int(robot["bridge_step"]) + 1} + send.send_pyobj(action) + next_send = time.monotonic() + 1 + state.done.wait(0.05) + with state.lock: + state.prepared = not state.done.is_set() + finally: + send.close() + context.term() + + +class Refiner: + def __init__(self, args): + self.args = args + self.model = None + if args.depth_source == "refined": + import torch + from lingbot_depth_eval import enable_native_attention + + sys.path.insert(0, str(args.lingbot_repo.resolve())) + from mdm.model.v2 import MDMModel + + if not torch.cuda.is_available(): + raise RuntimeError( + "LingBot refinement requires CUDA; use --depth-source raw for CPU-only testing" + ) + torch.set_num_threads(args.cpu_threads) + start = time.perf_counter() + checkpoint = getattr(args, "model_checkpoint", None) or resolve_local_checkpoint( + args.model + ) + print(f"Local LingBot checkpoint: {checkpoint} (offline)", flush=True) + self.model = load_local_model(MDMModel, checkpoint).cuda().eval() + enable_native_attention(self.model) + torch.cuda.synchronize() + print( + f"LingBot loaded in {time.perf_counter()-start:.2f}s (excluded from inference timing)", + flush=True, + ) + self.warmed = False + + def infer(self, rgb, raw, k): + if self.model is None: + return raw, 0.0 + import torch + + with torch.inference_mode(): + h, w = raw.shape + normalized = k.copy() + normalized[0] /= w + normalized[1] /= h + image = ( + torch.from_numpy(rgb.copy()).permute(2, 0, 1).float().div(255).unsqueeze(0).cuda() + ) + depth = ( + torch.from_numpy(np.where(planning.valid_depth(raw), raw, 0).astype(np.float32)) + .unsqueeze(0) + .cuda() + ) + kwargs = dict( + depth_in=depth, + intrinsics=torch.from_numpy(normalized).unsqueeze(0).cuda(), + resolution_level=self.args.resolution_level, + ) + if not self.warmed: + for _ in range(self.args.warmup): + self.model.infer(image, **kwargs) + self.warmed = True + torch.cuda.synchronize() + start = time.perf_counter() + prediction = self.model.infer(image, **kwargs) + torch.cuda.synchronize() + elapsed = (time.perf_counter() - start) * 1000 + return prediction["depth"][0].float().cpu().numpy(), elapsed + + +def decode_packet(packet): + rgb = cv2.imdecode(np.asarray(packet["rgb_jpg"], dtype=np.uint8), cv2.IMREAD_COLOR) + raw = cv2.imdecode(np.asarray(packet["depth_png"], dtype=np.uint8), cv2.IMREAD_UNCHANGED) + k, pose, base = ( + np.asarray(packet[key], dtype=float) for key in ("camera_K", "camera_pose", "base_pose") + ) + if rgb is None or raw is None or rgb.shape[:2] != raw.shape or raw.dtype != np.uint16: + raise ValueError("Malformed live RGB-D packet") + if ( + k.shape != (3, 3) + or pose.shape != (4, 4) + or base.shape != (3,) + or not np.isfinite(np.r_[k.ravel(), pose.ravel(), base]).all() + ): + raise ValueError("Invalid live intrinsics or TF pose") + if k[0, 0] <= 0 or k[1, 1] <= 0 or not np.allclose(pose[3], [0, 0, 0, 1]): + raise ValueError("Invalid live camera projection") + raw_m = raw.astype(np.float32) / 1000 + if not planning.valid_depth(raw_m).any(): + raise ValueError("Live depth frame has no valid measurements") + return ( + cv2.cvtColor(rgb, cv2.COLOR_BGR2RGB), + raw_m, + k.astype(np.float32), + pose, + base, + ) + + +def resolve_floor_reference(measured_plane, previous_plane, previous_time, now, args): + if measured_plane is not None: + return measured_plane, "fitted" + if previous_plane is not None and now - previous_time <= args.floor_max_age: + return previous_plane, "recent_fitted" + if args.unknown_policy == "assume": + return np.array([0.0, 0.0, 1.0, -args.floor_ground_z]), "assumed_ground_height" + return None, "unavailable" + + +def build_parser(): + p = argparse.ArgumentParser( + description=__doc__, + parents=[planning.build_parser()], + add_help=False, + conflict_handler="resolve", + ) + p.add_argument( + "--recording", type=Path, help=argparse.SUPPRESS + ) # No recording required for live operation. + p.add_argument("--robot-ip", default="192.0.2.2") + p.add_argument("--goal", nargs=2, type=float, default=[5.0, 4.0], metavar=("FORWARD", "LEFT")) + p.add_argument( + "--execute", + action="store_true", + help="Switch navigation mode and send leased velocity commands; keep camera/joint pose", + ) + p.add_argument("--ssh-user", default="hello-robot") + p.add_argument("--container") + p.add_argument("--existing-relay", action="store_true") + p.add_argument("--world-frame", default="map") + p.add_argument("--viewer-host", default="127.0.0.1") + p.add_argument("--viewer-port", type=int, default=8765) + p.add_argument("--plan-hz", type=float, default=4.0) + p.add_argument( + "--duration", type=float, default=0, help="Seconds to run; 0 until goal/stop/Ctrl+C" + ) + p.add_argument("--model", default=DEFAULT_MODEL, help=MODEL_HELP) + p.add_argument( + "--lingbot-repo", type=Path, default=Path(__file__).resolve().parents[2] / "lingbot-depth" + ) + p.add_argument("--resolution-level", type=int, default=0) + p.add_argument( + "--max-depth", + type=float, + default=4.0, + help="Maximum raw/refined optical-axis depth for new mapping and floor evidence (metres); history uses --map-radius", + ) + p.add_argument("--warmup", type=int, default=2) + p.add_argument( + "--min-filtered-points", + type=int, + default=1000, + help="Pause velocity and retry when fewer filtered points remain; never relax filtering", + ) + p.add_argument( + "--traversable-height", + dest="obstacle_min_height", + type=float, + default=0.2, + help="Height above the floor below which points are traversable (metres)", + ) + p.add_argument("--max-linear-speed", type=float, default=0.10) + p.add_argument("--max-angular-speed", type=float, default=0.25) + p.add_argument("--command-ttl", type=float, default=0.30) + p.add_argument("--max-plan-age", type=float, default=0.60) + p.add_argument("--max-state-age", type=float, default=0.35) + p.add_argument("--relay-max-frame-age", type=float, default=0.8) + p.add_argument("--control-horizon", type=float, default=1.0) + p.add_argument( + "--max-control-unknown-ratio", + type=float, + default=1.0, + help="Unknown-support limit for penalize/block policies; ignored by assume", + ) + p.add_argument("--goal-tolerance", type=float, default=0.20) + p.add_argument( + "--route-memory", + action="store_true", + help="Use a bounded coarse detour route, held waypoint and recent travelled history", + ) + p.add_argument( + "--memory-horizon", + type=float, + default=6.0, + help="Metres of recent travelled path to remember with --route-memory (max 10)", + ) + p.add_argument( + "--planning-horizon", + type=float, + default=2.5, + help="Local motion sampling distance in metres, including delayed turns", + ) + p.add_argument("--floor-support-radius", type=float, default=0.05) + p.add_argument("--floor-max-age", type=float, default=5.0) + p.add_argument( + "--debug-logs", + action=argparse.BooleanOptionalAction, + default=True, + help="Record control events and bounded replay snapshots (enabled by default)", + ) + p.add_argument( + "--debug-max-snapshots", + type=int, + default=32, + help="Retain this many recent RGB-D/map snapshots per run", + ) + p.add_argument( + "--debug-snapshot-interval", + type=float, + default=5.0, + help="Periodic debug snapshot seconds; 0 keeps incidents/manual/end snapshots only", + ) + p.add_argument( + "--debug-stuck-seconds", + type=float, + default=15.0, + help="Capture an incident after this long commanding motion without 10 cm translation", + ) + p.add_argument("--footprint-shape", choices=["rectangle", "circle"], default="rectangle") + p.add_argument( + "--robot-width", + "--actual-robot-width", + type=float, + default=0.34, + help="Actual body width: hard collision limit, metres", + ) + p.add_argument( + "--robot-length", + "--actual-robot-length", + type=float, + default=0.33, + help="Actual body length: hard collision limit, metres", + ) + p.add_argument( + "--buffered-robot-length", + type=float, + help="Preferred rectangle length; default max(actual length, 0.60 m). Contact is allowed", + ) + p.add_argument( + "--buffered-robot-width", + type=float, + help="Preferred rectangle width; default actual width. Contact is allowed", + ) + p.add_argument( + "--buffer-cost-weight", + type=float, + default=0.20, + help="Soft buffer-contact penalty; 0 disables these preference checks", + ) + p.add_argument("--robot-length-offset", type=float, default=-0.1) + p.add_argument( + "--footprint-heading-bins", + type=int, + default=72, + help="Acceleration cache bins; final body checks use continuous exact headings", + ) + p.set_defaults( + output=None, + width=6.0, + rear_range=1.0, + max_unknown_ratio=1.0, + unknown_policy="assume", + obstacle_min_height=0.2, + obstacle_max_height=1.6, + floor_tolerance=0.2, + drop_height=0.2, + height_based_traversability=True, + safety_margin=0.0, + clearance_weight=0.0, + floor_support_radius=0.0, + direct_footprint_collision=True, + world_anchored_collisions=True, + pursuit_lookahead=0.4, # Defaults for legacy replay helper callers only. + turn_in_place_angle=0.8, + turn_gain=0.7, + ) + unused_sampling = {"num_goals", "midpoints_per_goal", "bend_range", "path_samples"} + p.set_defaults( + **{action.dest: action.default for action in p._actions if action.dest in unused_sampling} + ) + p._option_string_actions["--robot-radius"].help = ( + "Body radius in circle mode; rectangle mode uses width/length" + ) + p._option_string_actions["--obstacle-max-height"].help = ( + "Maximum blocking height above the floor; live default 1.6 m, higher points are ignored" + ) + # Keep offline-only options out of this script's command interface. + for action in list(p._actions): + if action.dest in unused_sampling | { + "recording", + "depth_cache", + "frame_stride", + "max_frames", + "goal_forward", + "goal_right", + "floor_tolerance", + }: + p._remove_action(action) + for group in p._action_groups: + if action in group._group_actions: + group._group_actions.remove(action) + for option in action.option_strings: + p._option_string_actions.pop(option, None) + p.set_defaults( + frame_stride=1, max_frames=0, goal_forward=3.0, goal_right=0.0, floor_tolerance=0.2 + ) + return p + + +def main(): + args = build_parser().parse_args() + buffered = buffered_footprint_args(args) + if buffered is not None: + args.buffered_robot_width, args.buffered_robot_length = ( + buffered.robot_width, + buffered.robot_length, + ) + args.floor_tolerance = args.obstacle_min_height + planning.validate_args(args) + for key, value in vars(args).items(): + if isinstance(value, float) and not np.isfinite(value): + raise ValueError(f"{key} must be finite") + if ( + not 0 < args.max_linear_speed <= 0.15 + or not 0 < args.max_angular_speed <= 0.4 + or not 0 < args.command_ttl <= 0.35 + or not 0 < args.max_plan_age <= 0.8 + or not 0 <= args.max_control_unknown_ratio <= 1.0 + or not 0 <= args.floor_support_radius <= 0.05 + or args.plan_hz <= 0 + or args.control_horizon < args.command_ttl + or args.duration < 0 + or args.robot_width <= 0 + or args.robot_length <= 0 + or args.min_filtered_points < 1 + or not 0.1 < args.max_depth <= 10.0 + or args.buffer_cost_weight < 0 + or not 0.5 <= args.memory_horizon <= 10.0 + or not 1 <= args.debug_max_snapshots <= 512 + or args.debug_snapshot_interval < 0 + or args.debug_stuck_seconds < 2 + or not 0.25 <= args.planning_horizon <= 4.0 + or not 12 <= args.footprint_heading_bins <= 144 + ): + raise ValueError("Invalid live control speed, lease, evidence or support bounds") + args.support_footprint_radius = args.robot_radius + # Fail before opening robot connections if the local checkpoint is missing. + args.model_checkpoint = ( + resolve_local_checkpoint(args.model) if args.depth_source == "refined" else None + ) + cv2.setNumThreads(args.cpu_threads) + output = ( + args.output + or Path(__file__).resolve().parents[1] + / "outputs" + / ("depth_nav_live_" + datetime.now(timezone.utc).strftime("%Y%m%d_%H%M%S_%f")) + ).resolve() + if (output / "config.json").exists(): + output = output / ("run_" + datetime.now(timezone.utc).strftime("%Y%m%d_%H%M%S_%f")) + output.mkdir(parents=True, exist_ok=True) + settings = {k: str(v) if isinstance(v, Path) else v for k, v in vars(args).items()} + (output / "config.json").write_text(json.dumps(settings, indent=2) + "\n") + state = LiveState(args) + state.debug = DebugRecorder(output, args) if args.debug_logs else None + signal.signal(signal.SIGINT, lambda *_: state.request_stop("SIGINT")) + signal.signal(signal.SIGTERM, lambda *_: state.request_stop("SIGTERM")) + try: + server = start_viewer(state) + except Exception as exc: + if state.debug: + state.debug.event( + "startup_error", {"error": str(exc), "traceback": traceback.format_exc()} + ) + state.debug.close() + (output / "summary.json").write_text( + json.dumps( + { + "frames": 0, + "error": str(exc), + "stop_reason": "viewer startup failed", + "debug": None if state.debug is None else state.debug.status(), + } + ) + + "\n" + ) + raise + print( + f"Live map & plan: http://{args.viewer_host}:{args.viewer_port}/ · output: {output}", + flush=True, + ) + print( + f"Goal: {args.goal[0]} m forward, {args.goal[1]} m left at startup; execute={args.execute}", + flush=True, + ) + relay = RobotRelayProcess(args, output) if not args.existing_relay else None + control_thread = None + import zmq + + context = zmq.Context() + obs = context.socket(zmq.SUB) + obs.setsockopt(zmq.SUBSCRIBE, b"") + obs.setsockopt(zmq.CONFLATE, 1) + obs.setsockopt(zmq.LINGER, 0) + obs.connect(f"tcp://{args.robot_ip}:4511") + metrics = deque(maxlen=2048) + total_frames = 0 + route_memory = RouteMemory(args) if args.route_memory else None + partial_context = None + try: + # Validate/load local assets before navigation mode or robot arming. + # Load OpenMP libraries before applying the shared CPU thread budget. + import open3d + + with threadpool_limits(limits=args.cpu_threads): + refiner = Refiner(args) + if relay: + relay.start() + control_thread = threading.Thread( + target=control_loop, args=(state, args, uuid.uuid4().hex), daemon=True + ) + control_thread.start() + deadline = time.monotonic() + 20 + while not state.done.is_set(): + with state.lock: + robot = state.robot + if robot is not None and robot.get("base_pose") is not None: + state.set_goal(args.goal) + break + if time.monotonic() > deadline: + raise TimeoutError( + f"No timestamped relay status; inspect {output/'robot_relay.log'}" + ) + state.done.wait(0.05) + if state.done.is_set(): + if state.error: + raise RuntimeError(state.error) + return + if args.execute: + prepare_navigation_mode(state, args) + with threadpool_limits(limits=args.cpu_threads): + mapper = SurfaceVoxelMap( + VoxelMapConfig( + voxel_size=args.voxel_size, + max_update_points=args.max_update_points, + max_clear_checks=args.max_clear_checks, + max_voxels=args.max_map_voxels, + radius_m=args.map_radius, + max_depth_m=args.max_depth, + clearing=args.clearing, + ) + ) + banks, origin, last_plane, last_plane_time = OrderedDict(), None, None, -math.inf + next_plan, started, frame_index, last_report = 0, time.monotonic(), 0, 0 + with (output / "metrics.jsonl").open("w") as log: + while not state.done.is_set() and ( + args.duration == 0 or time.monotonic() - started < args.duration + ): + if time.monotonic() < next_plan: + state.done.wait(min(0.02, next_plan - time.monotonic())) + continue + if not obs.poll(100): + continue + packet = obs.recv_pyobj() + received = time.monotonic() + partial_context = { + "metadata": { + "frame_id": int(packet.get("frame_id", -1)), + "frame": frame_index, + "settings": settings, + "stage": "decode", + "received_monotonic": received, + }, + "arrays": { + name: packet.get(name) + for name in ("rgb_jpg", "depth_png", "camera_K", "camera_pose") + }, + } + if ( + packet["world_frame"] != args.world_frame + or packet["sensor_age"] > args.relay_max_frame_age + ): + raise ValueError("Wrong frame or stale RGB-D packet") + rgb, raw, k, camera_pose, base_at_capture = decode_packet(packet) + partial_context["arrays"].update( + raw_depth_m=raw, base_pose_at_capture=base_at_capture + ) + pose_audit = {} + for name in ("base_pose_matrix", "odom_pose_matrix", "map_from_odom"): + value = packet.get(name) + if value is not None: + matrix = np.asarray(value, dtype=np.float64) + if matrix.shape == (4, 4) and np.isfinite(matrix).all(): + pose_audit[name] = matrix + partial_context["arrays"].update(pose_audit) + partial_context["metadata"]["pose_audit_error"] = packet.get( + "pose_audit_error", "" + ) + description_audit = { + name: packet[name] + for name in ( + "robot_description_path", + "robot_description_file_sha256", + "robot_description_error", + "controller_calibration_path", + "controller_calibration_file_sha256", + "controller_calibration_error", + ) + if name in packet + } + partial_context["metadata"].update(description_audit) + partial_context["metadata"]["stage"] = "inference" + with state.lock: + robot, goal, version = state.robot, state.goal.copy(), state.goal_version + if robot is None or robot.get("base_pose") is None: + continue + refined, infer_ms = refiner.infer(rgb, raw, k) + partial_context["arrays"]["refined_depth_m"] = refined + partial_context["metadata"]["stage"] = "filter" + start = time.perf_counter() + valid = planning.valid_depth(refined) + if not valid.any(): + raise RuntimeError("Depth refinement produced no valid depth") + points_image = depth_points(refined, k) + camera_points = points_image[valid] + retained, filter_stats = filter_depth_mask(refined, raw, k, args, points_image) + # One selection controls the perception gate, voxel hits, + # floor fitting and dense ground support. Far raw returns + # cannot re-enter as weak obstacles after refinement. + range_mask = depth_limit_mask(refined, raw, args.max_depth) + filter_stats["depth_limit_rejected_points"] = int( + (retained & ~range_mask).sum() + ) + filter_stats["raw_far_refined_near_points"] = int( + (retained & (refined <= args.max_depth) & (raw > args.max_depth)).sum() + ) + filter_stats["depth_limit_m"] = args.max_depth + retained &= range_mask + filter_stats["in_range_retained_points"] = int(retained.sum()) + keep = retained[valid] + partial_context["metadata"]["filter_stats"] = filter_stats + partial_context["arrays"]["retained_mask"] = retained + perception_ok = state.update_perception_gate(int(keep.sum())) + filter_ms = (time.perf_counter() - start) * 1000 + _, map_stats = mapper.update( + refined, + retained, + rgb, + raw, + k, + camera_pose, + base_at_capture[:2], + received, + frame_index, + ) + world_points = camera_points[keep] @ camera_pose[:3, :3].T + camera_pose[:3, 3] + start = time.perf_counter() + plane, floor_stats = fit_floor_plane(world_points, base_at_capture[:2], args) + if plane is not None: + last_plane, last_plane_time = plane, time.monotonic() + plane, floor_reference_source = resolve_floor_reference( + plane, last_plane, last_plane_time, time.monotonic(), args + ) + floor_ms = (time.perf_counter() - start) * 1000 + correction = mapper.reconcile_ground(plane, args.drop_height) + map_stats.update(correction) + map_stats["update_ms"] += correction["ground_reconcile_ms"] + map_stats["cleared_voxels"] += correction["ground_column_clearing_observations"] + map_stats["surface_voxels"] -= correction["ground_column_cleared_supported"] + map_stats["uncertain_voxels"] -= correction["ground_column_cleared_uncertain"] + snap = mapper.snapshot(time.monotonic(), args.max_evidence_age) + sensor = raw[retained] + prediction = refined[retained] + agreement = planning.valid_depth(sensor) & ( + np.abs(sensor - prediction) <= 0.04 + 0.02 * prediction + ) + dense_floor = world_points[agreement] + with state.lock: + robot, goal, version = state.robot, state.goal.copy(), state.goal_version + pose = np.asarray(robot["base_pose"], dtype=float) + local_goal = planning.world_to_ego(goal[None], pose[:2], pose[2])[0] + distance = float(np.linalg.norm(local_goal)) + start = time.perf_counter() + grid = planning.make_costmap(snap, pose[:2], pose[2], plane, args, dense_floor) + bev_ms = (time.perf_counter() - start) * 1000 + start = time.perf_counter() + planning_goal = goal + if route_memory is not None and plane is not None and perception_ok: + planning_goal = route_memory.target( + snap, plane, pose, goal, args, time.monotonic(), version, grid + ) + memory_ms = (time.perf_counter() - start) * 1000 + local_target = planning.world_to_ego(planning_goal[None], pose[:2], pose[2])[0] + target = local_target * min( + 1.0, args.planning_horizon / max(np.linalg.norm(local_target), 0.001) + ) + frame_args = SimpleNamespace(**vars(args)) + frame_args.goal_right = round(float(target[0]), 1) + frame_args.goal_forward = round(float(target[1]), 1) + key = (frame_args.goal_right, frame_args.goal_forward) + if key not in banks: + new_bank = sample_trajectories(frame_args) + bank_bytes = base64.b64encode( + gzip.compress( + new_bank["poses"][..., :2].astype(" 8: + banks.popitem(last=False) + motion_bank, bank_bytes = banks[key] + bank = motion_bank["poses"][..., :2] + start = time.perf_counter() + proposal = score_trajectories(motion_bank, grid, frame_args) + if route_memory is not None and plane is not None and perception_ok: + rank_started = time.perf_counter() + route_memory.rank(proposal, motion_bank, pose, args) + memory_ms += (time.perf_counter() - rank_started) * 1000 + chosen = proposal["chosen"] if plane is not None and perception_ok else None + path = ( + np.empty((0, 2)) + if chosen is None + else planning.ego_to_world(bank[chosen], pose[:2], pose[2]) + ) + planning_ms = (time.perf_counter() - start) * 1000 + plan_ready_ms = (time.monotonic() - received) * 1000 + state.publish_plan({ + "grid": grid, + "path_world": path, + "pose": pose, + "floor_valid": plane is not None, + "command": ( + np.zeros(2) if chosen is None else motion_bank["commands"][chosen] + ), + "first_duration": ( + 0.0 if chosen is None else float(motion_bank["first_duration"][chosen]) + ), + "initial_body_collision": proposal["initial_body_collision"], + "received": received, + "ready_ms": plan_ready_ms, + "frame_id": int(packet["frame_id"]), + "version": version, + }) + viewer_started = time.monotonic() + if origin is None: + origin = np.array([*pose[:2], 0.0]) + local = planning.world_to_ego(snap["points"], pose[:2], pose[2]) + display_rows, display_cols, inside = planning.ego_to_cells( + local, args, grid["cost"].shape + ) + display = inside & (snap["state"] != 2) + height_grid = np.full(grid["cost"].shape, -np.inf, dtype=np.float32) + if plane is not None and display.any(): + np.maximum.at( + height_grid, + (display_rows[display], display_cols[display]), + snap["points"][display] @ plane[:3] + plane[3], + ) + packed_height = np.full(height_grid.shape, -32768, dtype=" 0.001).tolist() + status = ( + "floor_unavailable" + if plane is None + else ( + "no_path" + if chosen is None + else ( + ( + "assumed_traversable_path" + if args.unknown_policy == "assume" + else "tentative" + ) + if proposal["unknown_ratio"][chosen] > 0.001 + else "observed_floor_path" + ) + ) + ) + if not perception_ok: + status = "perception_paused" + metric = { + "frame_id": int(packet["frame_id"]), + "frame": frame_index, + "time": time.monotonic() - started, + "status": status, + "perception_pause": state.perception_pause, + "chosen": chosen, + "robot": pose[:2].tolist(), + "yaw": float(pose[2]), + "goal_world": goal.tolist(), + "goal_distance": distance, + "goal_ego": local_goal.tolist(), + "valid_indices": proposal["valid"].tolist(), + "selected_unknown_points": unknown_points, + "unknown_ratio": ( + None if chosen is None else float(proposal["unknown_ratio"][chosen]) + ), + "floor_plane": None if plane is None else plane.tolist(), + "floor_reference_source": floor_reference_source, + "assumed_traversable_cells": int((grid["labels"] == 5).sum()), + "map_voxels": len(snap["points"]), + "known_floor_cells": int(grid["known"].sum()), + "obstacle_cells": int(grid["obstacle"].sum()), + "collision_rejections": proposal["collision_rejections"], + "unknown_rejections": proposal["unknown_rejections"], + "control_prefix_rejections": proposal["control_prefix_rejections"], + "selected_poses": ( + [] + if chosen is None + else motion_bank["poses"][ + chosen, : motion_bank["counts"][chosen] + ].tolist() + ), + "selected_command": ( + [] if chosen is None else motion_bank["commands"][chosen].tolist() + ), + "initial_body_collision": proposal["initial_body_collision"], + "memory_ms": memory_ms if route_memory is not None else 0.0, + **( + {"memory_mode": "disabled"} + if route_memory is None + else route_memory.view() + ), + "buffer_checked": proposal["buffer_checked"], + "selected_buffer_overlap_ratio": ( + None + if chosen is None or not proposal["buffer_checked"] + else float(proposal["buffer_overlap_ratio"][chosen]) + ), + "buffer_ms": proposal["buffer_ms"], + "raw_occupied_cells": int(grid["hard_source"].sum()), + "footprint_query_cache_entries": len(grid["collision_cache"]), + "inference_ms": infer_ms, + "filter_ms": filter_ms, + "filter_input_points": len(camera_points), + "filter_kept_points": int(keep.sum()), + "filter_stats": filter_stats, + "mapping_stats": map_stats, + "camera_K": k.tolist(), + "camera_pose": camera_pose.tolist(), + "base_pose_at_capture": base_at_capture.tolist(), + "pose_audit": {name: value.tolist() for name, value in pose_audit.items()}, + "pose_audit_error": packet.get("pose_audit_error", ""), + **description_audit, + "sync_difference_s": packet.get("sync_difference"), + "sensor_stamp": float(packet["sensor_stamp"]), + "sensor_age_at_receive": float(packet["sensor_age"]), + "mapping_ms": map_stats["update_ms"], + "refilter_ms": filter_ms, + "floor_ms": floor_ms, + "floor_fit_stats": floor_stats, + "bev_ms": bev_ms, + "planning_ms": planning_ms, + "plan_ready_ms": plan_ready_ms, + "processing_ms": (time.monotonic() - received) * 1000, + } + payload = { + "frame": { + **metric, + "cost_bytes": planning.packed_array(np.rint(grid["cost"] * 255)), + "labels_bytes": planning.packed_array(grid["labels"]), + "height_bytes": base64.b64encode( + gzip.compress(packed_height.tobytes(), compresslevel=3) + ).decode("ascii"), + "blocking_min_height_bytes": pack_heights(blocking_min), + "blocking_max_height_bytes": pack_heights(blocking_max), + "cloud": planning.packed_cloud( + snap["points"][display], colors, origin, maximum=8000 + ), + "rgb": planning.preview_image(rgb), + }, + "bank_bytes": bank_bytes, + "bank_shape": list(bank.shape), + "bank_key": list(key), + "origin": origin.tolist(), + "grid_shape": list(grid["cost"].shape), + "settings": settings, + } + frozen = freeze_voxels(snap, time.monotonic()) + metric["viewer_prepare_ms"] = (time.monotonic() - viewer_started) * 1000 + metric["processing_ms"] = (time.monotonic() - received) * 1000 + payload["frame"].update( + processing_ms=metric["processing_ms"], + viewer_prepare_ms=metric["viewer_prepare_ms"], + ) + with state.lock: + if version == state.goal_version: + state.payload = payload + state.last_voxels = { + **frozen, + "robot_pose": pose, + "floor_plane": np.array([]) if plane is None else plane, + } + if state.debug: + arrays = {"voxel_" + name: value for name, value in frozen.items()} + arrays.update(pose_audit) + arrays.update( + rgb_jpg=packet["rgb_jpg"], + depth_png=packet["depth_png"], + raw_depth_m=raw, + refined_depth_m=refined, + retained_mask=retained, + camera_K=k, + camera_pose=camera_pose, + base_pose_at_capture=base_at_capture, + planning_pose=pose, + floor_plane=np.array([]) if plane is None else plane, + blocking_min_height=blocking_min, + blocking_max_height=blocking_max, + bank_poses=motion_bank["poses"], + bank_commands=motion_bank["commands"], + bank_counts=motion_bank["counts"], + bank_first_duration=motion_bank["first_duration"], + proposal_valid=proposal["valid"], + proposal_scores=proposal["score"], + selected_index=-1 if chosen is None else chosen, + ) + for name in ( + "cost", + "labels", + "blocked", + "hard_source", + "footprint_cost", + "unknown_footprint", + "collision_cells", + "collision_cell_size", + "collision_cell_angle", + ): + if name in grid: + arrays[name] = grid[name] + debug_frame = { + "metadata": { + "frame_id": int(packet["frame_id"]), + "frame": frame_index, + "settings": settings, + "metric": metric, + "stage": "planned", + "received_monotonic": received, + "goal_version": version, + }, + "arrays": arrays, + "viewer_payload": payload, + } + state.debug.publish(debug_frame) + if chosen is None: + state.debug.incident( + status, + { + "frame_id": int(packet["frame_id"]), + "control": state.last_control_record.copy(), + }, + ) + log.write(json.dumps(metric) + "\n") + log.flush() + metrics.append(metric) + total_frames += 1 + if time.monotonic() - last_report > 1: + print( + f"[{frame_index}] {status} goal={distance:.2f}m · inference={infer_ms:.1f}ms filter={filter_ms:.1f}ms map/BEV/plan={map_stats['update_ms']+bev_ms+planning_ms:.1f}ms · {state.control['reason']}", + flush=True, + ) + last_report = time.monotonic() + frame_index += 1 + next_plan = received + 1 / args.plan_hz + except Exception as exc: + state.error = str(exc) + if state.debug: + state.debug.event( + "processing_error", {"error": str(exc), "traceback": traceback.format_exc()} + ) + if partial_context is not None: + state.debug.incident( + "processing_error", {"error": str(exc)}, force=True, context=partial_context + ) + state.request_stop("processing error: " + str(exc)) + print(f"Stopped: {exc}", flush=True) + finally: + state.request_stop("duration reached" if args.duration > 0 else "session finished") + if control_thread: + control_thread.join(timeout=2) + if relay: + relay.close() + obs.close() + context.term() + if state.debug: + state.debug.event( + "session_stop", + { + "reason": state.stop_reason, + "error": state.error, + "control": state.last_control_record.copy(), + }, + ) + state.debug.incident( + "session_end", + {"stop_reason": state.stop_reason, "control": state.last_control_record.copy()}, + force=True, + ) + state.debug.close() + if state.payload is not None: + with state.lock: + state.control.update( + v=0.0, w=0.0, reason=state.error or "stopped; velocity lease revoked" + ) + (output / "last_state.json").write_text(json.dumps(state.view(), allow_nan=False)) + save_final_view(state, output) + if state.last_voxels is not None: + np.savez_compressed(output / "last_voxels.npz", **state.last_voxels) + summary = { + "frames": total_frames, + "timing_window_frames": len(metrics), + "execute": args.execute, + "error": state.error, + "stop_reason": state.stop_reason, + "debug": {"enabled": False} if state.debug is None else state.debug.status(), + "inference_median_ms": ( + None if not metrics else float(np.median([m["inference_ms"] for m in metrics])) + ), + "processing_median_ms": ( + None if not metrics else float(np.median([m["processing_ms"] for m in metrics])) + ), + "goal_world": None if state.goal is None else state.goal.tolist(), + } + (output / "summary.json").write_text(json.dumps(summary, indent=2) + "\n") + print("Stopped; velocity lease revoked. " + json.dumps(summary), flush=True) + server.shutdown() + server.server_close() + if state.error: + raise SystemExit(1) + + +if __name__ == "__main__": + main() diff --git a/code/stretch_ai/scripts/depth_nav_memory.py b/code/stretch_ai/scripts/depth_nav_memory.py new file mode 100644 index 0000000000000000000000000000000000000000..d6227b2bc66821f254612f95efa84c11f39dee46 --- /dev/null +++ b/code/stretch_ai/scripts/depth_nav_memory.py @@ -0,0 +1,323 @@ +"""Optional bounded CPU route guidance and short spatial navigation history. + +A small world-aligned grid ranks routes around already observed walls. Unknown +space follows the live policy. This guide never decides physical admissibility: +the existing complete body sweep and command checks still decide that. +""" + +from collections import deque +import heapq + +import numpy as np +from scipy import ndimage + +from depth_only_path_planner import ego_to_cells, ego_to_world, world_to_ego, obstacle_height_mask + +GRID_RESOLUTION = 0.20 +GRID_CELLS = 40 # 8 m square, at most 1,600 nodes. +REPLAN_SECONDS = 1.0 +COMMIT_DISTANCE = 0.60 +WAYPOINT_DISTANCE = 1.20 +WAYPOINT_TOLERANCE = 0.35 + + +def smooth_route(route, blocked, origin): + """Remove grid stair steps with bounded 2D grid checks, then resample.""" + vertices = [route[0]] + index = 0 + while index < len(route) - 1: + for end in range(len(route) - 1, index, -1): + count = int(np.ceil(np.linalg.norm(route[end] - route[index]) / 0.05)) + 1 + line = np.linspace(route[index], route[end], count) + cells = np.floor((line - origin) / GRID_RESOLUTION).astype(int) + if not blocked[tuple(cells.T)].any(): + break + vertices.append(route[end]) + index = end + vertices = np.asarray(vertices) + lengths = np.r_[0, np.cumsum(np.linalg.norm(np.diff(vertices, axis=0), axis=1))] + samples = np.linspace( + 0, lengths[-1], min(128, max(2, int(np.ceil(lengths[-1] / GRID_RESOLUTION)) + 1)) + ) + return np.column_stack([np.interp(samples, lengths, vertices[:, j]) for j in range(2)]) + + +def shortest_paths(blocked, cost, start): + """8-connected Dijkstra, with no diagonal crossing of occupied corners.""" + n = blocked.shape[0] + distance = np.full((n, n), np.inf) + parent = np.full(n * n, -1, dtype=np.int32) + sx, sy = start + distance[sx, sy] = 0.0 + heap = [(0.0, sx, sy)] + directions = [ + (dx, dy, GRID_RESOLUTION * np.hypot(dx, dy)) + for dx, dy in [(-1, 0), (1, 0), (0, -1), (0, 1), (-1, -1), (-1, 1), (1, -1), (1, 1)] + ] + while heap: + old, x, y = heapq.heappop(heap) + if old > distance[x, y]: + continue + for dx, dy, step in directions: + xx, yy = x + dx, y + dy + if not (0 <= xx < n and 0 <= yy < n) or blocked[xx, yy]: + continue + if dx and dy and (blocked[x + dx, y] or blocked[x, y + dy]): + continue + new = old + step * (cost[x, y] + cost[xx, yy]) / 2 + if new < distance[xx, yy]: + distance[xx, yy] = new + parent[xx * n + yy] = x * n + y + heapq.heappush(heap, (new, xx, yy)) + return distance, parent + + +class RouteMemory: + def __init__(self, args): + self.history_distance = args.memory_horizon + self.trail = deque(maxlen=128) + self.version = None + self.route = np.empty((0, 2)) + self.waypoint = None + self.progress = 0 + self.waypoint_index = 0 + self.last_replan = -np.inf + self.commit_pose = None + self.previous_path = np.empty((0, 2)) + self.mode = "waiting" + self.searches = 0 + self.turn_sign = 0 + self.turn_anchor = None + + def reset(self, version): + self.trail.clear() + self.route = np.empty((0, 2)) + self.waypoint = None + self.progress = 0 + self.previous_path = np.empty((0, 2)) + self.commit_pose = None + self.last_replan = -np.inf + self.mode, self.version = "waiting", version + self.turn_sign, self.turn_anchor = 0, None + + def observe(self, pose, version): + if version != self.version or ( + self.trail and np.linalg.norm(pose[:2] - self.trail[-1]) > 1.0 + ): + self.reset(version) + if not self.trail or np.linalg.norm(pose[:2] - self.trail[-1]) >= 0.10: + self.trail.append(pose[:2].copy()) + # Keep a short travelled distance, not an unbounded frame history. + while len(self.trail) > 2: + trail = np.asarray(self.trail) + if np.linalg.norm(np.diff(trail, axis=0), axis=1).sum() <= self.history_distance: + break + self.trail.popleft() + + def _grid(self, snapshot, plane, pose, args): + n, resolution = GRID_CELLS, GRID_RESOLUTION + origin = np.floor((pose[:2] - n * resolution / 2) / resolution) * resolution + cells = np.floor((snapshot["points"][:, :2] - origin) / resolution).astype(int) + inside = ((cells >= 0) & (cells < n)).all(axis=1) + height = snapshot["points"] @ plane[:3] + plane[3] + state = snapshot["state"] + hazard = obstacle_height_mask(height, args) + obstacle = ( + inside & hazard & ((state == 1) | ((state == 0) & args.block_uncertain_obstacles)) + ) + blocked = np.zeros((n, n), bool) + blocked[tuple(cells[obstacle].T)] = True + known = None + if args.unknown_policy != "assume": + ground = ( + inside + & (state == 1) + & (height >= -args.drop_height) + & (height < args.obstacle_min_height) + ) + known = np.zeros((n, n), bool) + known[tuple(cells[ground].T)] = True + if args.unknown_policy == "block": + blocked |= ~known + clearance = ndimage.distance_transform_edt(~blocked) * resolution + cost = 1.0 + 0.5 * np.exp(-clearance / 0.35) + if args.unknown_policy == "penalize": + cost += (~known) * max(0.0, args.unknown_cost - 0.05) + if len(self.trail): + trail = np.asarray(self.trail) + trail = trail[np.linalg.norm(trail - pose[:2], axis=1) > 0.60] + idx = np.floor((trail - origin) / resolution).astype(int) + idx = idx[((idx >= 0) & (idx < n)).all(axis=1)] + visits = np.zeros((n, n), bool) + visits[tuple(idx.T)] = True + cost += 4.0 * ndimage.maximum_filter(visits, size=3) + start = np.floor((pose[:2] - origin) / resolution).astype(int) + # Coarse cells can overlap the known current body because of their + # quantization. This affects guidance only, never physical occupancy. + blocked[tuple(start)] = False + return origin, blocked, cost, start + + def _search(self, snapshot, plane, pose, goal, args): + origin, blocked, cost, start = self._grid(snapshot, plane, pose, args) + distance, parent = shortest_paths(blocked, cost, start) + n, resolution = GRID_CELLS, GRID_RESOLUTION + target = np.clip(np.floor((goal - origin) / resolution).astype(int), 0, n - 1) + if np.isfinite(distance[tuple(target)]): + mode = "goal_route" + else: + # If the goal side is inaccessible, choose a reachable window + # exit, not the closest point beside the wall. New/forward exits + # beat repeated retreat along the recently travelled aisle. + boundary = np.zeros_like(blocked) + boundary[[0, -1], :] = True + boundary[:, [0, -1]] = True + exits = np.argwhere(boundary & np.isfinite(distance)) + if not len(exits): + return np.empty((0, 2)), "local_fallback" + world = origin + (exits + 0.5) * resolution + delta = world - pose[:2] + direction = delta / np.maximum(np.linalg.norm(delta, axis=1, keepdims=True), 1e-9) + forward = direction @ np.array([np.cos(pose[2]), np.sin(pose[2])]) + scores = ( + 0.20 * np.linalg.norm(world - goal, axis=1) + + 0.15 * distance[tuple(exits.T)] + - 1.20 * forward + ) + target = exits[np.argmin(scores)] + mode = "explore_route" + flat = int(target[0] * n + target[1]) + route = [] + while flat >= 0: + route.append([flat // n, flat % n]) + flat = int(parent[flat]) + route = origin + (np.array(route[::-1]) + 0.5) * resolution + route[0] = pose[:2] + return smooth_route(route[:128], blocked, origin), mode + + def _advance_waypoint(self, pose): + self.progress += int( + np.argmin(np.linalg.norm(self.route[self.progress :] - pose[:2], axis=1)) + ) + if ( + self.waypoint is not None + and self.progress <= self.waypoint_index + and np.linalg.norm(self.waypoint - pose[:2]) > WAYPOINT_TOLERANCE + ): + return + ahead = self.route[self.progress :] + lengths = np.r_[0, np.cumsum(np.linalg.norm(np.diff(ahead, axis=0), axis=1))] + index = min(len(ahead) - 1, int(np.searchsorted(lengths, WAYPOINT_DISTANCE))) + self.waypoint = ahead[index].copy() + self.waypoint_index = self.progress + index + + def target(self, snapshot, plane, pose, goal, args, now, version, grid): + self.observe(pose, version) + blocked_route = False + if len(self.route): + local = world_to_ego(self.route[self.progress : self.progress + 10], pose[:2], pose[2]) + rows, cols, inside = ego_to_cells(local, args, grid["hard_source"].shape) + blocked_route = bool(grid["hard_source"][rows[inside], cols[inside]].any()) + finished = ( + self.waypoint is not None + and np.linalg.norm(self.route[-1] - pose[:2]) < WAYPOINT_TOLERANCE + ) + moved = ( + self.commit_pose is None + or np.linalg.norm(pose[:2] - self.commit_pose) >= COMMIT_DISTANCE + ) + refresh = now - self.last_replan >= REPLAN_SECONDS and moved + if not len(self.route) or blocked_route or finished or refresh: + if blocked_route: + self.turn_sign, self.turn_anchor = 0, None + self.route, self.mode = self._search(snapshot, plane, pose, goal, args) + self.searches += 1 + self.progress, self.waypoint = 0, None + self.commit_pose, self.last_replan = pose[:2].copy(), now + if len(self.route) > 1: + self._advance_waypoint(pose) + return self.waypoint.copy() + self.mode = "local_fallback" + return goal.copy() + + def rank(self, proposal, bank, pose, args): + """Small continuity/revisit preferences; never alter admissible sets.""" + valid = proposal["valid"] + if not len(valid): + self.route = np.empty((0, 2)) + self.waypoint = None + self.mode = "blocked" + self.previous_path = np.empty((0, 2)) + self.turn_sign, self.turn_anchor = 0, None + return + poses = bank["poses"][valid] + endpoints = ego_to_world(poses[:, -1, :2], pose[:2], pose[2]) + scores = proposal["score"][valid].copy() + if self.mode == "local_fallback": + # Coarse quantization may lose a tight aisle. Physically checked + # longer, unvisited motions can still make local detour progress. + scores = ( + 0.20 * scores + - 0.35 * np.linalg.norm(endpoints - pose[:2], axis=1) / args.planning_horizon + ) + trail = np.asarray(self.trail) + if len(trail): + trail = trail[np.linalg.norm(trail - pose[:2], axis=1) > 0.60] + if len(trail): + nearest = np.linalg.norm(endpoints[:, None] - trail[None], axis=-1).min(axis=1) + scores += 0.25 * np.exp(-(nearest**2) / (2 * 0.4**2)) + if len(self.previous_path): + nearest = int(np.argmin(np.linalg.norm(self.previous_path - pose[:2], axis=1))) + ahead = self.previous_path[nearest:] + lengths = np.r_[0, np.cumsum(np.linalg.norm(np.diff(ahead, axis=0), axis=1))] + previous = ahead[min(len(ahead) - 1, int(np.searchsorted(lengths, 0.60)))] - pose[:2] + travel = np.cumsum(np.linalg.norm(np.diff(poses[..., :2], axis=1), axis=-1), axis=1) + reaches = travel >= 0.60 + index = np.where( + reaches.any(axis=1), reaches.argmax(axis=1) + 1, bank["counts"][valid] - 1 + ) + current = ( + ego_to_world(poses[np.arange(len(poses)), index, :2], pose[:2], pose[2]) - pose[:2] + ) + if np.linalg.norm(previous) > 0.10: + cosine = ( + current + @ previous + / np.maximum(np.linalg.norm(current, axis=1) * np.linalg.norm(previous), 1e-9) + ) + scores += 0.10 * (1 - np.clip(cosine, -1, 1)) + commands = bank["commands"][valid] + if self.turn_sign and np.linalg.norm(pose[:2] - self.turn_anchor) < 0.35: + reversing = (np.abs(commands[:, 1]) > 0.02) & ( + np.sign(commands[:, 1]) != self.turn_sign + ) + # Avoid repeated left/right rotation while in the same place. + # This is a soft tie-breaker over physically valid motions only; + # a necessary reversal remains available if the old side blocks. + scores += reversing * np.where(commands[:, 0] == 0, 0.20, 0.12) + proposal["score"][valid] = scores + selected = int(valid[np.argmin(scores)]) + proposal["chosen"] = selected + sign = np.sign(bank["commands"][selected, 1]) + if abs(bank["commands"][selected, 1]) > 0.02 and sign != self.turn_sign: + self.turn_sign, self.turn_anchor = sign, pose[:2].copy() + self.previous_path = ego_to_world( + bank["poses"][selected, : bank["counts"][selected], :2], pose[:2], pose[2] + ) + if ( + self.mode == "local_fallback" + and np.linalg.norm(endpoints[np.argmin(scores)] - pose[:2]) >= 0.50 + ): + self.route = self.previous_path[::8].copy() + self.waypoint = self.previous_path[-1].copy() + self.commit_pose = pose[:2].copy() + self.progress = 0 + self.mode = "local_detour" + + def view(self): + return { + "memory_mode": self.mode, + "memory_route": self.route.tolist(), + "memory_trail": np.asarray(self.trail).reshape(-1, 2).tolist(), + "memory_waypoint": None if self.waypoint is None else self.waypoint.tolist(), + "memory_searches": self.searches, + } diff --git a/code/stretch_ai/scripts/depth_nav_robot_relay.py b/code/stretch_ai/scripts/depth_nav_robot_relay.py new file mode 100644 index 0000000000000000000000000000000000000000..46708dba6d572e57f05f2eb199919a13a2f6305c --- /dev/null +++ b/code/stretch_ai/scripts/depth_nav_robot_relay.py @@ -0,0 +1,524 @@ +#!/usr/bin/env python3 +"""Robot-side timestamped RGB-D relay and expiring velocity controller. + +Runs inside the existing ROS 2 bridge container. It issues no commands until +an explicit arm request, and uses independent capture/control threads. +""" + +import argparse +import hashlib +import math +import os +import pickle +import signal +import sys +import threading +import time +from collections import OrderedDict, deque +from pathlib import Path + +import numpy as np + +from depth_nav_control import HeadControlMode, LeasedHeadController, VelocityLease, interpolate_head, validated_head_target + + +def description_file_audit(path, prefix="robot_description"): + """Fingerprint a calibration file without starting ROS/hardware.""" + path = Path(path) + result = {f"{prefix}_path": str(path)} + try: + result[f"{prefix}_file_sha256"] = hashlib.sha256(path.read_bytes()).hexdigest() + result[f"{prefix}_error"] = "" + except OSError as exc: + result[f"{prefix}_error"] = str(exc) + return result + + +def parser(): + p = argparse.ArgumentParser(description=__doc__) + p.add_argument("--obs-port", type=int, default=4511) + p.add_argument("--command-port", type=int, default=4512) + p.add_argument("--state-port", type=int, default=4513) + p.add_argument("--world-frame", default="map") + p.add_argument("--fps", type=float, default=4.0) + p.add_argument("--native-width", type=int, default=640) + p.add_argument("--max-frame-age", type=float, default=0.8) + p.add_argument("--max-ttl", type=float, default=0.35) + p.add_argument("--enable-head", action="store_true", help="Enable session-leased corner observations") + return p + + +def capture_pose_audit(lookup_matrix, base_matrix): + """Optional timestamped TF diagnostics; missing audit TF never drops RGB-D.""" + result = {"base_pose_matrix": base_matrix.copy()} + errors = [] + for name, target, source in ( + ("odom_pose_matrix", "odom", "base_link"), + ("map_from_odom", "map", "odom"), + ): + try: + result[name] = lookup_matrix(target, source) + except Exception as exc: + errors.append(f"{name}: {exc}") + result["pose_audit_error"] = "; ".join(errors) + return result + + +def monitor_parent(done, stream): + """An SSH/docker stdin EOF closes this temporary relay, even if its PC dies.""" + try: + # A daemon must not hold BufferedReader's lock at interpreter exit. + while os.read(stream.fileno(), 1): + pass + finally: + done.set() + + +def main(): + args = parser().parse_args() + if args.fps <= 0 or args.native_width <= 0 or not 0 < args.max_ttl <= 0.5: + raise ValueError("Invalid relay frame rate, resolution or lease") + import cv2 + import message_filters + import rclpy + import zmq + from cv_bridge import CvBridge + from geometry_msgs.msg import Twist + from control_msgs.action import FollowJointTrajectory + from rclpy.action import ActionClient + from trajectory_msgs.msg import JointTrajectoryPoint + from rclpy.executors import MultiThreadedExecutor + from rclpy.qos import qos_profile_sensor_data + from rclpy.time import Time + from rclpy.signals import SignalHandlerOptions + from sensor_msgs.msg import CameraInfo, Image, JointState + from std_msgs.msg import Bool + from std_srvs.srv import Trigger + from tf2_ros import Buffer, TransformException, TransformListener + + try: + from ament_index_python.packages import get_package_share_directory + + description = description_file_audit( + Path(get_package_share_directory("stretch_description")) / "urdf/stretch.urdf" + ) + except Exception as exc: + description = {"robot_description_error": str(exc)} + try: + from ament_index_python.packages import get_package_share_directory + + description.update(description_file_audit( + Path(get_package_share_directory("stretch_core")) / "config/controller_calibration_head.yaml", + prefix="controller_calibration", + )) + except Exception as exc: + description["controller_calibration_error"] = str(exc) + + from capture_lingbot_rgbd_ros2 import ( + rotate_intrinsics_clockwise, + stamp_seconds, + transform_matrix, + ) + + cv2.setNumThreads(1) + # Keep ROS alive until cancellation and streaming-mode restoration finish. + # Its default signal handler can shut clients down before our finally block. + rclpy.init(signal_handler_options=SignalHandlerOptions.NO) + node = rclpy.create_node("depth_only_navigation_relay") + tf_buffer = Buffer() + listener = TransformListener(tf_buffer, node) + bridge = CvBridge() + shared = { + "info": None, + "pair": None, + "runstop": None, + "error": "waiting for RGB-D/TF", + "frame": None, + "capture_metrics": None, + "arm_requested": False, + "runstop_latched": False, + "streaming_position": None, + } + frame_stamps = OrderedDict() + head_samples = deque(maxlen=512) + lock = threading.Lock() + done = threading.Event() + stop_requested = False + Path(__file__).with_suffix(".pid").write_text(str(os.getpid())) + def request_stop(*_): + nonlocal stop_requested + stop_requested = True + signal.signal(signal.SIGTERM, request_stop) + signal.signal(signal.SIGINT, request_stop) + threading.Thread(target=monitor_parent, args=(done, sys.stdin.buffer), daemon=True).start() + context = zmq.Context() + commands = context.socket(zmq.PULL) + commands.setsockopt(zmq.CONFLATE, 1) + commands.setsockopt(zmq.LINGER, 0) + commands.bind(f"tcp://*:{args.command_port}") + states = context.socket(zmq.PUB) + states.setsockopt(zmq.SNDHWM, 1) + states.setsockopt(zmq.LINGER, 0) + states.bind(f"tcp://*:{args.state_port}") + bridge_state = context.socket(zmq.SUB) + bridge_state.setsockopt(zmq.SUBSCRIBE, b"") + bridge_state.setsockopt(zmq.CONFLATE, 1) + bridge_state.setsockopt(zmq.LINGER, 0) + bridge_state.connect("tcp://127.0.0.1:4403") + velocity_pub = node.create_publisher(Twist, "/stretch/cmd_vel", 1) + head_client = ActionClient(node, FollowJointTrajectory, "/stretch_controller/follow_joint_trajectory") if args.enable_head else None + head_disable_stream = node.create_client(Trigger, '/deactivate_streaming_position') + head_enable_stream = node.create_client(Trigger, '/activate_streaming_position') + head_mode = HeadControlMode(head_disable_stream, head_enable_stream, Trigger.Request) + _stream_sub = node.create_subscription(Bool, '/is_streaming_position', + lambda m: shared.update(streaming_position=bool(m.data)), 10) + goto_off = node.create_client(Trigger, "/goto_controller/disable") + info_sub = node.create_subscription( + CameraInfo, + "/camera/color/camera_info", + lambda m: shared.update(info=m), + qos_profile_sensor_data, + ) + + def joint_callback(message): + positions = dict(zip(message.name, message.position)) + if all(name in positions for name in ('joint_head_pan', 'joint_head_tilt')): + sample = (stamp_seconds(message.header.stamp), + [positions['joint_head_pan'], positions['joint_head_tilt']]) + if np.isfinite(sample[1]).all(): + with lock: + if not head_samples or sample[0] > head_samples[-1][0]: + head_samples.append(sample) + + _joint_sub = node.create_subscription(JointState, '/stretch/joint_states', joint_callback, 20) + + def runstop_callback(message): + shared["runstop"] = bool(message.data) + if message.data and shared["arm_requested"]: + shared["runstop_latched"] = True + + stop_sub = node.create_subscription(Bool, "/is_runstopped", runstop_callback, 10) + color_sub = message_filters.Subscriber( + node, Image, "/camera/color/image_raw", qos_profile=qos_profile_sensor_data + ) + depth_sub = message_filters.Subscriber( + node, Image, "/camera/aligned_depth_to_color/image_raw", qos_profile=qos_profile_sensor_data + ) + sync = message_filters.ApproximateTimeSynchronizer( + [color_sub, depth_sub], queue_size=3, slop=0.02 + ) + sync.registerCallback(lambda c, d: shared.update(pair=(c, d))) + executor = MultiThreadedExecutor(num_threads=2) + executor.add_node(node) + ros_thread = threading.Thread(target=executor.spin, daemon=True) + ros_thread.start() + optical = np.eye(4) + optical[:3, :3] = [[0, 1, 0], [-1, 0, 0], [0, 0, 1]] + + def capture_loop(): + pub = context.socket(zmq.PUB) + pub.setsockopt(zmq.SNDHWM, 1) + pub.setsockopt(zmq.LINGER, 0) + pub.bind(f"tcp://*:{args.obs_port}") + last_stamp, frame_id = -math.inf, 0 + next_frame = time.monotonic() + try: + while not done.is_set(): + if done.wait(max(0.001, next_frame - time.monotonic())): + break + pair, info = shared["pair"], shared["info"] + if pair is None or info is None: + continue + color, depth = pair + capture_started = time.monotonic() + stamp = stamp_seconds(color.header.stamp) + age = node.get_clock().now().nanoseconds * 1e-9 - stamp + if stamp <= last_stamp or not -0.02 <= age <= args.max_frame_age: + continue + try: + cam_tf = tf_buffer.lookup_transform( + args.world_frame, color.header.frame_id, Time.from_msg(color.header.stamp) + ) + base_tf = tf_buffer.lookup_transform( + args.world_frame, "base_link", Time.from_msg(color.header.stamp) + ) + rgb = bridge.imgmsg_to_cv2(color, desired_encoding="rgb8") + raw = bridge.imgmsg_to_cv2(depth, desired_encoding="passthrough") + if depth.encoding == "32FC1": + raw = np.where( + np.isfinite(raw) & (raw > 0) & (raw < 10), raw * 1000, 0 + ).astype(np.uint16) + elif depth.encoding != "16UC1": + raise ValueError(f"Unsupported depth encoding {depth.encoding}") + if rgb.shape[:2] != raw.shape: + raise ValueError("RGB and aligned depth sizes differ") + k = np.asarray(info.k).reshape(3, 3).copy() + if rgb.shape[1] > args.native_width: + width = args.native_width + height = round(rgb.shape[0] * width / rgb.shape[1]) + sx, sy = width / rgb.shape[1], height / rgb.shape[0] + k[0, 0] *= sx + k[1, 1] *= sy + k[0, 2] = (k[0, 2] + 0.5) * sx - 0.5 + k[1, 2] = (k[1, 2] + 0.5) * sy - 0.5 + rgb = cv2.resize(rgb, (width, height), interpolation=cv2.INTER_AREA) + raw = cv2.resize(raw, (width, height), interpolation=cv2.INTER_NEAREST) + k = rotate_intrinsics_clockwise(k, rgb.shape[0]) + rgb, raw = np.rot90(rgb, 3).copy(), np.rot90(raw, 3).copy() + encode_started = time.monotonic() + ok_rgb, jpg = cv2.imencode( + ".jpg", cv2.cvtColor(rgb, cv2.COLOR_RGB2BGR), [cv2.IMWRITE_JPEG_QUALITY, 85] + ) + ok_depth, png = cv2.imencode(".png", raw, [cv2.IMWRITE_PNG_COMPRESSION, 1]) + if not ok_rgb or not ok_depth: + raise ValueError("Image compression failed") + encode_finished = time.monotonic() + pose, base = transform_matrix(cam_tf.transform) @ optical, transform_matrix( + base_tf.transform + ) + with lock: + image_head = interpolate_head(list(head_samples), stamp) + audit = capture_pose_audit( + lambda target, source: transform_matrix( + tf_buffer.lookup_transform( + target, source, Time.from_msg(color.header.stamp) + ).transform + ), + base, + ) + frame_id += 1 + packet = { + "frame_id": frame_id, + "sensor_stamp": stamp, + "sensor_age": max(0, node.get_clock().now().nanoseconds * 1e-9 - stamp), + "rgb_jpg": jpg, + "depth_png": png, + "camera_K": k, + "camera_pose": pose, + "camera_in_base": np.linalg.inv(base) @ pose, + "camera_frame": color.header.frame_id, + "camera_tf_stamp": stamp_seconds(cam_tf.header.stamp), + "base_tf_stamp": stamp_seconds(base_tf.header.stamp), + "head_joints": image_head, + "base_pose": np.array([*base[:2, 3], math.atan2(base[1, 0], base[0, 0])]), + "world_frame": args.world_frame, + "sync_difference": abs(stamp - stamp_seconds(depth.header.stamp)), + **description, + **audit, + } + packet["capture_metrics"] = { + "capture_started_monotonic": capture_started, + "pre_encode_s": encode_started - capture_started, + "encode_s": encode_finished - encode_started, + "rgb_bytes": jpg.nbytes, + "depth_bytes": png.nbytes, + "publish_ros_s": node.get_clock().now().nanoseconds * 1e-9, + "prepare_s": time.monotonic() - capture_started, + } + serialize_started = time.monotonic() + payload = pickle.dumps(packet, protocol=pickle.HIGHEST_PROTOCOL) + send_started = time.monotonic() + with lock: + frame_stamps[frame_id] = stamp + while len(frame_stamps) > 16: + frame_stamps.popitem(last=False) + shared.update(frame=(frame_id, stamp), error="") + pub.send(payload) + shared["capture_metrics"] = { + **packet["capture_metrics"], "frame_id": frame_id, + "wire_bytes": len(payload), + "serialize_s": send_started - serialize_started, + "send_call_s": time.monotonic() - send_started, + "total_s": time.monotonic() - capture_started, + } + last_stamp = stamp + next_frame = capture_started + 1 / args.fps + except (TransformException, ValueError) as exc: + shared["error"] = str(exc) + done.wait(0.01) + except Exception as exc: + shared["error"] = f"Capture stopped: {exc}" + finally: + pub.close() + + capture_thread = threading.Thread(target=capture_loop, daemon=True) + capture_thread.start() + lease = VelocityLease(max_ttl=args.max_ttl, max_frame_age=args.max_frame_age) + state, state_time, disable_future = {}, -math.inf, None + requested_session, ever_armed = None, False + def make_head_goal(target, duration): + goal = FollowJointTrajectory.Goal() + goal.trajectory.joint_names = ["joint_head_pan", "joint_head_tilt"] + point = JointTrajectoryPoint() + point.positions = target.tolist() + point.velocities = [.35, .25] + point.accelerations = [.5, .5] + point.time_from_start.sec = int(duration) + point.time_from_start.nanosec = int((duration % 1) * 1e9) + goal.trajectory.points = [point] + return goal + + head = LeasedHeadController(head_client, make_head_goal) + head_target = None + last_command = None + print( + f"RELAY_READY RGB-D={args.obs_port} commands={args.command_port} status={args.state_port}; frame={args.world_frame}; velocity unarmed", + flush=True, + ) + try: + while rclpy.ok() and not done.is_set() and not stop_requested: + now = time.monotonic() + if bridge_state.poll(0): + state = bridge_state.recv_pyobj() + state_time = now + ros_now = node.get_clock().now().nanoseconds * 1e-9 + runstop = shared["runstop"] is True or state.get("is_runstopped") is True + joint = np.asarray(state.get("joint_positions", [])) + posture_ok = len(joint) > 4 and np.isfinite(joint).all() and joint[4] <= 0.06 + latest_frame = shared["frame"] + sensor_age = ros_now - latest_frame[1] if latest_frame else math.inf + base_pose, tf_age = None, math.inf + try: + tf = tf_buffer.lookup_transform(args.world_frame, "base_link", Time()) + mat = transform_matrix(tf.transform) + base_pose = np.array([*mat[:2, 3], math.atan2(mat[1, 0], mat[0, 0])]) + tf_age = ros_now - stamp_seconds(tf.header.stamp) + except TransformException: + pass + healthy = ( + now - state_time < 0.5 + and state.get("is_homed") is True + and state.get("is_runstopped") is False + and shared["runstop"] is False + and state.get("control_mode") == "navigation" + and posture_ok + and -0.02 <= sensor_age < args.max_frame_age + and -0.02 <= tf_age < 0.5 + ) + if shared["runstop_latched"] or (runstop and requested_session is not None): + lease.stop("run-stop latched; restart the live session", latch=True) + if commands.poll(0): + command = commands.recv_json() + if command.get("type") == "arm" and healthy and not lease.latched: + requested_session = command.get("session") + shared["arm_requested"] = True + if disable_future is None and goto_off.service_is_ready(): + disable_future = goto_off.call_async(Trigger.Request()) + elif command.get("type") == "velocity": + with lock: + stamp = frame_stamps.get(command.get("frame_id")) + frame_age = ros_now - stamp if stamp is not None else math.inf + try: + target = validated_head_target(command, args.enable_head) + if target is not None and (len(joint) < 11 or not np.isfinite(joint[9:11]).all()): + raise ValueError("head feedback unavailable") + accepted = lease.accept(command, now, max(0, frame_age), healthy) + head_target = target if accepted else None + except (TypeError, ValueError) as exc: + accepted, head_target = False, None + lease.stop(str(exc)) + last_command = {"seq": command.get("seq"), "accepted": accepted, + "frame_age": frame_age, "reason": lease.reason} + elif command.get("type") == "stop" and command.get("session") == lease.session: + lease.stop("client stop latched", latch=True) + if disable_future is not None and disable_future.done() and not lease.armed: + result = disable_future.result() + if result is not None and result.success: + if not args.enable_head or head_mode.prepare(shared['streaming_position']): + lease.arm(requested_session, healthy) + ever_armed |= lease.armed + if args.enable_head and lease.armed and shared['streaming_position'] is not False: + head_mode.error = 'streaming head control changed during navigation' + velocity = lease.output(now, healthy, runstopped=runstop) + # Base and head share the same expiring evidence and run-stop. + head.update(head_target, joint, healthy and lease.armed and not lease.latched + and now < min(lease.expires, lease.evidence_expires)) + if head.error or head_mode.error: + lease.stop(head.error or head_mode.error) + velocity = (0., 0.) + if ever_armed: + msg = Twist() + msg.linear.x, msg.angular.z = velocity + velocity_pub.publish(msg) + states.send_pyobj( + { + "ros_now_s": ros_now, + "relay_monotonic_s": now, + "latest_sensor_stamp": latest_frame[1] if latest_frame else None, + "capture_metrics": shared["capture_metrics"], + "base_pose": base_pose, + "tf_age": tf_age, + "healthy": healthy, + "armed": lease.armed, + "latched": lease.latched, + "session": lease.session, + "reason": lease.reason, + "accepted_sequence": lease.sequence, + "last_command": last_command, + "head_enabled": args.enable_head, + "head_target": head_target, + "head_action_state": head.state, + "head_error": head.error or head_mode.error, + "head_streaming_position": shared['streaming_position'], + "head_control_owned": head_mode.owned, + "v": velocity[0], + "w": velocity[1], + "sensor_age": sensor_age, + "frame_id": latest_frame[0] if latest_frame else None, + "is_homed": state.get("is_homed"), + "is_runstopped": runstop, + "control_mode": state.get("control_mode"), + "joint_positions": joint, + "bridge_step": state.get("step", -1), + "posture_ok": bool(posture_ok), + "world_frame": args.world_frame, + "capture_error": shared["error"], + } + ) + done.wait(max(0, 0.02 - (time.monotonic() - now))) + except KeyboardInterrupt: + pass + finally: + done.set() + if ever_armed: + for _ in range(3): + velocity_pub.publish(Twist()) + time.sleep(0.02) + try: + head.close() + except Exception as exc: + print(f"Head cancellation error during shutdown: {exc}", flush=True) + cancel_deadline = time.monotonic() + 1. + while head.future is not None and not head.future.done() and time.monotonic() < cancel_deadline: + time.sleep(.01) + try: + head.close() + except Exception as exc: + print(f"Head cancellation error after pending goal: {exc}", flush=True) + while head.cancel_future is not None and not head.cancel_future.done() and time.monotonic() < cancel_deadline: + time.sleep(.01) + head_mode.close() + restore_deadline = time.monotonic() + 2. + while head_mode.original is True and head_mode.restore_future is None and time.monotonic() < restore_deadline: + time.sleep(.01) + while head_mode.restore_future is not None and not head_mode.restore_future.done() and time.monotonic() < restore_deadline: + time.sleep(.01) + if head_mode.restore_future is not None and head_mode.restore_future.done(): + result = head_mode.restore_future.result() + print(f'STREAMING_HEAD_RESTORED success={result is not None and result.success}', flush=True) + elif head_mode.original is True: + print('STREAMING_HEAD_RESTORE_TIMEOUT; bridge mode needs verification', flush=True) + capture_thread.join(timeout=2) + executor.shutdown(timeout_sec=1) + ros_thread.join(timeout=1) + node.destroy_node() + rclpy.shutdown() + commands.close() + states.close() + bridge_state.close() + # Do not wait indefinitely on the capture thread if ROS shutdown raced it. + context.destroy(linger=0) + + +if __name__ == "__main__": + main() diff --git a/code/stretch_ai/scripts/depth_nav_trajectories.py b/code/stretch_ai/scripts/depth_nav_trajectories.py new file mode 100644 index 0000000000000000000000000000000000000000..c6f925335a682d9a5d04731ba89b364811165cf4 --- /dev/null +++ b/code/stretch_ai/scripts/depth_nav_trajectories.py @@ -0,0 +1,289 @@ +"""Bounded unicycle motion sampling for the live depth-only planner. + +Each candidate carries continuous base heading and executable velocity phases. +Forward prefixes let a rectangular robot reach room to turn before steering. +No controller may replace these motions with an unchecked goal-facing turn. +""" + +import time +from types import SimpleNamespace + +import numpy as np + +from depth_nav_footprint import collisions_at +from depth_only_path_planner import ego_to_cells + +BUFFER_POSES_PER_PATH = 12 + + +def buffered_footprint_args(args): + """Nominal preferred rectangle; never used as the physical motion limit.""" + if args.footprint_shape != "rectangle": + return None + width = getattr(args, "buffered_robot_width", None) + length = getattr(args, "buffered_robot_length", None) + width = args.robot_width if width is None else width + length = max(args.robot_length, 0.60) if length is None else length + if ( + not np.isfinite([width, length]).all() + or width < args.robot_width + or length < args.robot_length + ): + raise ValueError( + "Buffered width/length must be finite and at least the actual body dimensions" + ) + values = {**vars(args), "robot_width": width, "robot_length": length} + return SimpleNamespace(**values) + + +def buffer_overlap_cost(bank, valid, grid, args): + """Soft preference on at most 12 poses per physically valid candidate. + + Reuses occupied cells and their KD tree. Separate orientation lookups + prevent larger-body query masks leaking into physical collision checks. + Buffer contact and its starting overlap never reject a path or command. + """ + ratio = np.zeros(len(bank["poses"])) + buffered = buffered_footprint_args(args) + if ( + not len(valid) + or getattr(args, "buffer_cost_weight", 0.0) == 0 + or buffered is None + or (buffered.robot_width == args.robot_width and buffered.robot_length == args.robot_length) + ): + return ratio, False + counts = bank["counts"][valid] + indices = np.rint((counts[:, None] - 1) * np.linspace(0, 1, BUFFER_POSES_PER_PATH)).astype(int) + poses = bank["poses"][valid[:, None], indices] + cache = {} + if "occupied_tree" in grid["collision_cache"]: + cache["occupied_tree"] = grid["collision_cache"]["occupied_tree"] + buffered_grid = {**grid, "collision_cache": cache} + overlaps = collisions_at( + poses[..., :2], poses[..., 2], buffered_grid, buffered, check_boundary=False + ) + ratio[valid] = overlaps.mean(axis=1) + return ratio, True + + +def body_extent(args): + if args.footprint_shape == "circle": + return args.robot_radius + args.safety_margin + return np.hypot( + args.robot_width / 2 + args.safety_margin, + args.robot_length / 2 + args.safety_margin + abs(args.robot_length_offset), + ) + + +def sample_trajectories(args): + """Straight / arc / straight and checked rotate / straight candidates. + + Swept sampling bounds translation plus farthest-corner travel to at most + one quarter of a map cell per step, including zero-translation rotations. + Sampling is performed once per quantized goal, outside per-frame scoring. + """ + target = np.array([args.goal_right, args.goal_forward]) + distance = np.linalg.norm(target) + horizon = min(args.planning_horizon, max(0.25, distance)) + bearing = np.arctan2(-target[0], target[1]) + angles = np.unique( + np.round( + np.clip( + np.r_[ + bearing + + np.linspace(-np.deg2rad(args.fan_angle), np.deg2rad(args.fan_angle), 7), + np.deg2rad([-90, -45, 0, 45, 90]), + ], + -np.pi, + np.pi, + ), + 4, + ) + ) + angles = angles[np.abs(angles) > 0.025] + speed, yaw_speed = args.max_linear_speed, args.max_angular_speed + sequences = [[(speed, 0.0, horizon / speed)]] + if getattr(args, "route_memory", False) and horizon > 0.50: + sequences.append([(speed, 0.0, 0.50 / speed)]) + radii = np.unique(np.maximum([0.25, 0.5, 0.8, 1.2], 1 / args.max_curvature)) + prefixes = np.unique(np.minimum([0, 0.25, 0.5, 0.9, 1.3, 1.8], horizon * 0.8)) + for angle in angles: + # A rotation is admissible only if its entire sweep AND onward path fit. + for length in np.unique([min(0.5, horizon), horizon]): + sequences.append( + [ + (0.0, np.copysign(yaw_speed, angle), abs(angle) / yaw_speed), + (speed, 0.0, length / speed), + ] + ) + for prefix in prefixes: + for radius in radii: + arc_length = radius * abs(angle) + if prefix + arc_length > args.planning_horizon * 1.4: + continue + arc_speed = min(speed, radius * yaw_speed) + phases = [] if prefix == 0 else [(speed, 0.0, prefix / speed)] + phases.append( + (arc_speed, np.copysign(arc_speed / radius, angle), arc_length / arc_speed) + ) + remaining = max(0.0, horizon - prefix - arc_length) + if remaining > 0: + phases.append((speed, 0.0, remaining / speed)) + sequences.append(phases) + + extent, step = body_extent(args), args.grid_resolution / 4 + sampled, first, duration, turn_effort = [], [], [], [] + for phases in sequences: + poses, current = [np.zeros((1, 3))], np.zeros(3) + for v, w, seconds in phases: + n = max(1, int(np.ceil((v + extent * abs(w)) * seconds / step))) + t = np.linspace(0, seconds, n + 1)[1:] + heading = current[2] + w * t + if abs(w) < 1e-9: + x = current[0] - v * t * np.sin(current[2]) + y = current[1] + v * t * np.cos(current[2]) + else: + x = current[0] + v / w * (np.cos(heading) - np.cos(current[2])) + y = current[1] + v / w * (np.sin(heading) - np.sin(current[2])) + segment = np.column_stack([x, y, heading]) + poses.append(segment) + current = segment[-1] + sampled.append(np.concatenate(poses)) + first.append(phases[0][:2]) + duration.append(phases[0][2]) + turn_effort.append(sum(abs(w * seconds) for _, w, seconds in phases)) + samples = max(len(p) for p in sampled) + bank = np.stack([np.pad(p, ((0, samples - len(p)), (0, 0)), mode="edge") for p in sampled]) + return { + "poses": bank.astype(np.float32), + "commands": np.asarray(first), + "first_duration": np.asarray(duration), + "turn_effort": np.asarray(turn_effort), + "counts": np.array([len(p) for p in sampled]), + } + + +def score_trajectories(bank, grid, args): + poses = bank["poses"] + points = poses[..., :2] + rows, cols, inside = ego_to_cells(points, args, grid["cost"].shape) + rr, cc = np.clip(rows, 0, grid["cost"].shape[0] - 1), np.clip( + cols, 0, grid["cost"].shape[1] - 1 + ) + # Stop checking a candidate once any pose collides. This makes cluttered + # scenes cheaper instead of spending work beyond already blocked turns. + initially_blocked = bool(collisions_at(poses[:1, :1, :2], poses[:1, :1, 2], grid, args).any()) + collisions = np.full(len(poses), initially_blocked, dtype=bool) + for start in range(1, poses.shape[1], 16): + active = np.flatnonzero(~collisions) + if not len(active): + break + segment = poses[active, start : start + 16] + collisions[active] = collisions_at(segment[..., :2], segment[..., 2], grid, args).any( + axis=1 + ) + prefix_valid = ( + np.zeros(len(poses), dtype=bool) + if initially_blocked + else command_prefix_allowed(bank, grid, args) + ) + collisions |= ~prefix_valid + mask = np.arange(poses.shape[1])[None] < bank["counts"][:, None] + unknown_ratio = (grid["unknown_footprint"][rr, cc] * mask).sum(axis=1) / mask.sum(axis=1) + mean_cost = (grid["footprint_cost"][rr, cc] * mask).sum(axis=1) / mask.sum(axis=1) + length = np.linalg.norm(np.diff(points, axis=1), axis=-1).sum(axis=1) + goal = np.array([args.goal_right, args.goal_forward]) + terminal_error = np.linalg.norm(points[:, -1] - goal, axis=1) + # Use metre-scale progress, also for distant/sideways/behind goals. A goal + # bearing never overrides this score or bypasses the body collision check. + score = ( + 2 * mean_cost + + terminal_error / max(0.25, np.linalg.norm(goal)) + + 0.015 * length + + 0.025 * bank["turn_effort"] + + 0.02 * (bank["commands"][:, 0] == 0) + ) + unknown_rejected = (unknown_ratio > args.max_unknown_ratio) & (args.unknown_policy != "assume") + valid = np.flatnonzero(~collisions & ~unknown_rejected) + buffer_started = time.perf_counter() + buffer_overlap, buffer_checked = buffer_overlap_cost(bank, valid, grid, args) + buffer_ms = (time.perf_counter() - buffer_started) * 1000 + score += getattr(args, "buffer_cost_weight", 0.0) * buffer_overlap + chosen = int(valid[np.argmin(score[valid])]) if len(valid) else None + return { + "chosen": chosen, + "valid": valid, + "unknown_ratio": unknown_ratio, + "score": score, + "collision_rejections": int(collisions.sum()), + "unknown_rejections": int((~collisions & unknown_rejected).sum()), + "control_prefix_rejections": int((~prefix_valid).sum()), + "initial_body_collision": initially_blocked, + "buffer_overlap_ratio": buffer_overlap, + "buffer_checked": buffer_checked, + "buffer_ms": buffer_ms, + } + + +def command_prefix_allowed(bank, grid, args): + """Check the same first velocity phase and guard horizon used by control.""" + v, w = bank["commands"].T + scale = np.minimum(1.0, bank["first_duration"] / args.command_ttl) + v, w = v * scale, w * scale + samples = max( + 24, + int( + np.ceil( + np.max(v + body_extent(args) * np.abs(w)) + * args.control_horizon + / (args.grid_resolution / 4) + ) + ) + + 1, + ) + t = np.linspace(0, args.control_horizon, samples)[None] + angle = w[:, None] * t + radius = v / np.where(np.abs(w) < 1e-9, 1.0, w) + points = np.stack( + [radius[:, None] * (np.cos(angle) - 1), radius[:, None] * np.sin(angle)], axis=-1 + ) + straight = np.abs(w) < 1e-9 + points[straight, :, 1] = v[straight, None] * t + invalid = collisions_at(points, angle, grid, args) + if args.unknown_policy != "assume": + r, c, _ = ego_to_cells(points, args, grid["blocked"].shape) + r, c = np.clip(r, 0, grid["blocked"].shape[0] - 1), np.clip( + c, 0, grid["blocked"].shape[1] - 1 + ) + invalid |= grid["unknown_footprint"][r, c] > args.max_control_unknown_ratio + 1e-6 + return ~invalid.any(axis=1) + + +def trajectory_velocity(plan, pose, goal, args): + """Execute the checked first phase; do not shortcut with pure pursuit. + + Replanning refreshes the phase from the measured robot pose. If a very + short phase finishes before that refresh, slow down and wait for a new + checked plan rather than overshooting into a different steering motion. + """ + if not len(plan["path_world"]) or np.linalg.norm(goal - pose[:2]) <= args.goal_tolerance: + return 0.0, 0.0 + v, w = plan["command"] + start = plan["pose"] + if abs(w) > 1e-9: + yaw_delta = np.arctan2(np.sin(pose[2] - start[2]), np.cos(pose[2] - start[2])) + elapsed = yaw_delta / w + else: + elapsed = np.dot(pose[:2] - start[:2], [np.cos(start[2]), np.sin(start[2])]) / v + remaining = max(0.0, plan["first_duration"] - max(0.0, elapsed)) + scale = min(1.0, remaining / args.command_ttl) + goal_scale = ( + min( + 1.0, + max(0.0, np.linalg.norm(goal - pose[:2]) - args.goal_tolerance) + / max(v * args.command_ttl, 1e-9), + ) + if v + else 1.0 + ) + return float(v * min(scale, goal_scale)), float(w * min(scale, goal_scale)) diff --git a/code/stretch_ai/scripts/depth_only_path_planner.py b/code/stretch_ai/scripts/depth_only_path_planner.py new file mode 100644 index 0000000000000000000000000000000000000000..48333b93a8efec9d9d9c824c56cd1b44b9dcb831 --- /dev/null +++ b/code/stretch_ai/scripts/depth_only_path_planner.py @@ -0,0 +1,798 @@ +#!/usr/bin/env python3 +"""CPU depth-only sampled-path replay; does not send robot commands. + +Uses cached LingBot predictions (or raw depth), adjustable spatial filtering, +persistent surface voxels, geometric BEV costs and collision-checked sampled +polynomial paths. RGB is used only for preview/color. SAM-TP is never loaded. +""" + +import argparse +import base64 +import gzip +import hashlib +import html +import json +import math +import time +from pathlib import Path + +import cv2 +import numpy as np +from scipy import ndimage +from threadpoolctl import threadpool_limits + +from lingbot_depth_geometry import ( + add_depth_edge_filter_args, + depth_points, + filter_depth_mask, + filter_point_mask, + fit_floor_plane, +) +from lingbot_voxel_map import SurfaceVoxelMap, VoxelMapConfig + +FILTER_KEYS = ( + "filter_noise", + "filter_voxel_size", + "filter_neighbors", + "filter_std_ratio", + "filter_min_neighbors", + "filter_radius", + "filter_depth_edges", + "filter_edge_band", + "filter_edge_jump", +) +FLOOR_KEYS = ( + "floor_ground_z", + "floor_height_band", + "floor_distance_threshold", + "floor_max_tilt_deg", +) + + +def cache_signature(args, source_signature): + """Keep filter caches separate for raw/refined depth and source revisions.""" + provenance = { + "settings": {key: getattr(args, key) for key in FILTER_KEYS}, + "depth_source": args.depth_source, + "recording": str(args.recording.resolve()), + "depth_cache": str(args.depth_cache.resolve()), + "source_signature": source_signature, + } + return hashlib.sha256(json.dumps(provenance, sort_keys=True).encode()).hexdigest()[:16] + + +def validate_args(args): + positive = ( + "goal_forward", + "grid_resolution", + "robot_radius", + "forward_range", + "rear_range", + "width", + "filter_voxel_size", + "filter_std_ratio", + "filter_radius", + "filter_edge_jump", + "voxel_size", + "map_radius", + "floor_tolerance", + "obstacle_min_height", + "drop_height", + "max_curvature", + "floor_height_band", + "floor_distance_threshold", + "floor_size", + ) + if any(not np.isfinite(getattr(args, key)) or getattr(args, key) <= 0 for key in positive): + raise ValueError( + "Distances, grid/filter sizes, curvature and goal forward must be positive" + ) + if not 0 <= args.filter_edge_band <= 12: + raise ValueError("Depth-edge band must be between 0 and 12 pixels") + if any( + getattr(args, key) < 0 + for key in ( + "safety_margin", + "max_evidence_age", + "max_clear_checks", + "max_frames", + "bend_range", + "clearance_weight", + ) + ): + raise ValueError("Margins, ages, budgets and weights must be nonnegative") + counts = ( + "cpu_threads", + "frame_stride", + "midpoints_per_goal", + "filter_min_neighbors", + "max_map_voxels", + "max_update_points", + ) + if ( + any(getattr(args, key) < 1 for key in counts) + or min(args.num_goals, args.path_samples, args.filter_neighbors) < 2 + ): + raise ValueError("Invalid frame, thread, filter or path sample counts") + if any( + not 0 <= getattr(args, key) <= 1 + for key in ("max_unknown_ratio", "unknown_cost", "uncertain_cost") + ): + raise ValueError("Unknown ratios and costs must be within [0,1]") + if args.obstacle_max_height <= args.obstacle_min_height or not 0 <= args.fan_angle < 90: + raise ValueError("Invalid obstacle height range or fan angle") + if not 0 < args.floor_max_tilt_deg < 45 or not np.isfinite(args.goal_right): + raise ValueError("Invalid floor tilt or goal") + + +def valid_depth(depth): + return np.isfinite(depth) & (depth > 0.1) & (depth < 10.0) + + +def read_source(path): + with np.load(path, allow_pickle=False) as frame: + rgb = cv2.imdecode(frame["rgb_jpg"], cv2.IMREAD_COLOR) + depth = cv2.imdecode(frame["depth_jp2"], cv2.IMREAD_UNCHANGED) + pose = np.asarray(frame["camera_pose"], dtype=np.float64) + k = np.asarray(frame["camera_K"], dtype=np.float32) + xy = np.asarray(frame["gps"], dtype=np.float64).reshape(-1)[:2] + yaw = float(np.asarray(frame["compass"]).reshape(-1)[0]) + timestamp = float(np.asarray(frame["recv_time"]).reshape(-1)[0]) + if rgb is None or depth is None or rgb.shape[:2] != depth.shape: + raise ValueError(f"Invalid RGB-D frame: {path}") + if ( + pose.shape != (4, 4) + or not np.isfinite(pose).all() + or not np.isfinite([*xy, yaw, timestamp]).all() + ): + raise ValueError(f"Invalid pose/timestamp: {path}") + return rgb, depth.astype(np.float32) / 1000.0, k, pose, xy, yaw, timestamp + + +def ego_axes(yaw): + return np.array([math.sin(yaw), -math.cos(yaw)]), np.array([math.cos(yaw), math.sin(yaw)]) + + +def world_to_ego(points, xy, yaw): + right, forward = ego_axes(yaw) + relative = np.asarray(points)[..., :2] - xy + return np.stack([relative @ right, relative @ forward], axis=-1) + + +def ego_to_world(points, xy, yaw): + right, forward = ego_axes(yaw) + points = np.asarray(points) + return xy + points[..., 0, None] * right + points[..., 1, None] * forward + + +def grid_geometry(args): + h = int(np.ceil((args.forward_range + args.rear_range) / args.grid_resolution)) + w = int(np.ceil(args.width / args.grid_resolution)) + r, c = np.indices((h, w)) + x = (c + 0.5) * args.grid_resolution - args.width / 2 + y = (h - r - 0.5) * args.grid_resolution - args.rear_range + return h, w, x, y + + +def ego_to_cells(points, args, shape): + h, w = shape + p = np.asarray(points) + cols = np.floor((p[..., 0] + args.width / 2) / args.grid_resolution).astype(int) + rows = h - 1 - np.floor((p[..., 1] + args.rear_range) / args.grid_resolution).astype(int) + inside = (rows >= 0) & (rows < h) & (cols >= 0) & (cols < w) + return rows, cols, inside + + +def obstacle_height_mask(height, args): + """Ground-relative elevated obstacles and observed drops share one policy.""" + return ((height >= args.obstacle_min_height) & (height <= args.obstacle_max_height)) | ( + height < -args.drop_height + ) + + +def blocking_height_grids(snapshot, xy, yaw, plane, args): + """Show the range that actually blocks, separately from all surface heights.""" + h, w, *_ = grid_geometry(args) + minimum, maximum = np.full((h, w), np.inf), np.full((h, w), -np.inf) + if plane is not None and len(snapshot["points"]): + points, state = snapshot["points"], snapshot["state"] + height = points @ plane[:3] + plane[3] + rows, cols, inside = ego_to_cells(world_to_ego(points, xy, yaw), args, (h, w)) + active = inside & obstacle_height_mask(height, args) + active &= (state == 1) | ((state == 0) & args.block_uncertain_obstacles) + np.minimum.at(minimum, (rows[active], cols[active]), height[active]) + np.maximum.at(maximum, (rows[active], cols[active]), height[active]) + return minimum, maximum + + +def make_costmap(snapshot, xy, yaw, plane, args, observed_floor_points=None): + """Observed floor supplies support; obstacle evidence always overrides it.""" + h, w, gx, gy = grid_geometry(args) + known = np.zeros((h, w), dtype=bool) + obstacle = np.zeros((h, w), dtype=bool) + uncertain_obstacle = np.zeros((h, w), dtype=bool) + points = snapshot["points"] + hazard_indices = np.empty(0, dtype=int) + local = world_to_ego(points, xy, yaw) + rows, cols, inside = ego_to_cells(local, args, (h, w)) + idx = np.flatnonzero(inside) + if plane is not None and len(idx): + height = points[idx] @ plane[:3] + plane[3] + state = snapshot["state"][idx] + rr, cc = rows[idx], cols[idx] + low_ground = ( + (height >= -args.drop_height) & (height < args.obstacle_min_height) + if getattr(args, "height_based_traversability", False) + else np.abs(height) <= args.floor_tolerance + ) + floor = (state == 1) & low_ground + known[rr[floor], cc[floor]] = True + hazard = obstacle_height_mask(height, args) + supported_hazard = hazard & (state == 1) + uncertain_hazard = hazard & (state == 0) + hazard_indices = idx[supported_hazard | (uncertain_hazard & args.block_uncertain_obstacles)] + obstacle[rr[supported_hazard], cc[supported_hazard]] = True + uncertain_obstacle[rr[uncertain_hazard], cc[uncertain_hazard]] = True + if plane is not None and observed_floor_points is not None and len(observed_floor_points): + local_floor = world_to_ego(observed_floor_points, xy, yaw) + fr, fc, valid = ego_to_cells(local_floor, args, (h, w)) + floor_height = observed_floor_points @ plane[:3] + plane[3] + valid &= ( + (floor_height >= -args.drop_height) & (floor_height < args.obstacle_min_height) + if getattr(args, "height_based_traversability", False) + else np.abs(floor_height) <= args.floor_tolerance + ) + known[fr[valid], fc[valid]] = True + support_radius = getattr(args, "floor_support_radius", 0.0) + if support_radius > 0: + # Account only for the measured voxel's small surface footprint. + rad_support = int(np.ceil(support_radius / args.grid_resolution)) + sr, sc = np.mgrid[-rad_support : rad_support + 1, -rad_support : rad_support + 1] + support_disk = (sr**2 + sc**2) * args.grid_resolution**2 <= support_radius**2 + 1e-9 + known = ndimage.binary_dilation(known, structure=support_disk) + # The present base footprint is a start-support assumption, not an + # extrapolated floor extension. It never erases obstacle evidence. + direct_footprint = getattr(args, "direct_footprint_collision", False) + if direct_footprint and args.footprint_shape == "rectangle": + start_support = (np.abs(gx) <= args.robot_width / 2) & ( + np.abs(gy - args.robot_length_offset) <= args.robot_length / 2 + ) + else: + start_support = gx**2 + gy**2 <= args.robot_radius**2 + known |= start_support & ~obstacle & ~uncertain_obstacle + hard_source = obstacle | (uncertain_obstacle if args.block_uncertain_obstacles else False) + if args.unknown_policy == "block": + hard_source |= ~known + clearance = ( + ndimage.distance_transform_edt(~hard_source) * args.grid_resolution + if hard_source.any() + else np.full((h, w), np.inf) + ) + inflation = ( + 0.0 + if direct_footprint + else args.robot_radius + args.safety_margin + args.grid_resolution / np.sqrt(2) + ) + blocked = hard_source.copy() if direct_footprint else clearance <= inflation + edge_distance = np.minimum.reduce( + [gx + args.width / 2, args.width / 2 - gx, gy + args.rear_range, args.forward_range - gy] + ) + if not direct_footprint: + blocked |= edge_distance < inflation + unknown = ~known + assume_traversable = args.unknown_policy == "assume" + cost = np.where(known | assume_traversable, 0.05, args.unknown_cost).astype(np.float32) + cost[uncertain_obstacle] = np.maximum(cost[uncertain_obstacle], args.uncertain_cost) + cost += args.clearance_weight * np.exp(-np.maximum(0, clearance - inflation) / 0.3) + cost = np.clip(cost, 0, 1) + cost[blocked] = 1.0 + support_footprint = getattr( + args, "support_footprint_radius", args.robot_radius + args.safety_margin + ) + if direct_footprint: + from depth_nav_footprint import body_mask + + footprint_mask = body_mask(args) + else: + rad = int(np.ceil(support_footprint / args.grid_resolution)) + kr, kc = np.mgrid[-rad : rad + 1, -rad : rad + 1] + footprint_mask = (kr**2 + kc**2) * args.grid_resolution**2 <= support_footprint**2 + kernel = footprint_mask.astype(np.float32) / footprint_mask.sum() + support_average = ndimage.correlate if direct_footprint else ndimage.convolve + unknown_footprint = support_average( + unknown.astype(np.float32), kernel, mode="constant", cval=1.0 + ) + footprint_cost = ( + cost.copy() + if direct_footprint + else ndimage.convolve(cost, kernel, mode="constant", cval=1.0) + ) + labels = np.zeros((h, w), dtype=np.uint8) + if assume_traversable: + labels[unknown] = 5 # Assumed traversable, without claiming measured coverage. + labels[known] = 1 + labels[uncertain_obstacle] = 4 + if not direct_footprint: + labels[blocked] = 3 + labels[obstacle] = 2 + result = { + "cost": cost, + "footprint_cost": footprint_cost, + "unknown_footprint": unknown_footprint, + "blocked": blocked, + "known": known, + "obstacle": obstacle, + "labels": labels, + "start_support": start_support, + "direct_footprint": direct_footprint, + "hard_source": hard_source, + "collision_cache": {}, + } + if ( + direct_footprint + and getattr(args, "world_anchored_collisions", False) + and args.unknown_policy != "block" + ): + # Keep the physical obstacle voxel cells fixed in world XY. Rasterizing + # them anew in the rotating display grid changes their shape/location + # by a cell fraction and can trap a previously accepted turning pose. + size = args.voxel_size + world_cells = (np.unique(np.floor(points[hazard_indices, :2] / size), axis=0) + 0.5) * size + result["collision_cells"] = world_to_ego(world_cells, xy, yaw) + result["collision_cell_angle"] = -yaw + result["collision_cell_size"] = size + return result + + +def sample_path_bank(args): + """Cached vectorized quadratic curves; no model or per-frame resampling.""" + target = np.array([args.goal_right, args.goal_forward], dtype=float) + distance = float(np.linalg.norm(target)) + center_angle = math.atan2(target[0], target[1]) + angles = center_angle + np.linspace( + -math.radians(args.fan_angle), math.radians(args.fan_angle), args.num_goals - 1 + ) + lengths = distance * np.resize(np.array([0.6, 0.8, 1.0]), len(angles)) + endpoints = np.column_stack([lengths * np.sin(angles), lengths * np.cos(angles)]) + endpoints = np.vstack([target, endpoints]) + endpoints = endpoints[endpoints[:, 1] > 0.25] + ends = np.repeat(endpoints, args.midpoints_per_goal, axis=0) + bends = np.tile( + np.linspace(-args.bend_range, args.bend_range, args.midpoints_per_goal), len(endpoints) + ) + # Bound sample spacing using the maximum analytic derivative, so a + # selected path cannot jump across a grid cell between checked samples. + max_speed = np.max( + np.sqrt( + np.maximum(np.abs(ends[:, 0] + 2 * bends), np.abs(ends[:, 0] - 2 * bends)) ** 2 + + ends[:, 1] ** 2 + ) + ) + samples = max(args.path_samples, int(np.ceil(max_speed / (args.grid_resolution / 2))) + 1) + t = np.linspace(0, 1, samples) + paths = np.empty((len(ends), samples, 2), dtype=np.float32) + paths[..., 0] = ends[:, 0, None] * t + 2 * bends[:, None] * t * (1 - t) + paths[..., 1] = ends[:, 1, None] * t + dx = ends[:, 0, None] + 2 * bends[:, None] * (1 - 2 * t) + dy = ends[:, 1, None] + np.zeros_like(dx) + curvature = np.abs(4 * bends[:, None] * dy) / np.maximum((dx**2 + dy**2) ** 1.5, 1e-9) + paths = paths[np.max(curvature, axis=1) <= args.max_curvature] + if not len(paths): + raise ValueError("No kinematically bounded sampled paths; adjust goal/fan/curvature") + return paths + + +def score_paths(paths, grid, args): + rows, cols, inside = ego_to_cells(paths, args, grid["cost"].shape) + rr = np.clip(rows, 0, grid["cost"].shape[0] - 1) + cc = np.clip(cols, 0, grid["cost"].shape[1] - 1) + if grid.get("direct_footprint", False): + from depth_nav_footprint import collisions_at, path_headings + + collisions = collisions_at(paths, path_headings(paths), grid, args).any(axis=1) + else: + collisions = (~inside | grid["blocked"][rr, cc]).any(axis=1) + unknown_ratio = grid["unknown_footprint"][rr, cc].mean(axis=1) + mean_cost = grid["footprint_cost"][rr, cc].mean(axis=1) + length = np.linalg.norm(np.diff(paths, axis=1), axis=-1).sum(axis=1) + terminal_error = np.linalg.norm( + paths[:, -1] - np.array([args.goal_right, args.goal_forward]), axis=1 + ) + initial_turn = np.abs(np.arctan2(paths[:, 1, 0], paths[:, 1, 1])) + score = ( + 2 * mean_cost + + terminal_error / np.hypot(args.goal_right, args.goal_forward) + + 0.04 * length + + 0.12 * initial_turn + ) + unknown_rejected = (unknown_ratio > args.max_unknown_ratio) & (args.unknown_policy != "assume") + valid = ~collisions & ~unknown_rejected + chosen = int(np.argmin(np.where(valid, score, np.inf))) if valid.any() else None + return { + "chosen": chosen, + "valid": np.flatnonzero(valid), + "unknown_ratio": unknown_ratio, + "score": score, + "collision_rejections": int(collisions.sum()), + "unknown_rejections": int((~collisions & unknown_rejected).sum()), + } + + +def packed_array(array): + return base64.b64encode( + gzip.compress(np.asarray(array, dtype=np.uint8).tobytes(), compresslevel=5) + ).decode("ascii") + + +def preview_image(rgb): + h = max(1, round(rgb.shape[0] * 192 / rgb.shape[1])) + bgr = cv2.cvtColor(cv2.resize(rgb, (192, h)), cv2.COLOR_RGB2BGR) + _, encoded = cv2.imencode(".jpg", bgr, [cv2.IMWRITE_JPEG_QUALITY, 65]) + return "data:image/jpeg;base64," + base64.b64encode(encoded).decode("ascii") + + +def packed_cloud(points, colors, origin, maximum=10000): + if len(points) > maximum: + indices = np.linspace(0, len(points) - 1, maximum, dtype=int) + points, colors = points[indices], colors[indices] + quantized = np.rint((points - origin) / 0.002) + if (np.abs(quantized) > 32767).any(): + raise ValueError("Point preview exceeds coordinate range") + import struct + + payload = ( + struct.pack(" 0.001 + else "observed_floor_path" + ) + chosen = plan["chosen"] + local = world_to_ego(snapshot["points"], xy, yaw) + _, _, inside = ego_to_cells(local, args, grid["cost"].shape) + display = inside & (snapshot["state"] != 2) + colors = snapshot["colors"][display].copy() + colors[snapshot["state"][display] == 0] = [255, 180, 75] + path_world = ( + ego_to_world(bank[chosen], xy, yaw) if chosen is not None else np.empty((0, 2)) + ) + rr, cc, _ = ( + ego_to_cells(bank[chosen], args, grid["cost"].shape) + if chosen is not None + else (np.empty(0, dtype=int), np.empty(0, dtype=int), None) + ) + unknown_points = ( + grid["unknown_footprint"][rr, cc] > 0.001 + if chosen is not None + else np.empty(0, dtype=bool) + ) + metric = { + "frame": path.name, + "time": timestamp - first_time, + "robot": xy.tolist(), + "yaw": yaw, + "status": status, + "chosen": chosen, + "valid_indices": plan["valid"].tolist(), + "candidate_count": len(bank), + "unknown_ratio": None if chosen is None else float(plan["unknown_ratio"][chosen]), + "collision_rejections": plan["collision_rejections"], + "unknown_rejections": plan["unknown_rejections"], + "refilter_ms": refilter_ms, + "mapping_ms": map_stats["update_ms"], + "floor_ms": floor_ms, + "bev_ms": bev_ms, + "planning_ms": plan_ms, + "floor_plane": None if plane is None else plane.tolist(), + "map_voxels": len(snapshot["points"]), + "known_floor_cells": int(grid["known"].sum()), + "obstacle_cells": int(grid["obstacle"].sum()), + "selected_world_xy": path_world.tolist(), + "selected_unknown_points": unknown_points.tolist(), + } + (output / "frames" / f"{path.stem}.json").write_text( + json.dumps(metric, indent=2) + "\n" + ) + np.savez_compressed( + output / "frames" / path.name, + cost=grid["cost"], + known_floor=grid["known"], + blocked=grid["blocked"], + labels=grid["labels"], + selected_path_ego=np.empty((0, 2)) if chosen is None else bank[chosen], + selected_path_world=path_world, + robot_xy=xy, + yaw=yaw, + ) + frames.append( + { + **metric, + "cost_bytes": packed_array(np.rint(grid["cost"] * 255)), + "labels_bytes": packed_array(grid["labels"]), + "cloud": packed_cloud(snapshot["points"][display], colors, origin), + "rgb": preview_image(rgb), + } + ) + if index % 25 == 0 or index == len(paths) - 1: + print( + f"[{index+1}/{len(paths)}] {status}; valid={len(plan['valid'])}/{len(bank)}; voxel={map_stats['update_ms']:.2f}ms BEV={bev_ms:.2f}ms plan={plan_ms:.2f}ms refilter={refilter_ms:.2f}ms", + flush=True, + ) + settings = { + key: str(value) if isinstance(value, Path) else value for key, value in vars(args).items() + } + summary = { + "sequence": meta.get("sequence_id", source.name), + "frame_count": len(frames), + "settings": settings, + "candidate_bank_ms": bank_ms, + "candidate_count": len(bank), + "samples_per_path": bank.shape[1], + "path_frames": sum(f["chosen"] is not None for f in frames), + "tentative_frames": sum(f["status"] == "tentative" for f in frames), + "planning_median_ms": float(np.median([f["planning_ms"] for f in frames])), + "planning_p95_ms": float(np.percentile([f["planning_ms"] for f in frames], 95)), + "bev_median_ms": float(np.median([f["bev_ms"] for f in frames])), + "mapping_median_ms": float(np.median([f["mapping_ms"] for f in frames])), + "core_total_median_ms": float( + np.median([f["mapping_ms"] + f["bev_ms"] + f["planning_ms"] for f in frames]) + ), + "core_total_p95_ms": float( + np.percentile([f["mapping_ms"] + f["bev_ms"] + f["planning_ms"] for f in frames], 95) + ), + "refilter_median_ms": float(np.median([f["refilter_ms"] for f in frames])), + "floor_fit_median_ms": float(np.median([f["floor_ms"] for f in frames])), + "status_counts": { + status: sum(f["status"] == status for f in frames) + for status in sorted({f["status"] for f in frames}) + }, + "sam_tp_used": False, + "gpu_planning_used": False, + "robot_commands_sent": False, + "interpretation": "Geometry-only proposals on recorded depth, not an executed navigation test. Unknown-space proposals are tentative. Floor extrapolation does not create observed free space. Footprint/height thresholds are test parameters.", + } + (output / "summary.json").write_text(json.dumps(summary, indent=2) + "\n") + payload = { + "frames": frames, + "bank": np.round(bank, 5).tolist(), + "grid_shape": list(grid["cost"].shape), + "origin": origin.tolist(), + "settings": settings, + "summary": summary, + } + from plotly.offline import get_plotlyjs + + template = Path(__file__).with_name("depth_only_path_planner_viewer.html").read_text() + data = json.dumps(payload, separators=(",", ":"), allow_nan=False).replace("<", "\\u003c") + viewer = ( + template.replace("__PLOTLY_JS__", get_plotlyjs()) + .replace("__PLANNER_DATA__", data) + .replace("__TITLE__", html.escape(str(summary["sequence"]))) + ) + (output / "viewer.html").write_text(viewer) + print( + "SUMMARY " + json.dumps({k: v for k, v in summary.items() if k != "settings"}), flush=True + ) + print(f"HTML: {output/'viewer.html'}", flush=True) + + +if __name__ == "__main__": + try: + main() + except KeyboardInterrupt: + print("\nInterrupted. Completed frame outputs remain saved.", flush=True) + raise SystemExit(130) diff --git a/code/stretch_ai/scripts/lingbot_depth_eval.py b/code/stretch_ai/scripts/lingbot_depth_eval.py new file mode 100644 index 0000000000000000000000000000000000000000..38aeeab230b61a145302728840738a289f38f3ea --- /dev/null +++ b/code/stretch_ai/scripts/lingbot_depth_eval.py @@ -0,0 +1,775 @@ +#!/usr/bin/env python3 +"""Capture or load RGB-D, refine it, and compare depths without robot commands. + +Fresh capture: python scripts/lingbot_depth_eval.py --robot-ip 192.0.2.2 --show +Saved capture: python scripts/lingbot_depth_eval.py --input outputs/lingbot_depth_capture +""" + +import argparse +from datetime import datetime +import json +import shlex +import shutil +import subprocess +import sys +import tarfile +import tempfile +import time +import types +import uuid +from pathlib import Path +from zoneinfo import ZoneInfo + +import cv2 +import matplotlib +import numpy as np +import torch + +from lingbot_depth_geometry import ( + add_depth_edge_filter_args, + depth_points, + filter_depth_mask, + filter_point_mask, + fit_floor_plane, + floor_geometry, +) +from lingbot_depth_model import ( + DEFAULT_MODEL, + MODEL_HELP, + load_local_model, + resolve_local_checkpoint, +) + +matplotlib.use("Agg") +import matplotlib.pyplot as plt + + +def valid_depth(depth): + return np.isfinite(depth) & (depth > 0.1) & (depth < 10.0) + + +def percentile(values, q): + return float(np.percentile(values, q)) if values.size else None + + +def process_geometry(refined, rgb, k, pose, frame_dir, result_dir, output_dir, args): + """Save measured geometry and extrapolated floor in distinct artifacts.""" + import open3d as o3d + + start = time.perf_counter() + valid = valid_depth(refined) + points_image = depth_points(refined, k) + points = points_image[valid] + keep = np.ones(len(points), dtype=bool) + filter_stats = {"enabled": args.filter_noise} + filter_start = time.perf_counter() + if args.filter_noise: + raw_path = frame_dir / "depth_input_m.npy" + raw = np.load(raw_path) if raw_path.exists() else None + retained, diagnostics = filter_depth_mask(refined, raw, k, args, points_image) + keep = retained[valid] + filter_stats.update(diagnostics) + if not keep.any(): + raise RuntimeError( + "Noise filter removed all points; use less restrictive filter settings" + ) + filter_stats["elapsed_s"] = time.perf_counter() - filter_start + filter_stats.update( + input_points=len(points), retained_points=int(keep.sum()), removed_points=int((~keep).sum()) + ) + retained = np.zeros(refined.shape, dtype=bool) + retained[valid] = keep + rejected = valid & ~retained + filtered = np.where(retained, refined, np.nan).astype(np.float32) + np.save(result_dir / "depth_filtered_m.npy", filtered) + np.save(result_dir / "filtered_valid_mask.npy", retained) + np.save(result_dir / "noise_rejected_mask.npy", rejected) + retained_points = points[keep] + world_points = retained_points @ pose[:3, :3].T + pose[:3, 3] + + center_source = "camera XY (older capture has no base pose)" + center = pose[:2, 3].copy() + robot_pose_path = frame_dir / "robot_pose.txt" + if robot_pose_path.exists(): + center = np.loadtxt(robot_pose_path)[:2, 3] + center_source = "robot base_link at capture timestamp" + if args.floor_center is not None: + center = np.asarray(args.floor_center, dtype=float) + center_source = "explicit --floor-center" + floor = {"status": "disabled"} + plane = None + floor_start = time.perf_counter() + if args.add_floor_plane: + plane, floor = fit_floor_plane(world_points, center, args) + floor["center_source"] = center_source + floor["elapsed_s"] = time.perf_counter() - floor_start + stats = {"filter": filter_stats, "floor": floor} + if plane is not None: + floor_mask = np.zeros(refined.shape, dtype=bool) + floor_mask[retained] = ( + np.abs(world_points @ plane[:3] + plane[3]) <= args.floor_distance_threshold + ) + np.save(result_dir / "observed_floor_mask.npy", floor_mask) + (result_dir / "geometry.json").write_text(json.dumps(stats, indent=2) + "\n") + + if frame_dir.name == "frame_000": + before = o3d.geometry.PointCloud(o3d.utility.Vector3dVector(points)) + before.colors = o3d.utility.Vector3dVector(rgb[valid] / 255.0) + o3d.io.write_point_cloud(str(output_dir / "point_cloud_refined_full_camera.ply"), before) + cloud = o3d.geometry.PointCloud(o3d.utility.Vector3dVector(retained_points)) + cloud.colors = o3d.utility.Vector3dVector(rgb[retained] / 255.0) + o3d.io.write_point_cloud(str(output_dir / "point_cloud_filtered_camera.ply"), cloud) + cloud.transform(pose) + o3d.io.write_point_cloud(str(output_dir / "point_cloud_filtered_world.ply"), cloud) + removed = o3d.geometry.PointCloud(o3d.utility.Vector3dVector(points[~keep])) + removed.paint_uniform_color([1.0, 0.1, 0.1]) + if not removed.is_empty(): + o3d.io.write_point_cloud(str(output_dir / "point_cloud_removed_camera.ply"), removed) + if plane is not None: + mesh, grid = floor_geometry(plane, center, args.floor_size) + o3d.io.write_triangle_mesh(str(output_dir / "floor_plane_world.ply"), mesh) + o3d.io.write_line_set(str(output_dir / "floor_grid_world.ply"), grid) + grid.transform(np.linalg.inv(pose)) + o3d.io.write_line_set(str(output_dir / "floor_grid_camera.ply"), grid) + # These masks describe observed pixels only. The synthetic plane never + # fills holes or expands an observed/free-space mask. + fig, axes = plt.subplots(1, 3, figsize=(11, 7), constrained_layout=True) + for ax, depth, title in zip( + axes[:2], [refined, filtered], ["Refined before filtering", "Filtered measured depth"] + ): + ax.imshow( + np.ma.masked_where(~valid_depth(depth), depth), cmap="turbo", vmin=0.2, vmax=5 + ) + ax.set_title(title) + axes[2].imshow(rgb) + overlay = np.zeros((*rejected.shape, 4)) + overlay[rejected] = [1, 0, 0, 0.85] + axes[2].imshow(overlay) + axes[2].set_title(f"Rejected points: {rejected.sum():,} (red)") + for ax in axes: + ax.axis("off") + fig.savefig(output_dir / "filter_comparison.png", dpi=130) + plt.close(fig) + stats["postprocess_s"] = time.perf_counter() - start + (output_dir / "geometry.json").write_text(json.dumps(stats, indent=2) + "\n") + print( + f"Noise filtering: {filter_stats['elapsed_s'] * 1000:.2f} ms; removed {filter_stats['removed_points']:,}/{len(points):,} points. " + f"Floor fit: {floor['elapsed_s'] * 1000:.2f} ms ({floor['status']}).", + flush=True, + ) + if args.add_floor_plane: + print("FLOOR " + json.dumps(floor), flush=True) + return stats + + +def process_saved_geometry(output_dir, args): + """Reprocess a saved prediction without loading the model or recapturing.""" + frame_dir = next( + ( + p + for p in [output_dir.parent / "capture/frame_000", output_dir.parent / "frame_000"] + if p.exists() + ), + None, + ) + if frame_dir is None: + raise FileNotFoundError("Could not locate the saved frame_000 capture next to the results") + result_dir = output_dir / "frame_000" + refined = np.load(result_dir / "depth_refined_m.npy") + rgb = cv2.cvtColor(cv2.imread(str(frame_dir / "rgb.png")), cv2.COLOR_BGR2RGB) + return process_geometry( + refined, + rgb, + np.loadtxt(frame_dir / "intrinsics.txt"), + np.loadtxt(frame_dir / "camera_pose.txt"), + frame_dir, + result_dir, + output_dir, + args, + ) + + +def extract_capture_archive(archive_path, capture_dir, remote_directory_name): + """Accept only regular capture files under the expected directory.""" + with tarfile.open(archive_path, "r:gz") as archive: + files = [] + for member in archive.getmembers(): + path = Path(member.name) + if path.is_absolute() or ".." in path.parts or not path.parts: + raise ValueError(f"Unsafe capture archive path: {member.name}") + if path.parts[0] != remote_directory_name: + raise ValueError(f"Unexpected capture archive directory: {member.name}") + if member.isdir(): + continue + if not member.isfile(): + raise ValueError(f"Unsupported capture archive entry: {member.name}") + relative = Path(*path.parts[1:]) + if not relative.parts: + raise ValueError("Capture archive contains a file at its root") + files.append((member, relative)) + capture_dir.mkdir(parents=True, exist_ok=False) + for member, relative in files: + destination = capture_dir / relative + destination.parent.mkdir(parents=True, exist_ok=True) + with archive.extractfile(member) as source, destination.open("wb") as target: + shutil.copyfileobj(source, target) + + +def capture_from_robot(args, capture_dir): + """Subscribe inside the existing bridge container, then fetch lossless data.""" + ssh = [ + "ssh", + "-o", + "BatchMode=yes", + "-o", + "ConnectTimeout=10", + "-o", + "StrictHostKeyChecking=yes", + f"{args.ssh_user}@{args.robot_ip}", + ] + container = args.container + if container is None: + probe = subprocess.run( + ssh + [shlex.join(["docker", "ps", "--format", "{{.ID}} {{.Image}} {{.Names}}"])], + check=True, + capture_output=True, + text=True, + timeout=25, + ) + candidates = [ + line.split()[0] + for line in probe.stdout.splitlines() + if "stretch-ai-ros2-bridge" in line + ] + if len(candidates) != 1: + raise RuntimeError( + "Expected one running Stretch AI bridge container; start the bridge " + "or select it with --container ." + ) + container = candidates[0] + name = f"lingbot_depth_{uuid.uuid4().hex}" + remote_output = f"/tmp/{name}" + command = shlex.join( + [ + "/usr/bin/python3", + "-", + "--output", + remote_output, + "--frames", + str(args.frames), + "--interval", + str(args.capture_interval), + "--timeout", + str(args.capture_timeout), + "--world-frame", + args.world_frame, + ] + ) + shell = ( + "source /opt/ros/humble/setup.bash && " + "source /robot/ament_ws/install/setup.bash && " + command + ) + print(f"Capturing {args.frames} fresh frame(s) from {args.robot_ip}...", flush=True) + subprocess.run( + ssh + [shlex.join(["docker", "exec", "-i", container, "bash", "-c", shell])], + input=Path(__file__).with_name("capture_lingbot_rgbd_ros2.py").read_text(), + text=True, + check=True, + timeout=args.capture_timeout + 30, + ) + with tempfile.TemporaryDirectory(prefix="lingbot_depth_transfer_") as temporary: + archive_path = Path(temporary) / "capture.tar.gz" + with archive_path.open("wb") as archive: + subprocess.run( + ssh + + [ + shlex.join( + ["docker", "exec", container, "tar", "-C", "/tmp", "-czf", "-", name] + ) + ], + stdout=archive, + check=True, + timeout=60, + ) + extract_capture_archive(archive_path, capture_dir, name) + print(f"Fresh capture saved: {capture_dir}", flush=True) + + +def show_comparisons(output_dir, show_image, show_clouds, cloud_comparison="auto"): + """Poll all windows together so native GUI calls cannot block Ctrl+C.""" + viewers = [] + image_title = "RGB | Sensor depth | LingBot depth | Difference" + image_open = False + closing = False + geometry = None + if (output_dir / "geometry.json").exists(): + geometry = json.loads((output_dir / "geometry.json").read_text()) + processed = cloud_comparison == "refined-processed" or ( + cloud_comparison == "auto" and geometry is not None + ) + if processed: + image_title = "Refined depth | Filtered depth | Rejected points" + + def request_close(_viewer): + nonlocal closing + closing = True + return False + + try: + if show_image: + image_path = output_dir / ("filter_comparison.png" if processed else "comparison.png") + comparison = cv2.imread(str(image_path)) + if comparison is None: + raise FileNotFoundError(output_dir / "comparison.png") + cv2.namedWindow(image_title, cv2.WINDOW_NORMAL) + image_open = True + cv2.resizeWindow(image_title, 1400, 700) + cv2.imshow(image_title, comparison) + if show_clouds: + import open3d as o3d + + descriptions = ( + [ + ("Refined before filtering", "point_cloud_refined_full_camera.ply"), + ("Filtered depth + assumed floor", "point_cloud_filtered_camera.ply"), + ] + if processed + else [ + ("Original sensor depth", "point_cloud_raw_camera.ply"), + ("LingBot refined depth", "point_cloud_camera.ply"), + ] + ) + for index, (title, filename) in enumerate(descriptions): + cloud = o3d.io.read_point_cloud(str(output_dir / filename)) + if cloud.is_empty(): + raise ValueError(f"Point cloud is missing or empty: {output_dir / filename}") + viewer = o3d.visualization.VisualizerWithKeyCallback() + if not viewer.create_window( + window_name=title, width=850, height=740, left=20 + index * 870, top=60 + ): + raise RuntimeError(f"Could not create window: {title}") + viewers.append(viewer) + viewer.add_geometry(cloud) + options = viewer.get_render_option() + options.point_size = 2.0 + options.background_color = np.array([0.08, 0.08, 0.08]) + viewer.register_key_callback(ord("Q"), request_close) + viewer.register_key_callback(256, request_close) # GLFW Escape + if processed: + if geometry and geometry["floor"]["status"] == "accepted": + grid = o3d.io.read_line_set(str(output_dir / "floor_grid_camera.ply")) + viewers[1].add_geometry(grid, reset_bounding_box=False) + floor_visible = True + + def toggle_floor(viewer): + nonlocal floor_visible + if floor_visible: + viewer.remove_geometry(grid, reset_bounding_box=False) + else: + viewer.add_geometry(grid, reset_bounding_box=False) + floor_visible = not floor_visible + return True + + viewers[1].register_key_callback(ord("F"), toggle_floor) + removed_path = output_dir / "point_cloud_removed_camera.ply" + if removed_path.exists() and geometry and geometry["filter"]["removed_points"]: + removed = o3d.io.read_point_cloud(str(removed_path)) + removed_visible = False + + def toggle_removed(viewer): + nonlocal removed_visible + if removed_visible: + viewer.remove_geometry(removed, reset_bounding_box=False) + else: + viewer.add_geometry(removed, reset_bounding_box=False) + removed_visible = not removed_visible + return True + + viewers[1].register_key_callback(ord("D"), toggle_removed) + print( + "Processed view: F toggles the assumed floor grid; D highlights removed points in red.", + flush=True, + ) + # Start from identical camera views; subsequent rotation/zoom is independent. + control = viewers[0].get_view_control() + control.set_front([0, 0, -1]) + control.set_up([0, -1, 0]) + viewers[1].set_view_status(viewers[0].get_view_status()) + print( + "Two point-cloud windows: left-drag to rotate, wheel to zoom. " + "Close either window, press Q/Esc, or Ctrl+C to exit.", + flush=True, + ) + if image_open: + print("Depth image: press any key to close it; Q/Esc exits all viewers.", flush=True) + while (viewers or image_open) and not closing: + for viewer in viewers: + if not viewer.poll_events(): + closing = True + break + viewer.update_renderer() + if image_open: + key = cv2.waitKey(20) + if key >= 0 or cv2.getWindowProperty(image_title, cv2.WND_PROP_VISIBLE) < 1: + if key >= 0 and key & 0xFF in (ord("q"), ord("Q"), 27): + closing = True + cv2.destroyWindow(image_title) + image_open = False + else: + time.sleep(0.01) + finally: + for viewer in viewers: + viewer.destroy_window() + if image_open: + cv2.destroyWindow(image_title) + + +def enable_native_attention(model): + """Preserve invalid-depth token masking without requiring xFormers. + + The upstream model puts each sample's retained tokens in a list. In eval + mode, processing those independent sequences with the ordinary Block is + equivalent to block-diagonal attention on the concatenated sequences. + """ + from mdm.model.dinov2_rgbd.layers.block import Block, NestedTensorBlock + + model.enable_pytorch_native_sdpa() + + def forward_independent_sequences(block, inputs): + if isinstance(inputs, list): + return [Block.forward(block, sequence) for sequence in inputs] + return Block.forward(block, inputs) + + for block in model.modules(): + if isinstance(block, NestedTensorBlock): + block.forward = types.MethodType(forward_independent_sequences, block) + + +def save_comparison(rgb, raw, refined, output): + raw_valid, refined_valid = valid_depth(raw), valid_depth(refined) + difference = np.where(raw_valid & refined_valid, refined - raw, np.nan) + fig, axes = plt.subplots(1, 4, figsize=(15, 7), constrained_layout=True) + axes[0].imshow(rgb) + axes[0].set_title("Head RGB") + for ax, data, title in zip(axes[1:3], [raw, refined], ["Sensor depth", "LingBot-Depth v0.5"]): + im = ax.imshow(np.ma.masked_where(~valid_depth(data), data), cmap="turbo", vmin=0.2, vmax=5) + ax.set_title(title) + fig.colorbar(im, ax=ax, shrink=0.55, label="metres; common scale") + im = axes[3].imshow(difference, cmap="coolwarm", vmin=-0.5, vmax=0.5) + axes[3].set_title("Prediction − sensor") + fig.colorbar(im, ax=axes[3], shrink=0.55, label="metres") + for ax in axes: + ax.axis("off") + fig.savefig(output, dpi=130) + plt.close(fig) + + +def main(): + parser = argparse.ArgumentParser(description=__doc__) + source = parser.add_mutually_exclusive_group(required=True) + source.add_argument("--input", type=Path, help="Previously saved frame_* capture directory") + source.add_argument("--robot-ip", help="Capture fresh RGB-D over SSH from this robot") + source.add_argument( + "--view-results", + type=Path, + help="Open two point-cloud windows for existing results; skip capture and inference", + ) + parser.add_argument("--output", type=Path) + parser.add_argument("--ssh-user", default="hello-robot") + parser.add_argument("--container", help="Bridge container ID/name; auto-detected by default") + parser.add_argument("--frames", type=int, default=1, help="Number of fresh frames to capture") + parser.add_argument("--capture-interval", type=float, default=0.2) + parser.add_argument("--capture-timeout", type=float, default=40) + parser.add_argument("--world-frame", default="map") + parser.add_argument( + "--lingbot-repo", type=Path, default=Path(__file__).resolve().parents[2] / "lingbot-depth" + ) + parser.add_argument("--model", default=DEFAULT_MODEL, help=MODEL_HELP) + parser.add_argument("--resolution-level", type=int, choices=range(10), default=9) + parser.add_argument("--warmup", type=int, default=2) + parser.add_argument( + "--filter-noise", + action="store_true", + help="Reject statistical/radius outliers; preserve depth pixel layout", + ) + parser.add_argument("--filter-voxel-size", type=float, default=0.02) + parser.add_argument("--filter-neighbors", type=int, default=20) + parser.add_argument("--filter-std-ratio", type=float, default=3.0) + parser.add_argument("--filter-radius", type=float, default=0.06) + parser.add_argument("--filter-min-neighbors", type=int, default=3) + add_depth_edge_filter_args(parser) + parser.add_argument( + "--add-floor-plane", + action="store_true", + help="Fit ground and display a separate extrapolated floor prior", + ) + parser.add_argument( + "--floor-size", + type=float, + default=10.0, + help="Side length in metres of the square floor overlay", + ) + parser.add_argument("--floor-ground-z", type=float, default=0.0) + parser.add_argument("--floor-height-band", type=float, default=0.2) + parser.add_argument("--floor-distance-threshold", type=float, default=0.015) + parser.add_argument("--floor-max-tilt-deg", type=float, default=10.0) + parser.add_argument( + "--floor-center", + type=float, + nargs=2, + metavar=("X", "Y"), + help="Override world XY floor center; default is captured robot position", + ) + parser.add_argument( + "--cloud-comparison", + choices=["auto", "sensor-refined", "refined-processed"], + default="auto", + help="Two-window comparison; auto uses before/after processing when available", + ) + parser.add_argument("--show", action="store_true", help="Open the depth comparison image") + parser.add_argument( + "--show-point-clouds", + action="store_true", + help="Open two interactive comparison windows; processing uses refined before/after", + ) + args = parser.parse_args() + if args.frames < 1 or args.warmup < 0 or args.capture_timeout <= 0 or args.capture_interval < 0: + parser.error("frames/timeout must be positive; warmup/interval must be nonnegative") + if ( + not 0 <= args.filter_edge_band <= 12 + or not np.isfinite(args.filter_edge_jump) + or args.filter_edge_jump <= 0 + ): + parser.error("Invalid depth-edge band or depth jump") + if ( + min( + args.filter_voxel_size, + args.filter_radius, + args.filter_std_ratio, + args.floor_size, + args.floor_height_band, + args.floor_distance_threshold, + ) + <= 0 + ): + parser.error("Filter distances/ratio and floor dimensions/thresholds must be positive") + if ( + args.filter_neighbors < 2 + or args.filter_min_neighbors < 1 + or not 0 < args.floor_max_tilt_deg < 45 + ): + parser.error( + "Invalid neighbor count or floor tilt bound (must be between 0 and 45 degrees)" + ) + if args.view_results: + if args.filter_noise or args.add_floor_plane: + process_saved_geometry(args.view_results, args) + show_comparisons(args.view_results, args.show, True, args.cloud_comparison) + return + sys.path.insert(0, str(args.lingbot_repo.resolve())) + from mdm.model.v2 import MDMModel + + if not torch.cuda.is_available(): + raise RuntimeError("This benchmark requires a CUDA GPU") + checkpoint = resolve_local_checkpoint(args.model) + print(f"Local LingBot checkpoint: {checkpoint} (offline)", flush=True) + torch.set_num_threads(4) + if args.robot_ip: + timestamp = datetime.now(ZoneInfo("Asia/Singapore")).strftime("%Y%m%d_%H%M%S_%f") + root = ( + args.output + or Path(__file__).resolve().parents[1] / "outputs" / f"lingbot_depth_{timestamp}" + ) + root.mkdir(parents=True, exist_ok=False) + args.input = root / "capture" + capture_from_robot(args, args.input) + output_dir = root / "results" + else: + output_dir = args.output or args.input / f"results_level_{args.resolution_level}" + output_dir.mkdir(parents=True, exist_ok=False) + directories = sorted(args.input.glob("frame_*")) + if not directories: + raise ValueError("Input has no frame_* captures") + device = torch.device("cuda") + start = time.perf_counter() + model = load_local_model(MDMModel, checkpoint).to(device).eval() + # Use the repository's supported PyTorch attention path, avoiding a PyTorch + # downgrade just to install its pinned xFormers wheel. + enable_native_attention(model) + torch.cuda.synchronize() + model_load_s = time.perf_counter() - start + print(f"Model ready in {model_load_s:.2f}s; token range={model.num_tokens_range}", flush=True) + raw_stack, refined_stack, rgb_stack, poses = [], [], [], [] + metrics = [] + for index, directory in enumerate(directories): + rgb = cv2.cvtColor(cv2.imread(str(directory / "rgb.png")), cv2.COLOR_BGR2RGB) + raw = np.load(directory / "depth_input_m.npy").astype(np.float32) + if rgb.shape[:2] != raw.shape: + raise ValueError(f"Unaligned RGB-D in {directory}") + k = np.loadtxt(directory / "intrinsics.txt").astype(np.float32) + h, w = raw.shape + k_normalized = k.copy() + k_normalized[0] /= w + k_normalized[1] /= h + image_t = ( + torch.from_numpy(rgb.copy()).permute(2, 0, 1).float().div(255).unsqueeze(0).to(device) + ) + depth_t = ( + torch.from_numpy(np.where(valid_depth(raw), raw, 0).astype(np.float32)) + .unsqueeze(0) + .to(device) + ) + k_t = torch.from_numpy(k_normalized).unsqueeze(0).to(device) + kwargs = dict(depth_in=depth_t, intrinsics=k_t, resolution_level=args.resolution_level) + if index == 0: + print( + f"Warm-up: {args.warmup} iteration(s), excluded from inference timing.", flush=True + ) + for _ in range(args.warmup): + model.infer(image_t, **kwargs) + torch.cuda.synchronize() + torch.cuda.reset_peak_memory_stats() + torch.cuda.synchronize() + start = time.perf_counter() + prediction = model.infer(image_t, **kwargs) + torch.cuda.synchronize() + inference_s = time.perf_counter() - start + print( + f"Inference [{directory.name}]: {inference_s * 1000:.2f} ms ({inference_s:.6f} s)", + flush=True, + ) + refined = prediction["depth"][0].float().cpu().numpy() + points = prediction["points"][0].float().cpu().numpy() + if refined.shape != raw.shape or not valid_depth(refined).any(): + raise RuntimeError(f"Invalid model output in {directory}") + result_dir = output_dir / directory.name + result_dir.mkdir() + np.save(result_dir / "depth_refined_m.npy", refined) + np.save(result_dir / "valid_depth_mask.npy", valid_depth(refined)) + geometry_stats = None + if args.filter_noise or args.add_floor_plane: + geometry_stats = process_geometry( + refined, + rgb, + k, + np.loadtxt(directory / "camera_pose.txt"), + directory, + result_dir, + output_dir, + args, + ) + if index == 0: + save_comparison(rgb, raw, refined, output_dir / "comparison.png") + pose = np.loadtxt(directory / "camera_pose.txt") + mask = valid_depth(refined) + xyz = points[mask][::4] + colors = rgb[mask][::4] + world_xyz = xyz @ pose[:3, :3].T + pose[:3, 3] + import trimesh + + trimesh.PointCloud(xyz, colors).export(output_dir / "point_cloud_camera.ply") + trimesh.PointCloud(world_xyz, colors).export(output_dir / "point_cloud_world.ply") + v, u = np.mgrid[:h, :w] + raw_points = np.stack( + [(u - k[0, 2]) * raw / k[0, 0], (v - k[1, 2]) * raw / k[1, 1], raw], + axis=-1, + ) + raw_xyz = raw_points[valid_depth(raw)][::4] + raw_colors = rgb[valid_depth(raw)][::4] + raw_world_xyz = raw_xyz @ pose[:3, :3].T + pose[:3, 3] + trimesh.PointCloud(raw_xyz, raw_colors).export( + output_dir / "point_cloud_raw_camera.ply" + ) + trimesh.PointCloud(raw_world_xyz, raw_colors).export( + output_dir / "point_cloud_raw_world.ply" + ) + rv, pv = valid_depth(raw), valid_depth(refined) + common = rv & pv + change = refined[common] - raw[common] + metric = { + "frame": directory.name, + "inference_s": inference_s, + "input_valid_fraction": float(rv.mean()), + "output_valid_fraction": float(pv.mean()), + "filled_input_invalid_fraction": float((~rv & pv).sum() / max(1, (~rv).sum())), + "median_abs_change_m": percentile(np.abs(change), 50), + "p95_abs_change_m": percentile(np.abs(change), 95), + "input_median_depth_m": percentile(raw[rv], 50), + "output_median_depth_m": percentile(refined[pv], 50), + "input_near_2m_fraction": float((rv & (raw < 2)).mean()), + "output_near_2m_fraction": float((pv & (refined < 2)).mean()), + "valid_sensor_pixels_shifted_farther_over_0_25m_fraction": float( + (change > 0.25).mean() + ), + "near_2m_sensor_pixels_shifted_farther_over_0_25m_fraction": float( + (rv & (raw < 2) & pv & (refined - raw > 0.25)).sum() + / max(1, (rv & (raw < 2)).sum()) + ), + } + if geometry_stats is not None: + metric["geometry"] = geometry_stats + metrics.append(metric) + raw_stack.append(raw) + refined_stack.append(refined) + rgb_stack.append(rgb) + poses.append(np.loadtxt(directory / "camera_pose.txt")) + print(json.dumps(metric), flush=True) + del prediction + + raw_stack = np.stack(raw_stack) + refined_stack = np.stack(refined_stack) + stable = (valid_depth(raw_stack) & valid_depth(refined_stack)).all(axis=0) + color_std = np.std(np.stack(rgb_stack).astype(np.float32), axis=0).mean(axis=-1) + stable &= color_std < 5.0 + raw_std = np.std(raw_stack[:, stable], axis=0) if len(directories) > 1 else np.array([]) + refined_std = np.std(refined_stack[:, stable], axis=0) if len(directories) > 1 else np.array([]) + positions = np.stack(poses)[:, :3, 3] + rotation_changes = [ + np.degrees(np.arccos(np.clip((np.trace(poses[0][:3, :3].T @ pose[:3, :3]) - 1) / 2, -1, 1))) + for pose in poses + ] + timings = np.array([m["inference_s"] for m in metrics]) + summary = { + "model": args.model, + "model_checkpoint": str(checkpoint), + "lingbot_git_commit": subprocess.check_output( + ["git", "-C", str(args.lingbot_repo), "rev-parse", "HEAD"], text=True + ).strip(), + "torch": torch.__version__, + "gpu": torch.cuda.get_device_name(0), + "resolution_level": args.resolution_level, + "attention_backend": "PyTorch SDPA with independent retained-token sequences", + "valid_depth_range_m": [0.1, 10.0], + "warmup_iterations": args.warmup, + "model_load_s": model_load_s, + "frame_count": len(directories), + "input_shape_hw": list(raw_stack.shape[1:]), + "inference_median_s": float(np.median(timings)), + "inference_p95_s": float(np.percentile(timings, 95)), + "inference_fps_from_median": float(1 / np.median(timings)), + "peak_cuda_allocated_gib": torch.cuda.max_memory_allocated() / 1024**3, + "input_valid_fraction_mean": float(np.mean([m["input_valid_fraction"] for m in metrics])), + "output_valid_fraction_mean": float(np.mean([m["output_valid_fraction"] for m in metrics])), + "median_abs_change_m_mean": float(np.mean([m["median_abs_change_m"] for m in metrics])), + "temporally_stable_pixels": int(stable.sum()) if len(directories) > 1 else None, + "input_temporal_std_median_m": percentile(raw_std, 50), + "output_temporal_std_median_m": percentile(refined_std, 50), + "input_temporal_std_p95_m": percentile(raw_std, 95), + "output_temporal_std_p95_m": percentile(refined_std, 95), + "camera_translation_span_m": float(np.linalg.norm(np.ptp(positions, axis=0))), + "camera_rotation_max_deg": float(max(rotation_changes)), + "interpretation": "No ground truth. Coverage, sensor disagreement and temporal variation are diagnostics, not accuracy or navigation safety validation.", + "frames": metrics, + } + (output_dir / "metrics.json").write_text(json.dumps(summary, indent=2) + "\n") + print("SUMMARY " + json.dumps({k: v for k, v in summary.items() if k != "frames"}), flush=True) + print(f"Results: {output_dir}", flush=True) + show_comparisons(output_dir, args.show, args.show_point_clouds, args.cloud_comparison) + + +if __name__ == "__main__": + try: + main() + except KeyboardInterrupt: + print("\nInterrupted. Exiting.", flush=True) + raise SystemExit(130) diff --git a/code/stretch_ai/scripts/lingbot_depth_geometry.py b/code/stretch_ai/scripts/lingbot_depth_geometry.py new file mode 100644 index 0000000000000000000000000000000000000000..b9b999571a8951f41cc42ef3baa211e67c2efed6 --- /dev/null +++ b/code/stretch_ai/scripts/lingbot_depth_geometry.py @@ -0,0 +1,259 @@ +"""CPU geometry helpers shared by depth evaluation and planning; no Torch imports.""" + +import time + +import numpy as np + + +def add_depth_edge_filter_args(parser): + import argparse + + parser.add_argument( + "--filter-depth-edges", + action=argparse.BooleanOptionalAction, + default=True, + help="Reject raw-unsupported refined points near depth discontinuities", + ) + parser.add_argument( + "--filter-edge-band", + type=int, + default=2, + help="Depth-edge rejection band radius in pixels (0..12)", + ) + parser.add_argument( + "--filter-edge-jump", + type=float, + default=0.12, + help="Depth discontinuity threshold in metres, plus 2.5%% of depth", + ) + + +def depth_edge_mask(depth, raw, args): + """Suppress unsupported edge completions, retaining measured thin edges. + + Three-by-three depth ranges locate occlusion edges. A small pixel band + rejects only refined points without agreeing raw depth there, never all + points near an edge. No RGB segmentation, model pass or 3D search is used. + """ + import cv2 + + valid = np.isfinite(depth) & (depth > 0.1) & (depth < 10.0) + if raw is None or not getattr(args, "filter_depth_edges", False): + return valid, {"enabled": False, "rejected_points": 0} + if raw.shape != depth.shape: + raise ValueError("Raw/refined depth dimensions differ") + band_radius = getattr(args, "filter_edge_band", 2) + jump = getattr(args, "filter_edge_jump", 0.12) + if not 0 <= band_radius <= 12 or not np.isfinite(jump) or jump <= 0: + raise ValueError("Invalid depth-edge band or depth jump") + sensor_valid = np.isfinite(raw) & (raw > 0.1) & (raw < 10.0) + kernel = np.ones((3, 3), np.uint8) + + def depth_range(values, mask): + minimum = cv2.erode(np.where(mask, values, 10.0).astype(np.float32), kernel) + maximum = cv2.dilate(np.where(mask, values, 0.0).astype(np.float32), kernel) + return maximum - minimum + + threshold = jump + 0.025 * np.where(valid, depth, 0) + edges = (depth_range(raw, sensor_valid) > threshold) | (depth_range(depth, valid) > threshold) + band = cv2.dilate(edges.astype(np.uint8), np.ones((2 * band_radius + 1,) * 2, np.uint8)).astype( + bool + ) + supported = sensor_valid & (np.abs(raw - depth) <= 0.04 + 0.02 * depth) + rejected = valid & band & ~supported + return valid & ~rejected, { + "enabled": True, + "band_radius_px": band_radius, + "jump_m": jump, + "edge_band_points": int((valid & band).sum()), + "rejected_points": int(rejected.sum()), + "sensor_supported_edge_points": int((valid & band & supported).sum()), + } + + +def filter_depth_mask(depth, raw, k, args, points_image=None): + """Image-edge screening followed by the configured spatial point filter.""" + valid = np.isfinite(depth) & (depth > 0.1) & (depth < 10.0) + if not args.filter_noise: + return valid, {"enabled": False} + eligible, edge_stats = depth_edge_mask(depth, raw, args) + if points_image is None: + points_image = depth_points(depth, k) + keep, stats = filter_point_mask(points_image[eligible], args) + retained = np.zeros(depth.shape, dtype=bool) + retained[eligible] = keep + stats.update(enabled=True, depth_edges=edge_stats, spatial_input_points=int(eligible.sum())) + return retained, stats + + +def depth_points(depth, k): + v, u = np.mgrid[: depth.shape[0], : depth.shape[1]] + return np.stack( + [(u - k[0, 2]) * depth / k[0, 0], (v - k[1, 2]) * depth / k[1, 1], depth], axis=-1 + ) + + +def filter_point_mask(points, args): + """Test voxel representatives, then retain original pixels in supported voxels.""" + if not len(points): + return np.zeros(0, dtype=bool), {"voxel_points": 0} + import open3d as o3d + + cloud = o3d.geometry.PointCloud(o3d.utility.Vector3dVector(points)) + started = time.perf_counter() + lower = cloud.get_min_bound() - args.filter_voxel_size / 2 + voxels, representatives, traces = cloud.voxel_down_sample_and_trace( + args.filter_voxel_size, + lower, + cloud.get_max_bound() + args.filter_voxel_size / 2, + ) + voxel_ms = (time.perf_counter() - started) * 1000 + if len(voxels.points) < 3: + return np.zeros(len(points), dtype=bool), {"voxel_points": len(voxels.points)} + started = time.perf_counter() + statistical, stat_indices = voxels.remove_statistical_outlier( + nb_neighbors=min(args.filter_neighbors, len(voxels.points) - 1), + std_ratio=args.filter_std_ratio, + ) + statistical_ms = (time.perf_counter() - started) * 1000 + started = time.perf_counter() + _, radius_indices = statistical.remove_radius_outlier( + nb_points=args.filter_min_neighbors, radius=args.filter_radius + ) + radius_ms = (time.perf_counter() - started) * 1000 + retained_voxels = np.asarray(stat_indices, dtype=int)[radius_indices] + started = time.perf_counter() + keep = retained_voxel_mask( + points, lower, args.filter_voxel_size, representatives, traces, retained_voxels + ) + return keep, { + "voxel_points": len(voxels.points), + "after_statistical_voxels": len(stat_indices), + "retained_voxels": len(retained_voxels), + "voxel_size_m": args.filter_voxel_size, + "statistical_neighbors": args.filter_neighbors, + "statistical_std_ratio": args.filter_std_ratio, + "radius_m": args.filter_radius, + "radius_min_neighbors": args.filter_min_neighbors, + "voxelization_ms": voxel_ms, + "statistical_ms": statistical_ms, + "radius_ms": radius_ms, + "pixel_selection_ms": (time.perf_counter() - started) * 1000, + } + + +def retained_voxel_mask(points, lower, size, representatives, traces, retained): + """Lift the same Open3D voxel decisions without a Python loop per voxel. + + Use original point indices from Open3D's eight octant representatives. + Re-quantizing centroids can choose the wrong cell through rounding at a + voxel boundary. Original representatives share the exact trace grid. + """ + keep = np.zeros(len(points), dtype=bool) + if not len(retained): + return keep + cells = np.floor((points - lower) / size).astype(np.int64) + spans = cells.max(axis=0) + 1 + volume = int(spans[0]) * int(spans[1]) * int(spans[2]) + indices = np.asarray(representatives)[retained].max(axis=1) + if volume > np.iinfo(np.int64).max or (indices < 0).any(): + # Preserve the trace behavior for pathological coordinate ranges. + for index in retained: + keep[np.asarray(traces[index], dtype=int)] = True + return keep + factors = np.array([int(spans[1]) * int(spans[2]), int(spans[2]), 1], dtype=np.int64) + keys = cells @ factors + accepted = np.sort(keys[indices]) + slots = np.searchsorted(accepted, keys) + inside = slots < len(accepted) + keep[inside] = accepted[slots[inside]] == keys[inside] + return keep + + +def fit_floor_plane(world_points, center_xy, args): + """Reject non-ground planes using height, gravity, and spatial support.""" + import open3d as o3d + from scipy.spatial import ConvexHull, QhullError + + candidate = np.abs(world_points[:, 2] - args.floor_ground_z) <= args.floor_height_band + candidate &= np.linalg.norm(world_points[:, :2] - center_xy, axis=1) <= 4.0 + cloud = o3d.geometry.PointCloud(o3d.utility.Vector3dVector(world_points[candidate])) + cloud = cloud.voxel_down_sample(0.03) + if len(cloud.points) < 100: + return None, { + "status": "rejected", + "reason": "Insufficient points near expected floor height", + } + o3d.utility.random.seed(0) + plane, indices = cloud.segment_plane(args.floor_distance_threshold, 3, 1000) + plane = np.asarray(plane, dtype=float) + plane /= np.linalg.norm(plane[:3]) + if plane[2] < 0: + plane *= -1 + inliers = np.asarray(cloud.points)[indices] + tilt = float(np.degrees(np.arccos(np.clip(plane[2], -1, 1)))) + if ( + tilt > args.floor_max_tilt_deg + or len(indices) < 100 + or len(indices) / len(cloud.points) < 0.25 + ): + return None, { + "status": "rejected", + "reason": "Plane lacks horizontal ground support", + "tilt_deg": tilt, + } + try: + area = float(ConvexHull(inliers[:, :2]).volume) + except QhullError: + area = 0.0 + if area < 0.5: + return None, { + "status": "rejected", + "reason": "Floor support area is below 0.5 square metres", + } + residual = np.abs(inliers @ plane[:3] + plane[3]) + center_height = -(plane[0] * center_xy[0] + plane[1] * center_xy[1] + plane[3]) / plane[2] + if abs(center_height - args.floor_ground_z) > args.floor_height_band: + return None, { + "status": "rejected", + "reason": "Plane height at robot differs from expected floor", + } + return plane, { + "status": "accepted", + "plane_abcd_world": plane.tolist(), + "tilt_deg": tilt, + "inlier_voxels": len(indices), + "support_area_m2": area, + "median_residual_m": float(np.median(residual)), + "floor_height_at_center_m": float(center_height), + "side_length_m": args.floor_size, + "center_world_xy": np.asarray(center_xy).tolist(), + "role": "Extrapolated ground-height prior; not observed free space", + } + + +def floor_geometry(plane, center_xy, size): + import open3d as o3d + + half = size / 2 + offsets = np.array([[-half, -half], [half, -half], [half, half], [-half, half]]) + xy = offsets + center_xy + z = -(xy @ plane[:2] + plane[3]) / plane[2] + mesh = o3d.geometry.TriangleMesh( + o3d.utility.Vector3dVector(np.column_stack([xy, z])), + o3d.utility.Vector3iVector([[0, 1, 2], [0, 2, 3]]), + ) + mesh.compute_vertex_normals() + vertices, lines = [], [] + for value in np.linspace(-half, half, int(np.ceil(size / 0.5)) + 1): + for ends in ([[value, -half], [value, half]], [[-half, value], [half, value]]): + xy = np.asarray(ends) + center_xy + z = -(xy @ plane[:2] + plane[3]) / plane[2] + start = len(vertices) + vertices.extend(np.column_stack([xy, z]).tolist()) + lines.append([start, start + 1]) + grid = o3d.geometry.LineSet( + o3d.utility.Vector3dVector(vertices), o3d.utility.Vector2iVector(lines) + ) + grid.paint_uniform_color([0.2, 0.65, 1.0]) + return mesh, grid diff --git a/code/stretch_ai/scripts/lingbot_depth_model.py b/code/stretch_ai/scripts/lingbot_depth_model.py new file mode 100644 index 0000000000000000000000000000000000000000..3e45aa080c0a4611708310015d866e4ee1718767 --- /dev/null +++ b/code/stretch_ai/scripts/lingbot_depth_model.py @@ -0,0 +1,51 @@ +"""Resolve LingBot checkpoints without internet access or update checks.""" + +from pathlib import Path + +DEFAULT_MODEL = "robbyant/lingbot-depth-pretrain-vitl-14-v0.5" +DEFAULT_CHECKPOINT = Path(__file__).resolve().parents[1] / "models/lingbot-depth/model.pt" +MODEL_HELP = "Local model.pt file/directory or already-cached model ID; never downloads" + + +def _checkpoint_file(path): + if path.is_dir(): + path = path / "model.pt" + if path.is_file() and path.stat().st_size > 0: + return path.resolve() + raise FileNotFoundError(f"Missing or empty local LingBot checkpoint: {path}") + + +def resolve_local_checkpoint(model=DEFAULT_MODEL): + """Prefer explicit files, then the installed default, then local Hub cache. + + Pass the resulting *file* to MDMModel, rather than a model ID: the upstream + ID loader normally makes a HEAD request even when its weights are cached. + Explicit file paths never fall back to a different cached model. + """ + name = str(model) + path = Path(name).expanduser() + if path.exists() or name.startswith(("/", ".", "~")) or path.suffix in (".pt", ".pth"): + return _checkpoint_file(path) + if name == DEFAULT_MODEL and DEFAULT_CHECKPOINT.exists(): + return _checkpoint_file(DEFAULT_CHECKPOINT) + + from huggingface_hub import hf_hub_download + + try: + cached = hf_hub_download( + repo_id=name, repo_type="model", filename="model.pt", local_files_only=True + ) + except (OSError, ValueError) as exc: + raise FileNotFoundError( + f"LingBot model {name!r} is unavailable locally. No download was attempted. " + f"Place the default checkpoint at {DEFAULT_CHECKPOINT}, or use " + "--model /path/to/model.pt." + ) from exc + return _checkpoint_file(Path(cached)) + + +def load_local_model(model_class, checkpoint): + """Keep the upstream loader local-only even if the file disappears.""" + return model_class.from_pretrained( + str(_checkpoint_file(Path(checkpoint))), local_files_only=True + ) diff --git a/code/stretch_ai/scripts/lingbot_depth_sequence.py b/code/stretch_ai/scripts/lingbot_depth_sequence.py new file mode 100644 index 0000000000000000000000000000000000000000..874f928a841835ab9b1ed48df72a0e0f82571bae --- /dev/null +++ b/code/stretch_ai/scripts/lingbot_depth_sequence.py @@ -0,0 +1,608 @@ +#!/usr/bin/env python3 +"""Replay recorded Stretch RGB-D through LingBot and export an offline HTML viewer. + +The viewer concatenates a selectable causal history of pose-registered frames. +Its reduced points are for display; cached refined depth and filtering masks +retain the original resolution for later experiments. +""" + +import argparse +import base64 +import gzip +import hashlib +import html +import json +import struct +import subprocess +import sys +import time +from dataclasses import asdict +from pathlib import Path + +import cv2 +import numpy as np +import torch + +from lingbot_depth_eval import ( + depth_points, + enable_native_attention, + filter_point_mask, + fit_floor_plane, + valid_depth, +) +from lingbot_depth_geometry import add_depth_edge_filter_args, filter_depth_mask +from lingbot_voxel_map import SurfaceVoxelMap, VoxelMapConfig +from lingbot_depth_model import ( + DEFAULT_MODEL, + MODEL_HELP, + load_local_model, + resolve_local_checkpoint, +) + + +def history_indices(current, past): + """Past=0 includes only the current frame; future observations are excluded.""" + if current < 0 or past < 0: + raise ValueError("Current frame and past observations must be nonnegative") + return list(range(max(0, current - past), current + 1)) + + +def decode_recording_frame(path, rgb_convention, intrinsics_convention): + with np.load(path, allow_pickle=False) as archive: + decoded = cv2.imdecode(archive["rgb_jpg"], cv2.IMREAD_COLOR) + depth_mm = cv2.imdecode(archive["depth_jp2"], cv2.IMREAD_UNCHANGED) + k = np.asarray(archive["camera_K"], dtype=np.float32).reshape(3, 3) + pose = np.asarray(archive["camera_pose"], dtype=np.float64) + gps = np.asarray(archive["gps"], dtype=np.float64).reshape(-1) + timestamp = float(np.asarray(archive["recv_time"]).reshape(-1)[0]) + if decoded is None or depth_mm is None or decoded.shape[:2] != depth_mm.shape: + raise ValueError(f"RGB-D could not be decoded/aligned: {path}") + if depth_mm.dtype != np.uint16: + raise ValueError(f"Expected 16-bit millimetre depth: {path}") + if ( + pose.shape != (4, 4) + or not np.isfinite(pose).all() + or not np.allclose(pose[3], [0, 0, 0, 1]) + ): + raise ValueError(f"A valid saved camera_pose is required: {path}") + if not np.allclose(pose[:3, :3].T @ pose[:3, :3], np.eye(3), atol=1e-3): + raise ValueError(f"Non-rigid camera pose: {path}") + if not np.isfinite(k).all() or k[0, 0] <= 0 or k[1, 1] <= 0: + raise ValueError(f"Invalid intrinsics: {path}") + if gps.size < 2 or not np.isfinite(gps[:2]).all() or not np.isfinite(timestamp): + raise ValueError(f"Invalid robot position/timestamp: {path}") + rgb = ( + decoded if rgb_convention == "legacy-stretch" else cv2.cvtColor(decoded, cv2.COLOR_BGR2RGB) + ) + recorded_k = k.copy() + if intrinsics_convention == "legacy-stretch-clockwise": + # The old RosCamera implementation swapped cx/cy but did not reflect + # cx when rotating clockwise. Images/poses are already rotated. + k = k.copy() + k[0, 2] = decoded.shape[1] - 1 - recorded_k[0, 2] + return rgb, depth_mm.astype(np.float32) / 1000.0, k, recorded_k, pose, gps[:2], timestamp + + +def encode_points(points, colors, origin, quantization, maximum): + if len(points) > maximum: + indices = np.linspace(0, len(points) - 1, maximum, dtype=int) + points, colors = points[indices], colors[indices] + quantized = np.rint((points - origin) / quantization) + if not np.isfinite(quantized).all() or (np.abs(quantized) > 32767).any(): + raise ValueError("Viewer coordinates exceed int16 bounds; increase --viewer-quantization") + payload = struct.pack(" 32767).any(): + raise ValueError("Voxel display coordinates exceed quantization bounds") + payload = struct.pack("", start)]) + + +def thumbnail(rgb): + height = max(1, round(rgb.shape[0] * 192 / rgb.shape[1])) + bgr = cv2.cvtColor( + cv2.resize(rgb, (192, height), interpolation=cv2.INTER_AREA), cv2.COLOR_RGB2BGR + ) + ok, blob = cv2.imencode(".jpg", bgr, [cv2.IMWRITE_JPEG_QUALITY, 65]) + if not ok: + raise RuntimeError("Could not encode preview") + return "data:image/jpeg;base64," + base64.b64encode(blob).decode("ascii") + + +def depth_thumbnail(depth): + safe = np.nan_to_num(depth, nan=0, posinf=0, neginf=0) + values = np.clip((safe - 0.2) / 4.8 * 255, 0, 255).astype(np.uint8) + rgb = cv2.cvtColor(cv2.applyColorMap(values, cv2.COLORMAP_TURBO), cv2.COLOR_BGR2RGB) + rgb[~valid_depth(depth)] = 0 + return thumbnail(rgb) + + +def build_parser(): + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("--recording", type=Path, required=True) + parser.add_argument("--output", type=Path) + parser.add_argument( + "--lingbot-repo", type=Path, default=Path(__file__).resolve().parents[2] / "lingbot-depth" + ) + parser.add_argument("--model", default=DEFAULT_MODEL, help=MODEL_HELP) + parser.add_argument("--resolution-level", type=int, choices=range(10), default=0) + parser.add_argument("--warmup", type=int, default=2) + parser.add_argument("--filter-noise", action=argparse.BooleanOptionalAction, default=True) + parser.add_argument("--filter-voxel-size", type=float, default=0.02) + parser.add_argument("--filter-neighbors", type=int, default=20) + parser.add_argument("--filter-std-ratio", type=float, default=3.0) + parser.add_argument("--filter-min-neighbors", type=int, default=10) + parser.add_argument("--filter-radius", type=float, default=0.04) + add_depth_edge_filter_args(parser) + parser.add_argument("--add-floor-plane", action=argparse.BooleanOptionalAction, default=True) + parser.add_argument("--floor-size", type=float, default=10.0) + parser.add_argument("--floor-ground-z", type=float, default=0.0) + parser.add_argument("--floor-height-band", type=float, default=0.2) + parser.add_argument("--floor-distance-threshold", type=float, default=0.015) + parser.add_argument("--floor-max-tilt-deg", type=float, default=10.0) + parser.add_argument( + "--rgb-convention", choices=["legacy-stretch", "standard-jpeg"], default="legacy-stretch" + ) + parser.add_argument( + "--intrinsics-convention", + choices=["legacy-stretch-clockwise", "recorded"], + default="legacy-stretch-clockwise", + ) + parser.add_argument("--frame-stride", type=int, default=1) + parser.add_argument( + "--max-frames", type=int, default=0, help="0 processes the entire recording" + ) + parser.add_argument("--viewer-points-per-frame", type=int, default=4000) + parser.add_argument( + "--viewer-quantization", + type=float, + default=0.002, + help="Display coordinate quantization in metres; caches remain float32", + ) + parser.add_argument( + "--default-past", + type=int, + default=9, + help="Past observations in initial HTML view, in addition to the current frame", + ) + parser.add_argument("--voxel-map", action=argparse.BooleanOptionalAction, default=True) + parser.add_argument("--voxel-sizes", type=float, nargs="+", default=[0.05, 0.10]) + parser.add_argument("--voxel-image-stride", type=int, default=4) + parser.add_argument("--voxel-max-update-points", type=int, default=4000) + parser.add_argument("--voxel-max-clear-checks", type=int, default=1000) + parser.add_argument("--voxel-max-cells", type=int, default=50000) + parser.add_argument("--voxel-radius", type=float, default=8.0) + parser.add_argument("--voxel-max-depth", type=float, default=5.0) + parser.add_argument("--voxel-clearing", choices=["projective", "none"], default="projective") + parser.add_argument("--cpu-threads", type=int, default=1) + parser.add_argument( + "--rebuild-viewer", + action="store_true", + help="Reuse the existing HTML/caches; rebuild voxel replay without inference", + ) + return parser + + +def main(): + args = build_parser().parse_args() + if ( + not 0 <= args.filter_edge_band <= 12 + or not np.isfinite(args.filter_edge_jump) + or args.filter_edge_jump <= 0 + ): + raise ValueError("Invalid depth-edge band or depth jump") + if args.frame_stride < 1 or args.max_frames < 0 or args.default_past < 0 or args.warmup < 0: + raise ValueError("Invalid frame stride, frame count, history or warm-up") + if ( + min( + args.filter_voxel_size, + args.filter_std_ratio, + args.filter_radius, + args.floor_size, + args.floor_height_band, + args.floor_distance_threshold, + args.viewer_quantization, + args.viewer_points_per_frame, + ) + <= 0 + or args.filter_min_neighbors < 1 + or args.filter_neighbors < 2 + ): + raise ValueError("Filter/viewer sizes and neighbor counts must be positive") + recording = args.recording.resolve() + metadata = json.loads((recording / "meta.json").read_text()) + paths = sorted((recording / "frames").glob("*.npz"))[:: args.frame_stride] + if args.max_frames: + paths = paths[: args.max_frames] + if not paths: + raise ValueError("No frame archives in recording") + output = ( + args.output + or Path(__file__).resolve().parents[1] + / "outputs" + / f"lingbot_sequence_{metadata.get('sequence_id', recording.name)}" + ) + output = output.resolve() + output.mkdir(parents=True, exist_ok=True) + cache_dir = output / "frames" + cache_dir.mkdir(exist_ok=True) + settings = { + key: value + for key, value in vars(args).items() + if key + not in ( + "output", + "default_past", + "viewer_points_per_frame", + "viewer_quantization", + "lingbot_repo", + "cpu_threads", + "rebuild_viewer", + ) + and not key.startswith("voxel_") + } + settings = { + key: str(value) if isinstance(value, Path) else value for key, value in settings.items() + } + settings["recording"] = str(recording) + settings["source_frames"] = [ + {"name": p.name, "bytes": p.stat().st_size, "mtime_ns": p.stat().st_mtime_ns} for p in paths + ] + settings["lingbot_git_commit"] = subprocess.check_output( + ["git", "-C", str(args.lingbot_repo), "rev-parse", "HEAD"], text=True + ).strip() + signature = hashlib.sha256(json.dumps(settings, sort_keys=True).encode()).hexdigest() + config_path = output / "config.json" + if config_path.exists() and json.loads(config_path.read_text())["signature"] != signature: + raise ValueError( + "Output cache has different processing settings/source; choose a new --output directory" + ) + config_path.write_text( + json.dumps({"signature": signature, "settings": settings}, indent=2) + "\n" + ) + if args.cpu_threads < 1: + raise ValueError("CPU thread budget must be positive") + if args.rebuild_viewer: + payload = load_viewer_payload(output / "viewer.html") + if len(payload["frames"]) != len(paths): + raise ValueError("Existing HTML frame count does not match the requested recording") + if args.voxel_map: + payload["voxelMaps"], voxel_summary = build_voxel_replay( + paths, cache_dir, args, np.asarray(payload["origin"]), output + ) + else: + payload["voxelMaps"], voxel_summary = {}, {} + html_path = write_viewer(payload, output) + summary_path = output / "summary.json" + summary = json.loads(summary_path.read_text()) + summary["voxel_maps"] = voxel_summary + summary["viewer_bytes"] = html_path.stat().st_size + summary["interpretation"] = ( + "Bounded CPU-only surface-voxel memory with recency and sensor-support evidence, compared with point concatenation. Sparse projective clearing checks only stored surface samples; unrepresented volume stays unknown. Floor extensions remain separate priors. Recorded timestamps are arrival times. This is not yet a complete planning costmap." + ) + summary_path.write_text(json.dumps(summary, indent=2) + "\n") + print(f"HTML: {html_path}", flush=True) + return + sys.path.insert(0, str(args.lingbot_repo.resolve())) + model = None + torch.set_num_threads(args.cpu_threads) + viewer_frames, all_metrics = [], [] + origin = None + initial_time = None + newly_processed = 0 + print( + f"Processing {len(paths)} frames; cached frames will be reused. Output: {output}", + flush=True, + ) + print( + f"RGB convention: {args.rgb_convention}; intrinsics: {args.intrinsics_convention}", + flush=True, + ) + for index, path in enumerate(paths): + rgb, raw, k, recorded_k, pose, robot_xy, timestamp = decode_recording_frame( + path, args.rgb_convention, args.intrinsics_convention + ) + if initial_time is None: + initial_time = timestamp + origin = np.array([*robot_xy, 0.0], dtype=float) + cache_path = cache_dir / path.name + metrics_path = cache_dir / f"{path.stem}.json" + if cache_path.exists() and metrics_path.exists(): + with np.load(cache_path, allow_pickle=False) as cached: + refined = cached["depth_refined_m"] + retained = cached["filtered_valid_mask"] + metric = json.loads(metrics_path.read_text()) + else: + if model is None: + if not torch.cuda.is_available(): + raise RuntimeError("Uncached inference requires CUDA") + from mdm.model.v2 import MDMModel + + checkpoint = resolve_local_checkpoint(args.model) + print(f"Local LingBot checkpoint: {checkpoint} (offline)", flush=True) + start = time.perf_counter() + model = load_local_model(MDMModel, checkpoint).to("cuda").eval() + enable_native_attention(model) + torch.cuda.synchronize() + print( + f"Model loaded in {time.perf_counter() - start:.2f}s (excluded from inference times)", + flush=True, + ) + h, w = raw.shape + normalized = k.copy() + normalized[0] /= w + normalized[1] /= h + image_t = ( + torch.from_numpy(rgb.copy()).permute(2, 0, 1).float().div(255).unsqueeze(0).cuda() + ) + depth_t = ( + torch.from_numpy(np.where(valid_depth(raw), raw, 0).astype(np.float32)) + .unsqueeze(0) + .cuda() + ) + k_t = torch.from_numpy(normalized).unsqueeze(0).cuda() + kwargs = dict(depth_in=depth_t, intrinsics=k_t, resolution_level=args.resolution_level) + if newly_processed == 0: + for _ in range(args.warmup): + model.infer(image_t, **kwargs) + torch.cuda.synchronize() + start = time.perf_counter() + prediction = model.infer(image_t, **kwargs) + torch.cuda.synchronize() + inference_s = time.perf_counter() - start + refined = prediction["depth"][0].float().cpu().numpy() + del prediction + valid = valid_depth(refined) + if not valid.any(): + raise RuntimeError(f"No valid prediction for {path.name}") + points = depth_points(refined, k)[valid] + start = time.perf_counter() + retained, filter_stats = filter_depth_mask(refined, raw, k, args) + keep = retained[valid] + filter_s = time.perf_counter() - start + if not keep.any(): + raise RuntimeError(f"All points rejected in {path.name}; inspect filter settings") + world = points[keep] @ pose[:3, :3].T + pose[:3, 3] + start = time.perf_counter() + plane, floor_stats = ( + fit_floor_plane(world, robot_xy, args) + if args.add_floor_plane + else (None, {"status": "disabled"}) + ) + floor_s = time.perf_counter() - start + metric = { + "index": index, + "source_frame": path.name, + "recv_time_s": timestamp, + "elapsed_s": timestamp - initial_time, + "robot_xy": robot_xy.tolist(), + "inference_s": inference_s, + "filter_s": filter_s, + "floor_s": floor_s, + "refined_valid_points": int(valid.sum()), + "retained_points": int(retained.sum()), + "removed_points": int((valid & ~retained).sum()), + "filter": filter_stats, + "floor": floor_stats, + "camera_K_recorded": recorded_k.tolist(), + "camera_K_used": k.tolist(), + } + temporary = cache_path.with_suffix(".tmp") + with temporary.open("wb") as stream: + np.savez_compressed( + stream, + depth_refined_m=refined, + depth_filtered_m=np.where(retained, refined, np.nan), + filtered_valid_mask=retained, + camera_K=k, + camera_pose=pose, + robot_xy=robot_xy, + recv_time_s=timestamp, + floor_plane_world=np.array([]) if plane is None else plane, + ) + temporary.replace(cache_path) + metrics_path.write_text(json.dumps(metric, indent=2) + "\n") + newly_processed += 1 + clouds, counts = {}, {} + for name, depth, mask in [ + ("raw", raw, valid_depth(raw)), + ("refined", refined, valid_depth(refined)), + ("filtered", refined, retained), + ]: + camera_points = depth_points(depth, k)[mask] + world = camera_points @ pose[:3, :3].T + pose[:3, 3] + clouds[name], counts[name] = encode_points( + world, rgb[mask], origin, args.viewer_quantization, args.viewer_points_per_frame + ) + viewer_frames.append( + { + "source": path.name, + "time": timestamp - initial_time, + "robot": robot_xy.tolist(), + "clouds": clouds, + "counts": counts, + "floor": metric["floor"], + "inference_ms": metric["inference_s"] * 1000, + "filter_ms": metric["filter_s"] * 1000, + "floor_ms": metric["floor_s"] * 1000, + "retained": metric["retained_points"], + "removed": metric["removed_points"], + "images": { + "rgb": thumbnail(rgb), + "raw": depth_thumbnail(raw), + "filtered": depth_thumbnail(np.where(retained, refined, np.nan)), + }, + } + ) + all_metrics.append(metric) + if index % 10 == 0 or index == len(paths) - 1: + print( + f"[{index + 1}/{len(paths)}] inference={metric['inference_s'] * 1000:.1f}ms filter={metric['filter_s'] * 1000:.1f}ms floor={metric['floor_s'] * 1000:.1f}ms kept={metric['retained_points']:,}", + flush=True, + ) + payload = { + "sequence": metadata.get("sequence_id", recording.name), + "frames": viewer_frames, + "origin": origin.tolist(), + "quantization": args.viewer_quantization, + "defaultPast": min(args.default_past, len(paths) - 1), + "settings": {key: value for key, value in settings.items() if key != "source_frames"}, + } + voxel_summary = {} + if args.voxel_map: + payload["voxelMaps"], voxel_summary = build_voxel_replay( + paths, cache_dir, args, origin, output + ) + html_path = write_viewer(payload, output) + summary = { + "sequence": payload["sequence"], + "frame_count": len(paths), + "elapsed_recording_s": viewer_frames[-1]["time"], + "newly_processed_frames": newly_processed, + "configuration": settings, + "inference_median_ms": float(np.median([m["inference_s"] for m in all_metrics]) * 1000), + "inference_p95_ms": float( + np.percentile([m["inference_s"] for m in all_metrics], 95) * 1000 + ), + "filter_median_ms": float(np.median([m["filter_s"] for m in all_metrics]) * 1000), + "floor_median_ms": float(np.median([m["floor_s"] for m in all_metrics]) * 1000), + "accepted_floor_frames": sum(m["floor"]["status"] == "accepted" for m in all_metrics), + "viewer_bytes": html_path.stat().st_size, + "voxel_maps": voxel_summary, + "interpretation": "Concatenated point clouds from saved poses, not an occupancy map. Display points are reduced/quantized; cached depths and masks retain full image resolution. Floor extensions are assumed ground, not evidence of free space. recv_time is recorder arrival time, not a sensor synchronization timestamp.", + } + (output / "summary.json").write_text(json.dumps(summary, indent=2) + "\n") + print( + "SUMMARY " + + json.dumps({key: value for key, value in summary.items() if key != "configuration"}), + flush=True, + ) + print(f"HTML: {html_path}", flush=True) + + +if __name__ == "__main__": + try: + main() + except KeyboardInterrupt: + print("\nInterrupted; completed frame caches can be resumed.", flush=True) + raise SystemExit(130) diff --git a/code/stretch_ai/scripts/lingbot_voxel_map.py b/code/stretch_ai/scripts/lingbot_voxel_map.py new file mode 100644 index 0000000000000000000000000000000000000000..b0d023bfc634e89603369c59f06487c5d1667039 --- /dev/null +++ b/code/stretch_ai/scripts/lingbot_voxel_map.py @@ -0,0 +1,453 @@ +"""Bounded CPU-only surface-voxel memory with sparse projective clearing. + +No ray traversal or dense free-volume reconstruction is performed. Clearing +checks only previously stored surface samples against reliable depth patches. +Unrepresented volume stays unknown; this module is an offline mapping prototype. +""" + +from dataclasses import dataclass +import time + +import numpy as np + + +@dataclass(frozen=True) +class VoxelMapConfig: + voxel_size: float = 0.05 + image_stride: int = 4 + max_update_points: int = 4000 + max_clear_checks: int = 1000 + max_voxels: int = 50000 + radius_m: float = 8.0 + max_depth_m: float = 5.0 + clearing: str = "projective" + clear_margin_m: float = 0.10 + agreement_abs_m: float = 0.04 + agreement_rel: float = 0.02 + + +def voxel_keys(points, size): + cells = np.floor(np.asarray(points, dtype=np.float64) / size).astype(np.int64) + if (np.abs(cells) >= 2**20).any(): + raise ValueError("Coordinates exceed sparse voxel-key bounds") + cells += 2**20 + return (cells[:, 0] << 42) | (cells[:, 1] << 21) | cells[:, 2] + + +def classify_scores(scores, age=None, max_age_s=0.0): + """0 uncertain, 1 supported surface, 2 cleared former surface sample.""" + state = np.zeros(len(scores), dtype=np.uint8) + state[scores >= 0.7] = 1 + state[scores <= -0.7] = 2 + if age is not None and max_age_s > 0: + # An old clearance must not resurrect its deleted surface as a weak + # obstacle. Only a newer hit can restore that voxel. + state[(np.asarray(age) > max_age_s) & (state != 2)] = 0 + return state + + +def depth_limit_mask(depth, raw, max_depth_m): + """Select in-range optical depth without pulling a far sensor reading nearer. + + Missing sensor pixels can still supply uncertain model completions. A + positive raw reading beyond the limit cannot supply even weak occupancy, + regardless of whether refinement has moved it inside the limit. + """ + valid = np.isfinite(depth) & (depth > 0.1) & (depth <= max_depth_m) + return valid & ~(raw > max_depth_m) + + +def clearing_patch_evidence(sensor, prediction, z, config): + """All pixels see beyond the old sample; six of nine must closely agree. + + A denoised/sloping background may disagree at a few pixels even when both + estimates clearly see farther. Missing, near or out-of-range pixels still + veto clearing, including any foreground pixel in either depth image. + """ + valid = np.isfinite(sensor) & np.isfinite(prediction) + valid &= (sensor > 0.1) & (sensor <= config.max_depth_m) + valid &= (prediction > 0.1) & (prediction <= config.max_depth_m) + agreement = ( + np.abs(sensor - prediction) <= config.agreement_abs_m + config.agreement_rel * sensor + ) + margin = config.clear_margin_m + np.sqrt(3) * config.voxel_size / 2 + farther = (sensor > np.asarray(z)[..., None] + margin) & ( + prediction > np.asarray(z)[..., None] + margin + ) + clear = valid.all(axis=-1) & farther.all(axis=-1) & (agreement.sum(axis=-1) >= 6) + return clear, valid, agreement, farther + + +class SurfaceVoxelMap: + fields = { + "ids": (np.uint32, ()), + "points": (np.float32, (3,)), + "colors": (np.uint8, (3,)), + "scores": (np.float32, ()), + "last_seen": (np.float64, ()), + "last_supported": (np.float64, ()), + "last_hit": (np.float64, ()), + "last_frame": (np.uint32, ()), + "evidence_frame": (np.uint32, ()), + "geometry_frame": (np.uint32, ()), + "geometry_support": (np.float32, ()), + "last_hit_support": (np.float32, ()), + "source_raw_depth_m": (np.float32, ()), + "source_refined_depth_m": (np.float32, ()), + } + + def __init__(self, config=VoxelMapConfig()): + if config.voxel_size <= 0 or config.radius_m <= 0 or config.max_voxels < 1: + raise ValueError("Invalid voxel size, radius or map capacity") + if config.image_stride < 1 or config.max_update_points < 1 or config.max_clear_checks < 0: + raise ValueError("Invalid update/clearing budget") + if config.clearing not in ("projective", "none"): + raise ValueError("Clearing must be projective or none") + self.config = config + self.keys = np.empty(0, dtype=np.int64) + self.arrays = { + name: np.empty((0, *shape), dtype=dtype) for name, (dtype, shape) in self.fields.items() + } + self.next_id = 0 + self.clear_cursor = 0 + self.previous_time = -np.inf + self.pixel_grid = None + + def _retain(self, keep): + deleted = self.arrays["ids"][~keep].copy() + self.keys = self.keys[keep] + self.arrays = {name: values[keep] for name, values in self.arrays.items()} + return deleted + + def _aggregate(self, depth, retained, rgb, raw, k, pose, robot_xy): + c = self.config + h, w = depth.shape + if self.pixel_grid is None or self.pixel_grid[0] != (h, w): + v, u = np.mgrid[0 : h : c.image_stride, 0 : w : c.image_stride] + self.pixel_grid = ((h, w), v, u) + _, v, u = self.pixel_grid + z = depth[v, u] + valid = retained[v, u] & depth_limit_mask(z, raw[v, u], c.max_depth_m) + u, v, z = u[valid], v[valid], z[valid] + if len(z) > c.max_update_points: + indices = np.linspace(0, len(z) - 1, c.max_update_points, dtype=int) + u, v, z = u[indices], v[indices], z[indices] + camera = np.column_stack([(u - k[0, 2]) * z / k[0, 0], (v - k[1, 2]) * z / k[1, 1], z]) + world = camera @ pose[:3, :3].T + pose[:3, 3] + local = ((world[:, :2] - robot_xy) ** 2).sum(axis=1) <= c.radius_m**2 + u, v, z, world = u[local], v[local], z[local], world[local] + if not len(world): + return ( + np.empty(0, dtype=np.int64), + world.astype(np.float32), + np.empty((0, 3), dtype=np.uint8), + np.empty(0, dtype=np.float32), + 0, + ) + measurement = raw[v, u] + supported = np.isfinite(measurement) & (measurement > 0.1) & (measurement <= c.max_depth_m) + supported &= np.abs(measurement - z) <= c.agreement_abs_m + c.agreement_rel * z + quality = np.where(supported, 1.0, 0.3) + keys, inverse = np.unique(voxel_keys(world, c.voxel_size), return_inverse=True) + weights = np.bincount(inverse, weights=quality, minlength=len(keys)) + counts = np.bincount(inverse, minlength=len(keys)) + xyz = np.column_stack( + [ + np.bincount(inverse, weights=world[:, j] * quality, minlength=len(keys)) / weights + for j in range(3) + ] + ).astype(np.float32) + rgb_values = rgb[v, u] + colors = np.column_stack( + [ + np.bincount(inverse, weights=rgb_values[:, j] * quality, minlength=len(keys)) + / weights + for j in range(3) + ] + ) + source_support = ( + np.bincount(inverse, weights=supported.astype(float), minlength=len(keys)) / counts + ) + return ( + keys, + xyz, + np.rint(colors).astype(np.uint8), + source_support.astype(np.float32), + len(world), + ) + + def _visible_misses(self, raw, depth, retained, k, pose, hit_keys): + """Capped depth-image comparisons; never enumerate cells along rays.""" + c = self.config + if c.clearing == "none" or c.max_clear_checks == 0 or not len(self.keys): + return np.empty(0, dtype=int), 0 + points = self.arrays["points"] + candidates = np.flatnonzero(self.arrays["scores"] > -0.7) + camera = (points[candidates] - pose[:3, 3]) @ pose[:3, :3] + z = camera[:, 2] + # Insertion and depth-patch validation both limit optical-axis depth, + # not Euclidean ray length. A spherical prefilter stranded off-axis + # samples even when reliable in-range patches contradicted them. + forward = (z > 0.3) & (z <= c.max_depth_m) + camera, candidates, z = camera[forward], candidates[forward], z[forward] + if not len(candidates): + return candidates, 0 + u = np.rint(k[0, 0] * camera[:, 0] / z + k[0, 2]).astype(int) + v = np.rint(k[1, 1] * camera[:, 1] / z + k[1, 2]).astype(int) + h, w = raw.shape + inside = (u >= 1) & (u < w - 1) & (v >= 1) & (v < h - 1) + u, v, z, candidates = u[inside], v[inside], z[inside], candidates[inside] + if not len(candidates): + return candidates, 0 + margin = c.clear_margin_m + np.sqrt(3) * c.voxel_size / 2 + # Cheap centre-pixel comparisons prioritize actually visible + # contradictions, rather than spending the budget on occluded or + # behind-camera samples. Only selected 3x3 patches can clear anything. + sensor, prediction = raw[v, u], depth[v, u] + # The spatial filter selects surface points to *insert*. Its density + # mask cannot veto reliable free-space evidence: a sparse background + # may be filtered out even after a moving foreground object leaves. + # Keep the raw/model agreement, full 3x3 validation and bounded budget. + eligible = np.isfinite(sensor) & np.isfinite(prediction) + eligible &= (sensor > z + margin) & (sensor <= c.max_depth_m) + eligible &= (prediction > z + margin) & (prediction <= c.max_depth_m) + u, v, z, candidates = u[eligible], v[eligible], z[eligible], candidates[eligible] + if len(candidates) > c.max_clear_checks: + positions = (self.clear_cursor + np.arange(c.max_clear_checks)) % len(candidates) + self.clear_cursor = (self.clear_cursor + c.max_clear_checks) % len(candidates) + u, v, z, candidates = u[positions], v[positions], z[positions], candidates[positions] + checked = len(candidates) + du, dv = np.meshgrid([-1, 0, 1], [-1, 0, 1]) + uu, vv = u[:, None] + du.ravel(), v[:, None] + dv.ravel() + sensor = raw[vv, uu] + prediction = depth[vv, uu] + clear, _, _, _ = clearing_patch_evidence(sensor, prediction, z, c) + misses = candidates[clear] + # A hit in this same frame has priority over any clearing check. + if len(misses) and len(hit_keys): + misses = misses[~np.isin(self.keys[misses], hit_keys, assume_unique=True)] + return misses, checked + + def update(self, depth, retained, rgb, raw, k, pose, robot_xy, timestamp, frame_index): + start = time.perf_counter() + c = self.config + if timestamp < self.previous_time: + raise ValueError("Voxel updates must be causal and ordered by timestamp") + if ( + depth.shape != raw.shape + or retained.shape != depth.shape + or rgb.shape[:2] != depth.shape + ): + raise ValueError("RGB-D/mask dimensions differ") + self.previous_time = timestamp + deleted_parts = [] + if len(self.keys): + local = ( + (self.arrays["points"][:, 0] - robot_xy[0]) ** 2 + + (self.arrays["points"][:, 1] - robot_xy[1]) ** 2 + ) <= c.radius_m**2 + if not local.all(): + deleted_parts.append(self._retain(local)) + hit_keys, points, colors, support, sampled = self._aggregate( + depth, retained, rgb, raw, k, pose, robot_xy + ) + clear_start = time.perf_counter() + misses, checks = self._visible_misses(raw, depth, retained, k, pose, hit_keys) + clear_s = time.perf_counter() - clear_start + miss_keys = self.keys[misses].copy() + if len(misses): + # Latest reliable observation overrides accumulated hit evidence. + # _visible_misses requires a raw-supported 3x3 patch beyond the + # old surface; floor elsewhere or occlusion cannot trigger this. + self.arrays["scores"][misses] = -1.0 + self.arrays["last_seen"][misses] = timestamp + self.arrays["last_supported"][misses] = timestamp + self.arrays["last_frame"][misses] = frame_index + self.arrays["evidence_frame"][misses] = frame_index + old_n = len(self.keys) + slots = np.searchsorted(self.keys, hit_keys) + exists = slots < old_n + if old_n: + exists[exists] &= self.keys[slots[exists]] == hit_keys[exists] + new_keys = hit_keys[~exists] + new_count = len(new_keys) + if new_count: + merged = np.union1d(self.keys, new_keys) + old_slots = np.searchsorted(merged, self.keys) + new_slots = np.searchsorted(merged, new_keys) + arrays = {} + for name, (dtype, shape) in self.fields.items(): + values = np.zeros((len(merged), *shape), dtype=dtype) + values[old_slots] = self.arrays[name] + arrays[name] = values + arrays["ids"][new_slots] = np.arange( + self.next_id, self.next_id + new_count, dtype=np.uint32 + ) + self.next_id += new_count + self.keys, self.arrays = merged, arrays + slots = np.searchsorted(self.keys, hit_keys) + if len(hit_keys): + reliable = support >= 0.6 + # Use the newest supported geometry, including height-threshold + # crossings inside the same voxel; averaging can retain obstacles. + alpha = np.where(reliable, 1.0, 0.0).astype(np.float32) + alpha[~exists | (self.arrays["scores"][slots] < 0.7)] = 1.0 + alpha[~exists] = 1.0 + previous = self.arrays["points"][slots] + self.arrays["points"][slots] = alpha[:, None] * points + (1 - alpha[:, None]) * previous + # Preserve the source of the stored geometry, even when weaker + # later completions leave a previously supported point unchanged. + camera = (points - pose[:3, 3]) @ pose[:3, :3] + z = camera[:, 2] + u = np.clip( + np.rint(k[0, 0] * camera[:, 0] / z + k[0, 2]).astype(int), 0, raw.shape[1] - 1 + ) + v = np.clip( + np.rint(k[1, 1] * camera[:, 1] / z + k[1, 2]).astype(int), 0, raw.shape[0] - 1 + ) + sensor = raw[v, u] + sensor = np.where( + np.isfinite(sensor) & (sensor > 0.1) & (sensor <= c.max_depth_m), sensor, 0 + ) + changed_geometry = alpha > 0 + geometry_slots = slots[changed_geometry] + self.arrays["geometry_frame"][geometry_slots] = frame_index + self.arrays["geometry_support"][geometry_slots] = support[changed_geometry] + self.arrays["source_refined_depth_m"][geometry_slots] = z[changed_geometry] + self.arrays["source_raw_depth_m"][geometry_slots] = sensor[changed_geometry] + self.arrays["last_hit_support"][slots] = support + old_colors = self.arrays["colors"][slots] + self.arrays["colors"][slots] = np.rint( + alpha[:, None] * colors + (1 - alpha[:, None]) * old_colors + ).astype(np.uint8) + old_score = self.arrays["scores"][slots] + strong = np.ones(len(slots), dtype=np.float32) + # Repeated model-only completions cannot become independently + # confirmed surfaces just through repetition. + weak = np.where( + np.abs(old_score) >= 0.7, + old_score, + np.minimum(0.65, np.maximum(old_score, 0) + 0.25), + ) + self.arrays["scores"][slots] = np.where(reliable, strong, weak) + self.arrays["last_seen"][slots] = timestamp + self.arrays["last_hit"][slots] = timestamp + self.arrays["last_frame"][slots] = frame_index + supported_slots = slots[reliable] + self.arrays["last_supported"][supported_slots] = timestamp + self.arrays["evidence_frame"][supported_slots] = frame_index + changed_keys = np.union1d(hit_keys, miss_keys) + if len(self.keys) > c.max_voxels: + # Keep the most recently observed surface coverage under pressure. + newest = np.argpartition(self.arrays["last_hit"], -c.max_voxels)[-c.max_voxels :] + keep = np.zeros(len(self.keys), dtype=bool) + keep[newest] = True + deleted_parts.append(self._retain(keep)) + deleted = ( + np.concatenate(deleted_parts).astype(np.uint32) + if deleted_parts + else np.empty(0, dtype=np.uint32) + ) + changed = np.searchsorted(self.keys, changed_keys) + in_bounds = changed < len(self.keys) + changed = changed[in_bounds] + changed = changed[self.keys[changed] == changed_keys[in_bounds]] + state = classify_scores(self.arrays["scores"]) + delta = {name: values[changed].copy() for name, values in self.arrays.items()} + delta["deleted_ids"] = deleted + stats = { + "update_ms": (time.perf_counter() - start) * 1000, + "clearing_ms": clear_s * 1000, + "sampled_points": sampled, + "updated_voxels": len(hit_keys), + "new_voxels": new_count, + "projected_checks": checks, + "depth_limit_kind": "optical_axis", + "clearing_observations": len(misses), + "surface_voxels": int((state == 1).sum()), + "uncertain_voxels": int((state == 0).sum()), + "cleared_voxels": int((state == 2).sum()), + "stored_voxels": len(self.keys), + "evicted_voxels": len(deleted), + "state_array_bytes": sum(values.nbytes for values in self.arrays.values()) + + self.keys.nbytes, + } + return delta, stats + + def reconcile_ground(self, plane, drop_height=0.2, ground_band=0.05): + """Newer measured ground supersedes old below-ground samples in its XY cell. + + A nearer newly measured floor hides an old low sample, so the usual + farther-depth projection test cannot clear that old layer. Compare + bounded stored columns instead. Never erase elevated surfaces or a + same-frame/newer drop, and never use extrapolated/unconfirmed ground. + """ + started = time.perf_counter() + changed = np.empty(0, dtype=int) + if plane is not None and len(self.keys): + a = self.arrays + height = a["points"] @ np.asarray(plane)[:3] + plane[3] + ground = ( + (np.abs(height) <= ground_band) + & (a["scores"] >= 0.7) + & (a["geometry_support"] >= 0.6) + ) + below = (height < -drop_height) & (a["scores"] > -0.7) + if ground.any() and below.any(): + cells = np.floor( + a["points"][:, :2].astype(np.float64) / self.config.voxel_size + ).astype(np.int64) + keys = ((cells[:, 0] + 2**20) << 21) | (cells[:, 1] + 2**20) + proof_keys, inverse = np.unique(keys[ground], return_inverse=True) + proof_time = np.full(len(proof_keys), -np.inf) + np.maximum.at(proof_time, inverse, a["last_supported"][ground]) + latest = a["last_supported"][ground] == proof_time[inverse] + proof_height = np.full(len(proof_keys), np.inf) + np.minimum.at(proof_height, inverse[latest], height[ground][latest]) + proof_frame = np.zeros(len(proof_keys), np.uint32) + np.maximum.at(proof_frame, inverse[latest], a["evidence_frame"][ground][latest]) + candidates = np.flatnonzero(below) + slots = np.searchsorted(proof_keys, keys[candidates]) + match = slots < len(proof_keys) + slots = np.minimum(slots, len(proof_keys) - 1) + match &= proof_keys[slots] == keys[candidates] + # All new measured drop samples win over ground observed in + # that same frame; unknown holes or lower shelves cannot prove + # a floor. Keep a voxel-sized height margin as well. + margin = self.config.clear_margin_m + np.sqrt(3) * self.config.voxel_size / 2 + match &= proof_time[slots] > a["last_hit"][candidates] + match &= proof_height[slots] - height[candidates] > margin + changed, proof = candidates[match], slots[match] + supported_count = int((a["scores"][changed] >= 0.7).sum()) + a["scores"][changed] = -1.0 + a["last_seen"][changed] = proof_time[proof] + a["last_supported"][changed] = proof_time[proof] + a["last_frame"][changed] = proof_frame[proof] + a["evidence_frame"][changed] = proof_frame[proof] + else: + supported_count = 0 + else: + supported_count = 0 + return { + "ground_reconcile_ms": (time.perf_counter() - started) * 1000, + "ground_column_clearing_observations": len(changed), + "ground_column_cleared_supported": supported_count, + "ground_column_cleared_uncertain": len(changed) - supported_count, + "ground_column_cleared_ids": self.arrays["ids"][changed][:16].tolist(), + } + + def snapshot(self, timestamp, max_age_s=15.0): + confirmed = np.abs(self.arrays["scores"]) >= 0.7 + evidence_time = np.where(confirmed, self.arrays["last_supported"], self.arrays["last_seen"]) + age = timestamp - evidence_time + return { + **self.arrays, + "keys": self.keys, + "age_s": age, + "effective_scores": ( + np.where(age > max_age_s, 0, self.arrays["scores"]) + if max_age_s > 0 + else self.arrays["scores"] + ), + "state": classify_scores(self.arrays["scores"], age, max_age_s), + } diff --git a/environment/gpu.txt b/environment/gpu.txt new file mode 100644 index 0000000000000000000000000000000000000000..9f21625c644284da9c024f225c12e18d47016c7d --- /dev/null +++ b/environment/gpu.txt @@ -0,0 +1,2 @@ +name, driver_version, memory.total [MiB] +NVIDIA GeForce RTX 4090 Laptop GPU, 580.178.04, 16376 MiB diff --git a/environment/map_metadata_sanitization.json b/environment/map_metadata_sanitization.json new file mode 100644 index 0000000000000000000000000000000000000000..bf22ad34200082485f3d5bcdfeac67d266990d09 --- /dev/null +++ b/environment/map_metadata_sanitization.json @@ -0,0 +1,7 @@ +{ + "arrays": 50, + "changed_strings": 3, + "original_sha256": "1323967c3c840bb08d71c39208553a0c8dadeceaf0885ebff27f796ddc7b26bc", + "shared_sha256": "2b96324879f961cb54de19d5ebd7f1861cdcfbfaf8bde3a67f8d6ddf41d2314b", + "change": "Three model-checkpoint paths in query map config made portable; every numpy column is byte-identical." +} diff --git a/environment/package_validation.json b/environment/package_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..8b04287c0253177f1aec33f9c01ed1f77fa0ddcf --- /dev/null +++ b/environment/package_validation.json @@ -0,0 +1,23 @@ +{ + "archives_verified": 9, + "archive_and_run_map_member_sha256_checks": "passed", + "all_vggt_manifests_restored": 381, + "actual_model_passes": 380, + "view_references": 2662, + "unique_input_assets": 429, + "raw_rgb_depth_pairs": 680, + "bev_sets": 380, + "packaged_replay_test": "passed: failure-frame metadata/RGB/BEV served; review-only motion disabled", + "packaged_inspector_test": "passed: frame 677 exported seven views, numeric inputs, depth and BEV stages", + "native_reference_and_query_map_readback": { + "reference_permanent_keyframes": 997, + "query_permanent_keyframes": 1061, + "result": "passed" + }, + "attachment_recheck_frame_677": { + "nearby_before_depth_check": 26, + "clear_after_depth_check": 0 + }, + "model_weights_included": false, + "original_recordings_modified": false +} diff --git a/environment/pip_freeze.txt b/environment/pip_freeze.txt new file mode 100644 index 0000000000000000000000000000000000000000..640b3f8ffedb7ab01181f180d923c2eb41bc883f --- /dev/null +++ b/environment/pip_freeze.txt @@ -0,0 +1,170 @@ +addict==2.4.0 +annotated-doc==0.0.5 +annotated-types==0.8.0 +anyio==4.15.1 +apsw==3.54.1.0 +argcomplete==3.7.2 +asttokens==3.0.2 +attrs==26.1.0 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It does not prove whether the returns represent physical obstacles, self observations, noise or accumulated old returns." +} diff --git a/reports/stretch_cross_nav_live_20261026_goal1012_02/events.jsonl b/reports/stretch_cross_nav_live_20261026_goal1012_02/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0ba38f8955660bd0bff5e2eeafeb52c9ec129f94 --- /dev/null +++ b/reports/stretch_cross_nav_live_20261026_goal1012_02/events.jsonl @@ -0,0 +1,5 @@ +{"type": "start_requested", "time_unix": 1793002925.2956462, "goal": 1012} +{"type": "head_survey_started", "time_unix": 1793003030.2048795, "frame_idx": 639, "reason": "learned path footprint", "pass_number": 1, "targets": [["front floor", [-0.048868813836942346, -1.0320030494822334]], ["left floor", [0.5011311861630577, -1.0320030494822334]], ["right floor", [-0.7488688138369423, -1.0320030494822334]], ["right surroundings", [-0.7488688138369423, -0.39539885687866744]], ["left surroundings", 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"nearest_distance_m": 0.18279052722196534, "attachment_limit_m": 0.75, "candidate_count": 0, "connection_check": "measured_depth", "switch_margin_m": 0.25}, "corner_observation": {"phase": "cruise", "target": [-1.979900648205292, 1.836904993897177], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": false, "head_survey": {"active": true, "pass": 1, "view": 2, "total": 6, "label": "left floor", "settled_views": 1, "reason": "learned path footprint"}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 675}, "footprint_evidence": null, "native_local_path_body": [[0.49210578203201294, -0.061204999685287476], [0.9251067042350769, -0.22956176102161407], [1.4233111143112183, -0.271897554397583], [1.4571057558059692, -0.27476930618286133], [1.4571057558059692, -0.27476930618286133], [1.4571057558059692, -0.27476930618286133], [1.4571057558059692, -0.27476930618286133], [1.4571057558059692, -0.27476930618286133], [1.4571057558059692, -0.27476930618286133], [1.4571057558059692, -0.27476930618286133], [1.4571057558059692, -0.27476930618286133], [1.4571057558059692, -0.27476930618286133], [1.4571057558059692, -0.27476930618286133], [1.4571057558059692, -0.27476930618286133], [1.4571057558059692, -0.27476930618286133], [1.4571057558059692, -0.27476930618286133]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.11502242088317871, -0.8458607196807861, 0.5208547711372375, 9.959280014038086], [0.43796634674072266, 0.5138041973114014, 0.7376929521560669, -1.0343636274337769], [-0.8916028141975403, 0.14326554536819458, 0.4295573830604553, 2.3896896839141846], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.49700192315503955, "input_age_at_publish_s": 0.540324870031327, "vggt_debug_frame": "frames/00000679/frame.json"} diff --git a/reports/stretch_cross_nav_live_20261026_goal1012_02/recording_validation.json b/reports/stretch_cross_nav_live_20261026_goal1012_02/recording_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..e27aa116519bd67a22f20a4c62330361f88fdbea --- /dev/null +++ b/reports/stretch_cross_nav_live_20261026_goal1012_02/recording_validation.json @@ -0,0 +1,32 @@ +{ + "raw_rgb": 680, + "raw_depth": 680, + "bev_sets": 380, + "debug": { + "status": "closed", + "frames": 381, + "passes": 380, + "unique_views": 429, + "bytes": 2820524001, + "write_s": 77.92335288459435, + "snapshot_s": 6.297079508192837, + "queued_frames": 0, + "error": null, + "run_error": null + }, + "relay": { + "verified": true, + "attempts": 1, + "container": "b515a78d1fe6", + "directory": "/tmp/stretch_depth_nav_12a1fef2ecd6498b9add453d56480e4a", + "errors": [], + "process_exit_code": 0 + }, + "stop_audit": { + "runstopped": false, + "streaming_position": true, + "samples": 242, + "max_translation_m": 2.2838229159607906e-05 + }, + "review_url": "http://127.0.0.1:8088" +} diff --git a/reports/stretch_cross_nav_live_20261026_goal1012_02/resolved_bev_config.json b/reports/stretch_cross_nav_live_20261026_goal1012_02/resolved_bev_config.json new file mode 100644 index 0000000000000000000000000000000000000000..2220e1784616edb114d01747f6d3645f9b9c2e80 --- /dev/null +++ b/reports/stretch_cross_nav_live_20261026_goal1012_02/resolved_bev_config.json @@ -0,0 +1,77 @@ +{ + "_comment": "bev_planner_best.json with the heads fine-tuned on CROSS's default checkpoint vfin2 (Jamie-nus/VGGT-Omega-CROSS vggt_omega_cross_1b_512.pt): occupancy cross_nav/configs/train/vfin2_route_ft.yaml, observability vfin2_vis_ft.yaml (its frozen gravity = the occupancy file). For CROSS's own pass (pose_est.ff.nav_bev_head / nav_bev_visibility / nav_bev_visibility_gravity = occupancy / visibility / visibility_gravity below; cross_nav/policy/sim/cross_nav_service.py --bev this file) and for the standalone planner with --backbone vfin2. HSSD val240: CROSS shared pass 97.1 / 97.9 %, SPL 0.73 / 0.74 (the vdl_s1 heads on vfin2: 95.0 / 94.2 %, 0.68); standalone on vfin2 96.7 %, SPL 0.76 (outputs/2026-10-16_vfin2_heads). The hybrid planner keeps bev_planner_best.json (its trajectory head shares the vdl_s1 backbone).", + "backbone": "/workspace/CROSS/models/VGGT-Omega-CROSS/vggt_omega_cross_1b_512.pt", + "occupancy": "/workspace/CROSS/models/VGGT-Omega-CROSS/nav/cross_nav_occupancy.pt", + "visibility": "/workspace/CROSS/models/VGGT-Omega-CROSS/nav/cross_nav_observability.pt", + "visibility_gravity": "/workspace/CROSS/models/VGGT-Omega-CROSS/nav/cross_nav_occupancy.pt", + "history_m": [ + 0.0, + 0.5, + 1.0, + 2.0, + 4.0, + 8.0, + 16.0, + 32.0 + ], + "image_hw": null, + "area": 262144, + "gravity": "imu", + "scale": "odometry", + "min_baseline_m": 0.2, + "dedupe_views": true, + "planner": { + "thresholds": [ + 0.75, + 0.625, + 0.5, + 0.375, + 0.25 + ], + "risk_weight": 128.0, + "visibility_weight": 16.0, + "radius": 0.23, + "min_travel": 1.0, + "min_progress": 0.5 + }, + "goal_margin_m": 0.25, + "blind_zone": "fallback", + "blind_zone_m": 1.3, + "blind_zone_hfov_deg": 90.0, + "no_path": "rotate_hold", + "turn_point_m": 0.3, + "horizon": 16, + "spacing": 0.5, + "debug_cells": 100, + "max_chunk": 16, + "history_rule": { + "type": "keyframe", + "trans": 0.5, + "rot_deg": 30, + "lags": [ + 0, + 1, + 2, + 4, + 8, + 16, + 32, + 64 + ] + }, + "occ_block": 0.6, + "near_goal_m": 1.0, + "near_goal_occ": 0.5, + "near_goal_clear_m": 0.1, + "memory_steps": 4, + "relax_after": 8, + "bump": true, + "scale_memory": true, + "map": { + "retry": true, + "retry_radii": [], + "radius": 0.23 + }, + "unstick_after": 6, + "unstick_clear_m": 0.5 +} diff --git a/reports/stretch_cross_nav_live_20261026_goal1012_02/robot_relay_close.json b/reports/stretch_cross_nav_live_20261026_goal1012_02/robot_relay_close.json new file mode 100644 index 0000000000000000000000000000000000000000..82d2869b67af252b768c93737db3144c13588d38 --- /dev/null +++ b/reports/stretch_cross_nav_live_20261026_goal1012_02/robot_relay_close.json @@ -0,0 +1,8 @@ +{ + "verified": true, + "attempts": 1, + "container": "b515a78d1fe6", + "directory": "/tmp/stretch_depth_nav_12a1fef2ecd6498b9add453d56480e4a", + "errors": [], + "process_exit_code": 0 +} diff --git a/reports/stretch_cross_nav_live_20261026_goal1012_02/stop_audit.json b/reports/stretch_cross_nav_live_20261026_goal1012_02/stop_audit.json new file mode 100644 index 0000000000000000000000000000000000000000..7966912a5b1988bc47236cb6f0c2185d308daf86 --- /dev/null +++ b/reports/stretch_cross_nav_live_20261026_goal1012_02/stop_audit.json @@ -0,0 +1,6 @@ +{ + "runstopped": false, + "streaming_position": true, + "samples": 242, + "max_translation_m": 2.2838229159607906e-05 +} diff --git a/reports/stretch_cross_nav_live_20261026_goal1012_02/summary.json b/reports/stretch_cross_nav_live_20261026_goal1012_02/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..90c98c4c9212e97a99a0f9d408c8d0b2e48c3cc1 --- /dev/null +++ b/reports/stretch_cross_nav_live_20261026_goal1012_02/summary.json @@ -0,0 +1,181 @@ +{ + "run": "stretch_cross_nav_live_20261026_goal1012_02", + "start_unix_s": 1793002925.2956462, + "end_unix_s": 1793003039.7340841, + "active_duration_s": 114.43843793869019, + "odom_distance_m": 7.880627260461022, + "reason": "no global route; navigation ended", + "goal_distance_m": 5.555432516849263, + "raw_frames": 680, + "published_observations": 381, + "unique_observed_commands": 1927, + "observed_rejections": 16, + "camera_timing_s": { + "source_age_at_send_s": { + "n": 680, + "median": 0.07757270336151123, + "p95": 0.11919093132019043, + "max": 0.21323394775390625 + }, + "source_age_via_status_s": { + "n": 622, + "median": 0.08346641063690186, + "p95": 0.13091492652893066, + "max": 0.2060995101928711 + }, + "post_publish_delay_via_status_s": { + "n": 622, + "median": 0.006035566329956055, + "p95": 0.027446269989013672, + "max": 0.13620924949645996 + }, + "recv_call_s": { + "n": 680, + "median": 2.8016511350870132e-05, + "p95": 5.748402327299118e-05, + "max": 0.010549208149313927 + }, + 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0.017422906000319927, + "p95": 0.023271121000107087, + "max": 0.026005218000136665 + } + }, + "model_compute_s": { + "n": 381, + "median": 0.35967296781018376, + "p95": 0.45075417309999466, + "max": 1.8353027389384806 + }, + "input_age_at_publish_s": { + "n": 381, + "median": 0.5000268639996648, + "p95": 0.643283296842128, + "max": 1.8660329482518137 + }, + "source_frame_gap": { + "n": 622, + "median": -1.0, + "p95": 0, + "max": 0 + }, + "debug": { + "status": "closed", + "frames": 381, + "passes": 380, + "unique_views": 429, + "bytes": 2820524001, + "write_s": 77.92335288459435, + "snapshot_s": 6.297079508192837, + "queued_frames": 0, + "error": null, + "run_error": null + }, + "last_route_attachment": { + "nearest_keyframe": 1057, + "nearest_distance_m": 0.18279052722196534, + "attachment_limit_m": 0.75, + "candidate_count": 0, + "connection_check": "measured_depth", + "switch_margin_m": 0.25 + }, + "head_views_confirmed": 1, + "transport_lag_reproduced": false, + "original_trigger_verified": false, + "tcp_camera_stream": { + "pc": { + "samples": 170, + "recv_queue_bytes": { + "n": 170, + "median": 0.0, + "p95": 0, + "max": 5792 + }, + "send_queue_bytes": { + "n": 170, + "median": 0.0, + "p95": 0, + "max": 0 + }, + "rtt_ms": { + "n": 170, + "median": 5.048, + "p95": 5.048, + "max": 5.048 + } + }, + "robot": { + "samples": 170, + "recv_queue_bytes": { + "n": 170, + "median": 0.0, + "p95": 0, + "max": 0 + }, + "send_queue_bytes": { + "n": 170, + "median": 0.0, + "p95": 111381, + "max": 173047 + }, + "rtt_ms": { + "n": 170, + "median": 6.951499999999999, + "p95": 11.479, + "max": 15.212 + } + } + }, + "bev_sets": 380, + "robot_stop_audit": { + "runstopped": false, + "streaming_position": true, + "samples": 242, + "max_translation_m": 2.2838229159607906e-05 + } +} diff --git a/reports/stretch_cross_nav_live_20261026_goal1012_02/vggt_index.jsonl b/reports/stretch_cross_nav_live_20261026_goal1012_02/vggt_index.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c109f5db84adf1d3da5e99007024dad61221e0c5 --- /dev/null +++ b/reports/stretch_cross_nav_live_20261026_goal1012_02/vggt_index.jsonl @@ -0,0 +1,381 @@ +{"capture_frame": 98, "passes": 0, "file": "frames/00000098/frame.json"} +{"capture_frame": 99, "passes": 1, "file": "frames/00000099/frame.json"} +{"capture_frame": 106, "passes": 1, "file": "frames/00000106/frame.json"} +{"capture_frame": 110, "passes": 1, "file": "frames/00000110/frame.json"} +{"capture_frame": 111, "passes": 1, "file": "frames/00000111/frame.json"} +{"capture_frame": 112, "passes": 1, "file": "frames/00000112/frame.json"} +{"capture_frame": 113, "passes": 1, "file": "frames/00000113/frame.json"} +{"capture_frame": 115, "passes": 1, "file": "frames/00000115/frame.json"} +{"capture_frame": 116, "passes": 1, "file": "frames/00000116/frame.json"} +{"capture_frame": 117, "passes": 1, "file": "frames/00000117/frame.json"} +{"capture_frame": 119, "passes": 1, "file": 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"eb3328443291477457184d5c86aa7292318a44525b43b8be3afa45fd0a786610" + }, + "README.md": { + "path": "/workspace/CROSS/models/VGGT-Omega-CROSS/README.md", + "bytes": 15106, + "sha256": "7fcb81c1eee2df763aa7e19b4351957c86433775858c317700484a0d2dc742e9" + } + } + }, + "cross_git_revision": "4781371e6f4db4241be0a0df7c238436680ee268", + "checkpoints": { + "vggt_omega_cross_1b_512.pt": { + "bytes": 2315585871, + "sha256": "8b3c4c920cf6b7e2b3f4ce296e2426c604b69d00f59481bddb8a4b62981897e1" + }, + "nav/cross_nav_occupancy.pt": { + "bytes": 146473481, + "sha256": "a0d27dfa188d46b0d845d45494ff7baf0cc747e05ab3ac10d11edf9ceca8f14e" + }, + "nav/cross_nav_observability.pt": { + "bytes": 120158117, + "sha256": "eb3328443291477457184d5c86aa7292318a44525b43b8be3afa45fd0a786610" + } + } + }, + "input_encoding": "Exact per-view CHW tensors; shared content-addressed lossless NPZ assets", + "bfloat16_storage": "Converted losslessly to float32; original dtype recorded on inference inputs", + "outputs": "Geometry predictions, raw float BEV-head outputs, consumed BEV, base grid and planner state", + "intermediate_transformer_tokens_saved": false, + "write_policy": "Bounded asynchronous lossless compression; no sampling or silent drops", + "runtime": { + "torch": "2.6.0+cu124", + "cuda": "12.4", + "backend": "_VGGTOmegaBackend", + "estimator": "PoseEstFeedForward", + "cuda_graphs": true, + "compiled": true + } +} diff --git a/tools/analyze_attachment.py b/tools/analyze_attachment.py new file mode 100644 index 0000000000000000000000000000000000000000..624d09c499194d848e0065db629e51614bfe2aa9 --- /dev/null +++ b/tools/analyze_attachment.py @@ -0,0 +1,65 @@ +#!/usr/bin/env python3 +"""Recheck the saved depth veto at frame 677, without a robot, GPU or pickle.""" +import argparse +import json +from pathlib import Path +import sys + +import numpy as np + + +def main(): + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument('--extracted', type=Path, default=Path('extracted')) + parser.add_argument('--frame', type=int, default=677) + parser.add_argument('--output', type=Path) + args = parser.parse_args() + dataset = Path(__file__).resolve().parents[1] + sys.path.insert(0, str(dataset / 'code/lite3_ROS')) + from web_console.stretch_nav_control import attachment_clear + + case = json.loads((dataset / 'manifest.json').read_text()) + run = args.extracted / 'runs' / case['case'] + mapping = args.extracted / 'maps' / case['reference_map'] + observations = {x['frame_idx']: x for x in map(json.loads, (run / 'observations.jsonl').read_text().splitlines())} + raw = {x['frame_idx']: x for x in map(json.loads, (run / 'capture/observations.jsonl').read_text().splitlines())} + row, source = observations[args.frame], raw[args.frame] + camera = np.asarray(source['camera_pose']) + base = np.asarray(source['base_pose_matrix']) + neutral = np.asarray(row['neutral_camera_in_base']) + alignment = np.asarray(row['native_map_camera']) @ np.linalg.inv(camera) + reference = base @ neutral + reference_map = alignment @ reference + inv_alignment = np.linalg.inv(alignment) + graph = json.loads((mapping / 'graph.json').read_text()) + with np.load(run / 'footprint_evidence' / f'{args.frame:08d}.npz', allow_pickle=False) as evidence: + points = evidence['measured_obstacles_odom'].copy() + candidates = [] + for node in graph['nodes']: + if node['temporary']: + continue + position = np.asarray(node['pose'])[:3, 3] + distance = np.linalg.norm(position - reference_map[:3, 3]) + if distance > .75: + continue + target_odom = inv_alignment[:3, :3] @ position + inv_alignment[:3, 3] + target = base[:2, 3] + target_odom[:2] - reference[:2, 3] + candidates.append({'keyframe': node['id'], 'distance_m': float(distance), + 'depth_attachment_clear': bool(attachment_clear(points, source['base_pose'], target))}) + result = {'capture_frame': args.frame, 'localized': row['localized'], + 'recorded_attachment': row['route_attachment'], + 'candidate_scope': 'All permanent nodes within 0.75 m; native graph reachability is not re-evaluated.', + 'nearby_before_depth_check': len(candidates), + 'clear_after_depth_check': sum(x['depth_attachment_clear'] for x in candidates), + 'measured_obstacle_points': len(points), 'candidates': candidates, + 'interpretation': 'This checks the recorded adapter depth veto. It does not prove whether the returns ' + 'represent physical obstacles, self observations, noise or accumulated old returns.'} + text = json.dumps(result, indent=2) + '\n' + if args.output: + args.output.parent.mkdir(parents=True, exist_ok=True) + args.output.write_text(text) + print(text) + + +if __name__ == '__main__': + main() diff --git a/tools/unpack.py b/tools/unpack.py new file mode 100644 index 0000000000000000000000000000000000000000..1aa0fc3365ef783ef926e76faccaf50bd9552127 --- /dev/null +++ b/tools/unpack.py @@ -0,0 +1,80 @@ +#!/usr/bin/env python3 +"""Verify the dataset archives and extract the saved run, map and native source.""" +import argparse +import hashlib +import json +from pathlib import Path +import shutil +import tarfile + + +def sha256(path): + result = hashlib.sha256() + with path.open('rb') as stream: + for block in iter(lambda: stream.read(8 * 1024 * 1024), b''): + result.update(block) + return result.hexdigest() + + +def main(): + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument('--output', type=Path, default=Path('extracted')) + parser.add_argument('--dataset', type=Path, default=Path(__file__).resolve().parents[1]) + args = parser.parse_args() + dataset, output = args.dataset.resolve(), args.output.resolve() + output.mkdir(parents=True, exist_ok=True) + manifest = json.loads((dataset / 'manifest.json').read_text()) + pending_links = [] + for entry in manifest['archives']: + path = dataset / entry['path'] + print('Verify/extract:', entry['path'], flush=True) + if path.stat().st_size != entry['bytes'] or sha256(path) != entry['sha256']: + raise ValueError('Archive checksum mismatch: ' + str(path)) + expected = {x['path']: x for x in entry.get('members', [])} + seen = set() + with tarfile.open(path, 'r:*') as archive: + # Native CROSS contains one relative package alias. Defer symlinks + # until ordinary files are extracted and validate their targets. + for member in archive: + name = Path(member.name) + if name.is_absolute() or '..' in name.parts: + raise ValueError('Unsafe archive member: ' + member.name) + target = output / name + if target.is_symlink() or any(p.is_symlink() for p in target.parents): + raise ValueError('Extraction path contains a symlink') + if member.isdir(): + target.mkdir(parents=True, exist_ok=True) + elif member.isfile(): + if expected and member.name not in expected: + raise ValueError('Unlisted archive member: ' + member.name) + if target.exists(): + raise FileExistsError('Choose an empty output directory: ' + str(target)) + target.parent.mkdir(parents=True, exist_ok=True) + with archive.extractfile(member) as source, target.open('xb') as dest: + shutil.copyfileobj(source, dest, 8 * 1024 * 1024) + if member.name in expected and sha256(target) != expected[member.name]['sha256']: + raise ValueError('Extracted member checksum mismatch: ' + member.name) + seen.add(member.name) + elif member.issym(): + link = Path(member.linkname) + if link.is_absolute(): + raise ValueError('Absolute symlink target') + resolved = (target.parent / link).resolve() + resolved.relative_to(output) + pending_links.append((target, member.linkname, resolved)) + else: + raise ValueError('Non-regular archive member: ' + member.name) + if expected and seen != set(expected): + raise ValueError('Missing archive members') + for target, link, resolved in pending_links: + if not resolved.exists() or target.exists() or target.is_symlink(): + raise ValueError('Invalid source alias: ' + str(target)) + if any(p.is_symlink() for p in target.parents): + raise ValueError('Source alias parent is a symlink') + target.parent.mkdir(parents=True, exist_ok=True) + target.symlink_to(link) + print('Ready:', output / 'runs' / manifest['case']) + + +if __name__ == '__main__': + main()