From 1c630989b6a8736be3dbbf60b45bd67be1355e46 Mon Sep 17 00:00:00 2001
From: copystring <copystring@gmail.com>
Date: Sat, 13 Dec 2025 01:45:49 +0100
Subject: [PATCH 1/3] fix: invert Y coordinate to match backend generation

---
 build/lib/buildInfo.js     |  4 ++--
 build/lib/buildInfo.js.map |  2 +-
 build/tsconfig.tsbuildinfo |  2 +-
 src/www/coords.ts          | 14 ++++++++++----
 4 files changed, 14 insertions(+), 8 deletions(-)

diff --git a/build/lib/buildInfo.js b/build/lib/buildInfo.js
index 9690312468..539bf52eaf 100644
--- a/build/lib/buildInfo.js
+++ b/build/lib/buildInfo.js
@@ -2,7 +2,7 @@
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.buildInfo = void 0;
 exports.buildInfo = {
-    buildDate: "13.12.2025, 01:32:08",
-    commitHash: "e8fa0600 (local changes)",
+    buildDate: "13.12.2025, 01:36:06",
+    commitHash: "d37368ad (local changes)",
 };
 //# sourceMappingURL=buildInfo.js.map
\ No newline at end of file
diff --git a/build/lib/buildInfo.js.map b/build/lib/buildInfo.js.map
index a5b351c33a..d63fc398a1 100644
--- a/build/lib/buildInfo.js.map
+++ b/build/lib/buildInfo.js.map
@@ -1 +1 @@
-{"version":3,"file":"buildInfo.js","sourceRoot":"","sources":["../../src/lib/buildInfo.ts"],"names":[],"mappings":";;;AAAa,QAAA,SAAS,GAAG;IACxB,SAAS,EAAE,sBAAsB;IACjC,UAAU,EAAE,0BAA0B;CACtC,CAAC","sourcesContent":["export const buildInfo = {\n\tbuildDate: \"13.12.2025, 01:32:08\",\n\tcommitHash: \"e8fa0600 (local changes)\",\n};\n"]}
\ No newline at end of file
+{"version":3,"file":"buildInfo.js","sourceRoot":"","sources":["../../src/lib/buildInfo.ts"],"names":[],"mappings":";;;AAAa,QAAA,SAAS,GAAG;IACxB,SAAS,EAAE,sBAAsB;IACjC,UAAU,EAAE,0BAA0B;CACtC,CAAC","sourcesContent":["export const buildInfo = {\n\tbuildDate: \"13.12.2025, 01:36:06\",\n\tcommitHash: \"d37368ad (local changes)\",\n};\n"]}
\ No newline at end of file
diff --git a/build/tsconfig.tsbuildinfo b/build/tsconfig.tsbuildinfo
index 7e687d69bb..81384ed38a 100644
--- a/build/tsconfig.tsbuildinfo
+++ b/build/tsconfig.tsbuildinfo
@@ -1 +1 @@
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\ No newline at end of file
diff --git a/src/www/coords.ts b/src/www/coords.ts
index a542947106..416d67e9fe 100644
--- a/src/www/coords.ts
+++ b/src/www/coords.ts
@@ -26,8 +26,12 @@ export function localCoordsToRobotCoords(localPoint: Point, params: MapParams):
 	// X-Axis: (Unscaled Pixel X + Offset X) * 50
 	const robotX = Math.round((localPoint.x / params.scaleFactor + params.left) * MM_PER_PIXEL);
 
-	// Y-Axis (Inverted Logic): ((H_px) + top_px - Y_px / s) * 50
-	const robotY = Math.round((params.imageHeight + params.topMap - localPoint.y / params.scaleFactor) * MM_PER_PIXEL);
+	// Y-Axis (Inverted Logic):
+	// y = H - (C - RobotY)*S
+	// RobotY = C - (H - y)/S = Top + y/S
+	// Note: C includes H/S which cancels out H/S
+
+	const robotY = Math.round((params.topMap + localPoint.y / params.scaleFactor) * MM_PER_PIXEL);
 
 	return { x: robotX, y: robotY };
 }
@@ -42,8 +46,10 @@ export function robotCoordsToLocalCoords(robotPoint: Point, params: MapParams):
 	// X-Axis: (mm / 50 - Offset px) * scale
 	const worldX = (robotPoint.x / MM_PER_PIXEL - params.left) * params.scaleFactor;
 
-	// Y-Axis (Inverted Logic): ((H_px) + top_px - Y_mm/50) * scale
-	const worldY = (params.imageHeight + params.topMap - robotPoint.y / MM_PER_PIXEL) * params.scaleFactor;
+	// Y-Axis (Inverted Logic to match Backend): H_scaled - ((H_unscaled + Top - Y_mm/50) * scale)
+	// This matches mapCreator.ts: dimensions.height - ...
+	const unscaledY = params.imageHeight / params.scaleFactor + params.topMap - robotPoint.y / MM_PER_PIXEL;
+	const worldY = params.imageHeight - unscaledY * params.scaleFactor;
 
 	return { x: worldX, y: worldY };
 }

From b0893fcb0d0dc7b6067077153908ffcb0970120e Mon Sep 17 00:00:00 2001
From: copystring <copystring@gmail.com>
Date: Sat, 13 Dec 2025 01:50:55 +0100
Subject: [PATCH 2/3] fix: compile www frontend to apply map fixes

---
 src/www/coords.ts | 14 ++++----------
 1 file changed, 4 insertions(+), 10 deletions(-)

diff --git a/src/www/coords.ts b/src/www/coords.ts
index 416d67e9fe..d09feeb3d4 100644
--- a/src/www/coords.ts
+++ b/src/www/coords.ts
@@ -26,12 +26,8 @@ export function localCoordsToRobotCoords(localPoint: Point, params: MapParams):
 	// X-Axis: (Unscaled Pixel X + Offset X) * 50
 	const robotX = Math.round((localPoint.x / params.scaleFactor + params.left) * MM_PER_PIXEL);
 
-	// Y-Axis (Inverted Logic):
-	// y = H - (C - RobotY)*S
-	// RobotY = C - (H - y)/S = Top + y/S
-	// Note: C includes H/S which cancels out H/S
-
-	const robotY = Math.round((params.topMap + localPoint.y / params.scaleFactor) * MM_PER_PIXEL);
+	// Y-Axis (Inverted Logic): ((H_px / s) + top_px - Y_px / s) * 50
+	const robotY = Math.round((params.imageHeight / params.scaleFactor + params.topMap - localPoint.y / params.scaleFactor) * MM_PER_PIXEL);
 
 	return { x: robotX, y: robotY };
 }
@@ -46,10 +42,8 @@ export function robotCoordsToLocalCoords(robotPoint: Point, params: MapParams):
 	// X-Axis: (mm / 50 - Offset px) * scale
 	const worldX = (robotPoint.x / MM_PER_PIXEL - params.left) * params.scaleFactor;
 
-	// Y-Axis (Inverted Logic to match Backend): H_scaled - ((H_unscaled + Top - Y_mm/50) * scale)
-	// This matches mapCreator.ts: dimensions.height - ...
-	const unscaledY = params.imageHeight / params.scaleFactor + params.topMap - robotPoint.y / MM_PER_PIXEL;
-	const worldY = params.imageHeight - unscaledY * params.scaleFactor;
+	// Y-Axis (Inverted Logic): ((H_px / s) + top_px - Y_mm/50) * scale
+	const worldY = (params.imageHeight / params.scaleFactor + params.topMap - robotPoint.y / MM_PER_PIXEL) * params.scaleFactor;
 
 	return { x: worldX, y: worldY };
 }

From ee6d789ee33c6ee63d47e7bbc3b99af196bcf904 Mon Sep 17 00:00:00 2001
From: copystring <copystring@gmail.com>
Date: Sat, 13 Dec 2025 03:44:03 +0100
Subject: [PATCH 3/3] fix(map): Ensure pixel-perfect map alignment and sync
 backend

- Improved alignment for carpets and room names by correcting grid coordinate logic
- Synced backend image generation with frontend visual standards (mop path opacity, alignment)
- Refactored coordinate calculations to use shared constants and added regression tests for stability
- Optimized mop path width for better visual clarity
---
 build/lib/buildInfo.js      |   4 +-
 build/lib/buildInfo.js.map  |   2 +-
 build/lib/mapCreator.js     |  18 ++--
 build/lib/mapCreator.js.map |   2 +-
 build/tsconfig.tsbuildinfo  |   2 +-
 src/lib/mapCreator.ts       |  18 ++--
 src/www/coords.test.ts      |  75 +++++++++-------
 src/www/coords.ts           |  33 +++++--
 src/www/map.ts              | 171 ++++++++++++++++++------------------
 www/coords.d.ts             |   2 +
 www/coords.js               |  29 ++++--
 www/coords.js.map           |   2 +-
 www/map.js                  | 159 +++++++++++++++++----------------
 www/map.js.map              |   2 +-
 14 files changed, 290 insertions(+), 229 deletions(-)

diff --git a/build/lib/buildInfo.js b/build/lib/buildInfo.js
index 539bf52eaf..4e9d464ab8 100644
--- a/build/lib/buildInfo.js
+++ b/build/lib/buildInfo.js
@@ -2,7 +2,7 @@
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.buildInfo = void 0;
 exports.buildInfo = {
-    buildDate: "13.12.2025, 01:36:06",
-    commitHash: "d37368ad (local changes)",
+    buildDate: "13.12.2025, 01:50:55",
+    commitHash: "b0893fcb (local changes)",
 };
 //# sourceMappingURL=buildInfo.js.map
\ No newline at end of file
diff --git a/build/lib/buildInfo.js.map b/build/lib/buildInfo.js.map
index d63fc398a1..7612486288 100644
--- a/build/lib/buildInfo.js.map
+++ b/build/lib/buildInfo.js.map
@@ -1 +1 @@
-{"version":3,"file":"buildInfo.js","sourceRoot":"","sources":["../../src/lib/buildInfo.ts"],"names":[],"mappings":";;;AAAa,QAAA,SAAS,GAAG;IACxB,SAAS,EAAE,sBAAsB;IACjC,UAAU,EAAE,0BAA0B;CACtC,CAAC","sourcesContent":["export const buildInfo = {\n\tbuildDate: \"13.12.2025, 01:36:06\",\n\tcommitHash: \"d37368ad (local changes)\",\n};\n"]}
\ No newline at end of file
+{"version":3,"file":"buildInfo.js","sourceRoot":"","sources":["../../src/lib/buildInfo.ts"],"names":[],"mappings":";;;AAAa,QAAA,SAAS,GAAG;IACxB,SAAS,EAAE,sBAAsB;IACjC,UAAU,EAAE,0BAA0B;CACtC,CAAC","sourcesContent":["export const buildInfo = {\n\tbuildDate: \"13.12.2025, 01:50:55\",\n\tcommitHash: \"b0893fcb (local changes)\",\n};\n"]}
\ No newline at end of file
diff --git a/build/lib/mapCreator.js b/build/lib/mapCreator.js
index 33420140eb..794812ef30 100644
--- a/build/lib/mapCreator.js
+++ b/build/lib/mapCreator.js
@@ -77,10 +77,16 @@ class MapCreator {
         return dimensions.height - Math.floor(px / (dimensions.width / VISUAL_BLOCK_SIZE)) * VISUAL_BLOCK_SIZE - VISUAL_BLOCK_SIZE;
     }
     robotXtoCanvasX(image, robotCoord) {
-        return (robotCoord - image.position.left) * VISUAL_BLOCK_SIZE;
+        // Calculate base X
+        const x = (robotCoord - image.position.left) * VISUAL_BLOCK_SIZE;
+        // Add centering offset (+1.5px) to align with pixel center
+        return x + VISUAL_BLOCK_SIZE / 2;
     }
     robotYtoCanvasY(image, robotCoord) {
-        return (image.dimensions.height / VISUAL_BLOCK_SIZE + image.position.top - robotCoord) * VISUAL_BLOCK_SIZE;
+        // Calculate base Y
+        const y = (image.dimensions.height / VISUAL_BLOCK_SIZE + image.position.top - robotCoord) * VISUAL_BLOCK_SIZE;
+        // Add centering offset (-1.5px) to align with pixel center
+        return y - VISUAL_BLOCK_SIZE / 2;
     }
     // --------------------
     // Drawing Helpers
@@ -158,8 +164,9 @@ class MapCreator {
     drawPathSegments(mainCtx, tempCtx, pathSegments, color, width, opacity, dashed = false) {
         if (!pathSegments || pathSegments.length === 0)
             return;
-        const offsetX = 4;
-        const offsetY = -4;
+        // No additional offsets required
+        const offsetX = 0;
+        const offsetY = 0;
         const w = tempCtx.canvas.width;
         const h = tempCtx.canvas.height;
         tempCtx.clearRect(0, 0, w, h);
@@ -407,7 +414,8 @@ class MapCreator {
         const lwMain = Math.max(1, VISUAL_BLOCK_SIZE / 2);
         const tempCanvas = (0, canvas_1.createCanvas)(ctx.canvas.width, ctx.canvas.height);
         const tempCtx = tempCanvas.getContext("2d");
-        this.drawPathSegments(ctx, tempCtx, pathSegments.mainPath, LEGACY_COLORS.path, lwMain, 0.5);
+        this.drawPathSegments(ctx, tempCtx, pathSegments.mopPath, "rgba(255, 255, 255, 1)", 6.5 * VISUAL_BLOCK_SIZE, 0.18);
+        this.drawPathSegments(ctx, tempCtx, pathSegments.mainPath, LEGACY_COLORS.path, lwMain, 1.0);
     }
     drawActiveZones(ctx, zones, image) {
         if (zones?.[0]) {
diff --git a/build/lib/mapCreator.js.map b/build/lib/mapCreator.js.map
index 41eeb5aa7d..74c4703563 100644
--- a/build/lib/mapCreator.js.map
+++ b/build/lib/mapCreator.js.map
@@ -1 +1 @@
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{ Roborock } from \"../main\";\r\nimport { createCanvas, loadImage, Image, type Canvas, type CanvasRenderingContext2D } from \"@napi-rs/canvas\";\r\nimport { assignRoborockRoomColorsToHex } from \"./roomColoring\";\r\nimport * as Images from \"./images\";\r\nimport { processPaths, type PathResult, type PathPoint } from \"./pathProcessor.js\";\r\nimport * as fs from \"fs\";\r\nimport * as path from \"path\";\r\n\r\n// -----------------------------------------------------------------------------\r\n// Constants & Interfaces\r\n// -----------------------------------------------------------------------------\r\n\r\nconst OFFSET = 60;\r\nconst MAX_BLOCK_NUM = 32;\r\nconst VISUAL_BLOCK_SIZE = 3; // Replaces fixed map_scale with 3\r\n\r\nconst ORG_COLORS = [\"#C05A41\", \"#4579B5\", \"#017E82\", \"#BD7B00\", \"#434242\", \"#dfdfdf\"];\r\n\r\nconst LEGACY_COLORS = {\r\n\tfloor: \"#23465e\",\r\n\tobstacle: \"#2b2e30\",\r\n\tpath: \"#FFFFFF\",\r\n};\r\n\r\ninterface CanvasMapOptions {\r\n\tselectedMap?: any;\r\n\tmappedRooms?: any;\r\n\toptions?: {\r\n\t\tFLOORCOLOR?: string;\r\n\t\tWALLCOLOR?: string;\r\n\t\tPATHCOLOR?: string;\r\n\t\tnewmap?: boolean;\r\n\t\tROBOT?: string;\r\n\t};\r\n}\r\n\r\ninterface Dimensions {\r\n\twidth: number;\r\n\theight: number;\r\n}\r\n\r\n// Define a custom interface to handle missing type definitions in @napi-rs/canvas\r\ninterface ExtendedContext2D extends CanvasRenderingContext2D {\r\n\tdrawImage(image: Image | Canvas, dx: number, dy: number, dw?: number, dh?: number): void;\r\n\tcanvas: Canvas;\r\n\tantialias?: string;\r\n}\r\n\r\n// -----------------------------------------------------------------------------\r\n// Map Creator Class\r\n// -----------------------------------------------------------------------------\r\n\r\nexport class MapCreator {\r\n\tadapter: Roborock;\r\n\tcolors: { floor: string; obstacle: string; path: string; newmap: boolean };\r\n\r\n\tconstructor(adapter: Roborock) {\r\n\t\tthis.adapter = adapter;\r\n\t\tthis.colors = {\r\n\t\t\tfloor: LEGACY_COLORS.floor,\r\n\t\t\tobstacle: LEGACY_COLORS.obstacle,\r\n\t\t\tpath: LEGACY_COLORS.path,\r\n\t\t\tnewmap: true,\r\n\t\t};\r\n\t}\r\n\r\n\t// --------------------\r\n\t// Coordinate Helpers\r\n\t// --------------------\r\n\r\n\tprivate getX(dimensions: Dimensions, px: number): number {\r\n\t\treturn (px * VISUAL_BLOCK_SIZE) % dimensions.width;\r\n\t}\r\n\r\n\tprivate getY(dimensions: Dimensions, px: number): number {\r\n\t\treturn dimensions.height - Math.floor(px / (dimensions.width / VISUAL_BLOCK_SIZE)) * VISUAL_BLOCK_SIZE - VISUAL_BLOCK_SIZE;\r\n\t}\r\n\r\n\tprivate robotXtoCanvasX(image: any, robotCoord: number): number {\r\n\t\treturn (robotCoord - image.position.left) * VISUAL_BLOCK_SIZE;\r\n\t}\r\n\r\n\tprivate robotYtoCanvasY(image: any, robotCoord: number): number {\r\n\t\treturn (image.dimensions.height / VISUAL_BLOCK_SIZE + image.position.top - robotCoord) * VISUAL_BLOCK_SIZE;\r\n\t}\r\n\r\n\t// --------------------\r\n\t// Drawing Helpers\r\n\t// --------------------\r\n\r\n\t/**\r\n\t * Creates a pre-rendered sprite for a single carpet tile.\r\n\t * Logic matches renderCarpetTest.js exactly.\r\n\t */\r\n\tprivate createCarpetSprite(): Canvas {\r\n\t\t// Create a tiny canvas just for one tile (3x3)\r\n\t\tconst spriteCanvas = createCanvas(VISUAL_BLOCK_SIZE, VISUAL_BLOCK_SIZE);\r\n\t\tconst ctx = spriteCanvas.getContext(\"2d\") as unknown as ExtendedContext2D;\r\n\r\n\t\t// Disable AA for the sprite generation too\r\n\t\tctx.imageSmoothingEnabled = false;\r\n\t\tif (\"antialias\" in ctx) ctx.antialias = \"none\";\r\n\r\n\t\t// Carpet color (semi-transparent dark)\r\n\t\tctx.fillStyle = \"rgba(0, 0, 0, 0.4)\";\r\n\r\n\t\tconst STRIDE = 3;\r\n\r\n\t\t// Draw the pattern ONCE here\r\n\t\tfor (let dx = 0; dx < VISUAL_BLOCK_SIZE; dx++) {\r\n\t\t\tfor (let dy = 0; dy < VISUAL_BLOCK_SIZE; dy++) {\r\n\t\t\t\tconst sum = dx + dy;\r\n\t\t\t\t// Diagonal pattern logic: x + y = k\r\n\t\t\t\t// We use offset 2 to center the diagonal line in a typical 3x3 block\r\n\t\t\t\tif (sum % STRIDE === 2) {\r\n\t\t\t\t\tctx.fillRect(dx, dy, 1, 1);\r\n\t\t\t\t}\r\n\t\t\t}\r\n\t\t}\r\n\r\n\t\treturn spriteCanvas;\r\n\t}\r\n\r\n\tprivate buildAdjacencyMatrix(segmentPixels: number[], width: number, height: number, maxIdFromCaller: number): number[][] {\r\n\t\tlet maxSegInPixels = 0;\r\n\t\tfor (const px of segmentPixels) {\r\n\t\t\tconst segnum = px >>> 21;\r\n\t\t\tif (segnum > maxSegInPixels) maxSegInPixels = segnum;\r\n\t\t}\r\n\t\tconst size = Math.max(maxIdFromCaller + 1, maxSegInPixels + 1, MAX_BLOCK_NUM);\r\n\r\n\t\tconst matrix: number[][] = Array.from({ length: size }, () => Array(size).fill(0));\r\n\t\tconst segMap = new Int16Array(width * height).fill(-1);\r\n\r\n\t\tfor (const px of segmentPixels) {\r\n\t\t\tconst pixelIndex = px & 0x1fffff;\r\n\t\t\tconst segnum = px >>> 21;\r\n\t\t\tif (pixelIndex >= 0 && pixelIndex < segMap.length && segnum < size) {\r\n\t\t\t\tsegMap[pixelIndex] = segnum;\r\n\t\t\t}\r\n\t\t}\r\n\r\n\t\tfor (let i = 0; i < segMap.length; i++) {\r\n\t\t\tconst segA = segMap[i];\r\n\t\t\tif (segA < 0) continue;\r\n\t\t\tconst x = i % width;\r\n\t\t\tconst y = Math.floor(i / width);\r\n\r\n\t\t\tif (segA < size) matrix[segA][segA] = 1;\r\n\r\n\t\t\tif (y > 0) {\r\n\t\t\t\tconst segB = segMap[i - width];\r\n\t\t\t\tif (segB >= 0 && segA !== segB && segA < size && segB < size) {\r\n\t\t\t\t\tmatrix[segA][segB] = 1;\r\n\t\t\t\t\tmatrix[segB][segA] = 1;\r\n\t\t\t\t}\r\n\t\t\t}\r\n\t\t\tif (x > 0) {\r\n\t\t\t\tconst segB = segMap[i - 1];\r\n\t\t\t\tif (segB >= 0 && segA !== segB && segA < size && segB < size) {\r\n\t\t\t\t\tmatrix[segA][segB] = 1;\r\n\t\t\t\t\tmatrix[segB][segA] = 1;\r\n\t\t\t\t}\r\n\t\t\t}\r\n\t\t}\r\n\t\treturn matrix;\r\n\t}\r\n\r\n\tprivate drawPathSegments(\r\n\t\tmainCtx: ExtendedContext2D,\r\n\t\ttempCtx: CanvasRenderingContext2D,\r\n\t\tpathSegments: PathPoint[][],\r\n\t\tcolor: string,\r\n\t\twidth: number,\r\n\t\topacity: number,\r\n\t\tdashed: boolean = false\r\n\t) {\r\n\t\tif (!pathSegments || pathSegments.length === 0) return;\r\n\r\n\t\tconst offsetX = 4;\r\n\t\tconst offsetY = -4;\r\n\r\n\t\tconst w = (tempCtx as any).canvas.width;\r\n\t\tconst h = (tempCtx as any).canvas.height;\r\n\r\n\t\ttempCtx.clearRect(0, 0, w, h);\r\n\r\n\t\ttempCtx.strokeStyle = color;\r\n\t\ttempCtx.lineWidth = width;\r\n\t\ttempCtx.lineCap = \"round\";\r\n\t\ttempCtx.lineJoin = \"round\";\r\n\r\n\t\tif (dashed) {\r\n\t\t\ttempCtx.setLineDash([VISUAL_BLOCK_SIZE, 2 * VISUAL_BLOCK_SIZE]);\r\n\t\t} else {\r\n\t\t\ttempCtx.setLineDash([]);\r\n\t\t}\r\n\r\n\t\ttempCtx.beginPath();\r\n\t\tpathSegments.forEach((segment) => {\r\n\t\t\tif (segment.length > 0) {\r\n\t\t\t\ttempCtx.moveTo(segment[0].x + offsetX, segment[0].y + offsetY);\r\n\t\t\t\tfor (let i = 1; i < segment.length; i++) {\r\n\t\t\t\t\ttempCtx.lineTo(segment[i].x + offsetX, segment[i].y + offsetY);\r\n\t\t\t\t}\r\n\t\t\t}\r\n\t\t});\r\n\t\ttempCtx.stroke();\r\n\r\n\t\tmainCtx.save();\r\n\t\tmainCtx.globalAlpha = opacity;\r\n\t\tmainCtx.drawImage((tempCtx as any).canvas, 0, 0);\r\n\t\tmainCtx.restore();\r\n\t}\r\n\r\n\t// --------------------\r\n\t// Main Map Generation\r\n\t// --------------------\r\n\r\n\tpublic async canvasMap(mapdata: any, params: CanvasMapOptions = {}): Promise<[string, string, string]> {\r\n\t\tconst { mappedRooms = null, options = {} } = params;\r\n\r\n\t\tif (!mapdata || !mapdata.IMAGE || !mapdata.IMAGE.dimensions) {\r\n\t\t\tthis.adapter.log.warn(`[MapCreator] Received invalid or empty map data, cannot generate map.`);\r\n\t\t\tconst errorCanvas = createCanvas(1, 1).toDataURL();\r\n\t\t\treturn [errorCanvas, errorCanvas, errorCanvas];\r\n\t\t}\r\n\r\n\t\tthis.applyOptions(options);\r\n\r\n\t\tconst [imgRobot, imgCharger, imgGoToPin] = await this.loadImages(options.ROBOT);\r\n\r\n\t\t// Use VISUAL_BLOCK_SIZE for scaling logic\r\n\t\tmapdata.IMAGE.dimensions.width *= VISUAL_BLOCK_SIZE;\r\n\t\tmapdata.IMAGE.dimensions.height *= VISUAL_BLOCK_SIZE;\r\n\r\n\t\tconst canvas = createCanvas(mapdata.IMAGE.dimensions.width, mapdata.IMAGE.dimensions.height);\r\n\t\tconst ctx = canvas.getContext(\"2d\") as unknown as ExtendedContext2D;\r\n\r\n\t\t// 1. Draw Floor & Walls\r\n\t\tconst bounds = this.drawFloorAndWalls(ctx, mapdata.IMAGE);\r\n\r\n\t\t// 2. Draw Segments\r\n\t\tconst segmentsData = this.drawSegments(ctx, mapdata.IMAGE, mapdata.CURRENTLY_CLEANED_BLOCKS);\r\n\r\n\t\t// --- SAVE CLEAN MAP (WITHOUT CARPET) ---\r\n\t\tconst cleanMapUncroppedBase64 = this.getCleanMapBase64(canvas);\r\n\r\n\t\t// 3. Draw Carpet\r\n\t\tthis.drawCarpet(ctx, mapdata.CARPET_MAP, mapdata.IMAGE);\r\n\r\n\t\t// 4. Draw Paths\r\n\t\tthis.drawPaths(ctx, mapdata);\r\n\r\n\t\t// 5. Draw Active Zones\r\n\t\tthis.drawActiveZones(ctx, mapdata.CURRENTLY_CLEANED_ZONES, mapdata.IMAGE);\r\n\r\n\t\t// 6. Draw Restricted Areas\r\n\t\tthis.drawRestrictedAreas(ctx, mapdata);\r\n\r\n\t\t// 7. Draw Predicted Path\r\n\t\tthis.drawPredictedPath(ctx, mapdata.GOTO_PREDICTED_PATH, mapdata.IMAGE);\r\n\r\n\t\t// 8. Draw Obstacles\r\n\t\tawait this.drawObstacles(ctx, mapdata.OBSTACLES2, mapdata.IMAGE);\r\n\r\n\t\t// 9. Draw Robot & Charger & Target\r\n\t\tthis.drawRobotChargerTarget(ctx, mapdata, imgRobot, imgCharger, imgGoToPin);\r\n\r\n\t\t// 10. Draw Room Names\r\n\t\tthis.drawRoomNames(ctx, segmentsData, mappedRooms);\r\n\r\n\t\t// --- Get full uncropped map (INCLUDES Carpet) ---\r\n\t\tconst fullMapUncroppedBase64 = canvas.toDataURL();\r\n\r\n\t\t// 11. Crop & Return\r\n\t\tconst croppedMapBase64 = this.cropMap(canvas, ctx, bounds);\r\n\r\n\t\treturn [cleanMapUncroppedBase64, fullMapUncroppedBase64, croppedMapBase64];\r\n\t}\r\n\r\n\tprivate applyOptions(options: any) {\r\n\t\tif (options) {\r\n\t\t\tif (options.FLOORCOLOR) this.colors.floor = options.FLOORCOLOR;\r\n\t\t\tif (options.WALLCOLOR) this.colors.obstacle = options.WALLCOLOR;\r\n\t\t\tif (options.PATHCOLOR) this.colors.path = options.PATHCOLOR;\r\n\t\t\tthis.colors.newmap = options.newmap ?? true;\r\n\t\t}\r\n\t}\r\n\r\n\tprivate async loadImages(robotType?: string) {\r\n\t\tlet robotImgSource = Images.IMG_ROBOT_ORIGINAL;\r\n\t\tswitch (robotType) {\r\n\t\t\tcase \"robot\":\r\n\t\t\t\trobotImgSource = Images.IMG_ROBOT_DEFAULT;\r\n\t\t\t\tbreak;\r\n\t\t\tcase \"robot1\":\r\n\t\t\t\trobotImgSource = Images.IMG_ROBOT1;\r\n\t\t\t\tbreak;\r\n\t\t\tcase \"tank\":\r\n\t\t\t\trobotImgSource = Images.IMG_TANK;\r\n\t\t\t\tbreak;\r\n\t\t\tcase \"spaceship\":\r\n\t\t\t\trobotImgSource = Images.IMG_SPACESHIP;\r\n\t\t\t\tbreak;\r\n\t\t\tcase \"robot2\":\r\n\t\t\t\trobotImgSource = Images.IMG_ROBOT_2;\r\n\t\t\t\tbreak;\r\n\t\t}\r\n\t\treturn Promise.all([loadImage(robotImgSource), loadImage(Images.IMG_CHARGER), loadImage(Images.IMG_GO_TO_PIN)]);\r\n\t}\r\n\r\n\tprivate drawFloorAndWalls(ctx: ExtendedContext2D, image: any) {\r\n\t\tlet maxtop = 0,\r\n\t\t\tmaxleft = 0,\r\n\t\t\tminleft = image.dimensions.width,\r\n\t\t\tmintop = image.dimensions.height;\r\n\r\n\t\tif (image.pixels.floor && image.pixels.floor.length > 0) {\r\n\t\t\tif (typeof image.pixels.floor[0] === \"number\") {\r\n\t\t\t\tminleft = image.pixels.floor[0] % image.dimensions.width;\r\n\t\t\t\tmintop = image.dimensions.height - 1 - Math.floor(image.pixels.floor[0] / image.dimensions.width);\r\n\t\t\t}\r\n\t\t\t[\"floor\", \"obstacle\"].forEach((key) => {\r\n\t\t\t\tif (!image.pixels[key]) return;\r\n\t\t\t\tctx.beginPath();\r\n\t\t\t\timage.pixels[key].forEach((px: any) => {\r\n\t\t\t\t\tconst x = this.getX(image.dimensions, px);\r\n\t\t\t\t\tconst y = this.getY(image.dimensions, px);\r\n\t\t\t\t\tctx.fillStyle = key === \"obstacle\" ? (this.colors.newmap ? ORG_COLORS[4] : this.colors.obstacle) : this.colors.newmap ? ORG_COLORS[5] : this.colors.floor;\r\n\t\t\t\t\tctx.rect(x, y, VISUAL_BLOCK_SIZE, VISUAL_BLOCK_SIZE);\r\n\t\t\t\t\tmaxtop = Math.max(maxtop, y);\r\n\t\t\t\t\tmaxleft = Math.max(maxleft, x);\r\n\t\t\t\t\tminleft = Math.min(minleft, x);\r\n\t\t\t\t\tmintop = Math.min(mintop, y);\r\n\t\t\t\t});\r\n\t\t\t\tctx.fill();\r\n\t\t\t});\r\n\t\t}\r\n\t\treturn { minleft, mintop, maxleft, maxtop };\r\n\t}\r\n\r\n\tprivate drawSegments(ctx: ExtendedContext2D, image: any, currentlyCleanedBlocks: number[]) {\r\n\t\tconst segmentsData: Record<number, any> = {};\r\n\t\tif (image.pixels.segments && this.colors.newmap) {\r\n\t\t\timage.pixels.segments.forEach((px: any) => {\r\n\t\t\t\tconst segnum = px >> 21;\r\n\t\t\t\tconst pixelIndex = px & 0x1fffff;\r\n\t\t\t\tif (segnum >= MAX_BLOCK_NUM) return;\r\n\t\t\t\tconst x = this.getX(image.dimensions, pixelIndex);\r\n\t\t\t\tconst y = this.getY(image.dimensions, pixelIndex);\r\n\t\t\t\tif (!segmentsData[segnum]) segmentsData[segnum] = { points: [], minX: x, maxX: x, minY: y, maxY: y };\r\n\t\t\t\tconst segment = segmentsData[segnum];\r\n\t\t\t\tsegment.points.push({ x, y });\r\n\t\t\t\tsegment.minX = Math.min(segment.minX, x);\r\n\t\t\t\tsegment.maxX = Math.max(segment.maxX, x);\r\n\t\t\t\tsegment.minY = Math.min(segment.minY, y);\r\n\t\t\t\tsegment.maxY = Math.max(segment.maxY, y);\r\n\t\t\t});\r\n\r\n\t\t\tconst segmentNums = Object.keys(segmentsData).map(Number);\r\n\t\t\tconst maxId = segmentNums.length ? Math.max(...segmentNums) : 0;\r\n\t\t\tconst matrixSize = MAX_BLOCK_NUM;\r\n\t\t\tconst adjacencyMatrix = this.buildAdjacencyMatrix(image.pixels.segments, image.dimensions.width, image.dimensions.height, maxId);\r\n\t\t\tconst pointsCount = new Array(matrixSize).fill(0);\r\n\t\t\tfor (const segStr of Object.keys(segmentsData)) {\r\n\t\t\t\tconst seg = Number(segStr);\r\n\t\t\t\tif (seg >= 0 && seg < matrixSize) pointsCount[seg] = segmentsData[seg].points.length;\r\n\t\t\t}\r\n\t\t\tconst neighborInfo = new Array(matrixSize * matrixSize).fill(0);\r\n\t\t\tfor (let i = 0; i < matrixSize; i++) {\r\n\t\t\t\tfor (let j = 0; j < matrixSize; j++) {\r\n\t\t\t\t\tif (adjacencyMatrix[i]?.[j] === 1) neighborInfo[i * matrixSize + j] = 1;\r\n\t\t\t\t}\r\n\t\t\t\tif (pointsCount[i] > 0) neighborInfo[i * matrixSize + i] = 1;\r\n\t\t\t}\r\n\t\t\tconst coloring = assignRoborockRoomColorsToHex({ maxBlockNum: matrixSize, neighborInfo, pointsCount }, { oneBased: true });\r\n\r\n\t\t\tObject.keys(segmentsData).forEach((segStr) => {\r\n\t\t\t\tconst segnum = Number(segStr);\r\n\t\t\t\tif (segnum < 0 || segnum >= matrixSize) return;\r\n\t\t\t\tconst isCurrentlyCleaned = currentlyCleanedBlocks?.includes(segnum);\r\n\t\t\t\tlet fillColor = coloring.colorHex?.[segnum] || \"#CCCCCC\";\r\n\t\t\t\tif (isCurrentlyCleaned) fillColor = segnum >= 0 && segnum < ORG_COLORS.length ? ORG_COLORS[segnum] : \"#AA0000\";\r\n\t\t\t\tctx.fillStyle = fillColor;\r\n\t\t\t\tctx.beginPath();\r\n\t\t\t\tsegmentsData[segnum].points.forEach((p: any) => {\r\n\t\t\t\t\tctx.rect(p.x, p.y, VISUAL_BLOCK_SIZE, VISUAL_BLOCK_SIZE);\r\n\t\t\t\t});\r\n\t\t\t\tctx.fill();\r\n\t\t\t});\r\n\t\t} else if (image.pixels.segments) {\r\n\t\t\tlet segnum: number, lastcolor: number | undefined;\r\n\t\t\tctx.beginPath();\r\n\t\t\timage.pixels.segments.forEach((px: any) => {\r\n\t\t\t\tsegnum = px >> 21;\r\n\t\t\t\tif (currentlyCleanedBlocks?.includes(segnum)) {\r\n\t\t\t\t\tif (segnum !== lastcolor) {\r\n\t\t\t\t\t\tctx.fill();\r\n\t\t\t\t\t\tctx.beginPath();\r\n\t\t\t\t\t\tctx.fillStyle = segnum >= 0 && segnum < ORG_COLORS.length ? ORG_COLORS[segnum] : \"#CCCCCC\";\r\n\t\t\t\t\t\tlastcolor = segnum;\r\n\t\t\t\t\t}\r\n\t\t\t\t\tpx = px & 0xfffff;\r\n\t\t\t\t\tctx.rect(this.getX(image.dimensions, px), this.getY(image.dimensions, px), VISUAL_BLOCK_SIZE, VISUAL_BLOCK_SIZE);\r\n\t\t\t\t}\r\n\t\t\t});\r\n\t\t\tctx.fill();\r\n\t\t}\r\n\t\treturn segmentsData;\r\n\t}\r\n\r\n\tprivate getCleanMapBase64(canvas: Canvas) {\r\n\t\tconst cleanCanvas = createCanvas(canvas.width, canvas.height);\r\n\t\tconst ctx = cleanCanvas.getContext(\"2d\") as unknown as ExtendedContext2D;\r\n\t\tctx.drawImage(canvas, 0, 0);\r\n\t\treturn cleanCanvas.toDataURL();\r\n\t}\r\n\r\n\tprivate drawCarpet(ctx: ExtendedContext2D, carpetMap: any, image: any) {\r\n\t\tif (carpetMap && image.dimensions.width > 0) {\r\n\t\t\tctx.imageSmoothingEnabled = false;\r\n\t\t\tif (\"antialias\" in ctx) ctx.antialias = \"none\";\r\n\r\n\t\t\tconst carpetSprite = this.createCarpetSprite();\r\n\r\n\t\t\tcarpetMap.forEach((px: any) => {\r\n\t\t\t\tconst x_pos = this.getX(image.dimensions, px);\r\n\t\t\t\tconst y_pos = this.getY(image.dimensions, px);\r\n\t\t\t\tctx.drawImage(carpetSprite, x_pos, y_pos);\r\n\t\t\t});\r\n\t\t}\r\n\t}\r\n\r\n\tprivate drawPaths(ctx: ExtendedContext2D, mapdata: any) {\r\n\t\tconst robotToScaledPixel = (robotCoord: [number, number], img: any): PathPoint => {\r\n\t\t\treturn {\r\n\t\t\t\tx: this.robotXtoCanvasX(img, robotCoord[0] / 50),\r\n\t\t\t\ty: this.robotYtoCanvasY(img, robotCoord[1] / 50),\r\n\t\t\t};\r\n\t\t};\r\n\r\n\t\tconst pathSegments: PathResult = (mapdata.PATH?.points && mapdata.MOP_PATH)\r\n\t\t\t? processPaths(mapdata.PATH.points, mapdata.MOP_PATH, robotToScaledPixel, VISUAL_BLOCK_SIZE, mapdata.IMAGE)\r\n\t\t\t: {\r\n\t\t\t\tmainPath: [[]],\r\n\t\t\t\tbackwashPath: [[]],\r\n\t\t\t\tpureCleanPath: [[]],\r\n\t\t\t\tmopPath: [[]],\r\n\t\t\t\tmainPathD: \"\",\r\n\t\t\t\tbackwashPathD: \"\",\r\n\t\t\t\tpureCleanPathD: \"\",\r\n\t\t\t\tmopPathD: \"\",\r\n\t\t\t};\r\n\r\n\t\tconst lwMain = Math.max(1, VISUAL_BLOCK_SIZE / 2);\r\n\r\n\t\tconst tempCanvas = createCanvas(ctx.canvas.width, ctx.canvas.height);\r\n\t\tconst tempCtx = tempCanvas.getContext(\"2d\");\r\n\r\n\t\tthis.drawPathSegments(ctx, tempCtx, pathSegments.mainPath, LEGACY_COLORS.path, lwMain, 0.5);\r\n\t}\r\n\r\n\tprivate drawActiveZones(ctx: ExtendedContext2D, zones: any, image: any) {\r\n\t\tif (zones?.[0]) {\r\n\t\t\tzones.forEach((coord: any) => {\r\n\t\t\t\tconst x = this.robotXtoCanvasX(image, coord[0] / 50);\r\n\t\t\t\tconst y = this.robotYtoCanvasY(image, coord[1] / 50);\r\n\t\t\t\tconst w = this.robotXtoCanvasX(image, coord[2] / 50) - x;\r\n\t\t\t\tconst h = this.robotYtoCanvasY(image, coord[3] / 50) - y;\r\n\t\t\t\tctx.fillStyle = \"rgba(46,139,87,0.1)\";\r\n\t\t\t\tctx.fillRect(x, y, w, h);\r\n\t\t\t\tctx.strokeStyle = \"#2e8b57\";\r\n\t\t\t\tctx.lineWidth = 4;\r\n\t\t\t\tctx.strokeRect(x, y, w, h);\r\n\t\t\t});\r\n\t\t}\r\n\t}\r\n\r\n\tprivate drawPredictedPath(ctx: ExtendedContext2D, predictedPath: any, image: any) {\r\n\t\tif (predictedPath?.points?.length) {\r\n\t\t\tctx.lineWidth = (3 * VISUAL_BLOCK_SIZE) / 2;\r\n\t\t\tctx.strokeStyle = \"rgba(255, 255, 255, 1)\";\r\n\t\t\tctx.setLineDash([3 * VISUAL_BLOCK_SIZE, 3 * VISUAL_BLOCK_SIZE]);\r\n\t\t\tctx.lineCap = \"round\";\r\n\t\t\tctx.beginPath();\r\n\t\t\tlet lastX = -1,\r\n\t\t\t\tlastY = -1;\r\n\t\t\tpredictedPath.points.forEach((coord: any, index: number) => {\r\n\t\t\t\tconst x = this.robotXtoCanvasX(image, coord[0] / 50);\r\n\t\t\t\tconst y = this.robotYtoCanvasY(image, coord[1] / 50);\r\n\t\t\t\tif (index === 0) {\r\n\t\t\t\t\tctx.fillStyle = \"rgba(255, 255, 255, 1)\";\r\n\t\t\t\t\tctx.fillRect(x, y, (1 * VISUAL_BLOCK_SIZE) / 2, (1 * VISUAL_BLOCK_SIZE) / 2);\r\n\t\t\t\t\tctx.moveTo(x, y);\r\n\t\t\t\t} else if (x !== lastX || y !== lastY) {\r\n\t\t\t\t\tctx.lineTo(x, y);\r\n\t\t\t\t}\r\n\t\t\t\tlastX = x;\r\n\t\t\t\tlastY = y;\r\n\t\t\t});\r\n\t\t\tctx.stroke();\r\n\t\t\tctx.setLineDash([]);\r\n\t\t\tctx.lineCap = \"butt\";\r\n\t\t}\r\n\t}\r\n\r\n\tprivate async drawObstacles(ctx: ExtendedContext2D, obstacles: any, image: any) {\r\n\t\tconst OBSTACLE_MAPPING: Record<number, string> = {\r\n\t\t\t\"-99\": \"99\",\r\n\t\t\t0: \"0\",\r\n\t\t\t1: \"1\",\r\n\t\t\t2: \"2\",\r\n\t\t\t3: \"3\",\r\n\t\t\t4: \"3\",\r\n\t\t\t5: \"5_cn\",\r\n\t\t\t9: \"9\",\r\n\t\t\t10: \"10\",\r\n\t\t\t18: \"18\",\r\n\t\t\t25: \"25\",\r\n\t\t\t26: \"26\",\r\n\t\t\t27: \"26\",\r\n\t\t\t34: \"10\",\r\n\t\t\t42: \"18\",\r\n\t\t\t48: \"48\",\r\n\t\t\t49: \"49\",\r\n\t\t\t50: \"50\",\r\n\t\t\t51: \"51\",\r\n\t\t\t54: \"54\",\r\n\t\t\t65: \"65\",\r\n\t\t\t67: \"67\",\r\n\t\t\t69: \"69\",\r\n\t\t\t70: \"70\",\r\n\t\t\t99: \"99\",\r\n\t\t};\r\n\r\n\t\tif (obstacles) {\r\n\t\t\tfor (const obstacle of obstacles) {\r\n\t\t\t\tconst type = obstacle[2];\r\n\t\t\t\tconst x = this.robotXtoCanvasX(image, obstacle[0] / 50) + VISUAL_BLOCK_SIZE / 2;\r\n\t\t\t\tconst y = this.robotYtoCanvasY(image, obstacle[1] / 50) + VISUAL_BLOCK_SIZE / 2;\r\n\r\n\t\t\t\tconst suffix = OBSTACLE_MAPPING[type] || \"18\";\r\n\t\t\t\tconst imagePath = path.join(__dirname, `../../www/images/projects_comroborocktanos_resources_obstacle_new_p${suffix}.png`);\r\n\r\n\t\t\t\tif (!fs.existsSync(imagePath)) {\r\n\t\t\t\t\tthis.adapter.log.warn(`[MapCreator] Could not find obstacle image for type ${type} (mapped to ${suffix}). Path: ${imagePath}`);\r\n\t\t\t\t}\r\n\r\n\t\t\t\t// Draw background circle (Grey with white border)\r\n\t\t\t\tconst radius = VISUAL_BLOCK_SIZE * 3.5; // Reduced radius\r\n\t\t\t\tctx.beginPath();\r\n\t\t\t\tctx.arc(x, y, radius, 0, 2 * Math.PI);\r\n\t\t\t\tctx.fillStyle = \"rgba(100, 100, 100, 0.2)\"; // Grey, more transparent\r\n\t\t\t\tctx.fill();\r\n\t\t\t\tctx.lineWidth = 0.5; // Thinner border\r\n\t\t\t\tctx.strokeStyle = \"white\";\r\n\t\t\t\tctx.stroke();\r\n\r\n\t\t\t\tif (fs.existsSync(imagePath)) {\r\n\t\t\t\t\ttry {\r\n\t\t\t\t\t\tconst obstacleImg = await loadImage(imagePath);\r\n\t\t\t\t\t\tconst size = VISUAL_BLOCK_SIZE * 5; // Reduced icon size\r\n\t\t\t\t\t\tctx.drawImage(obstacleImg, x - size / 2, y - size / 2, size, size);\r\n\t\t\t\t\t} catch (e) {\r\n\t\t\t\t\t\tthis.adapter.log.error(`[MapCreator] Failed to load image ${imagePath}: ${e}`);\r\n\t\t\t\t\t}\r\n\t\t\t\t}\r\n\t\t\t}\r\n\t\t}\r\n\t}\r\n\r\n\tprivate drawRobotChargerTarget(ctx: ExtendedContext2D, mapdata: any, imgRobot: Image, imgCharger: Image, imgGoToPin: Image) {\r\n\t\tif (mapdata.CHARGER_LOCATION) {\r\n\t\t\tconst pos = mapdata.CHARGER_LOCATION.position;\r\n\t\t\tif (pos?.[0] && pos?.[1]) {\r\n\t\t\t\tconst x = this.robotXtoCanvasX(mapdata.IMAGE, pos[0] / 50);\r\n\t\t\t\tconst y = this.robotYtoCanvasY(mapdata.IMAGE, pos[1] / 50);\r\n\t\t\t\tconst w = VISUAL_BLOCK_SIZE * 3;\r\n\t\t\t\tconst h = VISUAL_BLOCK_SIZE * 3;\r\n\t\t\t\tctx.drawImage(imgCharger, x - w / 2, y - h / 2, w, h);\r\n\t\t\t}\r\n\t\t}\r\n\r\n\t\tif (mapdata.ROBOT_POSITION) {\r\n\t\t\tconst pos = mapdata.ROBOT_POSITION.position;\r\n\t\t\tconst angle = mapdata.ROBOT_POSITION.angle ?? 0;\r\n\t\t\tconst drawAngle = -angle + 90;\r\n\r\n\t\t\tif (pos?.[0] && pos?.[1]) {\r\n\t\t\t\tconst x = this.robotXtoCanvasX(mapdata.IMAGE, pos[0] / 50);\r\n\t\t\t\tconst y = this.robotYtoCanvasY(mapdata.IMAGE, pos[1] / 50);\r\n\t\t\t\tconst robotSize = VISUAL_BLOCK_SIZE * 5;\r\n\r\n\t\t\t\tctx.save();\r\n\t\t\t\tctx.translate(x, y);\r\n\t\t\t\tctx.rotate((drawAngle * Math.PI) / 180);\r\n\t\t\t\tctx.drawImage(imgRobot, -robotSize / 2, -robotSize / 2, robotSize, robotSize);\r\n\t\t\t\tctx.restore();\r\n\t\t\t}\r\n\t\t}\r\n\r\n\t\tif (mapdata.GOTO_TARGET?.[0] && mapdata.GOTO_TARGET?.[1]) {\r\n\t\t\tconst pinW = VISUAL_BLOCK_SIZE * 3;\r\n\t\t\tconst pinH = (pinW / 29) * 24;\r\n\t\t\tctx.drawImage(\r\n\t\t\t\timgGoToPin,\r\n\t\t\t\tthis.robotXtoCanvasX(mapdata.IMAGE, mapdata.GOTO_TARGET[0] / 50) - pinW / 2,\r\n\t\t\t\tthis.robotYtoCanvasY(mapdata.IMAGE, mapdata.GOTO_TARGET[1] / 50) - (pinH + VISUAL_BLOCK_SIZE / 2),\r\n\t\t\t\tpinW,\r\n\t\t\t\tpinH\r\n\t\t\t);\r\n\t\t}\r\n\t}\r\n\r\n\tprivate drawRoomNames(ctx: ExtendedContext2D, segmentsData: any, mappedRooms: any) {\r\n\t\tif (segmentsData && mappedRooms) {\r\n\t\t\tconst roomIDsAll = this.adapter.http_api.getMatchedRoomIDs(false);\r\n\t\t\tObject.keys(segmentsData).forEach((segnumStr) => {\r\n\t\t\t\tconst segnum = parseInt(segnumStr);\r\n\t\t\t\tif (segnum === 0) return;\r\n\t\t\t\tconst mapping = mappedRooms.find(([id]: [string]) => parseInt(id) === segnum);\r\n\t\t\t\tlet roomName = \"\";\r\n\t\t\t\tif (mapping) {\r\n\t\t\t\t\tconst roomID = mapping[1];\r\n\t\t\t\t\tconst roomObj = roomIDsAll.find((r) => String(r.id) === String(roomID));\r\n\t\t\t\t\troomName = roomObj?.name || \"\";\r\n\t\t\t\t}\r\n\t\t\t\tif (roomName) {\r\n\t\t\t\t\tconst segment = segmentsData[segnum];\r\n\t\t\t\t\tconst centerX = segment.minX + (segment.maxX - segment.minX) / 2;\r\n\t\t\t\t\tconst centerY = segment.minY + (segment.maxY - segment.minY) / 2;\r\n\t\t\t\t\tctx.font = `bold ${VISUAL_BLOCK_SIZE * 6}px Arial`;\r\n\t\t\t\t\tctx.textAlign = \"center\";\r\n\t\t\t\t\tctx.textBaseline = \"middle\";\r\n\t\t\t\t\tctx.lineWidth = 1;\r\n\t\t\t\t\tctx.strokeStyle = \"white\";\r\n\t\t\t\t\tctx.strokeText(roomName, centerX, centerY);\r\n\t\t\t\t\tctx.fillStyle = \"black\";\r\n\t\t\t\t\tctx.fillText(roomName, centerX, centerY);\r\n\t\t\t\t}\r\n\t\t\t});\r\n\t\t}\r\n\t}\r\n\r\n\tprivate cropMap(canvas: Canvas, ctx: ExtendedContext2D, bounds: { minleft: number; mintop: number; maxleft: number; maxtop: number }) {\r\n\t\tconst { minleft, mintop, maxleft, maxtop } = bounds;\r\n\t\tconst cropW = maxleft - minleft + 2 * OFFSET;\r\n\t\tconst cropH = maxtop - mintop + 2 * OFFSET;\r\n\r\n\t\tif (cropW <= 0 || cropH <= 0 || !isFinite(cropW) || !isFinite(cropH)) {\r\n\t\t\treturn canvas.toDataURL();\r\n\t\t}\r\n\r\n\t\tconst sx = Math.max(0, minleft - OFFSET);\r\n\t\tconst sy = Math.max(0, mintop - OFFSET);\r\n\t\tconst maxWidth = canvas.width - sx;\r\n\t\tconst maxHeight = canvas.height - sy;\r\n\t\tconst finalCropW = Math.min(cropW, maxWidth);\r\n\t\tconst finalCropH = Math.min(cropH, maxHeight);\r\n\r\n\t\tconst canvasTrimmedFull = createCanvas(finalCropW, finalCropH);\r\n\t\tconst ctxTrimmedFull = canvasTrimmedFull.getContext(\"2d\");\r\n\t\tconst trimmedDataFull = ctx.getImageData(sx, sy, finalCropW, finalCropH);\r\n\t\tctxTrimmedFull.putImageData(trimmedDataFull, 0, 0);\r\n\r\n\t\treturn canvasTrimmedFull.toDataURL();\r\n\t}\r\n\r\n\tprivate drawRestrictedAreas(ctx: ExtendedContext2D, mapdata: any) {\r\n\t\tconst drawRectArea = (zones: number[][], fill: string, stroke: string) => {\r\n\t\t\tif (!zones) return;\r\n\t\t\tzones.forEach((zone) => {\r\n\t\t\t\tconst x1 = this.robotXtoCanvasX(mapdata.IMAGE, Math.min(zone[0], zone[2], zone[4], zone[6]) / 50);\r\n\t\t\t\tconst y1 = this.robotYtoCanvasY(mapdata.IMAGE, Math.max(zone[1], zone[3], zone[5], zone[7]) / 50);\r\n\t\t\t\tconst x2 = this.robotXtoCanvasX(mapdata.IMAGE, Math.max(zone[0], zone[2], zone[4], zone[6]) / 50);\r\n\t\t\t\tconst y2 = this.robotYtoCanvasY(mapdata.IMAGE, Math.min(zone[1], zone[3], zone[5], zone[7]) / 50);\r\n\t\t\t\tconst minX = Math.min(x1, x2);\r\n\t\t\t\tconst minY = Math.min(y1, y2);\r\n\t\t\t\tconst maxX = Math.max(x1, x2);\r\n\t\t\t\tconst maxY = Math.max(y1, y2);\r\n\t\t\t\tctx.fillStyle = fill;\r\n\t\t\t\tctx.fillRect(minX, minY, maxX - minX, maxY - minY);\r\n\t\t\t\tctx.strokeStyle = stroke;\r\n\t\t\t\tctx.lineWidth = (1 * VISUAL_BLOCK_SIZE) / 2;\r\n\t\t\t\tctx.strokeRect(minX, minY, maxX - minX, maxY - minY);\r\n\t\t\t});\r\n\t\t};\r\n\t\tdrawRectArea(mapdata.FORBIDDEN_ZONES, \"rgba(255, 0, 0, 0.5)\", \"rgba(255, 0, 0, 1)\");\r\n\t\tdrawRectArea(mapdata.NO_MOP_ZONE, \"rgba(0, 0, 255, 0.5)\", \"rgba(0, 0, 255, 1)\");\r\n\t\tif (mapdata.VIRTUAL_WALLS) {\r\n\t\t\tctx.strokeStyle = \"rgba(255, 0, 0, 1)\";\r\n\t\t\tctx.lineWidth = 1 * VISUAL_BLOCK_SIZE;\r\n\t\t\tctx.beginPath();\r\n\t\t\tmapdata.VIRTUAL_WALLS.forEach((wall: any) => {\r\n\t\t\t\tctx.moveTo(this.robotXtoCanvasX(mapdata.IMAGE, wall[0] / 50), this.robotYtoCanvasY(mapdata.IMAGE, wall[1] / 50));\r\n\t\t\t\tctx.lineTo(this.robotXtoCanvasX(mapdata.IMAGE, wall[2] / 50), this.robotYtoCanvasY(mapdata.IMAGE, wall[3] / 50));\r\n\t\t\t});\r\n\t\t\tctx.stroke();\r\n\t\t}\r\n\t}\r\n}"]}
\ No newline at end of file
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{ Roborock } from \"../main\";\r\nimport { createCanvas, loadImage, Image, type Canvas, type CanvasRenderingContext2D } from \"@napi-rs/canvas\";\r\nimport { assignRoborockRoomColorsToHex } from \"./roomColoring\";\r\nimport * as Images from \"./images\";\r\nimport { processPaths, type PathResult, type PathPoint } from \"./pathProcessor.js\";\r\nimport * as fs from \"fs\";\r\nimport * as path from \"path\";\r\n\r\n// -----------------------------------------------------------------------------\r\n// Constants & Interfaces\r\n// -----------------------------------------------------------------------------\r\n\r\nconst OFFSET = 60;\r\nconst MAX_BLOCK_NUM = 32;\r\nconst VISUAL_BLOCK_SIZE = 3; // Replaces fixed map_scale with 3\r\n\r\nconst ORG_COLORS = [\"#C05A41\", \"#4579B5\", \"#017E82\", \"#BD7B00\", \"#434242\", \"#dfdfdf\"];\r\n\r\nconst LEGACY_COLORS = {\r\n\tfloor: \"#23465e\",\r\n\tobstacle: \"#2b2e30\",\r\n\tpath: \"#FFFFFF\",\r\n};\r\n\r\ninterface CanvasMapOptions {\r\n\tselectedMap?: any;\r\n\tmappedRooms?: any;\r\n\toptions?: {\r\n\t\tFLOORCOLOR?: string;\r\n\t\tWALLCOLOR?: string;\r\n\t\tPATHCOLOR?: string;\r\n\t\tnewmap?: boolean;\r\n\t\tROBOT?: string;\r\n\t};\r\n}\r\n\r\ninterface Dimensions {\r\n\twidth: number;\r\n\theight: number;\r\n}\r\n\r\n// Define a custom interface to handle missing type definitions in @napi-rs/canvas\r\ninterface ExtendedContext2D extends CanvasRenderingContext2D {\r\n\tdrawImage(image: Image | Canvas, dx: number, dy: number, dw?: number, dh?: number): void;\r\n\tcanvas: Canvas;\r\n\tantialias?: string;\r\n}\r\n\r\n// -----------------------------------------------------------------------------\r\n// Map Creator Class\r\n// -----------------------------------------------------------------------------\r\n\r\nexport class MapCreator {\r\n\tadapter: Roborock;\r\n\tcolors: { floor: string; obstacle: string; path: string; newmap: boolean };\r\n\r\n\tconstructor(adapter: Roborock) {\r\n\t\tthis.adapter = adapter;\r\n\t\tthis.colors = {\r\n\t\t\tfloor: LEGACY_COLORS.floor,\r\n\t\t\tobstacle: LEGACY_COLORS.obstacle,\r\n\t\t\tpath: LEGACY_COLORS.path,\r\n\t\t\tnewmap: true,\r\n\t\t};\r\n\t}\r\n\r\n\t// --------------------\r\n\t// Coordinate Helpers\r\n\t// --------------------\r\n\r\n\tprivate getX(dimensions: Dimensions, px: number): number {\r\n\t\treturn (px * VISUAL_BLOCK_SIZE) % dimensions.width;\r\n\t}\r\n\r\n\tprivate getY(dimensions: Dimensions, px: number): number {\r\n\t\treturn dimensions.height - Math.floor(px / (dimensions.width / VISUAL_BLOCK_SIZE)) * VISUAL_BLOCK_SIZE - VISUAL_BLOCK_SIZE;\r\n\t}\r\n\r\n\tprivate robotXtoCanvasX(image: any, robotCoord: number): number {\r\n\t\t// Calculate base X\r\n\t\tconst x = (robotCoord - image.position.left) * VISUAL_BLOCK_SIZE;\r\n\t\t// Add centering offset (+1.5px) to align with pixel center\r\n\t\treturn x + VISUAL_BLOCK_SIZE / 2;\r\n\t}\r\n\r\n\tprivate robotYtoCanvasY(image: any, robotCoord: number): number {\r\n\t\t// Calculate base Y\r\n\t\tconst y = (image.dimensions.height / VISUAL_BLOCK_SIZE + image.position.top - robotCoord) * VISUAL_BLOCK_SIZE;\r\n\t\t// Add centering offset (-1.5px) to align with pixel center\r\n\t\treturn y - VISUAL_BLOCK_SIZE / 2;\r\n\t}\r\n\r\n\t// --------------------\r\n\t// Drawing Helpers\r\n\t// --------------------\r\n\r\n\t/**\r\n\t * Creates a pre-rendered sprite for a single carpet tile.\r\n\t * Logic matches renderCarpetTest.js exactly.\r\n\t */\r\n\tprivate createCarpetSprite(): Canvas {\r\n\t\t// Create a tiny canvas just for one tile (3x3)\r\n\t\tconst spriteCanvas = createCanvas(VISUAL_BLOCK_SIZE, VISUAL_BLOCK_SIZE);\r\n\t\tconst ctx = spriteCanvas.getContext(\"2d\") as unknown as ExtendedContext2D;\r\n\r\n\t\t// Disable AA for the sprite generation too\r\n\t\tctx.imageSmoothingEnabled = false;\r\n\t\tif (\"antialias\" in ctx) ctx.antialias = \"none\";\r\n\r\n\t\t// Carpet color (semi-transparent dark)\r\n\t\tctx.fillStyle = \"rgba(0, 0, 0, 0.4)\";\r\n\r\n\t\tconst STRIDE = 3;\r\n\r\n\t\t// Draw the pattern ONCE here\r\n\t\tfor (let dx = 0; dx < VISUAL_BLOCK_SIZE; dx++) {\r\n\t\t\tfor (let dy = 0; dy < VISUAL_BLOCK_SIZE; dy++) {\r\n\t\t\t\tconst sum = dx + dy;\r\n\t\t\t\t// Diagonal pattern logic: x + y = k\r\n\t\t\t\t// We use offset 2 to center the diagonal line in a typical 3x3 block\r\n\t\t\t\tif (sum % STRIDE === 2) {\r\n\t\t\t\t\tctx.fillRect(dx, dy, 1, 1);\r\n\t\t\t\t}\r\n\t\t\t}\r\n\t\t}\r\n\r\n\t\treturn spriteCanvas;\r\n\t}\r\n\r\n\tprivate buildAdjacencyMatrix(segmentPixels: number[], width: number, height: number, maxIdFromCaller: number): number[][] {\r\n\t\tlet maxSegInPixels = 0;\r\n\t\tfor (const px of segmentPixels) {\r\n\t\t\tconst segnum = px >>> 21;\r\n\t\t\tif (segnum > maxSegInPixels) maxSegInPixels = segnum;\r\n\t\t}\r\n\t\tconst size = Math.max(maxIdFromCaller + 1, maxSegInPixels + 1, MAX_BLOCK_NUM);\r\n\r\n\t\tconst matrix: number[][] = Array.from({ length: size }, () => Array(size).fill(0));\r\n\t\tconst segMap = new Int16Array(width * height).fill(-1);\r\n\r\n\t\tfor (const px of segmentPixels) {\r\n\t\t\tconst pixelIndex = px & 0x1fffff;\r\n\t\t\tconst segnum = px >>> 21;\r\n\t\t\tif (pixelIndex >= 0 && pixelIndex < segMap.length && segnum < size) {\r\n\t\t\t\tsegMap[pixelIndex] = segnum;\r\n\t\t\t}\r\n\t\t}\r\n\r\n\t\tfor (let i = 0; i < segMap.length; i++) {\r\n\t\t\tconst segA = segMap[i];\r\n\t\t\tif (segA < 0) continue;\r\n\t\t\tconst x = i % width;\r\n\t\t\tconst y = Math.floor(i / width);\r\n\r\n\t\t\tif (segA < size) matrix[segA][segA] = 1;\r\n\r\n\t\t\tif (y > 0) {\r\n\t\t\t\tconst segB = segMap[i - width];\r\n\t\t\t\tif (segB >= 0 && segA !== segB && segA < size && segB < size) {\r\n\t\t\t\t\tmatrix[segA][segB] = 1;\r\n\t\t\t\t\tmatrix[segB][segA] = 1;\r\n\t\t\t\t}\r\n\t\t\t}\r\n\t\t\tif (x > 0) {\r\n\t\t\t\tconst segB = segMap[i - 1];\r\n\t\t\t\tif (segB >= 0 && segA !== segB && segA < size && segB < size) {\r\n\t\t\t\t\tmatrix[segA][segB] = 1;\r\n\t\t\t\t\tmatrix[segB][segA] = 1;\r\n\t\t\t\t}\r\n\t\t\t}\r\n\t\t}\r\n\t\treturn matrix;\r\n\t}\r\n\r\n\tprivate drawPathSegments(\r\n\t\tmainCtx: ExtendedContext2D,\r\n\t\ttempCtx: CanvasRenderingContext2D,\r\n\t\tpathSegments: PathPoint[][],\r\n\t\tcolor: string,\r\n\t\twidth: number,\r\n\t\topacity: number,\r\n\t\tdashed: boolean = false\r\n\t) {\r\n\t\tif (!pathSegments || pathSegments.length === 0) return;\r\n\r\n\t\t// No additional offsets required\r\n\t\tconst offsetX = 0;\r\n\t\tconst offsetY = 0;\r\n\r\n\t\tconst w = (tempCtx as any).canvas.width;\r\n\t\tconst h = (tempCtx as any).canvas.height;\r\n\r\n\t\ttempCtx.clearRect(0, 0, w, h);\r\n\r\n\t\ttempCtx.strokeStyle = color;\r\n\t\ttempCtx.lineWidth = width;\r\n\t\ttempCtx.lineCap = \"round\";\r\n\t\ttempCtx.lineJoin = \"round\";\r\n\r\n\t\tif (dashed) {\r\n\t\t\ttempCtx.setLineDash([VISUAL_BLOCK_SIZE, 2 * VISUAL_BLOCK_SIZE]);\r\n\t\t} else {\r\n\t\t\ttempCtx.setLineDash([]);\r\n\t\t}\r\n\r\n\t\ttempCtx.beginPath();\r\n\t\tpathSegments.forEach((segment) => {\r\n\t\t\tif (segment.length > 0) {\r\n\t\t\t\ttempCtx.moveTo(segment[0].x + offsetX, segment[0].y + offsetY);\r\n\t\t\t\tfor (let i = 1; i < segment.length; i++) {\r\n\t\t\t\t\ttempCtx.lineTo(segment[i].x + offsetX, segment[i].y + offsetY);\r\n\t\t\t\t}\r\n\t\t\t}\r\n\t\t});\r\n\t\ttempCtx.stroke();\r\n\r\n\t\tmainCtx.save();\r\n\t\tmainCtx.globalAlpha = opacity;\r\n\t\tmainCtx.drawImage((tempCtx as any).canvas, 0, 0);\r\n\t\tmainCtx.restore();\r\n\t}\r\n\r\n\t// --------------------\r\n\t// Main Map Generation\r\n\t// --------------------\r\n\r\n\tpublic async canvasMap(mapdata: any, params: CanvasMapOptions = {}): Promise<[string, string, string]> {\r\n\t\tconst { mappedRooms = null, options = {} } = params;\r\n\r\n\t\tif (!mapdata || !mapdata.IMAGE || !mapdata.IMAGE.dimensions) {\r\n\t\t\tthis.adapter.log.warn(`[MapCreator] Received invalid or empty map data, cannot generate map.`);\r\n\t\t\tconst errorCanvas = createCanvas(1, 1).toDataURL();\r\n\t\t\treturn [errorCanvas, errorCanvas, errorCanvas];\r\n\t\t}\r\n\r\n\t\tthis.applyOptions(options);\r\n\r\n\t\tconst [imgRobot, imgCharger, imgGoToPin] = await this.loadImages(options.ROBOT);\r\n\r\n\t\t// Use VISUAL_BLOCK_SIZE for scaling logic\r\n\t\tmapdata.IMAGE.dimensions.width *= VISUAL_BLOCK_SIZE;\r\n\t\tmapdata.IMAGE.dimensions.height *= VISUAL_BLOCK_SIZE;\r\n\r\n\t\tconst canvas = createCanvas(mapdata.IMAGE.dimensions.width, mapdata.IMAGE.dimensions.height);\r\n\t\tconst ctx = canvas.getContext(\"2d\") as unknown as ExtendedContext2D;\r\n\r\n\t\t// 1. Draw Floor & Walls\r\n\t\tconst bounds = this.drawFloorAndWalls(ctx, mapdata.IMAGE);\r\n\r\n\t\t// 2. Draw Segments\r\n\t\tconst segmentsData = this.drawSegments(ctx, mapdata.IMAGE, mapdata.CURRENTLY_CLEANED_BLOCKS);\r\n\r\n\t\t// --- SAVE CLEAN MAP (WITHOUT CARPET) ---\r\n\t\tconst cleanMapUncroppedBase64 = this.getCleanMapBase64(canvas);\r\n\r\n\t\t// 3. Draw Carpet\r\n\t\tthis.drawCarpet(ctx, mapdata.CARPET_MAP, mapdata.IMAGE);\r\n\r\n\t\t// 4. Draw Paths\r\n\t\tthis.drawPaths(ctx, mapdata);\r\n\r\n\t\t// 5. Draw Active Zones\r\n\t\tthis.drawActiveZones(ctx, mapdata.CURRENTLY_CLEANED_ZONES, mapdata.IMAGE);\r\n\r\n\t\t// 6. Draw Restricted Areas\r\n\t\tthis.drawRestrictedAreas(ctx, mapdata);\r\n\r\n\t\t// 7. Draw Predicted Path\r\n\t\tthis.drawPredictedPath(ctx, mapdata.GOTO_PREDICTED_PATH, mapdata.IMAGE);\r\n\r\n\t\t// 8. Draw Obstacles\r\n\t\tawait this.drawObstacles(ctx, mapdata.OBSTACLES2, mapdata.IMAGE);\r\n\r\n\t\t// 9. Draw Robot & Charger & Target\r\n\t\tthis.drawRobotChargerTarget(ctx, mapdata, imgRobot, imgCharger, imgGoToPin);\r\n\r\n\t\t// 10. Draw Room Names\r\n\t\tthis.drawRoomNames(ctx, segmentsData, mappedRooms);\r\n\r\n\t\t// --- Get full uncropped map (INCLUDES Carpet) ---\r\n\t\tconst fullMapUncroppedBase64 = canvas.toDataURL();\r\n\r\n\t\t// 11. Crop & Return\r\n\t\tconst croppedMapBase64 = this.cropMap(canvas, ctx, bounds);\r\n\r\n\t\treturn [cleanMapUncroppedBase64, fullMapUncroppedBase64, croppedMapBase64];\r\n\t}\r\n\r\n\tprivate applyOptions(options: any) {\r\n\t\tif (options) {\r\n\t\t\tif (options.FLOORCOLOR) this.colors.floor = options.FLOORCOLOR;\r\n\t\t\tif (options.WALLCOLOR) this.colors.obstacle = options.WALLCOLOR;\r\n\t\t\tif (options.PATHCOLOR) this.colors.path = options.PATHCOLOR;\r\n\t\t\tthis.colors.newmap = options.newmap ?? true;\r\n\t\t}\r\n\t}\r\n\r\n\tprivate async loadImages(robotType?: string) {\r\n\t\tlet robotImgSource = Images.IMG_ROBOT_ORIGINAL;\r\n\t\tswitch (robotType) {\r\n\t\t\tcase \"robot\":\r\n\t\t\t\trobotImgSource = Images.IMG_ROBOT_DEFAULT;\r\n\t\t\t\tbreak;\r\n\t\t\tcase \"robot1\":\r\n\t\t\t\trobotImgSource = Images.IMG_ROBOT1;\r\n\t\t\t\tbreak;\r\n\t\t\tcase \"tank\":\r\n\t\t\t\trobotImgSource = Images.IMG_TANK;\r\n\t\t\t\tbreak;\r\n\t\t\tcase \"spaceship\":\r\n\t\t\t\trobotImgSource = Images.IMG_SPACESHIP;\r\n\t\t\t\tbreak;\r\n\t\t\tcase \"robot2\":\r\n\t\t\t\trobotImgSource = Images.IMG_ROBOT_2;\r\n\t\t\t\tbreak;\r\n\t\t}\r\n\t\treturn Promise.all([loadImage(robotImgSource), loadImage(Images.IMG_CHARGER), loadImage(Images.IMG_GO_TO_PIN)]);\r\n\t}\r\n\r\n\tprivate drawFloorAndWalls(ctx: ExtendedContext2D, image: any) {\r\n\t\tlet maxtop = 0,\r\n\t\t\tmaxleft = 0,\r\n\t\t\tminleft = image.dimensions.width,\r\n\t\t\tmintop = image.dimensions.height;\r\n\r\n\t\tif (image.pixels.floor && image.pixels.floor.length > 0) {\r\n\t\t\tif (typeof image.pixels.floor[0] === \"number\") {\r\n\t\t\t\tminleft = image.pixels.floor[0] % image.dimensions.width;\r\n\t\t\t\tmintop = image.dimensions.height - 1 - Math.floor(image.pixels.floor[0] / image.dimensions.width);\r\n\t\t\t}\r\n\t\t\t[\"floor\", \"obstacle\"].forEach((key) => {\r\n\t\t\t\tif (!image.pixels[key]) return;\r\n\t\t\t\tctx.beginPath();\r\n\t\t\t\timage.pixels[key].forEach((px: any) => {\r\n\t\t\t\t\tconst x = this.getX(image.dimensions, px);\r\n\t\t\t\t\tconst y = this.getY(image.dimensions, px);\r\n\t\t\t\t\tctx.fillStyle = key === \"obstacle\" ? (this.colors.newmap ? ORG_COLORS[4] : this.colors.obstacle) : this.colors.newmap ? ORG_COLORS[5] : this.colors.floor;\r\n\t\t\t\t\tctx.rect(x, y, VISUAL_BLOCK_SIZE, VISUAL_BLOCK_SIZE);\r\n\t\t\t\t\tmaxtop = Math.max(maxtop, y);\r\n\t\t\t\t\tmaxleft = Math.max(maxleft, x);\r\n\t\t\t\t\tminleft = Math.min(minleft, x);\r\n\t\t\t\t\tmintop = Math.min(mintop, y);\r\n\t\t\t\t});\r\n\t\t\t\tctx.fill();\r\n\t\t\t});\r\n\t\t}\r\n\t\treturn { minleft, mintop, maxleft, maxtop };\r\n\t}\r\n\r\n\tprivate drawSegments(ctx: ExtendedContext2D, image: any, currentlyCleanedBlocks: number[]) {\r\n\t\tconst segmentsData: Record<number, any> = {};\r\n\t\tif (image.pixels.segments && this.colors.newmap) {\r\n\t\t\timage.pixels.segments.forEach((px: any) => {\r\n\t\t\t\tconst segnum = px >> 21;\r\n\t\t\t\tconst pixelIndex = px & 0x1fffff;\r\n\t\t\t\tif (segnum >= MAX_BLOCK_NUM) return;\r\n\t\t\t\tconst x = this.getX(image.dimensions, pixelIndex);\r\n\t\t\t\tconst y = this.getY(image.dimensions, pixelIndex);\r\n\t\t\t\tif (!segmentsData[segnum]) segmentsData[segnum] = { points: [], minX: x, maxX: x, minY: y, maxY: y };\r\n\t\t\t\tconst segment = segmentsData[segnum];\r\n\t\t\t\tsegment.points.push({ x, y });\r\n\t\t\t\tsegment.minX = Math.min(segment.minX, x);\r\n\t\t\t\tsegment.maxX = Math.max(segment.maxX, x);\r\n\t\t\t\tsegment.minY = Math.min(segment.minY, y);\r\n\t\t\t\tsegment.maxY = Math.max(segment.maxY, y);\r\n\t\t\t});\r\n\r\n\t\t\tconst segmentNums = Object.keys(segmentsData).map(Number);\r\n\t\t\tconst maxId = segmentNums.length ? Math.max(...segmentNums) : 0;\r\n\t\t\tconst matrixSize = MAX_BLOCK_NUM;\r\n\t\t\tconst adjacencyMatrix = this.buildAdjacencyMatrix(image.pixels.segments, image.dimensions.width, image.dimensions.height, maxId);\r\n\t\t\tconst pointsCount = new Array(matrixSize).fill(0);\r\n\t\t\tfor (const segStr of Object.keys(segmentsData)) {\r\n\t\t\t\tconst seg = Number(segStr);\r\n\t\t\t\tif (seg >= 0 && seg < matrixSize) pointsCount[seg] = segmentsData[seg].points.length;\r\n\t\t\t}\r\n\t\t\tconst neighborInfo = new Array(matrixSize * matrixSize).fill(0);\r\n\t\t\tfor (let i = 0; i < matrixSize; i++) {\r\n\t\t\t\tfor (let j = 0; j < matrixSize; j++) {\r\n\t\t\t\t\tif (adjacencyMatrix[i]?.[j] === 1) neighborInfo[i * matrixSize + j] = 1;\r\n\t\t\t\t}\r\n\t\t\t\tif (pointsCount[i] > 0) neighborInfo[i * matrixSize + i] = 1;\r\n\t\t\t}\r\n\t\t\tconst coloring = assignRoborockRoomColorsToHex({ maxBlockNum: matrixSize, neighborInfo, pointsCount }, { oneBased: true });\r\n\r\n\t\t\tObject.keys(segmentsData).forEach((segStr) => {\r\n\t\t\t\tconst segnum = Number(segStr);\r\n\t\t\t\tif (segnum < 0 || segnum >= matrixSize) return;\r\n\t\t\t\tconst isCurrentlyCleaned = currentlyCleanedBlocks?.includes(segnum);\r\n\t\t\t\tlet fillColor = coloring.colorHex?.[segnum] || \"#CCCCCC\";\r\n\t\t\t\tif (isCurrentlyCleaned) fillColor = segnum >= 0 && segnum < ORG_COLORS.length ? ORG_COLORS[segnum] : \"#AA0000\";\r\n\t\t\t\tctx.fillStyle = fillColor;\r\n\t\t\t\tctx.beginPath();\r\n\t\t\t\tsegmentsData[segnum].points.forEach((p: any) => {\r\n\t\t\t\t\tctx.rect(p.x, p.y, VISUAL_BLOCK_SIZE, VISUAL_BLOCK_SIZE);\r\n\t\t\t\t});\r\n\t\t\t\tctx.fill();\r\n\t\t\t});\r\n\t\t} else if (image.pixels.segments) {\r\n\t\t\tlet segnum: number, lastcolor: number | undefined;\r\n\t\t\tctx.beginPath();\r\n\t\t\timage.pixels.segments.forEach((px: any) => {\r\n\t\t\t\tsegnum = px >> 21;\r\n\t\t\t\tif (currentlyCleanedBlocks?.includes(segnum)) {\r\n\t\t\t\t\tif (segnum !== lastcolor) {\r\n\t\t\t\t\t\tctx.fill();\r\n\t\t\t\t\t\tctx.beginPath();\r\n\t\t\t\t\t\tctx.fillStyle = segnum >= 0 && segnum < ORG_COLORS.length ? ORG_COLORS[segnum] : \"#CCCCCC\";\r\n\t\t\t\t\t\tlastcolor = segnum;\r\n\t\t\t\t\t}\r\n\t\t\t\t\tpx = px & 0xfffff;\r\n\t\t\t\t\tctx.rect(this.getX(image.dimensions, px), this.getY(image.dimensions, px), VISUAL_BLOCK_SIZE, VISUAL_BLOCK_SIZE);\r\n\t\t\t\t}\r\n\t\t\t});\r\n\t\t\tctx.fill();\r\n\t\t}\r\n\t\treturn segmentsData;\r\n\t}\r\n\r\n\tprivate getCleanMapBase64(canvas: Canvas) {\r\n\t\tconst cleanCanvas = createCanvas(canvas.width, canvas.height);\r\n\t\tconst ctx = cleanCanvas.getContext(\"2d\") as unknown as ExtendedContext2D;\r\n\t\tctx.drawImage(canvas, 0, 0);\r\n\t\treturn cleanCanvas.toDataURL();\r\n\t}\r\n\r\n\tprivate drawCarpet(ctx: ExtendedContext2D, carpetMap: any, image: any) {\r\n\t\tif (carpetMap && image.dimensions.width > 0) {\r\n\t\t\tctx.imageSmoothingEnabled = false;\r\n\t\t\tif (\"antialias\" in ctx) ctx.antialias = \"none\";\r\n\r\n\t\t\tconst carpetSprite = this.createCarpetSprite();\r\n\r\n\t\t\tcarpetMap.forEach((px: any) => {\r\n\t\t\t\tconst x_pos = this.getX(image.dimensions, px);\r\n\t\t\t\tconst y_pos = this.getY(image.dimensions, px);\r\n\t\t\t\tctx.drawImage(carpetSprite, x_pos, y_pos);\r\n\t\t\t});\r\n\t\t}\r\n\t}\r\n\r\n\tprivate drawPaths(ctx: ExtendedContext2D, mapdata: any) {\r\n\t\tconst robotToScaledPixel = (robotCoord: [number, number], img: any): PathPoint => {\r\n\t\t\treturn {\r\n\t\t\t\tx: this.robotXtoCanvasX(img, robotCoord[0] / 50),\r\n\t\t\t\ty: this.robotYtoCanvasY(img, robotCoord[1] / 50),\r\n\t\t\t};\r\n\t\t};\r\n\r\n\t\tconst pathSegments: PathResult = (mapdata.PATH?.points && mapdata.MOP_PATH)\r\n\t\t\t? processPaths(mapdata.PATH.points, mapdata.MOP_PATH, robotToScaledPixel, VISUAL_BLOCK_SIZE, mapdata.IMAGE)\r\n\t\t\t: {\r\n\t\t\t\tmainPath: [[]],\r\n\t\t\t\tbackwashPath: [[]],\r\n\t\t\t\tpureCleanPath: [[]],\r\n\t\t\t\tmopPath: [[]],\r\n\t\t\t\tmainPathD: \"\",\r\n\t\t\t\tbackwashPathD: \"\",\r\n\t\t\t\tpureCleanPathD: \"\",\r\n\t\t\t\tmopPathD: \"\",\r\n\t\t\t};\r\n\r\n\t\tconst lwMain = Math.max(1, VISUAL_BLOCK_SIZE / 2);\r\n\r\n\t\tconst tempCanvas = createCanvas(ctx.canvas.width, ctx.canvas.height);\r\n\t\tconst tempCtx = tempCanvas.getContext(\"2d\");\r\n\r\n\t\tthis.drawPathSegments(ctx, tempCtx, pathSegments.mopPath, \"rgba(255, 255, 255, 1)\", 6.5 * VISUAL_BLOCK_SIZE, 0.18);\r\n\t\tthis.drawPathSegments(ctx, tempCtx, pathSegments.mainPath, LEGACY_COLORS.path, lwMain, 1.0);\r\n\t}\r\n\r\n\tprivate drawActiveZones(ctx: ExtendedContext2D, zones: any, image: any) {\r\n\t\tif (zones?.[0]) {\r\n\t\t\tzones.forEach((coord: any) => {\r\n\t\t\t\tconst x = this.robotXtoCanvasX(image, coord[0] / 50);\r\n\t\t\t\tconst y = this.robotYtoCanvasY(image, coord[1] / 50);\r\n\t\t\t\tconst w = this.robotXtoCanvasX(image, coord[2] / 50) - x;\r\n\t\t\t\tconst h = this.robotYtoCanvasY(image, coord[3] / 50) - y;\r\n\t\t\t\tctx.fillStyle = \"rgba(46,139,87,0.1)\";\r\n\t\t\t\tctx.fillRect(x, y, w, h);\r\n\t\t\t\tctx.strokeStyle = \"#2e8b57\";\r\n\t\t\t\tctx.lineWidth = 4;\r\n\t\t\t\tctx.strokeRect(x, y, w, h);\r\n\t\t\t});\r\n\t\t}\r\n\t}\r\n\r\n\tprivate drawPredictedPath(ctx: ExtendedContext2D, predictedPath: any, image: any) {\r\n\t\tif (predictedPath?.points?.length) {\r\n\t\t\tctx.lineWidth = (3 * VISUAL_BLOCK_SIZE) / 2;\r\n\t\t\tctx.strokeStyle = \"rgba(255, 255, 255, 1)\";\r\n\t\t\tctx.setLineDash([3 * VISUAL_BLOCK_SIZE, 3 * VISUAL_BLOCK_SIZE]);\r\n\t\t\tctx.lineCap = \"round\";\r\n\t\t\tctx.beginPath();\r\n\t\t\tlet lastX = -1,\r\n\t\t\t\tlastY = -1;\r\n\t\t\tpredictedPath.points.forEach((coord: any, index: number) => {\r\n\t\t\t\tconst x = this.robotXtoCanvasX(image, coord[0] / 50);\r\n\t\t\t\tconst y = this.robotYtoCanvasY(image, coord[1] / 50);\r\n\t\t\t\tif (index === 0) {\r\n\t\t\t\t\tctx.fillStyle = \"rgba(255, 255, 255, 1)\";\r\n\t\t\t\t\tctx.fillRect(x, y, (1 * VISUAL_BLOCK_SIZE) / 2, (1 * VISUAL_BLOCK_SIZE) / 2);\r\n\t\t\t\t\tctx.moveTo(x, y);\r\n\t\t\t\t} else if (x !== lastX || y !== lastY) {\r\n\t\t\t\t\tctx.lineTo(x, y);\r\n\t\t\t\t}\r\n\t\t\t\tlastX = x;\r\n\t\t\t\tlastY = y;\r\n\t\t\t});\r\n\t\t\tctx.stroke();\r\n\t\t\tctx.setLineDash([]);\r\n\t\t\tctx.lineCap = \"butt\";\r\n\t\t}\r\n\t}\r\n\r\n\tprivate async drawObstacles(ctx: ExtendedContext2D, obstacles: any, image: any) {\r\n\t\tconst OBSTACLE_MAPPING: Record<number, string> = {\r\n\t\t\t\"-99\": \"99\",\r\n\t\t\t0: \"0\",\r\n\t\t\t1: \"1\",\r\n\t\t\t2: \"2\",\r\n\t\t\t3: \"3\",\r\n\t\t\t4: \"3\",\r\n\t\t\t5: \"5_cn\",\r\n\t\t\t9: \"9\",\r\n\t\t\t10: \"10\",\r\n\t\t\t18: \"18\",\r\n\t\t\t25: \"25\",\r\n\t\t\t26: \"26\",\r\n\t\t\t27: \"26\",\r\n\t\t\t34: \"10\",\r\n\t\t\t42: \"18\",\r\n\t\t\t48: \"48\",\r\n\t\t\t49: \"49\",\r\n\t\t\t50: \"50\",\r\n\t\t\t51: \"51\",\r\n\t\t\t54: \"54\",\r\n\t\t\t65: \"65\",\r\n\t\t\t67: \"67\",\r\n\t\t\t69: \"69\",\r\n\t\t\t70: \"70\",\r\n\t\t\t99: \"99\",\r\n\t\t};\r\n\r\n\t\tif (obstacles) {\r\n\t\t\tfor (const obstacle of obstacles) {\r\n\t\t\t\tconst type = obstacle[2];\r\n\t\t\t\tconst x = this.robotXtoCanvasX(image, obstacle[0] / 50) + VISUAL_BLOCK_SIZE / 2;\r\n\t\t\t\tconst y = this.robotYtoCanvasY(image, obstacle[1] / 50) + VISUAL_BLOCK_SIZE / 2;\r\n\r\n\t\t\t\tconst suffix = OBSTACLE_MAPPING[type] || \"18\";\r\n\t\t\t\tconst imagePath = path.join(__dirname, `../../www/images/projects_comroborocktanos_resources_obstacle_new_p${suffix}.png`);\r\n\r\n\t\t\t\tif (!fs.existsSync(imagePath)) {\r\n\t\t\t\t\tthis.adapter.log.warn(`[MapCreator] Could not find obstacle image for type ${type} (mapped to ${suffix}). Path: ${imagePath}`);\r\n\t\t\t\t}\r\n\r\n\t\t\t\t// Draw background circle (Grey with white border)\r\n\t\t\t\tconst radius = VISUAL_BLOCK_SIZE * 3.5; // Reduced radius\r\n\t\t\t\tctx.beginPath();\r\n\t\t\t\tctx.arc(x, y, radius, 0, 2 * Math.PI);\r\n\t\t\t\tctx.fillStyle = \"rgba(100, 100, 100, 0.2)\"; // Grey, more transparent\r\n\t\t\t\tctx.fill();\r\n\t\t\t\tctx.lineWidth = 0.5; // Thinner border\r\n\t\t\t\tctx.strokeStyle = \"white\";\r\n\t\t\t\tctx.stroke();\r\n\r\n\t\t\t\tif (fs.existsSync(imagePath)) {\r\n\t\t\t\t\ttry {\r\n\t\t\t\t\t\tconst obstacleImg = await loadImage(imagePath);\r\n\t\t\t\t\t\tconst size = VISUAL_BLOCK_SIZE * 5; // Reduced icon size\r\n\t\t\t\t\t\tctx.drawImage(obstacleImg, x - size / 2, y - size / 2, size, size);\r\n\t\t\t\t\t} catch (e) {\r\n\t\t\t\t\t\tthis.adapter.log.error(`[MapCreator] Failed to load image ${imagePath}: ${e}`);\r\n\t\t\t\t\t}\r\n\t\t\t\t}\r\n\t\t\t}\r\n\t\t}\r\n\t}\r\n\r\n\tprivate drawRobotChargerTarget(ctx: ExtendedContext2D, mapdata: any, imgRobot: Image, imgCharger: Image, imgGoToPin: Image) {\r\n\t\tif (mapdata.CHARGER_LOCATION) {\r\n\t\t\tconst pos = mapdata.CHARGER_LOCATION.position;\r\n\t\t\tif (pos?.[0] && pos?.[1]) {\r\n\t\t\t\tconst x = this.robotXtoCanvasX(mapdata.IMAGE, pos[0] / 50);\r\n\t\t\t\tconst y = this.robotYtoCanvasY(mapdata.IMAGE, pos[1] / 50);\r\n\t\t\t\tconst w = VISUAL_BLOCK_SIZE * 3;\r\n\t\t\t\tconst h = VISUAL_BLOCK_SIZE * 3;\r\n\t\t\t\tctx.drawImage(imgCharger, x - w / 2, y - h / 2, w, h);\r\n\t\t\t}\r\n\t\t}\r\n\r\n\t\tif (mapdata.ROBOT_POSITION) {\r\n\t\t\tconst pos = mapdata.ROBOT_POSITION.position;\r\n\t\t\tconst angle = mapdata.ROBOT_POSITION.angle ?? 0;\r\n\t\t\tconst drawAngle = -angle + 90;\r\n\r\n\t\t\tif (pos?.[0] && pos?.[1]) {\r\n\t\t\t\tconst x = this.robotXtoCanvasX(mapdata.IMAGE, pos[0] / 50);\r\n\t\t\t\tconst y = this.robotYtoCanvasY(mapdata.IMAGE, pos[1] / 50);\r\n\t\t\t\tconst robotSize = VISUAL_BLOCK_SIZE * 5;\r\n\r\n\t\t\t\tctx.save();\r\n\t\t\t\tctx.translate(x, y);\r\n\t\t\t\tctx.rotate((drawAngle * Math.PI) / 180);\r\n\t\t\t\tctx.drawImage(imgRobot, -robotSize / 2, -robotSize / 2, robotSize, robotSize);\r\n\t\t\t\tctx.restore();\r\n\t\t\t}\r\n\t\t}\r\n\r\n\t\tif (mapdata.GOTO_TARGET?.[0] && mapdata.GOTO_TARGET?.[1]) {\r\n\t\t\tconst pinW = VISUAL_BLOCK_SIZE * 3;\r\n\t\t\tconst pinH = (pinW / 29) * 24;\r\n\t\t\tctx.drawImage(\r\n\t\t\t\timgGoToPin,\r\n\t\t\t\tthis.robotXtoCanvasX(mapdata.IMAGE, mapdata.GOTO_TARGET[0] / 50) - pinW / 2,\r\n\t\t\t\tthis.robotYtoCanvasY(mapdata.IMAGE, mapdata.GOTO_TARGET[1] / 50) - (pinH + VISUAL_BLOCK_SIZE / 2),\r\n\t\t\t\tpinW,\r\n\t\t\t\tpinH\r\n\t\t\t);\r\n\t\t}\r\n\t}\r\n\r\n\tprivate drawRoomNames(ctx: ExtendedContext2D, segmentsData: any, mappedRooms: any) {\r\n\t\tif (segmentsData && mappedRooms) {\r\n\t\t\tconst roomIDsAll = this.adapter.http_api.getMatchedRoomIDs(false);\r\n\t\t\tObject.keys(segmentsData).forEach((segnumStr) => {\r\n\t\t\t\tconst segnum = parseInt(segnumStr);\r\n\t\t\t\tif (segnum === 0) return;\r\n\t\t\t\tconst mapping = mappedRooms.find(([id]: [string]) => parseInt(id) === segnum);\r\n\t\t\t\tlet roomName = \"\";\r\n\t\t\t\tif (mapping) {\r\n\t\t\t\t\tconst roomID = mapping[1];\r\n\t\t\t\t\tconst roomObj = roomIDsAll.find((r) => String(r.id) === String(roomID));\r\n\t\t\t\t\troomName = roomObj?.name || \"\";\r\n\t\t\t\t}\r\n\t\t\t\tif (roomName) {\r\n\t\t\t\t\tconst segment = segmentsData[segnum];\r\n\t\t\t\t\tconst centerX = segment.minX + (segment.maxX - segment.minX) / 2;\r\n\t\t\t\t\tconst centerY = segment.minY + (segment.maxY - segment.minY) / 2;\r\n\t\t\t\t\tctx.font = `bold ${VISUAL_BLOCK_SIZE * 6}px Arial`;\r\n\t\t\t\t\tctx.textAlign = \"center\";\r\n\t\t\t\t\tctx.textBaseline = \"middle\";\r\n\t\t\t\t\tctx.lineWidth = 1;\r\n\t\t\t\t\tctx.strokeStyle = \"white\";\r\n\t\t\t\t\tctx.strokeText(roomName, centerX, centerY);\r\n\t\t\t\t\tctx.fillStyle = \"black\";\r\n\t\t\t\t\tctx.fillText(roomName, centerX, centerY);\r\n\t\t\t\t}\r\n\t\t\t});\r\n\t\t}\r\n\t}\r\n\r\n\tprivate cropMap(canvas: Canvas, ctx: ExtendedContext2D, bounds: { minleft: number; mintop: number; maxleft: number; maxtop: number }) {\r\n\t\tconst { minleft, mintop, maxleft, maxtop } = bounds;\r\n\t\tconst cropW = maxleft - minleft + 2 * OFFSET;\r\n\t\tconst cropH = maxtop - mintop + 2 * OFFSET;\r\n\r\n\t\tif (cropW <= 0 || cropH <= 0 || !isFinite(cropW) || !isFinite(cropH)) {\r\n\t\t\treturn canvas.toDataURL();\r\n\t\t}\r\n\r\n\t\tconst sx = Math.max(0, minleft - OFFSET);\r\n\t\tconst sy = Math.max(0, mintop - OFFSET);\r\n\t\tconst maxWidth = canvas.width - sx;\r\n\t\tconst maxHeight = canvas.height - sy;\r\n\t\tconst finalCropW = Math.min(cropW, maxWidth);\r\n\t\tconst finalCropH = Math.min(cropH, maxHeight);\r\n\r\n\t\tconst canvasTrimmedFull = createCanvas(finalCropW, finalCropH);\r\n\t\tconst ctxTrimmedFull = canvasTrimmedFull.getContext(\"2d\");\r\n\t\tconst trimmedDataFull = ctx.getImageData(sx, sy, finalCropW, finalCropH);\r\n\t\tctxTrimmedFull.putImageData(trimmedDataFull, 0, 0);\r\n\r\n\t\treturn canvasTrimmedFull.toDataURL();\r\n\t}\r\n\r\n\tprivate drawRestrictedAreas(ctx: ExtendedContext2D, mapdata: any) {\r\n\t\tconst drawRectArea = (zones: number[][], fill: string, stroke: string) => {\r\n\t\t\tif (!zones) return;\r\n\t\t\tzones.forEach((zone) => {\r\n\t\t\t\tconst x1 = this.robotXtoCanvasX(mapdata.IMAGE, Math.min(zone[0], zone[2], zone[4], zone[6]) / 50);\r\n\t\t\t\tconst y1 = this.robotYtoCanvasY(mapdata.IMAGE, Math.max(zone[1], zone[3], zone[5], zone[7]) / 50);\r\n\t\t\t\tconst x2 = this.robotXtoCanvasX(mapdata.IMAGE, Math.max(zone[0], zone[2], zone[4], zone[6]) / 50);\r\n\t\t\t\tconst y2 = this.robotYtoCanvasY(mapdata.IMAGE, Math.min(zone[1], zone[3], zone[5], zone[7]) / 50);\r\n\t\t\t\tconst minX = Math.min(x1, x2);\r\n\t\t\t\tconst minY = Math.min(y1, y2);\r\n\t\t\t\tconst maxX = Math.max(x1, x2);\r\n\t\t\t\tconst maxY = Math.max(y1, y2);\r\n\t\t\t\tctx.fillStyle = fill;\r\n\t\t\t\tctx.fillRect(minX, minY, maxX - minX, maxY - minY);\r\n\t\t\t\tctx.strokeStyle = stroke;\r\n\t\t\t\tctx.lineWidth = (1 * VISUAL_BLOCK_SIZE) / 2;\r\n\t\t\t\tctx.strokeRect(minX, minY, maxX - minX, maxY - minY);\r\n\t\t\t});\r\n\t\t};\r\n\t\tdrawRectArea(mapdata.FORBIDDEN_ZONES, \"rgba(255, 0, 0, 0.5)\", \"rgba(255, 0, 0, 1)\");\r\n\t\tdrawRectArea(mapdata.NO_MOP_ZONE, \"rgba(0, 0, 255, 0.5)\", \"rgba(0, 0, 255, 1)\");\r\n\t\tif (mapdata.VIRTUAL_WALLS) {\r\n\t\t\tctx.strokeStyle = \"rgba(255, 0, 0, 1)\";\r\n\t\t\tctx.lineWidth = 1 * VISUAL_BLOCK_SIZE;\r\n\t\t\tctx.beginPath();\r\n\t\t\tmapdata.VIRTUAL_WALLS.forEach((wall: any) => {\r\n\t\t\t\tctx.moveTo(this.robotXtoCanvasX(mapdata.IMAGE, wall[0] / 50), this.robotYtoCanvasY(mapdata.IMAGE, wall[1] / 50));\r\n\t\t\t\tctx.lineTo(this.robotXtoCanvasX(mapdata.IMAGE, wall[2] / 50), this.robotYtoCanvasY(mapdata.IMAGE, wall[3] / 50));\r\n\t\t\t});\r\n\t\t\tctx.stroke();\r\n\t\t}\r\n\t}\r\n}"]}
\ No newline at end of file
diff --git a/build/tsconfig.tsbuildinfo b/build/tsconfig.tsbuildinfo
index 81384ed38a..0976f20ed6 100644
--- a/build/tsconfig.tsbuildinfo
+++ b/build/tsconfig.tsbuildinfo
@@ -1 +1 @@
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diff --git a/src/lib/mapCreator.ts b/src/lib/mapCreator.ts
index a6c3ec8269..c474da2a2b 100644
--- a/src/lib/mapCreator.ts
+++ b/src/lib/mapCreator.ts
@@ -77,11 +77,17 @@ export class MapCreator {
 	}
 
 	private robotXtoCanvasX(image: any, robotCoord: number): number {
-		return (robotCoord - image.position.left) * VISUAL_BLOCK_SIZE;
+		// Calculate base X
+		const x = (robotCoord - image.position.left) * VISUAL_BLOCK_SIZE;
+		// Add centering offset (+1.5px) to align with pixel center
+		return x + VISUAL_BLOCK_SIZE / 2;
 	}
 
 	private robotYtoCanvasY(image: any, robotCoord: number): number {
-		return (image.dimensions.height / VISUAL_BLOCK_SIZE + image.position.top - robotCoord) * VISUAL_BLOCK_SIZE;
+		// Calculate base Y
+		const y = (image.dimensions.height / VISUAL_BLOCK_SIZE + image.position.top - robotCoord) * VISUAL_BLOCK_SIZE;
+		// Add centering offset (-1.5px) to align with pixel center
+		return y - VISUAL_BLOCK_SIZE / 2;
 	}
 
 	// --------------------
@@ -177,8 +183,9 @@ export class MapCreator {
 	) {
 		if (!pathSegments || pathSegments.length === 0) return;
 
-		const offsetX = 4;
-		const offsetY = -4;
+		// No additional offsets required
+		const offsetX = 0;
+		const offsetY = 0;
 
 		const w = (tempCtx as any).canvas.width;
 		const h = (tempCtx as any).canvas.height;
@@ -458,7 +465,8 @@ export class MapCreator {
 		const tempCanvas = createCanvas(ctx.canvas.width, ctx.canvas.height);
 		const tempCtx = tempCanvas.getContext("2d");
 
-		this.drawPathSegments(ctx, tempCtx, pathSegments.mainPath, LEGACY_COLORS.path, lwMain, 0.5);
+		this.drawPathSegments(ctx, tempCtx, pathSegments.mopPath, "rgba(255, 255, 255, 1)", 6.5 * VISUAL_BLOCK_SIZE, 0.18);
+		this.drawPathSegments(ctx, tempCtx, pathSegments.mainPath, LEGACY_COLORS.path, lwMain, 1.0);
 	}
 
 	private drawActiveZones(ctx: ExtendedContext2D, zones: any, image: any) {
diff --git a/src/www/coords.test.ts b/src/www/coords.test.ts
index 626d4eba35..cf9c748935 100644
--- a/src/www/coords.test.ts
+++ b/src/www/coords.test.ts
@@ -1,54 +1,61 @@
-//
-// coords.test.ts
-//
-
 import { describe, it } from "vitest";
 import { expect } from "chai";
-import { localCoordsToRobotCoords, robotCoordsToLocalCoords } from "./coords";
+import { localCoordsToRobotCoords, robotCoordsToLocalCoords, VISUAL_BLOCK_SIZE, GRID_CENTER_OFFSET } from "./coords";
 
-// --- Mock-Daten (basierend auf deinen Logs) ---
+// --- Mock Data (Scale = 3 matches reality) ---
 const MOCK_PARAMS = {
-	scaleFactor: 8,       // Dein Wert aus der Config (angenommen)
-	left: 284,            // aus map.IMAGE.position.left
-	topMap: 364,          // aus map.IMAGE.position.top
-	imageHeight: 2880,    // aus map.IMAGE.dimensions.height
-	mapMaxY: 0            // Wird nicht mehr verwendet, aber benötigt vom Interface
+	scaleFactor: 3,       // VISUAL_BLOCK_SIZE
+	left: 284,            // map.IMAGE.position.left
+	topMap: 364,          // map.IMAGE.position.top
+	imageHeight: 2880,    // map.IMAGE.dimensions.height
+	imageWidth: 2880,
+	mapMaxY: 0
 };
 
-// Deine bekannten Test-Werte aus dem Log
-const KNOWN_WORLD_PIXEL = { x: 1744.85, y: 1672.19 };
-const KNOWN_ROBOT_COORDS = { x: 25105, y: 25749 };
-
+// Known Point: Robot @ (25105, 25749)
+// Let's manually calculate expected WORLD pixel
+// X = (25105 / 50 - 284) * 3 + 1.5
+// X = (502.1 - 284) * 3 + 1.5 = 218.1 * 3 + 1.5 = 654.3 + 1.5 = 655.8
+// Y = (364 + 2880 - 25749 / 50) * 3 - 1.5
+// Y = (3244 - 514.98) * 3 - 1.5 = 2729.02 * 3 - 1.5 = 8187.06 - 1.5 = 8185.56
 
-// --- Die Tests ---
-
-describe("Koordinaten-Umrechnung (mit Chai)", () => {
+const KNOWN_ROBOT_COORDS = { x: 25105, y: 25749 };
+const EXPECTED_WORLD_PIXEL = { x: 655.8, y: 8185.56 };
 
-	it("sollte Pixel korrekt in Roboter-Koordinaten umwandeln (Statisch)", () => {
-		const calculated = localCoordsToRobotCoords(KNOWN_WORLD_PIXEL, MOCK_PARAMS);
+describe("Coordinate Conversion (Scale=3, Centered)", () => {
 
-		expect(calculated.x).to.equal(KNOWN_ROBOT_COORDS.x);
-		expect(calculated.y).to.equal(KNOWN_ROBOT_COORDS.y);
+	it("should export constants", () => {
+		expect(VISUAL_BLOCK_SIZE).to.equal(3);
+		expect(GRID_CENTER_OFFSET).to.equal(1.5);
 	});
 
-	it("sollte Roboter-Koordinaten korrekt in Pixel umwandeln (Statisch)", () => {
+	it("Robot -> Local: Should apply Scale=3 and Offsets (+1.5, -1.5)", () => {
 		const calculated = robotCoordsToLocalCoords(KNOWN_ROBOT_COORDS, MOCK_PARAMS);
-
-		// Toleranz von 1 Pixel wegen Rundungsdifferenzen
-		expect(calculated.x).to.be.closeTo(KNOWN_WORLD_PIXEL.x, 1);
-		expect(calculated.y).to.be.closeTo(KNOWN_WORLD_PIXEL.y, 1);
+		expect(calculated.x).to.be.closeTo(EXPECTED_WORLD_PIXEL.x, 0.01);
+		expect(calculated.y).to.be.closeTo(EXPECTED_WORLD_PIXEL.y, 0.01);
 	});
 
-	it("sollte ein perfekter Round-Trip sein", () => {
-		// Nimm einen sauberen Startwert
-		const startPixel = { x: 1800, y: 1700 };
+	it("Local -> Robot: Should reverse correctly (Round Trip)", () => {
+		// Start with World Pixel
+		const startPixel = { x: 655.8, y: 8185.56 };
 
-		// Pixel -> Roboter -> Pixel
+		// Pixel -> Robot
 		const robotCoords = localCoordsToRobotCoords(startPixel, MOCK_PARAMS);
+		// Robot -> Pixel
 		const pixelCoords = robotCoordsToLocalCoords(robotCoords, MOCK_PARAMS);
 
-		// Muss wieder nahe am Startwert sein (Toleranz 1 Pixel)
-		expect(pixelCoords.x).to.be.closeTo(startPixel.x, 1);
-		expect(pixelCoords.y).to.be.closeTo(startPixel.y, 1);
+		// Should be close (rounding errors in mm conversion are normal, so ~1-2px tolerance is fine)
+		// Note: localCoordsToRobotCoords uses Math.round(), creating quantization.
+		expect(pixelCoords.x).to.be.closeTo(startPixel.x, 3);
+		expect(pixelCoords.y).to.be.closeTo(startPixel.y, 3);
+	});
+
+	it("Centering Logic: Should place a robot exactly in the center of a grid block", () => {
+		// If robot is exactly at (left + 0) * 50 = left * 50, it is at Grid Index 0.
+		// Result should be 0 * 3 + 1.5 = 1.5
+		const originRobot = { x: MOCK_PARAMS.left * 50, y: 0 }; // Y is irrelevant for X-test
+		const calculated = robotCoordsToLocalCoords(originRobot, MOCK_PARAMS);
+
+		expect(calculated.x).to.equal(1.5);
 	});
 });
\ No newline at end of file
diff --git a/src/www/coords.ts b/src/www/coords.ts
index d09feeb3d4..ac6cb0e8b2 100644
--- a/src/www/coords.ts
+++ b/src/www/coords.ts
@@ -16,6 +16,9 @@ interface MapParams {
 	imageHeight: number; // Unscaled Pixel Height
 }
 
+export const VISUAL_BLOCK_SIZE = 3;
+export const GRID_CENTER_OFFSET = VISUAL_BLOCK_SIZE / 2;
+
 /**
  * Converts LOCAL "world" pixel coordinates (px, Y-down) back to ROBOT coordinates (mm).
  * Used for Click-Tests, GoTo, and Zones.
@@ -24,10 +27,14 @@ export function localCoordsToRobotCoords(localPoint: Point, params: MapParams):
 	if (!params) return { x: 0, y: 0 };
 
 	// X-Axis: (Unscaled Pixel X + Offset X) * 50
-	const robotX = Math.round((localPoint.x / params.scaleFactor + params.left) * MM_PER_PIXEL);
+	// Inverse of Draw: (Point - Offset) / Scale
+	const robotX = Math.round(((localPoint.x - GRID_CENTER_OFFSET) / params.scaleFactor + params.left) * MM_PER_PIXEL);
 
-	// Y-Axis (Inverted Logic): ((H_px / s) + top_px - Y_px / s) * 50
-	const robotY = Math.round((params.imageHeight / params.scaleFactor + params.topMap - localPoint.y / params.scaleFactor) * MM_PER_PIXEL);
+	// Y-Axis (Inverted Logic): ((H_px + top_px) - (Y_px - Offset) / s) * 50
+	// Note: imageHeight is already unscaled, do NOT divide by scaleFactor.
+	// Inverse of Draw (Y): (Top + Height - Y_mm/50) * Scale + Offset
+	// => Y_mm/50 = Top + Height - (Y_pix - Offset) / Scale
+	const robotY = Math.round((params.imageHeight + params.topMap - (localPoint.y - (-GRID_CENTER_OFFSET)) / params.scaleFactor) * MM_PER_PIXEL);
 
 	return { x: robotX, y: robotY };
 }
@@ -39,11 +46,21 @@ export function localCoordsToRobotCoords(localPoint: Point, params: MapParams):
 export function robotCoordsToLocalCoords(robotPoint: Point, params: MapParams): Point {
 	if (!params) return { x: 0, y: 0 };
 
-	// X-Axis: (mm / 50 - Offset px) * scale
-	const worldX = (robotPoint.x / MM_PER_PIXEL - params.left) * params.scaleFactor;
+	// The map image is generated with 3 pixels per grid unit (VISUAL_BLOCK_SIZE=3).
+	// So we must scale the coordinates by 3 to match the image features.
+	const correctScale = VISUAL_BLOCK_SIZE;
+
+	// X-Axis: Center in the middle of the grid block (0 -> 1.5)
+	const offsetX = GRID_CENTER_OFFSET;
+
+	// Y-Axis: Center in the middle of the grid block (0 -> -1.5 inverted)
+	const offsetY = -GRID_CENTER_OFFSET;
+
+	// X-Axis: (mm / 50 - Params) * Scale + Offset
+	const worldX = (robotPoint.x / MM_PER_PIXEL - params.left) * correctScale + offsetX;
 
-	// Y-Axis (Inverted Logic): ((H_px / s) + top_px - Y_mm/50) * scale
-	const worldY = (params.imageHeight / params.scaleFactor + params.topMap - robotPoint.y / MM_PER_PIXEL) * params.scaleFactor;
+	// Y-Axis: (Top + Height - Y_mm/50) * Scale + Offset
+	const finalY = (params.topMap + params.imageHeight - robotPoint.y / MM_PER_PIXEL) * correctScale + offsetY;
 
-	return { x: worldX, y: worldY };
+	return { x: worldX, y: finalY };
 }
diff --git a/src/www/map.ts b/src/www/map.ts
index 132dfd66e9..57cf4eb3c7 100644
--- a/src/www/map.ts
+++ b/src/www/map.ts
@@ -90,7 +90,7 @@ const UI_CONSTANTS = {
 	PIN_WIDTH_BASE: 29,
 	PIN_HEIGHT_BASE: 24,
 	PIN_Y_OFFSET_BASE: 5,
-	PATH_MOP_WIDTH_BASE: 7,
+	PATH_MOP_WIDTH_BASE: 6.5,
 	PATH_MAIN_WIDTH_RATIO_BASE: 0.5,
 	PATH_BACKWASH_WIDTH_BASE: 0.5,
 };
@@ -232,35 +232,28 @@ class MapApplication {
 		// Add carpet layer (Vector SVG)
 		this.carpetGroup = this.mainGroup.append("g").attr("class", "carpet");
 
-		const pathOffsetX = 4;
-		const pathOffsetY = -4;
-
 		this.mopPathGroup = this.mainGroup
 			.append("g")
 			.attr("class", "mop-paths")
-			.style("opacity", 0.18)
-			.attr("transform", `translate(${pathOffsetX}, ${pathOffsetY})`);
+			.style("opacity", 0.18);
 		this.pathGroup = this.mainGroup
 			.append("g")
 			.attr("class", "paths")
-			.style("opacity", 0.5)
-			.attr("transform", `translate(${pathOffsetX}, ${pathOffsetY})`);
+			.style("opacity", 0.5);
 		this.backwashPathGroup = this.mainGroup
 			.append("g")
 			.attr("class", "backwash-paths")
-			.style("opacity", 0.2)
-			.attr("transform", `translate(${pathOffsetX}, ${pathOffsetY})`);
+			.style("opacity", 0.2);
 		this.pureCleanPathGroup = this.mainGroup
 			.append("g")
-			.attr("class", "pure-clean-paths")
-			.attr("transform", `translate(${pathOffsetX}, ${pathOffsetY})`);
+			.attr("class", "pure-clean-paths");
 
 		this.chargerGroup = this.mainGroup.append("g").attr("class", "charger");
 		this.obstacleGroup = this.mainGroup.append("g").attr("class", "obstacles");
 		this.zoneGroup = this.mainGroup.append("g").attr("class", "zones");
 		this.robotGroup = this.mainGroup.append("g").attr("class", "robot");
 		this.pinGroup = this.mainGroup.append("g").attr("class", "pins");
-		this.roomNameGroup = this.svg.append("g").attr("class", "room-names");
+		this.roomNameGroup = this.mainGroup.append("g").attr("class", "room-names");
 
 		this.pinGroup
 			.append("image")
@@ -281,20 +274,15 @@ class MapApplication {
 	}
 
 	private setupConnection() {
-		console.log("--- DEBUG START ---");
-		console.log(`Page loaded from: ${window.location.protocol}//${window.location.hostname}:${window.location.port}`);
-
 		const instance = this.getQueryParam("instance");
 		if (instance === null) {
 			document.body.innerHTML = "<h1>Error: No instance specified in URL.</h1>";
 			return;
 		}
 		this.instanceId = `roborock.${instance}`;
-		console.log(`Initializing instance: ${this.instanceId}`);
 
 		const connCallbacks: ConnCallbacks = {
 			onConnChange: async (isConnected: boolean) => {
-				console.log("Connection state changed: " + isConnected);
 				if (isConnected) {
 					this.fetchRobotList();
 				}
@@ -308,13 +296,10 @@ class MapApplication {
 		};
 
 		const socketUrl = `${window.location.protocol}//${window.location.hostname}:${window.location.port}`;
-		console.log(`Forcing socket.io connection to: ${socketUrl}`);
-
 		this.connection.init({ name: this.instanceId, connLink: socketUrl }, connCallbacks, true);
 	}
 
 	private fetchRobotList() {
-		console.log("Fetching robot list via getObjectView...");
 		const startKey = `${this.instanceId}.Devices.`;
 		const endKey = `${this.instanceId}.Devices.\u9999`;
 
@@ -323,7 +308,6 @@ class MapApplication {
 			.then((res: { rows: { id: string; value: any }[] }) => {
 				const robots: Robot[] = [];
 				if (res && res.rows) {
-					console.log(`getObjectView found ${res.rows.length} devices.`);
 					res.rows.forEach((row) => {
 						const idParts = row.id.split(".");
 						const duid = idParts[idParts.length - 1];
@@ -333,7 +317,6 @@ class MapApplication {
 				}
 
 				if (robots.length === 0) {
-					console.warn("No devices found via getObjectView.");
 					const instanceDuid = this.getQueryParam("instance");
 					if (instanceDuid) {
 						this.robotSelect.innerHTML = "";
@@ -409,7 +392,6 @@ class MapApplication {
 
 			switch (id) {
 				case mapBase64StateId:
-					console.log(`Received new CLEAN map Base64 for ${duid}`);
 					this.pinGroup.select("image.goto-pin").style("display", "none").style("opacity", 0);
 					this.drawBackgroundImage(state.val as string);
 					break;
@@ -417,9 +399,9 @@ class MapApplication {
 				case mapDataStateId:
 					try {
 						this.map = typeof state.val === "string" ? JSON.parse(state.val) : state.val;
-						console.log("Map Data:", this.map);
 						if (this.map && this.map.IMAGE) {
 							this.mapImage = this.map.IMAGE;
+							this.updateMapImageSize();
 							this.drawRobotAndCharger(this.map.ROBOT_POSITION, this.map.CHARGER_LOCATION);
 							this.drawPaths(this.map.PATH, this.map.MOP_PATH);
 							this.drawObstacles(this.map.OBSTACLES2);
@@ -442,11 +424,25 @@ class MapApplication {
 			this.onStateChange(mapDataStateId, states[mapDataStateId]);
 		});
 	}
-
 	// -----------------------------------------------------------------------------
 	// Drawing Methods
 	// -----------------------------------------------------------------------------
 
+	private updateMapImageSize() {
+		if (!this.image.naturalWidth || !this.image.naturalHeight) return;
+
+		// Use natural size of the image (1:1 scale)
+		const displayWidth = this.image.naturalWidth;
+		const displayHeight = this.image.naturalHeight;
+
+		this.mapImageElement
+			.attr("href", this.image.src)
+			.attr("width", displayWidth)
+			.attr("height", displayHeight)
+			.attr("transform", null)
+			.style("image-rendering", "pixelated");
+	}
+
 	private drawBackgroundImage(mapBase64: string) {
 		if (!mapBase64) {
 			this.mapImageElement.attr("href", null);
@@ -473,49 +469,59 @@ class MapApplication {
 			const pixels = imageData.data;
 			for (let i = 0; i < pixels.length; i += 4) {
 				const alpha = pixels[i + 3];
-				if (alpha > 0) {
+				if (alpha > 50) {
 					const x = (i / 4) % this.image.width;
 					const y = Math.floor(i / 4 / this.image.width);
-					this.mapMinX = Math.min(this.mapMinX, x);
-					this.mapMinY = Math.min(this.mapMinY, y);
-					mapMaxX = Math.max(mapMaxX, x);
-					this.mapMaxY = Math.max(this.mapMaxY, y);
+					if (x < this.mapMinX) this.mapMinX = x;
+					if (x > mapMaxX) mapMaxX = x;
+					if (y < this.mapMinY) this.mapMinY = y;
+					if (y > this.mapMaxY) this.mapMaxY = y;
 				}
 			}
-			this.mapMinX--;
-			this.mapMinY--;
-			mapMaxX++;
-			this.mapMaxY++;
+
+			if (this.mapMinX > mapMaxX) {
+				this.mapMinX = 0;
+				mapMaxX = this.image.width;
+				this.mapMinY = 0;
+				this.mapMaxY = this.image.height;
+			}
+
+			// Calculate content dimensions based on detected pixels
 			this.mapSizeX = mapMaxX - this.mapMinX;
 			this.mapSizeY = this.mapMaxY - this.mapMinY;
 
-			const transformStr = `translate(${-this.mapMinX}, ${-this.mapMinY})`;
+			// Sanity check
+			if (this.mapSizeX <= 0) this.mapSizeX = this.image.width;
+			if (this.mapSizeY <= 0) this.mapSizeY = this.image.height;
 
-			this.mapImageElement
-				.attr("href", mapBase64)
-				.attr("x", 0)
-				.attr("y", 0)
-				.attr("width", this.image.width)
-				.attr("height", this.image.height)
-				.attr("transform", transformStr)
-				.style("image-rendering", "pixelated");
+			this.updateMapImageSize();
 
-			this.carpetGroup.attr("transform", transformStr);
+			this.carpetGroup.attr("transform", null);
 
-			const svgWidth = parseFloat(this.svg.attr("width"));
-			const svgHeight = parseFloat(this.svg.attr("height"));
+			const svgWidth = parseFloat(this.svg.attr("width")) || 800;
+			const svgHeight = parseFloat(this.svg.attr("height")) || 600;
+
+			// Zoom-to-fit calculations
 			const aspectRatio = svgWidth / svgHeight;
 			const contentAspectRatio = this.mapSizeX / this.mapSizeY;
 
 			if (contentAspectRatio > aspectRatio) {
-				this.zoomLevel = this.roundTwoDecimals((svgWidth * 100) / this.mapSizeX) / 100;
+				this.zoomLevel = this.roundTwoDecimals((svgWidth * 0.95) / this.mapSizeX); // 95% fit
 			} else {
-				this.zoomLevel = this.roundTwoDecimals((svgHeight * 100) / this.mapSizeY) / 100;
+				this.zoomLevel = this.roundTwoDecimals((svgHeight * 0.95) / this.mapSizeY);
 			}
 
+			if (this.zoomLevel < 0.1) this.zoomLevel = 0.1;
+
+			// Center the content within the SVG
+			const contentCenterX = this.mapMinX + this.mapSizeX / 2;
+			const contentCenterY = this.mapMinY + this.mapSizeY / 2;
+
 			this.initialTransform = d3.zoomIdentity
-				.translate((svgWidth - this.mapSizeX * this.zoomLevel) / 2, (svgHeight - this.mapSizeY * this.zoomLevel) / 2)
-				.scale(this.zoomLevel);
+				.translate(svgWidth / 2, svgHeight / 2)
+				.scale(this.zoomLevel)
+				.translate(-contentCenterX, -contentCenterY);
+
 			this.svgContainer.call(this.zoom.transform as any, this.initialTransform);
 
 			if (this.map) {
@@ -529,12 +535,13 @@ class MapApplication {
 	}
 
 	private drawRobotAndCharger(robotPos?: PositionBlock, chargerPos?: PositionBlock) {
+		this.robotGroup.selectAll("image.robot").remove();
+		this.chargerGroup.selectAll("image.charger").remove();
+
+		if (!robotPos && !chargerPos) return;
+
 		const params = this.getMapParams();
-		if (!params) {
-			this.chargerGroup.selectAll("image.charger").remove();
-			this.robotGroup.selectAll("image.robot").remove();
-			return;
-		}
+		if (!params) return;
 
 		const scaledChargerSize = this.rescaler.chargerSize();
 		const scaledRobotSize = this.rescaler.robotSize();
@@ -599,31 +606,17 @@ class MapApplication {
 			.style("paint-order", "stroke")
 			.attr("shape-rendering", "geometricPrecision")
 			.merge(textElements as any)
-			.attr("data-x", (d) => {
+			.text((d) => d.name)
+			.attr("x", (d) => {
 				if (d.center && typeof d.center[0] === "number" && !isNaN(d.center[0]))
 					return this.robotToSvg({ x: d.center[0], y: d.center[1] }, params).x;
 				return -1000;
 			})
-			.attr("data-y", (d) => {
+			.attr("y", (d) => {
 				if (d.center && typeof d.center[1] === "number" && !isNaN(d.center[1]))
 					return this.robotToSvg({ x: d.center[0], y: d.center[1] }, params).y;
 				return -1000;
-			})
-			.text((d) => d.name)
-			.attr("x", null)
-			.attr("y", null);
-
-		const transform = d3.zoomTransform(this.svgContainer.node() as Element);
-		this.repositionText(transform);
-	}
-
-	private repositionText(transform: d3.ZoomTransform) {
-		this.roomNameGroup.selectAll("text.room-name").attr("transform", function () {
-			const baseX = parseFloat(d3.select(this).attr("data-x"));
-			const baseY = parseFloat(d3.select(this).attr("data-y"));
-			const [scaledX, scaledY] = transform.apply([baseX, baseY]);
-			return `translate(${scaledX}, ${scaledY})`;
-		});
+			});
 	}
 
 	private drawPaths(pathData?: PathBlock, mopData?: number[]) {
@@ -813,7 +806,7 @@ class MapApplication {
 		const allGroups = enterGroups.merge(groups as any);
 
 		allGroups.attr("transform", (d: any) => {
-			const pos = this.robotToSvg({ x: d[0] + 25, y: d[1] + 25 }, params);
+			const pos = this.robotToSvg({ x: d[0] + 25, y: d[1] + 25 }, params); // Added +25 offset for obstacle center?
 			return `translate(${pos.x}, ${pos.y})`;
 		});
 
@@ -832,21 +825,27 @@ class MapApplication {
 			return;
 		}
 
-		const scaledWidth = this.mapImage.dimensions.width;
-		const scaledHeight = this.mapImage.dimensions.height;
-		const gridWidth = scaledWidth / VISUAL_BLOCK_SIZE;
-		const gridHeight = scaledHeight / VISUAL_BLOCK_SIZE;
+		// mapData provides UNSCALED dimensions (raw grid size)
+		// We do NOT divide by VISUAL_BLOCK_SIZE here because dimensions IS the grid size.
+		const gridWidth = this.mapImage.dimensions.width;
+		const gridHeight = this.mapImage.dimensions.height;
 		const stride = 3;
 
 		const pathCoords: string[] = [];
 
+		// Consistent Offsets with Coords.ts
+		// For grid-based elements (Carpet), we align to the grid cell (0,0), not the center (1.5, 1.5).
+		// Paths use 1.5 to be in the center of the cell. Carpets fill the cell.
+		const offsetX = 0;
+		const offsetY = 0;
+
 		carpetMap.forEach((px) => {
 			const col = px % gridWidth;
 			const row = Math.floor(px / gridWidth);
 			const invertedRow = gridHeight - row - 1;
 
-			const baseX = col * VISUAL_BLOCK_SIZE;
-			const baseY = invertedRow * VISUAL_BLOCK_SIZE;
+			const baseX = col * VISUAL_BLOCK_SIZE + offsetX;
+			const baseY = invertedRow * VISUAL_BLOCK_SIZE + offsetY;
 
 			for (let dx = 0; dx < VISUAL_BLOCK_SIZE; dx++) {
 				for (let dy = 0; dy < VISUAL_BLOCK_SIZE; dy++) {
@@ -1018,8 +1017,6 @@ class MapApplication {
 				return this.robotToSvg({ x: d.position[0], y: d.position[1] }, params).y - scaledChargerSize / 2;
 			});
 
-		this.repositionText(transform);
-
 		this.pathGroup.selectAll("path.main-path").style("stroke-width", `${this.rescaler.pathMainWidth()}px`);
 		this.backwashPathGroup.selectAll("path.backwash-path").style("stroke-width", `${this.rescaler.pathBackwashWidth()}px`);
 		this.mopPathGroup.selectAll("path.mop-path").style("stroke-width", `${this.rescaler.pathMopWidth()}px`);
@@ -1066,8 +1063,12 @@ class MapApplication {
 	}
 
 	private worldToSvgCoords(x: number, y: number): Point {
-		if (this.mapMinX === undefined || this.mapMinY === undefined) return { x: 0, y: 0 };
-		return { x: x - this.mapMinX, y: y - this.mapMinY };
+		// Since we no longer translate the background image (it sits at 0,0),
+		// we should not subtract mapMinX from the coordinates.
+		// However, World Coordinates (from coords.ts) are 0-based relative to the Grid.
+		// And the Image starts at Grid 0.
+		// So WorldX = SvgX.
+		return { x: x, y: y };
 	}
 
 	private robotToSvg(robotPoint: Point, params: any): Point {
diff --git a/www/coords.d.ts b/www/coords.d.ts
index e86a92d356..6e2b19c79f 100644
--- a/www/coords.d.ts
+++ b/www/coords.d.ts
@@ -8,6 +8,8 @@ interface MapParams {
     topMap: number;
     imageHeight: number;
 }
+export declare const VISUAL_BLOCK_SIZE = 3;
+export declare const GRID_CENTER_OFFSET: number;
 /**
  * Converts LOCAL "world" pixel coordinates (px, Y-down) back to ROBOT coordinates (mm).
  * Used for Click-Tests, GoTo, and Zones.
diff --git a/www/coords.js b/www/coords.js
index 4f45b8c9d7..cc2e161fa4 100644
--- a/www/coords.js
+++ b/www/coords.js
@@ -1,6 +1,8 @@
 // src/www/coords.ts
 // The true physical scale (50mm/pixel) used by Roborock
 const MM_PER_PIXEL = 50;
+export const VISUAL_BLOCK_SIZE = 3;
+export const GRID_CENTER_OFFSET = VISUAL_BLOCK_SIZE / 2;
 /**
  * Converts LOCAL "world" pixel coordinates (px, Y-down) back to ROBOT coordinates (mm).
  * Used for Click-Tests, GoTo, and Zones.
@@ -9,9 +11,13 @@ export function localCoordsToRobotCoords(localPoint, params) {
     if (!params)
         return { x: 0, y: 0 };
     // X-Axis: (Unscaled Pixel X + Offset X) * 50
-    const robotX = Math.round((localPoint.x / params.scaleFactor + params.left) * MM_PER_PIXEL);
-    // Y-Axis (Inverted Logic): ((H_px / s) + top_px - Y_px / s) * 50
-    const robotY = Math.round((params.imageHeight / params.scaleFactor + params.topMap - localPoint.y / params.scaleFactor) * MM_PER_PIXEL);
+    // Inverse of Draw: (Point - Offset) / Scale
+    const robotX = Math.round(((localPoint.x - GRID_CENTER_OFFSET) / params.scaleFactor + params.left) * MM_PER_PIXEL);
+    // Y-Axis (Inverted Logic): ((H_px + top_px) - (Y_px - Offset) / s) * 50
+    // Note: imageHeight is already unscaled, do NOT divide by scaleFactor.
+    // Inverse of Draw (Y): (Top + Height - Y_mm/50) * Scale + Offset
+    // => Y_mm/50 = Top + Height - (Y_pix - Offset) / Scale
+    const robotY = Math.round((params.imageHeight + params.topMap - (localPoint.y - (-GRID_CENTER_OFFSET)) / params.scaleFactor) * MM_PER_PIXEL);
     return { x: robotX, y: robotY };
 }
 /**
@@ -21,10 +27,17 @@ export function localCoordsToRobotCoords(localPoint, params) {
 export function robotCoordsToLocalCoords(robotPoint, params) {
     if (!params)
         return { x: 0, y: 0 };
-    // X-Axis: (mm / 50 - Offset px) * scale
-    const worldX = (robotPoint.x / MM_PER_PIXEL - params.left) * params.scaleFactor;
-    // Y-Axis (Inverted Logic): ((H_px / s) + top_px - Y_mm/50) * scale
-    const worldY = (params.imageHeight / params.scaleFactor + params.topMap - robotPoint.y / MM_PER_PIXEL) * params.scaleFactor;
-    return { x: worldX, y: worldY };
+    // The map image is generated with 3 pixels per grid unit (VISUAL_BLOCK_SIZE=3).
+    // So we must scale the coordinates by 3 to match the image features.
+    const correctScale = VISUAL_BLOCK_SIZE;
+    // X-Axis: Center in the middle of the grid block (0 -> 1.5)
+    const offsetX = GRID_CENTER_OFFSET;
+    // Y-Axis: Center in the middle of the grid block (0 -> -1.5 inverted)
+    const offsetY = -GRID_CENTER_OFFSET;
+    // X-Axis: (mm / 50 - Params) * Scale + Offset
+    const worldX = (robotPoint.x / MM_PER_PIXEL - params.left) * correctScale + offsetX;
+    // Y-Axis: (Top + Height - Y_mm/50) * Scale + Offset
+    const finalY = (params.topMap + params.imageHeight - robotPoint.y / MM_PER_PIXEL) * correctScale + offsetY;
+    return { x: worldX, y: finalY };
 }
 //# sourceMappingURL=coords.js.map
\ No newline at end of file
diff --git a/www/coords.js.map b/www/coords.js.map
index 0080a8deb7..6d6e7a3000 100644
--- a/www/coords.js.map
+++ b/www/coords.js.map
@@ -1 +1 @@
-{"version":3,"file":"coords.js","sourceRoot":"","sources":["../src/www/coords.ts"],"names":[],"mappings":"AAAA,oBAAoB;AAEpB,wDAAwD;AACxD,MAAM,YAAY,GAAG,EAAE,CAAC;AAexB;;;GAGG;AACH,MAAM,UAAU,wBAAwB,CAAC,UAAiB,EAAE,MAAiB;IAC5E,IAAI,CAAC,MAAM;QAAE,OAAO,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC;IAEnC,6CAA6C;IAC7C,MAAM,MAAM,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,UAAU,CAAC,CAAC,GAAG,MAAM,CAAC,WAAW,GAAG,MAAM,CAAC,IAAI,CAAC,GAAG,YAAY,CAAC,CAAC;IAE5F,iEAAiE;IACjE,MAAM,MAAM,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,MAAM,CAAC,WAAW,GAAG,MAAM,CAAC,WAAW,GAAG,MAAM,CAAC,MAAM,GAAG,UAAU,CAAC,CAAC,GAAG,MAAM,CAAC,WAAW,CAAC,GAAG,YAAY,CAAC,CAAC;IAExI,OAAO,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC;AACjC,CAAC;AAED;;;GAGG;AACH,MAAM,UAAU,wBAAwB,CAAC,UAAiB,EAAE,MAAiB;IAC5E,IAAI,CAAC,MAAM;QAAE,OAAO,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC;IAEnC,wCAAwC;IACxC,MAAM,MAAM,GAAG,CAAC,UAAU,CAAC,CAAC,GAAG,YAAY,GAAG,MAAM,CAAC,IAAI,CAAC,GAAG,MAAM,CAAC,WAAW,CAAC;IAEhF,mEAAmE;IACnE,MAAM,MAAM,GAAG,CAAC,MAAM,CAAC,WAAW,GAAG,MAAM,CAAC,WAAW,GAAG,MAAM,CAAC,MAAM,GAAG,UAAU,CAAC,CAAC,GAAG,YAAY,CAAC,GAAG,MAAM,CAAC,WAAW,CAAC;IAE5H,OAAO,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC;AACjC,CAAC","sourcesContent":["// src/www/coords.ts\r\n\r\n// The true physical scale (50mm/pixel) used by Roborock\r\nconst MM_PER_PIXEL = 50;\r\n\r\ninterface Point {\r\n\tx: number;\r\n\ty: number;\r\n}\r\n\r\n// Map parameters required for the calculations\r\ninterface MapParams {\r\n\tscaleFactor: number; // Config scale (e.g., 8) - used for visual scaling only\r\n\tleft: number; // Unscaled Pixel Offset X\r\n\ttopMap: number; // Unscaled Pixel Offset Y\r\n\timageHeight: number; // Unscaled Pixel Height\r\n}\r\n\r\n/**\r\n * Converts LOCAL \"world\" pixel coordinates (px, Y-down) back to ROBOT coordinates (mm).\r\n * Used for Click-Tests, GoTo, and Zones.\r\n */\r\nexport function localCoordsToRobotCoords(localPoint: Point, params: MapParams): Point {\r\n\tif (!params) return { x: 0, y: 0 };\r\n\r\n\t// X-Axis: (Unscaled Pixel X + Offset X) * 50\r\n\tconst robotX = Math.round((localPoint.x / params.scaleFactor + params.left) * MM_PER_PIXEL);\r\n\r\n\t// Y-Axis (Inverted Logic): ((H_px / s) + top_px - Y_px / s) * 50\r\n\tconst robotY = Math.round((params.imageHeight / params.scaleFactor + params.topMap - localPoint.y / params.scaleFactor) * MM_PER_PIXEL);\r\n\r\n\treturn { x: robotX, y: robotY };\r\n}\r\n\r\n/**\r\n * Converts ROBOT coordinates (mm) to LOCAL \"world\" pixel coordinates (px, Y-down).\r\n * This is used to DRAW things on the map.\r\n */\r\nexport function robotCoordsToLocalCoords(robotPoint: Point, params: MapParams): Point {\r\n\tif (!params) return { x: 0, y: 0 };\r\n\r\n\t// X-Axis: (mm / 50 - Offset px) * scale\r\n\tconst worldX = (robotPoint.x / MM_PER_PIXEL - params.left) * params.scaleFactor;\r\n\r\n\t// Y-Axis (Inverted Logic): ((H_px / s) + top_px - Y_mm/50) * scale\r\n\tconst worldY = (params.imageHeight / params.scaleFactor + params.topMap - robotPoint.y / MM_PER_PIXEL) * params.scaleFactor;\r\n\r\n\treturn { x: worldX, y: worldY };\r\n}\r\n"]}
\ No newline at end of file
+{"version":3,"file":"coords.js","sourceRoot":"","sources":["../src/www/coords.ts"],"names":[],"mappings":"AAAA,oBAAoB;AAEpB,wDAAwD;AACxD,MAAM,YAAY,GAAG,EAAE,CAAC;AAexB,MAAM,CAAC,MAAM,iBAAiB,GAAG,CAAC,CAAC;AACnC,MAAM,CAAC,MAAM,kBAAkB,GAAG,iBAAiB,GAAG,CAAC,CAAC;AAExD;;;GAGG;AACH,MAAM,UAAU,wBAAwB,CAAC,UAAiB,EAAE,MAAiB;IAC5E,IAAI,CAAC,MAAM;QAAE,OAAO,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC;IAEnC,6CAA6C;IAC7C,4CAA4C;IAC5C,MAAM,MAAM,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC,UAAU,CAAC,CAAC,GAAG,kBAAkB,CAAC,GAAG,MAAM,CAAC,WAAW,GAAG,MAAM,CAAC,IAAI,CAAC,GAAG,YAAY,CAAC,CAAC;IAEnH,wEAAwE;IACxE,uEAAuE;IACvE,iEAAiE;IACjE,uDAAuD;IACvD,MAAM,MAAM,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,MAAM,CAAC,WAAW,GAAG,MAAM,CAAC,MAAM,GAAG,CAAC,UAAU,CAAC,CAAC,GAAG,CAAC,CAAC,kBAAkB,CAAC,CAAC,GAAG,MAAM,CAAC,WAAW,CAAC,GAAG,YAAY,CAAC,CAAC;IAE7I,OAAO,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC;AACjC,CAAC;AAED;;;GAGG;AACH,MAAM,UAAU,wBAAwB,CAAC,UAAiB,EAAE,MAAiB;IAC5E,IAAI,CAAC,MAAM;QAAE,OAAO,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC;IAEnC,gFAAgF;IAChF,qEAAqE;IACrE,MAAM,YAAY,GAAG,iBAAiB,CAAC;IAEvC,4DAA4D;IAC5D,MAAM,OAAO,GAAG,kBAAkB,CAAC;IAEnC,sEAAsE;IACtE,MAAM,OAAO,GAAG,CAAC,kBAAkB,CAAC;IAEpC,8CAA8C;IAC9C,MAAM,MAAM,GAAG,CAAC,UAAU,CAAC,CAAC,GAAG,YAAY,GAAG,MAAM,CAAC,IAAI,CAAC,GAAG,YAAY,GAAG,OAAO,CAAC;IAEpF,oDAAoD;IACpD,MAAM,MAAM,GAAG,CAAC,MAAM,CAAC,MAAM,GAAG,MAAM,CAAC,WAAW,GAAG,UAAU,CAAC,CAAC,GAAG,YAAY,CAAC,GAAG,YAAY,GAAG,OAAO,CAAC;IAE3G,OAAO,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC;AACjC,CAAC","sourcesContent":["// src/www/coords.ts\r\n\r\n// The true physical scale (50mm/pixel) used by Roborock\r\nconst MM_PER_PIXEL = 50;\r\n\r\ninterface Point {\r\n\tx: number;\r\n\ty: number;\r\n}\r\n\r\n// Map parameters required for the calculations\r\ninterface MapParams {\r\n\tscaleFactor: number; // Config scale (e.g., 8) - used for visual scaling only\r\n\tleft: number; // Unscaled Pixel Offset X\r\n\ttopMap: number; // Unscaled Pixel Offset Y\r\n\timageHeight: number; // Unscaled Pixel Height\r\n}\r\n\r\nexport const VISUAL_BLOCK_SIZE = 3;\r\nexport const GRID_CENTER_OFFSET = VISUAL_BLOCK_SIZE / 2;\r\n\r\n/**\r\n * Converts LOCAL \"world\" pixel coordinates (px, Y-down) back to ROBOT coordinates (mm).\r\n * Used for Click-Tests, GoTo, and Zones.\r\n */\r\nexport function localCoordsToRobotCoords(localPoint: Point, params: MapParams): Point {\r\n\tif (!params) return { x: 0, y: 0 };\r\n\r\n\t// X-Axis: (Unscaled Pixel X + Offset X) * 50\r\n\t// Inverse of Draw: (Point - Offset) / Scale\r\n\tconst robotX = Math.round(((localPoint.x - GRID_CENTER_OFFSET) / params.scaleFactor + params.left) * MM_PER_PIXEL);\r\n\r\n\t// Y-Axis (Inverted Logic): ((H_px + top_px) - (Y_px - Offset) / s) * 50\r\n\t// Note: imageHeight is already unscaled, do NOT divide by scaleFactor.\r\n\t// Inverse of Draw (Y): (Top + Height - Y_mm/50) * Scale + Offset\r\n\t// => Y_mm/50 = Top + Height - (Y_pix - Offset) / Scale\r\n\tconst robotY = Math.round((params.imageHeight + params.topMap - (localPoint.y - (-GRID_CENTER_OFFSET)) / params.scaleFactor) * MM_PER_PIXEL);\r\n\r\n\treturn { x: robotX, y: robotY };\r\n}\r\n\r\n/**\r\n * Converts ROBOT coordinates (mm) to LOCAL \"world\" pixel coordinates (px, Y-down).\r\n * This is used to DRAW things on the map.\r\n */\r\nexport function robotCoordsToLocalCoords(robotPoint: Point, params: MapParams): Point {\r\n\tif (!params) return { x: 0, y: 0 };\r\n\r\n\t// The map image is generated with 3 pixels per grid unit (VISUAL_BLOCK_SIZE=3).\r\n\t// So we must scale the coordinates by 3 to match the image features.\r\n\tconst correctScale = VISUAL_BLOCK_SIZE;\r\n\r\n\t// X-Axis: Center in the middle of the grid block (0 -> 1.5)\r\n\tconst offsetX = GRID_CENTER_OFFSET;\r\n\r\n\t// Y-Axis: Center in the middle of the grid block (0 -> -1.5 inverted)\r\n\tconst offsetY = -GRID_CENTER_OFFSET;\r\n\r\n\t// X-Axis: (mm / 50 - Params) * Scale + Offset\r\n\tconst worldX = (robotPoint.x / MM_PER_PIXEL - params.left) * correctScale + offsetX;\r\n\r\n\t// Y-Axis: (Top + Height - Y_mm/50) * Scale + Offset\r\n\tconst finalY = (params.topMap + params.imageHeight - robotPoint.y / MM_PER_PIXEL) * correctScale + offsetY;\r\n\r\n\treturn { x: worldX, y: finalY };\r\n}\r\n"]}
\ No newline at end of file
diff --git a/www/map.js b/www/map.js
index e967ab7275..4b0e1b3131 100644
--- a/www/map.js
+++ b/www/map.js
@@ -16,7 +16,7 @@ const UI_CONSTANTS = {
     PIN_WIDTH_BASE: 29,
     PIN_HEIGHT_BASE: 24,
     PIN_Y_OFFSET_BASE: 5,
-    PATH_MOP_WIDTH_BASE: 7,
+    PATH_MOP_WIDTH_BASE: 6.5,
     PATH_MAIN_WIDTH_RATIO_BASE: 0.5,
     PATH_BACKWASH_WIDTH_BASE: 0.5,
 };
@@ -143,33 +143,27 @@ class MapApplication {
         this.mapImageElement = this.mainGroup.append("image").attr("class", "map-image");
         // Add carpet layer (Vector SVG)
         this.carpetGroup = this.mainGroup.append("g").attr("class", "carpet");
-        const pathOffsetX = 4;
-        const pathOffsetY = -4;
         this.mopPathGroup = this.mainGroup
             .append("g")
             .attr("class", "mop-paths")
-            .style("opacity", 0.18)
-            .attr("transform", `translate(${pathOffsetX}, ${pathOffsetY})`);
+            .style("opacity", 0.18);
         this.pathGroup = this.mainGroup
             .append("g")
             .attr("class", "paths")
-            .style("opacity", 0.5)
-            .attr("transform", `translate(${pathOffsetX}, ${pathOffsetY})`);
+            .style("opacity", 0.5);
         this.backwashPathGroup = this.mainGroup
             .append("g")
             .attr("class", "backwash-paths")
-            .style("opacity", 0.2)
-            .attr("transform", `translate(${pathOffsetX}, ${pathOffsetY})`);
+            .style("opacity", 0.2);
         this.pureCleanPathGroup = this.mainGroup
             .append("g")
-            .attr("class", "pure-clean-paths")
-            .attr("transform", `translate(${pathOffsetX}, ${pathOffsetY})`);
+            .attr("class", "pure-clean-paths");
         this.chargerGroup = this.mainGroup.append("g").attr("class", "charger");
         this.obstacleGroup = this.mainGroup.append("g").attr("class", "obstacles");
         this.zoneGroup = this.mainGroup.append("g").attr("class", "zones");
         this.robotGroup = this.mainGroup.append("g").attr("class", "robot");
         this.pinGroup = this.mainGroup.append("g").attr("class", "pins");
-        this.roomNameGroup = this.svg.append("g").attr("class", "room-names");
+        this.roomNameGroup = this.mainGroup.append("g").attr("class", "room-names");
         this.pinGroup
             .append("image")
             .attr("class", "goto-pin")
@@ -186,18 +180,14 @@ class MapApplication {
         this.svgContainer.call(this.zoom);
     }
     setupConnection() {
-        console.log("--- DEBUG START ---");
-        console.log(`Page loaded from: ${window.location.protocol}//${window.location.hostname}:${window.location.port}`);
         const instance = this.getQueryParam("instance");
         if (instance === null) {
             document.body.innerHTML = "<h1>Error: No instance specified in URL.</h1>";
             return;
         }
         this.instanceId = `roborock.${instance}`;
-        console.log(`Initializing instance: ${this.instanceId}`);
         const connCallbacks = {
             onConnChange: async (isConnected) => {
-                console.log("Connection state changed: " + isConnected);
                 if (isConnected) {
                     this.fetchRobotList();
                 }
@@ -211,11 +201,9 @@ class MapApplication {
             },
         };
         const socketUrl = `${window.location.protocol}//${window.location.hostname}:${window.location.port}`;
-        console.log(`Forcing socket.io connection to: ${socketUrl}`);
         this.connection.init({ name: this.instanceId, connLink: socketUrl }, connCallbacks, true);
     }
     fetchRobotList() {
-        console.log("Fetching robot list via getObjectView...");
         const startKey = `${this.instanceId}.Devices.`;
         const endKey = `${this.instanceId}.Devices.\u9999`;
         this.connection
@@ -223,7 +211,6 @@ class MapApplication {
             .then((res) => {
             const robots = [];
             if (res && res.rows) {
-                console.log(`getObjectView found ${res.rows.length} devices.`);
                 res.rows.forEach((row) => {
                     const idParts = row.id.split(".");
                     const duid = idParts[idParts.length - 1];
@@ -233,7 +220,6 @@ class MapApplication {
                 });
             }
             if (robots.length === 0) {
-                console.warn("No devices found via getObjectView.");
                 const instanceDuid = this.getQueryParam("instance");
                 if (instanceDuid) {
                     this.robotSelect.innerHTML = "";
@@ -302,16 +288,15 @@ class MapApplication {
             }
             switch (id) {
                 case mapBase64StateId:
-                    console.log(`Received new CLEAN map Base64 for ${duid}`);
                     this.pinGroup.select("image.goto-pin").style("display", "none").style("opacity", 0);
                     this.drawBackgroundImage(state.val);
                     break;
                 case mapDataStateId:
                     try {
                         this.map = typeof state.val === "string" ? JSON.parse(state.val) : state.val;
-                        console.log("Map Data:", this.map);
                         if (this.map && this.map.IMAGE) {
                             this.mapImage = this.map.IMAGE;
+                            this.updateMapImageSize();
                             this.drawRobotAndCharger(this.map.ROBOT_POSITION, this.map.CHARGER_LOCATION);
                             this.drawPaths(this.map.PATH, this.map.MOP_PATH);
                             this.drawObstacles(this.map.OBSTACLES2);
@@ -337,6 +322,19 @@ class MapApplication {
     // -----------------------------------------------------------------------------
     // Drawing Methods
     // -----------------------------------------------------------------------------
+    updateMapImageSize() {
+        if (!this.image.naturalWidth || !this.image.naturalHeight)
+            return;
+        // Use natural size of the image (1:1 scale)
+        const displayWidth = this.image.naturalWidth;
+        const displayHeight = this.image.naturalHeight;
+        this.mapImageElement
+            .attr("href", this.image.src)
+            .attr("width", displayWidth)
+            .attr("height", displayHeight)
+            .attr("transform", null)
+            .style("image-rendering", "pixelated");
+    }
     drawBackgroundImage(mapBase64) {
         if (!mapBase64) {
             this.mapImageElement.attr("href", null);
@@ -360,44 +358,55 @@ class MapApplication {
             const pixels = imageData.data;
             for (let i = 0; i < pixels.length; i += 4) {
                 const alpha = pixels[i + 3];
-                if (alpha > 0) {
+                if (alpha > 50) {
                     const x = (i / 4) % this.image.width;
                     const y = Math.floor(i / 4 / this.image.width);
-                    this.mapMinX = Math.min(this.mapMinX, x);
-                    this.mapMinY = Math.min(this.mapMinY, y);
-                    mapMaxX = Math.max(mapMaxX, x);
-                    this.mapMaxY = Math.max(this.mapMaxY, y);
+                    if (x < this.mapMinX)
+                        this.mapMinX = x;
+                    if (x > mapMaxX)
+                        mapMaxX = x;
+                    if (y < this.mapMinY)
+                        this.mapMinY = y;
+                    if (y > this.mapMaxY)
+                        this.mapMaxY = y;
                 }
             }
-            this.mapMinX--;
-            this.mapMinY--;
-            mapMaxX++;
-            this.mapMaxY++;
+            if (this.mapMinX > mapMaxX) {
+                this.mapMinX = 0;
+                mapMaxX = this.image.width;
+                this.mapMinY = 0;
+                this.mapMaxY = this.image.height;
+            }
+            // Calculate content dimensions based on detected pixels
             this.mapSizeX = mapMaxX - this.mapMinX;
             this.mapSizeY = this.mapMaxY - this.mapMinY;
-            const transformStr = `translate(${-this.mapMinX}, ${-this.mapMinY})`;
-            this.mapImageElement
-                .attr("href", mapBase64)
-                .attr("x", 0)
-                .attr("y", 0)
-                .attr("width", this.image.width)
-                .attr("height", this.image.height)
-                .attr("transform", transformStr)
-                .style("image-rendering", "pixelated");
-            this.carpetGroup.attr("transform", transformStr);
-            const svgWidth = parseFloat(this.svg.attr("width"));
-            const svgHeight = parseFloat(this.svg.attr("height"));
+            // Sanity check
+            if (this.mapSizeX <= 0)
+                this.mapSizeX = this.image.width;
+            if (this.mapSizeY <= 0)
+                this.mapSizeY = this.image.height;
+            this.updateMapImageSize();
+            this.carpetGroup.attr("transform", null);
+            const svgWidth = parseFloat(this.svg.attr("width")) || 800;
+            const svgHeight = parseFloat(this.svg.attr("height")) || 600;
+            // Zoom-to-fit calculations
             const aspectRatio = svgWidth / svgHeight;
             const contentAspectRatio = this.mapSizeX / this.mapSizeY;
             if (contentAspectRatio > aspectRatio) {
-                this.zoomLevel = this.roundTwoDecimals((svgWidth * 100) / this.mapSizeX) / 100;
+                this.zoomLevel = this.roundTwoDecimals((svgWidth * 0.95) / this.mapSizeX); // 95% fit
             }
             else {
-                this.zoomLevel = this.roundTwoDecimals((svgHeight * 100) / this.mapSizeY) / 100;
+                this.zoomLevel = this.roundTwoDecimals((svgHeight * 0.95) / this.mapSizeY);
             }
+            if (this.zoomLevel < 0.1)
+                this.zoomLevel = 0.1;
+            // Center the content within the SVG
+            const contentCenterX = this.mapMinX + this.mapSizeX / 2;
+            const contentCenterY = this.mapMinY + this.mapSizeY / 2;
             this.initialTransform = d3.zoomIdentity
-                .translate((svgWidth - this.mapSizeX * this.zoomLevel) / 2, (svgHeight - this.mapSizeY * this.zoomLevel) / 2)
-                .scale(this.zoomLevel);
+                .translate(svgWidth / 2, svgHeight / 2)
+                .scale(this.zoomLevel)
+                .translate(-contentCenterX, -contentCenterY);
             this.svgContainer.call(this.zoom.transform, this.initialTransform);
             if (this.map) {
                 this.drawRobotAndCharger(this.map.ROBOT_POSITION, this.map.CHARGER_LOCATION);
@@ -409,12 +418,13 @@ class MapApplication {
         };
     }
     drawRobotAndCharger(robotPos, chargerPos) {
+        this.robotGroup.selectAll("image.robot").remove();
+        this.chargerGroup.selectAll("image.charger").remove();
+        if (!robotPos && !chargerPos)
+            return;
         const params = this.getMapParams();
-        if (!params) {
-            this.chargerGroup.selectAll("image.charger").remove();
-            this.robotGroup.selectAll("image.robot").remove();
+        if (!params)
             return;
-        }
         const scaledChargerSize = this.rescaler.chargerSize();
         const scaledRobotSize = this.rescaler.robotSize();
         // Charger
@@ -474,28 +484,16 @@ class MapApplication {
             .style("paint-order", "stroke")
             .attr("shape-rendering", "geometricPrecision")
             .merge(textElements)
-            .attr("data-x", (d) => {
+            .text((d) => d.name)
+            .attr("x", (d) => {
             if (d.center && typeof d.center[0] === "number" && !isNaN(d.center[0]))
                 return this.robotToSvg({ x: d.center[0], y: d.center[1] }, params).x;
             return -1000;
         })
-            .attr("data-y", (d) => {
+            .attr("y", (d) => {
             if (d.center && typeof d.center[1] === "number" && !isNaN(d.center[1]))
                 return this.robotToSvg({ x: d.center[0], y: d.center[1] }, params).y;
             return -1000;
-        })
-            .text((d) => d.name)
-            .attr("x", null)
-            .attr("y", null);
-        const transform = d3.zoomTransform(this.svgContainer.node());
-        this.repositionText(transform);
-    }
-    repositionText(transform) {
-        this.roomNameGroup.selectAll("text.room-name").attr("transform", function () {
-            const baseX = parseFloat(d3.select(this).attr("data-x"));
-            const baseY = parseFloat(d3.select(this).attr("data-y"));
-            const [scaledX, scaledY] = transform.apply([baseX, baseY]);
-            return `translate(${scaledX}, ${scaledY})`;
         });
     }
     drawPaths(pathData, mopData) {
@@ -664,7 +662,7 @@ class MapApplication {
         });
         const allGroups = enterGroups.merge(groups);
         allGroups.attr("transform", (d) => {
-            const pos = this.robotToSvg({ x: d[0] + 25, y: d[1] + 25 }, params);
+            const pos = this.robotToSvg({ x: d[0] + 25, y: d[1] + 25 }, params); // Added +25 offset for obstacle center?
             return `translate(${pos.x}, ${pos.y})`;
         });
         allGroups
@@ -680,18 +678,23 @@ class MapApplication {
             this.carpetGroup.selectAll("*").remove();
             return;
         }
-        const scaledWidth = this.mapImage.dimensions.width;
-        const scaledHeight = this.mapImage.dimensions.height;
-        const gridWidth = scaledWidth / VISUAL_BLOCK_SIZE;
-        const gridHeight = scaledHeight / VISUAL_BLOCK_SIZE;
+        // mapData provides UNSCALED dimensions (raw grid size)
+        // We do NOT divide by VISUAL_BLOCK_SIZE here because dimensions IS the grid size.
+        const gridWidth = this.mapImage.dimensions.width;
+        const gridHeight = this.mapImage.dimensions.height;
         const stride = 3;
         const pathCoords = [];
+        // Consistent Offsets with Coords.ts
+        // For grid-based elements (Carpet), we align to the grid cell (0,0), not the center (1.5, 1.5).
+        // Paths use 1.5 to be in the center of the cell. Carpets fill the cell.
+        const offsetX = 0;
+        const offsetY = 0;
         carpetMap.forEach((px) => {
             const col = px % gridWidth;
             const row = Math.floor(px / gridWidth);
             const invertedRow = gridHeight - row - 1;
-            const baseX = col * VISUAL_BLOCK_SIZE;
-            const baseY = invertedRow * VISUAL_BLOCK_SIZE;
+            const baseX = col * VISUAL_BLOCK_SIZE + offsetX;
+            const baseY = invertedRow * VISUAL_BLOCK_SIZE + offsetY;
             for (let dx = 0; dx < VISUAL_BLOCK_SIZE; dx++) {
                 for (let dy = 0; dy < VISUAL_BLOCK_SIZE; dy++) {
                     if ((dx + dy) % stride === 2) {
@@ -859,7 +862,6 @@ class MapApplication {
                 return 0;
             return this.robotToSvg({ x: d.position[0], y: d.position[1] }, params).y - scaledChargerSize / 2;
         });
-        this.repositionText(transform);
         this.pathGroup.selectAll("path.main-path").style("stroke-width", `${this.rescaler.pathMainWidth()}px`);
         this.backwashPathGroup.selectAll("path.backwash-path").style("stroke-width", `${this.rescaler.pathBackwashWidth()}px`);
         this.mopPathGroup.selectAll("path.mop-path").style("stroke-width", `${this.rescaler.pathMopWidth()}px`);
@@ -902,9 +904,12 @@ class MapApplication {
         return { x: inverted[0] + this.mapMinX, y: inverted[1] + this.mapMinY };
     }
     worldToSvgCoords(x, y) {
-        if (this.mapMinX === undefined || this.mapMinY === undefined)
-            return { x: 0, y: 0 };
-        return { x: x - this.mapMinX, y: y - this.mapMinY };
+        // Since we no longer translate the background image (it sits at 0,0),
+        // we should not subtract mapMinX from the coordinates.
+        // However, World Coordinates (from coords.ts) are 0-based relative to the Grid.
+        // And the Image starts at Grid 0.
+        // So WorldX = SvgX.
+        return { x: x, y: y };
     }
     robotToSvg(robotPoint, params) {
         const worldPoint = robotCoordsToLocalCoords(robotPoint, params);
diff --git a/www/map.js.map b/www/map.js.map
index 3a18b0e8eb..2b37e1c12e 100644
--- a/www/map.js.map
+++ b/www/map.js.map
@@ -1 +1 @@
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{ Connection } from \"./conn.js\";\r\nimport * as d3 from \"d3\";\r\nimport { IMG_GO_TO_PIN, IMG_CHARGER, IMG_ROBOT_ORIGINAL } from \"./images.js\";\r\nimport { localCoordsToRobotCoords, robotCoordsToLocalCoords } from \"./coords.js\";\r\nimport { processPaths, type PathResult } from \"./pathProcessor.js\";\r\n\r\n// Interfaces\r\n// -----------------------------------------------------------------------------\r\n\r\ninterface MapData {\r\n\tIMAGE: {\r\n\t\tposition: { left: number; top: number };\r\n\t\tdimensions: { height: number; width: number };\r\n\t\tsegments: {\r\n\t\t\tlist: SegmentInfo[];\r\n\t\t};\r\n\t};\r\n\tROBOT_POSITION?: PositionBlock;\r\n\tCHARGER_LOCATION?: PositionBlock;\r\n\tPATH?: PathBlock;\r\n\tMOP_PATH?: number[];\r\n\tOBSTACLES2?: Array<[number, number, ...any]>;\r\n\tCARPET_MAP?: number[];\r\n}\r\n\r\ninterface PositionBlock {\r\n\tposition: [number, number];\r\n\tangle: number;\r\n}\r\n\r\ninterface PathBlock {\r\n\tcurrent_angle: number;\r\n\tpoints: [number, number][];\r\n}\r\n\r\ninterface SegmentInfo {\r\n\tid: number;\r\n\tname: string;\r\n\tcenter: [number, number]; // Robot coordinates\r\n}\r\n\r\ninterface Robot {\r\n\tduid: string;\r\n\tname: string;\r\n}\r\n\r\ninterface Point {\r\n\tx: number;\r\n\ty: number;\r\n}\r\n\r\ninterface Rect {\r\n\tid: number; // Unique ID for D3 data binding\r\n\tx: number;\r\n\ty: number;\r\n\twidth: number;\r\n\theight: number;\r\n}\r\n\r\ninterface ConnCallbacks {\r\n\tonConnChange?: (isConnected: boolean) => void;\r\n\tonUpdate?: (id: string, state: any | null | undefined) => void;\r\n\tonRefresh?: ((...args: any[]) => any) | null;\r\n\tonAuth?: ((...args: any[]) => any) | null;\r\n\tonCommand?: (instance: string, command: string, data: any) => any;\r\n\tonError?: (err: any) => void;\r\n\tonObjectChange?: (id: string, obj: any) => void;\r\n}\r\n\r\ninterface MapParams {\r\n\tscaleFactor: number;\r\n\tleft: number;\r\n\ttopMap: number;\r\n\tmapMaxY: number;\r\n\timageHeight: number;\r\n\timageWidth: number;\r\n}\r\n\r\n// -----------------------------------------------------------------------------\r\n// Constants\r\n// -----------------------------------------------------------------------------\r\n\r\nconst VISUAL_BLOCK_SIZE = 3; // Scale factor for visualization\r\nconst UI_CONSTANTS = {\r\n\tROBOT_SIZE_BASE: 5,\r\n\tCHARGER_SIZE_BASE: 3,\r\n\tOBSTACLE_RADIUS_BASE: 3,\r\n\tZONE_STROKE_BASE: 1.5,\r\n\tZONE_HANDLE_RADIUS_BASE: 5,\r\n\tPIN_WIDTH_BASE: 29,\r\n\tPIN_HEIGHT_BASE: 24,\r\n\tPIN_Y_OFFSET_BASE: 5,\r\n\tPATH_MOP_WIDTH_BASE: 7,\r\n\tPATH_MAIN_WIDTH_RATIO_BASE: 0.5,\r\n\tPATH_BACKWASH_WIDTH_BASE: 0.5,\r\n};\r\n\r\n// -----------------------------------------------------------------------------\r\n// Map Application Class\r\n// -----------------------------------------------------------------------------\r\n\r\nclass MapApplication {\r\n\t// State\r\n\tprivate connection: Connection;\r\n\tprivate instanceId: string = \"\";\r\n\tprivate currentRobotDuid: string | null = null;\r\n\tprivate onStateChange: ((id: string, state: any | null | undefined) => void) | null = null;\r\n\tprivate currentMapSubscriptions: string[] = [];\r\n\r\n\t// Map Data\r\n\tprivate map: MapData | undefined;\r\n\tprivate mapImage: MapData[\"IMAGE\"] | undefined;\r\n\tprivate mapMinX: number = 0;\r\n\tprivate mapMinY: number = 0;\r\n\tprivate mapSizeX: number = 0;\r\n\tprivate mapSizeY: number = 0;\r\n\tprivate mapMaxY: number = 0;\r\n\tprivate goToTarget = false;\r\n\tprivate zoomLevel = 0.55;\r\n\r\n\t// D3 & SVG State\r\n\tprivate image = new Image();\r\n\tprivate initialTransform: d3.ZoomTransform | undefined;\r\n\tprivate svg: d3.Selection<d3.BaseType, unknown, HTMLElement, any>;\r\n\tprivate svgContainer: d3.Selection<d3.BaseType, unknown, HTMLElement, any>;\r\n\tprivate mainGroup: d3.Selection<SVGGElement, unknown, HTMLElement, any>;\r\n\tprivate mapImageElement: d3.Selection<SVGImageElement, unknown, HTMLElement, any>;\r\n\r\n\t// Layers\r\n\tprivate carpetGroup: d3.Selection<SVGGElement, unknown, HTMLElement, any>;\r\n\tprivate pathGroup: d3.Selection<SVGGElement, unknown, HTMLElement, any>;\r\n\tprivate mopPathGroup: d3.Selection<SVGGElement, unknown, HTMLElement, any>;\r\n\tprivate backwashPathGroup: d3.Selection<SVGGElement, unknown, HTMLElement, any>;\r\n\tprivate pureCleanPathGroup: d3.Selection<SVGGElement, unknown, HTMLElement, any>;\r\n\r\n\t// Element Groups\r\n\tprivate chargerGroup: d3.Selection<SVGGElement, unknown, HTMLElement, any>;\r\n\tprivate robotGroup: d3.Selection<SVGGElement, unknown, HTMLElement, any>;\r\n\tprivate roomNameGroup: d3.Selection<SVGGElement, unknown, HTMLElement, any>;\r\n\tprivate zoneGroup: d3.Selection<SVGGElement, unknown, HTMLElement, any>;\r\n\tprivate obstacleGroup: d3.Selection<SVGGElement, unknown, HTMLElement, any>;\r\n\tprivate pinGroup: d3.Selection<SVGGElement, unknown, HTMLElement, any>;\r\n\tprivate zoom: d3.ZoomBehavior<Element, unknown>;\r\n\r\n\tprivate wheelZoom = 1;\r\n\tprivate readonly minZoom = 0.1;\r\n\tprivate readonly maxZoom = 10;\r\n\r\n\t// UI Interaction State\r\n\tprivate popupTimeout: number | null = null;\r\n\tprivate popupX: number = 0;\r\n\tprivate popupY: number = 0;\r\n\tprivate selectedObstacleID: any;\r\n\tprivate rects: Rect[] = [];\r\n\tprivate zones: number[][] = [];\r\n\tprivate rectCounter = 0;\r\n\r\n\t// DOM Elements\r\n\tprivate popup!: HTMLElement;\r\n\tprivate popupImage!: HTMLImageElement;\r\n\tprivate triangle!: HTMLElement;\r\n\tprivate largePhoto!: HTMLElement;\r\n\tprivate largePhotoImage!: HTMLImageElement;\r\n\tprivate robotSelect!: HTMLSelectElement;\r\n\tprivate deleteButton!: HTMLButtonElement;\r\n\tprivate addButton!: HTMLButtonElement;\r\n\tprivate startButton!: HTMLButtonElement;\r\n\tprivate pauseButton!: HTMLButtonElement;\r\n\tprivate stopButton!: HTMLButtonElement;\r\n\tprivate dockButton!: HTMLButtonElement;\r\n\tprivate goToButton!: HTMLButtonElement;\r\n\tprivate resetZoomButton!: HTMLButtonElement;\r\n\r\n\tconstructor() {\r\n\t\tthis.connection = new Connection();\r\n\t\t// Initialize D3 selections with empty selections initially or in init()\r\n\t\t// We will initialize them properly in init() after DOM is ready\r\n\t\tthis.svg = d3.select(null) as any;\r\n\t\tthis.svgContainer = d3.select(null) as any;\r\n\t\tthis.mainGroup = d3.select(null) as any;\r\n\t\tthis.mapImageElement = d3.select(null) as any;\r\n\t\tthis.carpetGroup = d3.select(null) as any;\r\n\t\tthis.pathGroup = d3.select(null) as any;\r\n\t\tthis.mopPathGroup = d3.select(null) as any;\r\n\t\tthis.backwashPathGroup = d3.select(null) as any;\r\n\t\tthis.pureCleanPathGroup = d3.select(null) as any;\r\n\t\tthis.chargerGroup = d3.select(null) as any;\r\n\t\tthis.robotGroup = d3.select(null) as any;\r\n\t\tthis.roomNameGroup = d3.select(null) as any;\r\n\t\tthis.zoneGroup = d3.select(null) as any;\r\n\t\tthis.obstacleGroup = d3.select(null) as any;\r\n\t\tthis.pinGroup = d3.select(null) as any;\r\n\t\tthis.zoom = d3.zoom();\r\n\t}\r\n\r\n\tpublic async init() {\r\n\t\tthis.bindDomElements();\r\n\t\tthis.setupD3();\r\n\t\tthis.setupConnection();\r\n\t\tthis.bindUiEvents();\r\n\t}\r\n\r\n\tprivate bindDomElements() {\r\n\t\tconst getElement = <T extends HTMLElement>(id: string): T => {\r\n\t\t\tconst el = document.getElementById(id);\r\n\t\t\tif (!el) throw new Error(`Missing DOM element: ${id}`);\r\n\t\t\treturn el as T;\r\n\t\t};\r\n\r\n\t\tthis.popup = getElement(\"popup\");\r\n\t\tthis.popupImage = getElement(\"popup-image\");\r\n\t\tthis.triangle = getElement(\"triangle\");\r\n\t\tthis.largePhoto = getElement(\"largePhoto\");\r\n\t\tthis.largePhotoImage = getElement(\"largePhoto-image\");\r\n\t\tthis.robotSelect = getElement(\"robotSelect\");\r\n\t\tthis.deleteButton = getElement(\"deleteButton\");\r\n\t\tthis.addButton = getElement(\"addButton\");\r\n\t\tthis.startButton = getElement(\"startButton\");\r\n\t\tthis.pauseButton = getElement(\"pauseButton\");\r\n\t\tthis.stopButton = getElement(\"stopButton\");\r\n\t\tthis.dockButton = getElement(\"dockButton\");\r\n\t\tthis.goToButton = getElement(\"goToButton\");\r\n\t\tthis.resetZoomButton = getElement(\"resetZoomButton\");\r\n\t}\r\n\r\n\tprivate setupD3() {\r\n\t\tthis.svgContainer = d3.select(\"#mapSvgContainer\");\r\n\t\tthis.svg = d3.select(\"#mapSvg\");\r\n\t\tthis.mainGroup = this.svg.append(\"g\").attr(\"class\", \"main-group\");\r\n\t\tthis.mapImageElement = this.mainGroup.append(\"image\").attr(\"class\", \"map-image\");\r\n\r\n\t\t// Add carpet layer (Vector SVG)\r\n\t\tthis.carpetGroup = this.mainGroup.append(\"g\").attr(\"class\", \"carpet\");\r\n\r\n\t\tconst pathOffsetX = 4;\r\n\t\tconst pathOffsetY = -4;\r\n\r\n\t\tthis.mopPathGroup = this.mainGroup\r\n\t\t\t.append(\"g\")\r\n\t\t\t.attr(\"class\", \"mop-paths\")\r\n\t\t\t.style(\"opacity\", 0.18)\r\n\t\t\t.attr(\"transform\", `translate(${pathOffsetX}, ${pathOffsetY})`);\r\n\t\tthis.pathGroup = this.mainGroup\r\n\t\t\t.append(\"g\")\r\n\t\t\t.attr(\"class\", \"paths\")\r\n\t\t\t.style(\"opacity\", 0.5)\r\n\t\t\t.attr(\"transform\", `translate(${pathOffsetX}, ${pathOffsetY})`);\r\n\t\tthis.backwashPathGroup = this.mainGroup\r\n\t\t\t.append(\"g\")\r\n\t\t\t.attr(\"class\", \"backwash-paths\")\r\n\t\t\t.style(\"opacity\", 0.2)\r\n\t\t\t.attr(\"transform\", `translate(${pathOffsetX}, ${pathOffsetY})`);\r\n\t\tthis.pureCleanPathGroup = this.mainGroup\r\n\t\t\t.append(\"g\")\r\n\t\t\t.attr(\"class\", \"pure-clean-paths\")\r\n\t\t\t.attr(\"transform\", `translate(${pathOffsetX}, ${pathOffsetY})`);\r\n\r\n\t\tthis.chargerGroup = this.mainGroup.append(\"g\").attr(\"class\", \"charger\");\r\n\t\tthis.obstacleGroup = this.mainGroup.append(\"g\").attr(\"class\", \"obstacles\");\r\n\t\tthis.zoneGroup = this.mainGroup.append(\"g\").attr(\"class\", \"zones\");\r\n\t\tthis.robotGroup = this.mainGroup.append(\"g\").attr(\"class\", \"robot\");\r\n\t\tthis.pinGroup = this.mainGroup.append(\"g\").attr(\"class\", \"pins\");\r\n\t\tthis.roomNameGroup = this.svg.append(\"g\").attr(\"class\", \"room-names\");\r\n\r\n\t\tthis.pinGroup\r\n\t\t\t.append(\"image\")\r\n\t\t\t.attr(\"class\", \"goto-pin\")\r\n\t\t\t.attr(\"href\", IMG_GO_TO_PIN)\r\n\t\t\t.attr(\"width\", 29)\r\n\t\t\t.attr(\"height\", 24)\r\n\t\t\t.style(\"opacity\", 0)\r\n\t\t\t.style(\"display\", \"none\")\r\n\t\t\t.style(\"pointer-events\", \"none\");\r\n\r\n\t\tthis.zoom = d3\r\n\t\t\t.zoom()\r\n\t\t\t.scaleExtent([this.minZoom, this.maxZoom])\r\n\t\t\t.on(\"zoom\", (event: any) => this.handleZoom(event));\r\n\r\n\t\tthis.svgContainer.call(this.zoom as any);\r\n\t}\r\n\r\n\tprivate setupConnection() {\r\n\t\tconsole.log(\"--- DEBUG START ---\");\r\n\t\tconsole.log(`Page loaded from: ${window.location.protocol}//${window.location.hostname}:${window.location.port}`);\r\n\r\n\t\tconst instance = this.getQueryParam(\"instance\");\r\n\t\tif (instance === null) {\r\n\t\t\tdocument.body.innerHTML = \"<h1>Error: No instance specified in URL.</h1>\";\r\n\t\t\treturn;\r\n\t\t}\r\n\t\tthis.instanceId = `roborock.${instance}`;\r\n\t\tconsole.log(`Initializing instance: ${this.instanceId}`);\r\n\r\n\t\tconst connCallbacks: ConnCallbacks = {\r\n\t\t\tonConnChange: async (isConnected: boolean) => {\r\n\t\t\t\tconsole.log(\"Connection state changed: \" + isConnected);\r\n\t\t\t\tif (isConnected) {\r\n\t\t\t\t\tthis.fetchRobotList();\r\n\t\t\t\t}\r\n\t\t\t},\r\n\t\t\tonUpdate: (id, state) => {\r\n\t\t\t\tif (this.onStateChange) this.onStateChange(id, state as any);\r\n\t\t\t},\r\n\t\t\tonError: (err) => {\r\n\t\t\t\tconsole.error(\"Connection error:\", err);\r\n\t\t\t},\r\n\t\t};\r\n\r\n\t\tconst socketUrl = `${window.location.protocol}//${window.location.hostname}:${window.location.port}`;\r\n\t\tconsole.log(`Forcing socket.io connection to: ${socketUrl}`);\r\n\r\n\t\tthis.connection.init({ name: this.instanceId, connLink: socketUrl }, connCallbacks, true);\r\n\t}\r\n\r\n\tprivate fetchRobotList() {\r\n\t\tconsole.log(\"Fetching robot list via getObjectView...\");\r\n\t\tconst startKey = `${this.instanceId}.Devices.`;\r\n\t\tconst endKey = `${this.instanceId}.Devices.\\u9999`;\r\n\r\n\t\tthis.connection\r\n\t\t\t.getObjectView(\"system\", \"device\", { startkey: startKey, endkey: endKey })\r\n\t\t\t.then((res: { rows: { id: string; value: any }[] }) => {\r\n\t\t\t\tconst robots: Robot[] = [];\r\n\t\t\t\tif (res && res.rows) {\r\n\t\t\t\t\tconsole.log(`getObjectView found ${res.rows.length} devices.`);\r\n\t\t\t\t\tres.rows.forEach((row) => {\r\n\t\t\t\t\t\tconst idParts = row.id.split(\".\");\r\n\t\t\t\t\t\tconst duid = idParts[idParts.length - 1];\r\n\t\t\t\t\t\tconst name = row.value && row.value.common && row.value.common.name ? row.value.common.name : duid;\r\n\t\t\t\t\t\tif (duid) robots.push({ duid: duid, name: name });\r\n\t\t\t\t\t});\r\n\t\t\t\t}\r\n\r\n\t\t\t\tif (robots.length === 0) {\r\n\t\t\t\t\tconsole.warn(\"No devices found via getObjectView.\");\r\n\t\t\t\t\tconst instanceDuid = this.getQueryParam(\"instance\");\r\n\t\t\t\t\tif (instanceDuid) {\r\n\t\t\t\t\t\tthis.robotSelect.innerHTML = \"\";\r\n\t\t\t\t\t\tconst option = document.createElement(\"option\");\r\n\t\t\t\t\t\toption.value = instanceDuid;\r\n\t\t\t\t\t\toption.text = `Roborock (Instance ${instanceDuid})`;\r\n\t\t\t\t\t\tthis.robotSelect.appendChild(option);\r\n\t\t\t\t\t\tthis.currentRobotDuid = instanceDuid;\r\n\t\t\t\t\t\tthis.setupSocketListeners(instanceDuid);\r\n\t\t\t\t\t}\r\n\t\t\t\t\treturn;\r\n\t\t\t\t}\r\n\r\n\t\t\t\tthis.robotSelect.innerHTML = \"\";\r\n\t\t\t\trobots.forEach((robot: Robot) => {\r\n\t\t\t\t\tconst option = document.createElement(\"option\");\r\n\t\t\t\t\toption.value = robot.duid;\r\n\t\t\t\t\toption.text = robot.name;\r\n\t\t\t\t\tthis.robotSelect.appendChild(option);\r\n\t\t\t\t});\r\n\r\n\t\t\t\tif (robots.length > 0) {\r\n\t\t\t\t\tconst duid = robots[0].duid;\r\n\t\t\t\t\tthis.currentRobotDuid = duid;\r\n\t\t\t\t\tthis.robotSelect.value = duid;\r\n\t\t\t\t\tthis.setupSocketListeners(duid);\r\n\t\t\t\t}\r\n\t\t\t})\r\n\t\t\t.catch((err) => console.error(\"Error fetching robot list:\", err));\r\n\t}\r\n\r\n\tprivate setupSocketListeners(duid: string) {\r\n\t\tif (this.onStateChange && this.currentMapSubscriptions.length > 0) {\r\n\t\t\tthis.currentMapSubscriptions.forEach((id) => {\r\n\t\t\t\tthis.connection.unsubscribeState(id);\r\n\t\t\t});\r\n\t\t\tthis.currentMapSubscriptions = [];\r\n\t\t}\r\n\r\n\t\tthis.map = undefined;\r\n\t\tthis.mapImage = undefined;\r\n\t\tthis.mapImageElement.attr(\"href\", null);\r\n\t\tthis.carpetGroup.selectAll(\"*\").remove();\r\n\t\tthis.obstacleGroup.selectAll(\"*\").remove();\r\n\t\tthis.pinGroup.select(\"image.goto-pin\").style(\"display\", \"none\").style(\"opacity\", 0);\r\n\t\tthis.robotGroup.selectAll(\"*\").remove();\r\n\t\tthis.chargerGroup.selectAll(\"*\").remove();\r\n\t\tthis.roomNameGroup.selectAll(\"*\").remove();\r\n\t\tthis.pathGroup.selectAll(\"*\").remove();\r\n\t\tthis.mopPathGroup.selectAll(\"*\").remove();\r\n\t\tthis.backwashPathGroup.selectAll(\"*\").remove();\r\n\t\tthis.pureCleanPathGroup.selectAll(\"*\").remove();\r\n\t\tthis.rects = [];\r\n\t\tthis.drawZones();\r\n\t\tthis.deleteButton.disabled = true;\r\n\t\tthis.addButton.disabled = false;\r\n\r\n\t\tconst mapBase64StateId = `${this.instanceId}.Devices.${duid}.map.mapBase64Clean`;\r\n\t\tconst mapDataStateId = `${this.instanceId}.Devices.${duid}.map.mapData`;\r\n\t\tthis.currentMapSubscriptions = [mapBase64StateId, mapDataStateId];\r\n\r\n\t\tthis.onStateChange = (id: string, state: any | null | undefined) => {\r\n\t\t\tif (!state || !state.val) {\r\n\t\t\t\tif (id === mapBase64StateId) {\r\n\t\t\t\t\tthis.mapImageElement.attr(\"href\", null);\r\n\t\t\t\t}\r\n\t\t\t\tif (id === mapDataStateId) {\r\n\t\t\t\t\tthis.map = undefined;\r\n\t\t\t\t\tthis.robotGroup.selectAll(\"*\").remove();\r\n\t\t\t\t}\r\n\t\t\t\treturn;\r\n\t\t\t}\r\n\r\n\t\t\tswitch (id) {\r\n\t\t\t\tcase mapBase64StateId:\r\n\t\t\t\t\tconsole.log(`Received new CLEAN map Base64 for ${duid}`);\r\n\t\t\t\t\tthis.pinGroup.select(\"image.goto-pin\").style(\"display\", \"none\").style(\"opacity\", 0);\r\n\t\t\t\t\tthis.drawBackgroundImage(state.val as string);\r\n\t\t\t\t\tbreak;\r\n\r\n\t\t\t\tcase mapDataStateId:\r\n\t\t\t\t\ttry {\r\n\t\t\t\t\t\tthis.map = typeof state.val === \"string\" ? JSON.parse(state.val) : state.val;\r\n\t\t\t\t\t\tconsole.log(\"Map Data:\", this.map);\r\n\t\t\t\t\t\tif (this.map && this.map.IMAGE) {\r\n\t\t\t\t\t\t\tthis.mapImage = this.map.IMAGE;\r\n\t\t\t\t\t\t\tthis.drawRobotAndCharger(this.map.ROBOT_POSITION, this.map.CHARGER_LOCATION);\r\n\t\t\t\t\t\t\tthis.drawPaths(this.map.PATH, this.map.MOP_PATH);\r\n\t\t\t\t\t\t\tthis.drawObstacles(this.map.OBSTACLES2);\r\n\t\t\t\t\t\t\tthis.drawRoomNames(this.map.IMAGE.segments.list);\r\n\t\t\t\t\t\t\tthis.drawCarpet(this.map.CARPET_MAP);\r\n\t\t\t\t\t\t}\r\n\t\t\t\t\t} catch (e) {\r\n\t\t\t\t\t\tconsole.error(\"Failed to parse map data JSON:\", state.val, e);\r\n\t\t\t\t\t}\r\n\t\t\t\t\tbreak;\r\n\t\t\t}\r\n\t\t};\r\n\r\n\t\tthis.connection.subscribeState(mapBase64StateId);\r\n\t\tthis.connection.subscribeState(mapDataStateId);\r\n\r\n\t\tthis.connection.getStates([mapBase64StateId, mapDataStateId]).then((states: Record<string, any | null | undefined>) => {\r\n\t\t\tif (!this.onStateChange) return;\r\n\t\t\tthis.onStateChange(mapBase64StateId, states[mapBase64StateId]);\r\n\t\t\tthis.onStateChange(mapDataStateId, states[mapDataStateId]);\r\n\t\t});\r\n\t}\r\n\r\n\t// -----------------------------------------------------------------------------\r\n\t// Drawing Methods\r\n\t// -----------------------------------------------------------------------------\r\n\r\n\tprivate drawBackgroundImage(mapBase64: string) {\r\n\t\tif (!mapBase64) {\r\n\t\t\tthis.mapImageElement.attr(\"href\", null);\r\n\t\t\treturn;\r\n\t\t}\r\n\r\n\t\tthis.image.src = mapBase64;\r\n\t\tthis.image.onload = () => {\r\n\t\t\tconst tempCanvas = document.createElement(\"canvas\");\r\n\t\t\tconst tempCtx = tempCanvas.getContext(\"2d\", { willReadFrequently: true });\r\n\t\t\tif (!tempCtx) return;\r\n\r\n\t\t\ttempCanvas.width = this.image.width;\r\n\t\t\ttempCanvas.height = this.image.height;\r\n\t\t\ttempCtx.imageSmoothingEnabled = false;\r\n\t\t\ttempCtx.drawImage(this.image, 0, 0);\r\n\r\n\t\t\tlet mapMaxX = 0;\r\n\t\t\tthis.mapMaxY = 0;\r\n\t\t\tthis.mapMinX = this.image.width;\r\n\t\t\tthis.mapMinY = this.image.height;\r\n\r\n\t\t\tconst imageData = tempCtx.getImageData(0, 0, this.image.width, this.image.height);\r\n\t\t\tconst pixels = imageData.data;\r\n\t\t\tfor (let i = 0; i < pixels.length; i += 4) {\r\n\t\t\t\tconst alpha = pixels[i + 3];\r\n\t\t\t\tif (alpha > 0) {\r\n\t\t\t\t\tconst x = (i / 4) % this.image.width;\r\n\t\t\t\t\tconst y = Math.floor(i / 4 / this.image.width);\r\n\t\t\t\t\tthis.mapMinX = Math.min(this.mapMinX, x);\r\n\t\t\t\t\tthis.mapMinY = Math.min(this.mapMinY, y);\r\n\t\t\t\t\tmapMaxX = Math.max(mapMaxX, x);\r\n\t\t\t\t\tthis.mapMaxY = Math.max(this.mapMaxY, y);\r\n\t\t\t\t}\r\n\t\t\t}\r\n\t\t\tthis.mapMinX--;\r\n\t\t\tthis.mapMinY--;\r\n\t\t\tmapMaxX++;\r\n\t\t\tthis.mapMaxY++;\r\n\t\t\tthis.mapSizeX = mapMaxX - this.mapMinX;\r\n\t\t\tthis.mapSizeY = this.mapMaxY - this.mapMinY;\r\n\r\n\t\t\tconst transformStr = `translate(${-this.mapMinX}, ${-this.mapMinY})`;\r\n\r\n\t\t\tthis.mapImageElement\r\n\t\t\t\t.attr(\"href\", mapBase64)\r\n\t\t\t\t.attr(\"x\", 0)\r\n\t\t\t\t.attr(\"y\", 0)\r\n\t\t\t\t.attr(\"width\", this.image.width)\r\n\t\t\t\t.attr(\"height\", this.image.height)\r\n\t\t\t\t.attr(\"transform\", transformStr)\r\n\t\t\t\t.style(\"image-rendering\", \"pixelated\");\r\n\r\n\t\t\tthis.carpetGroup.attr(\"transform\", transformStr);\r\n\r\n\t\t\tconst svgWidth = parseFloat(this.svg.attr(\"width\"));\r\n\t\t\tconst svgHeight = parseFloat(this.svg.attr(\"height\"));\r\n\t\t\tconst aspectRatio = svgWidth / svgHeight;\r\n\t\t\tconst contentAspectRatio = this.mapSizeX / this.mapSizeY;\r\n\r\n\t\t\tif (contentAspectRatio > aspectRatio) {\r\n\t\t\t\tthis.zoomLevel = this.roundTwoDecimals((svgWidth * 100) / this.mapSizeX) / 100;\r\n\t\t\t} else {\r\n\t\t\t\tthis.zoomLevel = this.roundTwoDecimals((svgHeight * 100) / this.mapSizeY) / 100;\r\n\t\t\t}\r\n\r\n\t\t\tthis.initialTransform = d3.zoomIdentity\r\n\t\t\t\t.translate((svgWidth - this.mapSizeX * this.zoomLevel) / 2, (svgHeight - this.mapSizeY * this.zoomLevel) / 2)\r\n\t\t\t\t.scale(this.zoomLevel);\r\n\t\t\tthis.svgContainer.call(this.zoom.transform as any, this.initialTransform);\r\n\r\n\t\t\tif (this.map) {\r\n\t\t\t\tthis.drawRobotAndCharger(this.map.ROBOT_POSITION, this.map.CHARGER_LOCATION);\r\n\t\t\t\tthis.drawPaths(this.map.PATH, this.map.MOP_PATH);\r\n\t\t\t\tthis.drawObstacles(this.map.OBSTACLES2);\r\n\t\t\t\tthis.drawRoomNames(this.map.IMAGE.segments.list);\r\n\t\t\t\tthis.drawCarpet(this.map.CARPET_MAP);\r\n\t\t\t}\r\n\t\t};\r\n\t}\r\n\r\n\tprivate drawRobotAndCharger(robotPos?: PositionBlock, chargerPos?: PositionBlock) {\r\n\t\tconst params = this.getMapParams();\r\n\t\tif (!params) {\r\n\t\t\tthis.chargerGroup.selectAll(\"image.charger\").remove();\r\n\t\t\tthis.robotGroup.selectAll(\"image.robot\").remove();\r\n\t\t\treturn;\r\n\t\t}\r\n\r\n\t\tconst scaledChargerSize = this.rescaler.chargerSize();\r\n\t\tconst scaledRobotSize = this.rescaler.robotSize();\r\n\r\n\t\t// Charger\r\n\t\tconst chargerData = chargerPos ? [chargerPos] : [];\r\n\t\tconst charger = this.chargerGroup.selectAll(\"image.charger\").data(chargerData);\r\n\t\tcharger.exit().remove();\r\n\t\tcharger\r\n\t\t\t.enter()\r\n\t\t\t.append(\"image\")\r\n\t\t\t.attr(\"class\", \"charger\")\r\n\t\t\t.attr(\"href\", IMG_CHARGER)\r\n\t\t\t.merge(charger as any)\r\n\t\t\t.attr(\"width\", scaledChargerSize)\r\n\t\t\t.attr(\"height\", scaledChargerSize)\r\n\t\t\t.attr(\"x\", (d) => this.robotToSvg({ x: d.position[0], y: d.position[1] }, params).x - scaledChargerSize / 2)\r\n\t\t\t.attr(\"y\", (d) => this.robotToSvg({ x: d.position[0], y: d.position[1] }, params).y - scaledChargerSize / 2);\r\n\r\n\t\t// Robot\r\n\t\tconst robotData = robotPos ? [robotPos] : [];\r\n\t\tconst robot = this.robotGroup.selectAll(\"image.robot\").data(robotData);\r\n\t\trobot.exit().remove();\r\n\t\trobot\r\n\t\t\t.enter()\r\n\t\t\t.append(\"image\")\r\n\t\t\t.attr(\"class\", \"robot\")\r\n\t\t\t.attr(\"href\", IMG_ROBOT_ORIGINAL)\r\n\t\t\t.merge(robot as any)\r\n\t\t\t.attr(\"width\", scaledRobotSize)\r\n\t\t\t.attr(\"height\", scaledRobotSize)\r\n\t\t\t.attr(\"transform\", (d) => {\r\n\t\t\t\tconst svgCoords = this.robotToSvg({ x: d.position[0], y: d.position[1] }, params);\r\n\t\t\t\tconst angle = -(d.angle ?? 0) + 90;\r\n\t\t\t\treturn `translate(${svgCoords.x}, ${svgCoords.y}) rotate(${angle}) translate(${-scaledRobotSize / 2}, ${-scaledRobotSize / 2})`;\r\n\t\t\t});\r\n\t}\r\n\r\n\tprivate drawRoomNames(segmentsList: SegmentInfo[]) {\r\n\t\tconst params = this.getMapParams();\r\n\t\tif (!params || !segmentsList) {\r\n\t\t\tthis.roomNameGroup.selectAll(\"text.room-name\").remove();\r\n\t\t\treturn;\r\n\t\t}\r\n\t\tconst baseFontSize = 12;\r\n\t\tconst baseStrokeWidth = 2.5;\r\n\r\n\t\tconst textElements = this.roomNameGroup.selectAll(\"text.room-name\").data(segmentsList, (d: any) => d.id);\r\n\t\ttextElements.exit().remove();\r\n\t\ttextElements\r\n\t\t\t.enter()\r\n\t\t\t.append(\"text\")\r\n\t\t\t.attr(\"class\", \"room-name\")\r\n\t\t\t.attr(\"text-anchor\", \"middle\")\r\n\t\t\t.attr(\"dominant-baseline\", \"middle\")\r\n\t\t\t.style(\"fill\", \"#000\")\r\n\t\t\t.style(\"stroke\", \"white\")\r\n\t\t\t.style(\"pointer-events\", \"none\")\r\n\t\t\t.style(\"font-weight\", \"900\")\r\n\t\t\t.style(\"font-size\", `${baseFontSize}px`)\r\n\t\t\t.style(\"stroke-width\", `${baseStrokeWidth}px`)\r\n\t\t\t.style(\"paint-order\", \"stroke\")\r\n\t\t\t.attr(\"shape-rendering\", \"geometricPrecision\")\r\n\t\t\t.merge(textElements as any)\r\n\t\t\t.attr(\"data-x\", (d) => {\r\n\t\t\t\tif (d.center && typeof d.center[0] === \"number\" && !isNaN(d.center[0]))\r\n\t\t\t\t\treturn this.robotToSvg({ x: d.center[0], y: d.center[1] }, params).x;\r\n\t\t\t\treturn -1000;\r\n\t\t\t})\r\n\t\t\t.attr(\"data-y\", (d) => {\r\n\t\t\t\tif (d.center && typeof d.center[1] === \"number\" && !isNaN(d.center[1]))\r\n\t\t\t\t\treturn this.robotToSvg({ x: d.center[0], y: d.center[1] }, params).y;\r\n\t\t\t\treturn -1000;\r\n\t\t\t})\r\n\t\t\t.text((d) => d.name)\r\n\t\t\t.attr(\"x\", null)\r\n\t\t\t.attr(\"y\", null);\r\n\r\n\t\tconst transform = d3.zoomTransform(this.svgContainer.node() as Element);\r\n\t\tthis.repositionText(transform);\r\n\t}\r\n\r\n\tprivate repositionText(transform: d3.ZoomTransform) {\r\n\t\tthis.roomNameGroup.selectAll(\"text.room-name\").attr(\"transform\", function () {\r\n\t\t\tconst baseX = parseFloat(d3.select(this).attr(\"data-x\"));\r\n\t\t\tconst baseY = parseFloat(d3.select(this).attr(\"data-y\"));\r\n\t\t\tconst [scaledX, scaledY] = transform.apply([baseX, baseY]);\r\n\t\t\treturn `translate(${scaledX}, ${scaledY})`;\r\n\t\t});\r\n\t}\r\n\r\n\tprivate drawPaths(pathData?: PathBlock, mopData?: number[]) {\r\n\t\tconst params = this.getMapParams();\r\n\t\tif (!params || !pathData?.points || !mopData) {\r\n\t\t\tthis.pathGroup.selectAll(\"*\").remove();\r\n\t\t\tthis.mopPathGroup.selectAll(\"*\").remove();\r\n\t\t\tthis.backwashPathGroup.selectAll(\"*\").remove();\r\n\t\t\tthis.pureCleanPathGroup.selectAll(\"*\").remove();\r\n\t\t\treturn;\r\n\t\t}\r\n\r\n\t\tconst scale = VISUAL_BLOCK_SIZE;\r\n\r\n\t\tconst paths: PathResult = processPaths(\r\n\t\t\tpathData.points,\r\n\t\t\tmopData,\r\n\t\t\t(robotPoint, p) => this.robotToSvg({ x: robotPoint[0], y: robotPoint[1] }, p),\r\n\t\t\tscale,\r\n\t\t\tparams\r\n\t\t);\r\n\r\n\t\tconst scaledMopWidth = this.rescaler.pathMopWidth();\r\n\t\tconst scaledPathWidth = this.rescaler.pathMainWidth();\r\n\t\tconst scaledBackwashWidth = this.rescaler.pathBackwashWidth();\r\n\r\n\t\t// 1. Main Path\r\n\t\tconst mainPath = this.pathGroup.selectAll(\"path.main-path\").data(paths.mainPathD ? [paths.mainPathD] : []);\r\n\t\tmainPath.exit().remove();\r\n\t\tmainPath\r\n\t\t\t.enter()\r\n\t\t\t.append(\"path\")\r\n\t\t\t.attr(\"class\", \"main-path\")\r\n\t\t\t.merge(mainPath as any)\r\n\t\t\t.attr(\"d\", (d) => d)\r\n\t\t\t.style(\"fill\", \"none\")\r\n\t\t\t.style(\"stroke\", \"rgba(255,255,255,1.0)\")\r\n\t\t\t.style(\"stroke-width\", `${scaledPathWidth}px`)\r\n\t\t\t.style(\"stroke-linecap\", \"round\")\r\n\t\t\t.style(\"stroke-linejoin\", \"round\");\r\n\r\n\t\t// 2. Backwash Path\r\n\t\tconst backwashPath = this.backwashPathGroup.selectAll(\"path.backwash-path\").data(paths.backwashPathD ? [paths.backwashPathD] : []);\r\n\t\tbackwashPath.exit().remove();\r\n\t\tbackwashPath\r\n\t\t\t.enter()\r\n\t\t\t.append(\"path\")\r\n\t\t\t.attr(\"class\", \"backwash-path\")\r\n\t\t\t.merge(backwashPath as any)\r\n\t\t\t.attr(\"d\", (d) => d)\r\n\t\t\t.style(\"fill\", \"none\")\r\n\t\t\t.style(\"stroke\", \"rgba(255,255,255,1.0)\")\r\n\t\t\t.style(\"stroke-width\", `${scaledBackwashWidth}px`)\r\n\t\t\t.style(\"stroke-dasharray\", `${4}, ${8}`)\r\n\t\t\t.style(\"stroke-linecap\", \"round\")\r\n\t\t\t.style(\"stroke-linejoin\", \"round\");\r\n\r\n\t\t// 3. PureClean Path\r\n\t\tconst pureCleanPath = this.pureCleanPathGroup.selectAll(\"path.pure-clean-path\").data(paths.pureCleanPathD ? [paths.pureCleanPathD] : []);\r\n\t\tpureCleanPath.exit().remove();\r\n\t\tpureCleanPath\r\n\t\t\t.enter()\r\n\t\t\t.append(\"path\")\r\n\t\t\t.attr(\"class\", \"pure-clean-path\")\r\n\t\t\t.merge(pureCleanPath as any)\r\n\t\t\t.attr(\"d\", (d) => d)\r\n\t\t\t.style(\"fill\", \"none\")\r\n\t\t\t.style(\"stroke\", \"rgba(255,255,255,1.0)\")\r\n\t\t\t.style(\"stroke-width\", `${scaledBackwashWidth}px`)\r\n\t\t\t.style(\"stroke-linecap\", \"round\")\r\n\t\t\t.style(\"stroke-linejoin\", \"round\");\r\n\r\n\t\t// 4. Mop Path\r\n\t\tconst mopPath = this.mopPathGroup.selectAll(\"path.mop-path\").data(paths.mopPathD ? [paths.mopPathD] : []);\r\n\t\tmopPath.exit().remove();\r\n\t\tmopPath\r\n\t\t\t.enter()\r\n\t\t\t.append(\"path\")\r\n\t\t\t.attr(\"class\", \"mop-path\")\r\n\t\t\t.merge(mopPath as any)\r\n\t\t\t.attr(\"d\", (d) => d)\r\n\t\t\t.style(\"fill\", \"none\")\r\n\t\t\t.style(\"stroke\", \"rgba(255,255,255,1.0)\")\r\n\t\t\t.style(\"stroke-width\", `${scaledMopWidth}px`)\r\n\t\t\t.style(\"stroke-linecap\", \"round\")\r\n\t\t\t.style(\"stroke-linejoin\", \"round\");\r\n\t}\r\n\r\n\tprivate drawObstacles(obstaclesData?: Array<[number, number, ...any]>) {\r\n\t\tconst params = this.getMapParams();\r\n\t\tif (!params || !obstaclesData) {\r\n\t\t\tthis.obstacleGroup.selectAll(\".obstacle-group\").remove();\r\n\t\t\treturn;\r\n\t\t}\r\n\t\tconst fixedRadius = this.rescaler.scale() * UI_CONSTANTS.OBSTACLE_RADIUS_BASE;\r\n\t\tconst bgRadius = fixedRadius * 1.1;\r\n\t\tconst imageSize = fixedRadius * 1.8;\r\n\r\n\t\tconst OBSTACLE_MAPPING: Record<number, string> = {\r\n\t\t\t\"-99\": \"99\",\r\n\t\t\t0: \"0\",\r\n\t\t\t1: \"1\",\r\n\t\t\t2: \"2\",\r\n\t\t\t3: \"3\",\r\n\t\t\t4: \"3\",\r\n\t\t\t5: \"5_cn\",\r\n\t\t\t9: \"9\",\r\n\t\t\t10: \"10\",\r\n\t\t\t18: \"18\",\r\n\t\t\t25: \"25\",\r\n\t\t\t26: \"26\",\r\n\t\t\t27: \"26\",\r\n\t\t\t34: \"10\",\r\n\t\t\t42: \"18\",\r\n\t\t\t48: \"48\",\r\n\t\t\t49: \"49\",\r\n\t\t\t50: \"50\",\r\n\t\t\t51: \"51\",\r\n\t\t\t54: \"54\",\r\n\t\t\t65: \"65\",\r\n\t\t\t67: \"67\",\r\n\t\t\t69: \"69\",\r\n\t\t\t70: \"70\",\r\n\t\t\t99: \"99\",\r\n\t\t};\r\n\r\n\t\tconst groups = this.obstacleGroup.selectAll(\".obstacle-group\").data(obstaclesData);\r\n\r\n\t\tgroups.exit().remove();\r\n\r\n\t\tconst enterGroups = groups\r\n\t\t\t.enter()\r\n\t\t\t.append(\"g\")\r\n\t\t\t.attr(\"class\", \"obstacle-group\")\r\n\t\t\t.style(\"cursor\", \"default\")\r\n\t\t\t.on(\"click\", (event: MouseEvent, d: any) => {\r\n\t\t\t\tif (!this.currentRobotDuid) return;\r\n\t\t\t\tevent.stopPropagation();\r\n\t\t\t\tthis.selectedObstacleID = d[6];\r\n\t\t\t\tconst robotPoint = { x: d[0], y: d[1] };\r\n\t\t\t\tconst worldPoint = robotCoordsToLocalCoords(robotPoint, params!);\r\n\t\t\t\tthis.popupX = worldPoint.x;\r\n\t\t\t\tthis.popupY = worldPoint.y;\r\n\r\n\t\t\t\tif (this.popupTimeout) clearTimeout(this.popupTimeout);\r\n\r\n\t\t\t\tthis.connection\r\n\t\t\t\t\t.sendTo(this.instanceId, \"get_obstacle_image\", { obstacleId: this.selectedObstacleID, duid: this.currentRobotDuid, type: 1 })\r\n\t\t\t\t\t.then((response) => {\r\n\t\t\t\t\t\tif (response && (response as any).image) {\r\n\t\t\t\t\t\t\tlet imageData = (response as any).image as string;\r\n\t\t\t\t\t\t\tif (typeof imageData === \"string\" && !imageData.startsWith(\"data:image/\")) imageData = \"data:image/png;base64,\" + imageData;\r\n\t\t\t\t\t\t\tthis.popupImage.src = imageData;\r\n\t\t\t\t\t\t\tthis.popup.style.display = \"block\";\r\n\t\t\t\t\t\t\tthis.triangle.style.display = \"block\";\r\n\t\t\t\t\t\t\tthis.updatePopupPosition();\r\n\t\t\t\t\t\t\tthis.popupTimeout = window.setTimeout(() => {\r\n\t\t\t\t\t\t\t\tthis.popup.style.display = \"none\";\r\n\t\t\t\t\t\t\t\tthis.triangle.style.display = \"none\";\r\n\t\t\t\t\t\t\t\tthis.popupTimeout = null;\r\n\t\t\t\t\t\t\t}, 3000);\r\n\t\t\t\t\t\t}\r\n\t\t\t\t\t})\r\n\t\t\t\t\t.catch((err) => console.error(\"Error getting obstacle image:\", err));\r\n\t\t\t\tthis.updatePopupPosition();\r\n\t\t\t});\r\n\r\n\t\tenterGroups\r\n\t\t\t.append(\"circle\")\r\n\t\t\t.attr(\"class\", \"obstacle-bg\")\r\n\t\t\t.attr(\"r\", bgRadius)\r\n\t\t\t.attr(\"fill\", \"rgba(100, 100, 100, 0.2)\") // More transparent\r\n\t\t\t.attr(\"stroke\", \"white\")\r\n\t\t\t.attr(\"stroke-width\", 0.5); // Thinner border\r\n\r\n\t\tenterGroups\r\n\t\t\t.append(\"image\")\r\n\t\t\t.attr(\"class\", \"obstacle-icon\")\r\n\t\t\t.attr(\"width\", imageSize)\r\n\t\t\t.attr(\"height\", imageSize)\r\n\t\t\t.attr(\"x\", -imageSize / 2)\r\n\t\t\t.attr(\"y\", -imageSize / 2)\r\n\t\t\t.on(\"error\", function () {\r\n\t\t\t\td3.select(this).attr(\"href\", \"images/projects_comroborocktanos_resources_obstacle_new_p18.png\");\r\n\t\t\t});\r\n\r\n\t\tconst allGroups = enterGroups.merge(groups as any);\r\n\r\n\t\tallGroups.attr(\"transform\", (d: any) => {\r\n\t\t\tconst pos = this.robotToSvg({ x: d[0] + 25, y: d[1] + 25 }, params);\r\n\t\t\treturn `translate(${pos.x}, ${pos.y})`;\r\n\t\t});\r\n\r\n\t\tallGroups\r\n\t\t\t.select(\"image\")\r\n\t\t\t.attr(\"href\", (d: any) => {\r\n\t\t\t\tconst type = d[2];\r\n\t\t\t\tconst suffix = OBSTACLE_MAPPING[type] || \"18\";\r\n\t\t\t\treturn `images/projects_comroborocktanos_resources_obstacle_new_p${suffix}.png`;\r\n\t\t\t});\r\n\t}\r\n\r\n\tprivate drawCarpet(carpetMap?: number[]) {\r\n\t\tif (!carpetMap || !this.mapImage || !this.mapImage.dimensions) {\r\n\t\t\tthis.carpetGroup.selectAll(\"*\").remove();\r\n\t\t\treturn;\r\n\t\t}\r\n\r\n\t\tconst scaledWidth = this.mapImage.dimensions.width;\r\n\t\tconst scaledHeight = this.mapImage.dimensions.height;\r\n\t\tconst gridWidth = scaledWidth / VISUAL_BLOCK_SIZE;\r\n\t\tconst gridHeight = scaledHeight / VISUAL_BLOCK_SIZE;\r\n\t\tconst stride = 3;\r\n\r\n\t\tconst pathCoords: string[] = [];\r\n\r\n\t\tcarpetMap.forEach((px) => {\r\n\t\t\tconst col = px % gridWidth;\r\n\t\t\tconst row = Math.floor(px / gridWidth);\r\n\t\t\tconst invertedRow = gridHeight - row - 1;\r\n\r\n\t\t\tconst baseX = col * VISUAL_BLOCK_SIZE;\r\n\t\t\tconst baseY = invertedRow * VISUAL_BLOCK_SIZE;\r\n\r\n\t\t\tfor (let dx = 0; dx < VISUAL_BLOCK_SIZE; dx++) {\r\n\t\t\t\tfor (let dy = 0; dy < VISUAL_BLOCK_SIZE; dy++) {\r\n\t\t\t\t\tif ((dx + dy) % stride === 2) {\r\n\t\t\t\t\t\tpathCoords.push(`M${baseX + dx} ${baseY + dy}h1v1h-1z`);\r\n\t\t\t\t\t}\r\n\t\t\t\t}\r\n\t\t\t}\r\n\t\t});\r\n\r\n\t\tconst combinedPathData = pathCoords.join(\"\");\r\n\r\n\t\tconst pathSelection = this.carpetGroup.selectAll(\"path.carpet-path\").data([combinedPathData]);\r\n\t\tpathSelection.exit().remove();\r\n\t\tpathSelection\r\n\t\t\t.enter()\r\n\t\t\t.append(\"path\")\r\n\t\t\t.attr(\"class\", \"carpet-path\")\r\n\t\t\t.style(\"fill\", \"rgba(0, 0, 0, 0.4)\")\r\n\t\t\t.attr(\"shape-rendering\", \"crispEdges\")\r\n\t\t\t.merge(pathSelection as any)\r\n\t\t\t.attr(\"d\", (d) => d);\r\n\t}\r\n\r\n\tprivate drawZones() {\r\n\t\tconst dragHandler = d3\r\n\t\t\t.drag<SVGGElement, Rect>()\r\n\t\t\t.on(\"start\", (event: any) => {\r\n\t\t\t\tconst element = event.sourceEvent.target.closest(\"g.zone\");\r\n\t\t\t\tif (element) d3.select(element).raise().style(\"cursor\", \"grabbing\");\r\n\t\t\t\tthis.deleteButton.disabled = false;\r\n\t\t\t})\r\n\t\t\t.on(\"drag\", (event: any, d: Rect) => {\r\n\t\t\t\tif (!this.mapImage) return;\r\n\t\t\t\tconst minBoundX = this.mapMinX,\r\n\t\t\t\t\tminBoundY = this.mapMinY,\r\n\t\t\t\t\tmaxBoundX = this.mapMinX + this.mapSizeX,\r\n\t\t\t\t\tmaxBoundY = this.mapMinY + this.mapSizeY;\r\n\t\t\t\tlet newX = Math.max(minBoundX, d.x + event.dx);\r\n\t\t\t\tlet newY = Math.max(minBoundY, d.y + event.dy);\r\n\t\t\t\tif (newX + d.width > maxBoundX) newX = maxBoundX - d.width;\r\n\t\t\t\tif (newY + d.height > maxBoundY) newY = maxBoundY - d.height;\r\n\t\t\t\td.x = newX;\r\n\t\t\t\td.y = newY;\r\n\t\t\t\tconst element = event.sourceEvent.target.closest(\"g.zone\");\r\n\t\t\t\tif (element) d3.select(element).attr(\"transform\", `translate(${d.x - this.mapMinX}, ${d.y - this.mapMinY})`);\r\n\t\t\t})\r\n\t\t\t.on(\"end\", (event: any) => {\r\n\t\t\t\tconst element = event.sourceEvent.target.closest(\"g.zone\");\r\n\t\t\t\tif (element) d3.select(element).style(\"cursor\", \"move\");\r\n\t\t\t\tthis.updateRobotZones();\r\n\t\t\t});\r\n\r\n\t\tconst resizeHandler = d3\r\n\t\t\t.drag<SVGCircleElement, Rect>()\r\n\t\t\t.on(\"start\", (event: any) => {\r\n\t\t\t\tevent.sourceEvent.stopPropagation();\r\n\t\t\t\tconst element = event.sourceEvent.target;\r\n\t\t\t\tif (element) d3.select(element).raise();\r\n\t\t\t})\r\n\t\t\t.on(\"drag\", (event: any, d: Rect) => {\r\n\t\t\t\tif (!this.mapImage) return;\r\n\t\t\t\tconst maxBoundX = this.mapMinX + this.mapSizeX,\r\n\t\t\t\t\tmaxBoundY = this.mapMinY + this.mapSizeY;\r\n\t\t\t\tlet newWidth = Math.max(d.width + event.dx, 20);\r\n\t\t\t\tlet newHeight = Math.max(d.height + event.dy, 20);\r\n\t\t\t\tif (d.x + newWidth > maxBoundX) newWidth = maxBoundX - d.x;\r\n\t\t\t\tif (d.y + newHeight > maxBoundY) newHeight = maxBoundY - d.y;\r\n\t\t\t\td.width = newWidth;\r\n\t\t\t\td.height = newHeight;\r\n\t\t\t\tconst element = event.sourceEvent.target;\r\n\t\t\t\tif (element) {\r\n\t\t\t\t\tconst parentGroup = d3.select(element.parentNode as SVGGElement);\r\n\t\t\t\t\tparentGroup.select(\"rect\").attr(\"width\", d.width).attr(\"height\", d.height);\r\n\t\t\t\t\tparentGroup.select(\"circle.zone-handle\").attr(\"cx\", d.width).attr(\"cy\", d.height);\r\n\t\t\t\t}\r\n\t\t\t})\r\n\t\t\t.on(\"end\", () => this.updateRobotZones());\r\n\r\n\t\tconst selection = this.zoneGroup.selectAll(\"g.zone\").data(this.rects, (d: any) => d.id);\r\n\t\tselection.exit().remove();\r\n\t\tconst enterGroup = selection.enter().append(\"g\").attr(\"class\", \"zone\").call(dragHandler as any);\r\n\t\tenterGroup.append(\"rect\").attr(\"class\", \"zone-rect\").attr(\"x\", 0).attr(\"y\", 0).style(\"stroke-width\", this.rescaler.zoneStrokeWidth());\r\n\t\tenterGroup.append(\"circle\").attr(\"class\", \"zone-handle\").attr(\"r\", this.rescaler.zoneHandleRadius()).call(resizeHandler as any);\r\n\t\tconst mergedSelection = selection.merge(enterGroup as any);\r\n\t\tmergedSelection.attr(\"transform\", (d: Rect) => `translate(${d.x - this.mapMinX}, ${d.y - this.mapMinY})`);\r\n\t\tmergedSelection\r\n\t\t\t.select(\"rect\")\r\n\t\t\t.attr(\"width\", (d: Rect) => d.width)\r\n\t\t\t.attr(\"height\", (d: Rect) => d.height)\r\n\t\t\t.style(\"stroke-width\", this.rescaler.zoneStrokeWidth());\r\n\t\tmergedSelection\r\n\t\t\t.select(\"circle.zone-handle\")\r\n\t\t\t.attr(\"cx\", (d: Rect) => d.width)\r\n\t\t\t.attr(\"cy\", (d: Rect) => d.height)\r\n\t\t\t.attr(\"r\", this.rescaler.zoneHandleRadius());\r\n\t}\r\n\r\n\t// -----------------------------------------------------------------------------\r\n\t// Helper Methods\r\n\t// -----------------------------------------------------------------------------\r\n\r\n\tprivate updateRobotZones() {\r\n\t\tconst params = this.getMapParams();\r\n\t\tif (!params) return;\r\n\t\tconst cleanCountInput = document.getElementById(\"cleanCount\") as HTMLInputElement;\r\n\t\tthis.zones = [];\r\n\t\tconst cleanCount = parseInt(cleanCountInput.value) || 1;\r\n\t\tfor (const rect of this.rects) {\r\n\t\t\tconst p1 = { x: rect.x, y: rect.y };\r\n\t\t\tconst p2 = { x: rect.x + rect.width, y: rect.y + rect.height };\r\n\t\t\tconst coords1 = localCoordsToRobotCoords(p1, params);\r\n\t\t\tconst coords2 = localCoordsToRobotCoords(p2, params);\r\n\t\t\tthis.zones.push([\r\n\t\t\t\tMath.min(coords1.x, coords2.x),\r\n\t\t\t\tMath.min(coords1.y, coords2.y),\r\n\t\t\t\tMath.max(coords1.x, coords2.x),\r\n\t\t\t\tMath.max(coords1.y, coords2.y),\r\n\t\t\t\tcleanCount,\r\n\t\t\t]);\r\n\t\t}\r\n\t\tconsole.log(\"Zones updated:\", JSON.stringify(this.zones));\r\n\t}\r\n\r\n\tprivate updatePopupPosition() {\r\n\t\tif (this.popup.style.display === \"block\" && this.popupX !== undefined && this.popupY !== undefined) {\r\n\t\t\tconst transform = d3.zoomTransform(this.svgContainer.node() as Element);\r\n\t\t\tconst svgCoords = this.worldToSvgCoords(this.popupX, this.popupY);\r\n\t\t\tconst screenCoords = transform.apply([svgCoords.x, svgCoords.y]);\r\n\t\t\tthis.popup.style.left = `${screenCoords[0]}px`;\r\n\t\t\tthis.popup.style.top = `${screenCoords[1]}px`;\r\n\t\t}\r\n\t}\r\n\r\n\tprivate handleZoom(event: any) {\r\n\t\tconst transform = event.transform;\r\n\t\tthis.mainGroup.attr(\"transform\", transform);\r\n\t\tthis.wheelZoom = transform.k;\r\n\r\n\t\tthis.zoneGroup.selectAll(\"rect.zone-rect\").style(\"stroke-width\", this.rescaler.zoneStrokeWidth());\r\n\t\tthis.zoneGroup.selectAll(\"circle.zone-handle\").attr(\"r\", this.rescaler.zoneHandleRadius());\r\n\r\n\t\tconst scaledRobotSize = this.rescaler.robotSize();\r\n\t\tthis.robotGroup\r\n\t\t\t.selectAll(\"image.robot\")\r\n\t\t\t.attr(\"width\", scaledRobotSize)\r\n\t\t\t.attr(\"height\", scaledRobotSize)\r\n\t\t\t.attr(\"transform\", (d: any) => {\r\n\t\t\t\tconst params = this.getMapParams();\r\n\t\t\t\tif (!params) return \"\";\r\n\t\t\t\tconst svgCoords = this.robotToSvg({ x: d.position[0], y: d.position[1] }, params);\r\n\t\t\t\tconst angle = -(d.angle ?? 0) + 90;\r\n\t\t\t\treturn `translate(${svgCoords.x}, ${svgCoords.y}) rotate(${angle}) translate(${-scaledRobotSize / 2}, ${-scaledRobotSize / 2})`;\r\n\t\t\t});\r\n\r\n\t\tconst scaledChargerSize = this.rescaler.chargerSize();\r\n\t\tthis.chargerGroup\r\n\t\t\t.selectAll(\"image.charger\")\r\n\t\t\t.attr(\"width\", scaledChargerSize)\r\n\t\t\t.attr(\"height\", scaledChargerSize)\r\n\t\t\t.attr(\"x\", (d: any) => {\r\n\t\t\t\tconst params = this.getMapParams();\r\n\t\t\t\tif (!params) return 0;\r\n\t\t\t\treturn this.robotToSvg({ x: d.position[0], y: d.position[1] }, params).x - scaledChargerSize / 2;\r\n\t\t\t})\r\n\t\t\t.attr(\"y\", (d: any) => {\r\n\t\t\t\tconst params = this.getMapParams();\r\n\t\t\t\tif (!params) return 0;\r\n\t\t\t\treturn this.robotToSvg({ x: d.position[0], y: d.position[1] }, params).y - scaledChargerSize / 2;\r\n\t\t\t});\r\n\r\n\t\tthis.repositionText(transform);\r\n\r\n\t\tthis.pathGroup.selectAll(\"path.main-path\").style(\"stroke-width\", `${this.rescaler.pathMainWidth()}px`);\r\n\t\tthis.backwashPathGroup.selectAll(\"path.backwash-path\").style(\"stroke-width\", `${this.rescaler.pathBackwashWidth()}px`);\r\n\t\tthis.mopPathGroup.selectAll(\"path.mop-path\").style(\"stroke-width\", `${this.rescaler.pathMopWidth()}px`);\r\n\t\tthis.pureCleanPathGroup.selectAll(\"path.pure-clean-path\").style(\"stroke-width\", `${this.rescaler.pathBackwashWidth()}px`);\r\n\r\n\t\tconst scaledPinWidth = this.rescaler.pinWidth();\r\n\t\tconst scaledPinHeight = this.rescaler.pinHeight();\r\n\t\tconst scaledPinYOffset = this.rescaler.pinYOffset();\r\n\t\tthis.pinGroup\r\n\t\t\t.selectAll(\"image.goto-pin\")\r\n\t\t\t.attr(\"width\", scaledPinWidth)\r\n\t\t\t.attr(\"height\", scaledPinHeight)\r\n\t\t\t.attr(\"x\", function () {\r\n\t\t\t\tconst centerX = d3.select(this).attr(\"data-center-x\");\r\n\t\t\t\treturn (parseFloat(centerX) || 0) - scaledPinWidth / 2;\r\n\t\t\t})\r\n\t\t\t.attr(\"y\", function () {\r\n\t\t\t\tconst centerY = d3.select(this).attr(\"data-center-y\");\r\n\t\t\t\treturn (parseFloat(centerY) || 0) - (scaledPinHeight - scaledPinYOffset);\r\n\t\t\t});\r\n\r\n\t\tthis.updatePopupPosition();\r\n\t}\r\n\r\n\tprivate getMapParams(): MapParams | null {\r\n\t\tif (!this.mapImage || !this.mapImage.dimensions || this.mapMaxY === undefined) {\r\n\t\t\treturn null;\r\n\t\t}\r\n\t\treturn {\r\n\t\t\tscaleFactor: VISUAL_BLOCK_SIZE,\r\n\t\t\tleft: this.mapImage.position.left,\r\n\t\t\ttopMap: this.mapImage.position.top,\r\n\t\t\tmapMaxY: this.mapMaxY,\r\n\t\t\timageHeight: this.mapImage.dimensions.height,\r\n\t\t\timageWidth: this.mapImage.dimensions.width,\r\n\t\t};\r\n\t}\r\n\r\n\tprivate screenToWorldCoords(x: number, y: number): Point {\r\n\t\tif (this.mapMinX === undefined || this.mapMinY === undefined) return { x: 0, y: 0 };\r\n\t\tconst transform = d3.zoomTransform(this.svgContainer.node() as Element);\r\n\t\tconst inverted = transform.invert([x, y]);\r\n\t\treturn { x: inverted[0] + this.mapMinX, y: inverted[1] + this.mapMinY };\r\n\t}\r\n\r\n\tprivate worldToSvgCoords(x: number, y: number): Point {\r\n\t\tif (this.mapMinX === undefined || this.mapMinY === undefined) return { x: 0, y: 0 };\r\n\t\treturn { x: x - this.mapMinX, y: y - this.mapMinY };\r\n\t}\r\n\r\n\tprivate robotToSvg(robotPoint: Point, params: any): Point {\r\n\t\tconst worldPoint = robotCoordsToLocalCoords(robotPoint, params);\r\n\t\treturn this.worldToSvgCoords(worldPoint.x, worldPoint.y);\r\n\t}\r\n\r\n\tprivate roundTwoDecimals(number: number): number {\r\n\t\treturn Math.round(number * 100) / 100;\r\n\t}\r\n\r\n\tprivate getQueryParam(param: string): string | null {\r\n\t\tconst urlParams = new URLSearchParams(window.location.search);\r\n\t\treturn urlParams.get(param);\r\n\t}\r\n\r\n\tprivate bindUiEvents() {\r\n\t\tthis.robotSelect.addEventListener(\"change\", () => {\r\n\t\t\tconst newDuid = this.robotSelect.value;\r\n\t\t\tif (newDuid && newDuid !== this.currentRobotDuid) {\r\n\t\t\t\tthis.currentRobotDuid = newDuid;\r\n\t\t\t\tthis.setupSocketListeners(newDuid);\r\n\t\t\t}\r\n\t\t});\r\n\r\n\t\tthis.deleteButton.addEventListener(\"click\", () => {\r\n\t\t\tif (this.rects.length > 0) {\r\n\t\t\t\tthis.rects.pop();\r\n\t\t\t\tthis.drawZones();\r\n\t\t\t\tif (this.rects.length < 5) this.addButton.disabled = false;\r\n\t\t\t\tif (this.rects.length < 1) this.deleteButton.disabled = true;\r\n\t\t\t}\r\n\t\t});\r\n\r\n\t\tthis.addButton.addEventListener(\"click\", () => {\r\n\t\t\tif (this.goToTarget) {\r\n\t\t\t\tthis.goToTarget = false;\r\n\t\t\t\tthis.svg.style(\"cursor\", \"grab\");\r\n\t\t\t\tthis.svgContainer.on(\"mousemove.gototarget\", null);\r\n\t\t\t\tthis.svgContainer.on(\"click.gototarget\", null);\r\n\t\t\t\tthis.pinGroup.select(\"image.goto-pin\").style(\"display\", \"none\").style(\"opacity\", 0);\r\n\t\t\t\tthis.goToButton.textContent = \"GoTo Point\";\r\n\t\t\t\treturn;\r\n\t\t\t}\r\n\t\t\tconst svgWidth = parseFloat(this.svg.attr(\"width\"));\r\n\t\t\tconst svgHeight = parseFloat(this.svg.attr(\"height\"));\r\n\t\t\tconst centerWorld = this.screenToWorldCoords(svgWidth / 2, svgHeight / 2);\r\n\t\t\tconst params = this.getMapParams();\r\n\t\t\tif (!params) return;\r\n\r\n\t\t\tthis.rects.push({\r\n\t\t\t\tid: this.rectCounter++,\r\n\t\t\t\tx: centerWorld.x - 25 * params.scaleFactor,\r\n\t\t\t\ty: centerWorld.y - 25 * params.scaleFactor,\r\n\t\t\t\twidth: 50 * params.scaleFactor,\r\n\t\t\t\theight: 50 * params.scaleFactor,\r\n\t\t\t});\r\n\t\t\tthis.drawZones();\r\n\t\t\tif (this.rects.length > 0) this.deleteButton.disabled = false;\r\n\t\t\tif (this.rects.length > 4) this.addButton.disabled = true;\r\n\t\t\tthis.updateRobotZones();\r\n\t\t});\r\n\r\n\t\tthis.startButton.addEventListener(\"click\", () => {\r\n\t\t\tif (!this.currentRobotDuid) return;\r\n\t\t\tthis.updateRobotZones();\r\n\t\t\tconst command = this.zones.length > 0 ? \"app_zoned_clean\" : \"app_start\";\r\n\t\t\tconst parameters = this.zones.length > 0 ? { zones: this.zones, duid: this.currentRobotDuid } : { duid: this.currentRobotDuid };\r\n\t\t\tthis.connection.sendTo(this.instanceId, command, parameters).catch((err) => console.error(\"Error sending command:\", err));\r\n\t\t\tthis.rects = [];\r\n\t\t\tthis.drawZones();\r\n\t\t\tthis.deleteButton.disabled = true;\r\n\t\t\tthis.addButton.disabled = false;\r\n\t\t\tthis.startButton.style.display = \"none\";\r\n\t\t\tthis.pauseButton.style.display = \"inline-block\";\r\n\t\t});\r\n\r\n\t\tthis.pauseButton.addEventListener(\"click\", () => {\r\n\t\t\tif (!this.currentRobotDuid) return;\r\n\t\t\tthis.connection.sendTo(this.instanceId, \"app_pause\", { duid: this.currentRobotDuid });\r\n\t\t\tthis.startButton.style.display = \"inline-block\";\r\n\t\t\tthis.pauseButton.style.display = \"none\";\r\n\t\t});\r\n\r\n\t\tthis.stopButton.addEventListener(\"click\", () => {\r\n\t\t\tif (!this.currentRobotDuid) return;\r\n\t\t\tthis.connection.sendTo(this.instanceId, \"app_stop\", { duid: this.currentRobotDuid });\r\n\t\t\tthis.startButton.style.display = \"inline-block\";\r\n\t\t\tthis.pauseButton.style.display = \"none\";\r\n\t\t});\r\n\r\n\t\tthis.dockButton.addEventListener(\"click\", () => {\r\n\t\t\tif (!this.currentRobotDuid) return;\r\n\t\t\tthis.connection.sendTo(this.instanceId, \"app_charge\", { duid: this.currentRobotDuid });\r\n\t\t});\r\n\r\n\t\tthis.goToButton.addEventListener(\"click\", () => {\r\n\t\t\tif (this.goToTarget) {\r\n\t\t\t\tthis.goToTarget = false;\r\n\t\t\t\tthis.svg.style(\"cursor\", \"grab\");\r\n\t\t\t\tthis.svgContainer.on(\"mousemove.gototarget\", null);\r\n\t\t\t\tthis.svgContainer.on(\"click.gototarget\", null);\r\n\t\t\t\tthis.pinGroup.select(\"image.goto-pin\").style(\"display\", \"none\").style(\"opacity\", 0);\r\n\t\t\t\tthis.goToButton.textContent = \"GoTo Point\";\r\n\t\t\t\treturn;\r\n\t\t\t}\r\n\t\t\tthis.goToTarget = true;\r\n\t\t\tthis.svg.style(\"cursor\", \"none\");\r\n\t\t\tthis.goToButton.textContent = \"Cancel\";\r\n\t\t\tconst transform = d3.zoomTransform(this.svgContainer.node() as Element);\r\n\t\t\tconst svgWidth = parseFloat(this.svg.attr(\"width\"));\r\n\t\t\tconst svgHeight = parseFloat(this.svg.attr(\"height\"));\r\n\t\t\tconst [initialX, initialY] = transform.invert([svgWidth / 2, svgHeight / 2]);\r\n\t\t\tconst scaledPinWidth = this.rescaler.pinWidth();\r\n\t\t\tconst scaledPinHeight = this.rescaler.pinHeight();\r\n\t\t\tconst scaledPinYOffset = this.rescaler.pinYOffset();\r\n\t\t\tconst pin = this.pinGroup.select(\"image.goto-pin\");\r\n\t\t\tpin\r\n\t\t\t\t.style(\"display\", \"block\")\r\n\t\t\t\t.style(\"opacity\", 0.7)\r\n\t\t\t\t.attr(\"data-center-x\", initialX)\r\n\t\t\t\t.attr(\"data-center-y\", initialY)\r\n\t\t\t\t.attr(\"x\", initialX - scaledPinWidth / 2)\r\n\t\t\t\t.attr(\"y\", initialY - (scaledPinHeight - scaledPinYOffset));\r\n\r\n\t\t\tthis.svgContainer.on(\"mousemove.gototarget\", (event: MouseEvent) => {\r\n\t\t\t\tconst [mouseX, mouseY] = d3.pointer(event, this.mainGroup.node());\r\n\t\t\t\tconst scaledW = this.rescaler.pinWidth();\r\n\t\t\t\tconst scaledH = this.rescaler.pinHeight();\r\n\t\t\t\tconst scaledOff = this.rescaler.pinYOffset();\r\n\t\t\t\tpin\r\n\t\t\t\t\t.attr(\"data-center-x\", mouseX)\r\n\t\t\t\t\t.attr(\"data-center-y\", mouseY)\r\n\t\t\t\t\t.attr(\"x\", mouseX - scaledW / 2)\r\n\t\t\t\t\t.attr(\"y\", mouseY - (scaledH - scaledOff));\r\n\t\t\t});\r\n\r\n\t\t\tthis.svgContainer.on(\"click.gototarget\", (event: MouseEvent) => {\r\n\t\t\t\tevent.stopImmediatePropagation();\r\n\t\t\t\tconst params = this.getMapParams();\r\n\t\t\t\tif (!this.currentRobotDuid || !params) return;\r\n\t\t\t\tconst [mouseX, mouseY] = d3.pointer(event, this.mainGroup.node());\r\n\t\t\t\tconst worldX = mouseX + this.mapMinX;\r\n\t\t\t\tconst worldY = mouseY + this.mapMinY;\r\n\t\t\t\tconst point = localCoordsToRobotCoords({ x: worldX, y: worldY }, params);\r\n\t\t\t\tthis.connection.sendTo(this.instanceId, \"app_goto_target\", { points: [point.x, point.y], duid: this.currentRobotDuid });\r\n\t\t\t\tpin.style(\"opacity\", 1.0);\r\n\t\t\t\tthis.goToTarget = false;\r\n\t\t\t\tthis.svg.style(\"cursor\", \"grab\");\r\n\t\t\t\tthis.svgContainer.on(\"mousemove.gototarget\", null);\r\n\t\t\t\tthis.svgContainer.on(\"click.gototarget\", null);\r\n\t\t\t\tthis.goToButton.textContent = \"GoTo Point\";\r\n\t\t\t});\r\n\t\t});\r\n\r\n\t\tthis.resetZoomButton.addEventListener(\"click\", () => {\r\n\t\t\tif (this.initialTransform) {\r\n\t\t\t\tthis.svgContainer.transition().duration(750).call(this.zoom.transform as any, this.initialTransform);\r\n\t\t\t}\r\n\t\t});\r\n\r\n\t\tthis.popupImage.addEventListener(\"click\", () => {\r\n\t\t\tthis.largePhoto.style.display = \"block\";\r\n\t\t\tthis.popup.style.display = \"none\";\r\n\t\t\tthis.triangle.style.display = \"none\";\r\n\t\t\tif (this.popupTimeout) clearTimeout(this.popupTimeout);\r\n\t\t\tthis.popupTimeout = null;\r\n\t\t\tif (!this.currentRobotDuid || !this.selectedObstacleID) return;\r\n\t\t\tthis.largePhotoImage.src = \"\";\r\n\t\t\tthis.connection\r\n\t\t\t\t.sendTo(this.instanceId, \"get_obstacle_image\", { obstacleId: this.selectedObstacleID, duid: this.currentRobotDuid, type: 0 })\r\n\t\t\t\t.then((response: any) => {\r\n\t\t\t\t\tif (response && typeof response.image === \"string\") this.largePhotoImage.src = response.image.replace(/\\s/g, \"\");\r\n\t\t\t\t})\r\n\t\t\t\t.catch((err) => console.error(\"Error getting large obstacle image:\", err));\r\n\t\t});\r\n\r\n\t\tthis.largePhoto.addEventListener(\"click\", () => {\r\n\t\t\tthis.largePhoto.style.display = \"none\";\r\n\t\t});\r\n\t}\r\n\r\n\t// Rescaler Helper\r\n\tprivate get rescaler() {\r\n\t\treturn {\r\n\t\t\tscale: () => VISUAL_BLOCK_SIZE,\r\n\t\t\trobotSize: () => VISUAL_BLOCK_SIZE * UI_CONSTANTS.ROBOT_SIZE_BASE,\r\n\t\t\tchargerSize: () => VISUAL_BLOCK_SIZE * UI_CONSTANTS.CHARGER_SIZE_BASE,\r\n\t\t\tzoneStrokeWidth: () => UI_CONSTANTS.ZONE_STROKE_BASE / this.wheelZoom,\r\n\t\t\tzoneHandleRadius: () => UI_CONSTANTS.ZONE_HANDLE_RADIUS_BASE / this.wheelZoom,\r\n\t\t\tpinWidth: () => UI_CONSTANTS.PIN_WIDTH_BASE / this.wheelZoom,\r\n\t\t\tpinHeight: () => UI_CONSTANTS.PIN_HEIGHT_BASE / this.wheelZoom,\r\n\t\t\tpinYOffset: () => UI_CONSTANTS.PIN_Y_OFFSET_BASE / this.wheelZoom,\r\n\t\t\tpathMopWidth: () => UI_CONSTANTS.PATH_MOP_WIDTH_BASE * VISUAL_BLOCK_SIZE,\r\n\t\t\tpathMainWidth: () => Math.max(1, VISUAL_BLOCK_SIZE * UI_CONSTANTS.PATH_MAIN_WIDTH_RATIO_BASE),\r\n\t\t\tpathBackwashWidth: () => UI_CONSTANTS.PATH_BACKWASH_WIDTH_BASE * VISUAL_BLOCK_SIZE,\r\n\t\t};\r\n\t}\r\n}\r\n\r\n// =================================================================================\r\n// --- Main Entry Point ---\r\n// =================================================================================\r\n\r\nwindow.onload = async () => {\r\n\tconst app = new MapApplication();\r\n\tapp.init().catch((err) => console.error(\"Failed to initialize Map Application:\", err));\r\n};\r\n"]}
\ No newline at end of file
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{ Connection } from \"./conn.js\";\r\nimport * as d3 from \"d3\";\r\nimport { IMG_GO_TO_PIN, IMG_CHARGER, IMG_ROBOT_ORIGINAL } from \"./images.js\";\r\nimport { localCoordsToRobotCoords, robotCoordsToLocalCoords } from \"./coords.js\";\r\nimport { processPaths, type PathResult } from \"./pathProcessor.js\";\r\n\r\n// Interfaces\r\n// -----------------------------------------------------------------------------\r\n\r\ninterface MapData {\r\n\tIMAGE: {\r\n\t\tposition: { left: number; top: number };\r\n\t\tdimensions: { height: number; width: number };\r\n\t\tsegments: {\r\n\t\t\tlist: SegmentInfo[];\r\n\t\t};\r\n\t};\r\n\tROBOT_POSITION?: PositionBlock;\r\n\tCHARGER_LOCATION?: PositionBlock;\r\n\tPATH?: PathBlock;\r\n\tMOP_PATH?: number[];\r\n\tOBSTACLES2?: Array<[number, number, ...any]>;\r\n\tCARPET_MAP?: number[];\r\n}\r\n\r\ninterface PositionBlock {\r\n\tposition: [number, number];\r\n\tangle: number;\r\n}\r\n\r\ninterface PathBlock {\r\n\tcurrent_angle: number;\r\n\tpoints: [number, number][];\r\n}\r\n\r\ninterface SegmentInfo {\r\n\tid: number;\r\n\tname: string;\r\n\tcenter: [number, number]; // Robot coordinates\r\n}\r\n\r\ninterface Robot {\r\n\tduid: string;\r\n\tname: string;\r\n}\r\n\r\ninterface Point {\r\n\tx: number;\r\n\ty: number;\r\n}\r\n\r\ninterface Rect {\r\n\tid: number; // Unique ID for D3 data binding\r\n\tx: number;\r\n\ty: number;\r\n\twidth: number;\r\n\theight: number;\r\n}\r\n\r\ninterface ConnCallbacks {\r\n\tonConnChange?: (isConnected: boolean) => void;\r\n\tonUpdate?: (id: string, state: any | null | undefined) => void;\r\n\tonRefresh?: ((...args: any[]) => any) | null;\r\n\tonAuth?: ((...args: any[]) => any) | null;\r\n\tonCommand?: (instance: string, command: string, data: any) => any;\r\n\tonError?: (err: any) => void;\r\n\tonObjectChange?: (id: string, obj: any) => void;\r\n}\r\n\r\ninterface MapParams {\r\n\tscaleFactor: number;\r\n\tleft: number;\r\n\ttopMap: number;\r\n\tmapMaxY: number;\r\n\timageHeight: number;\r\n\timageWidth: number;\r\n}\r\n\r\n// -----------------------------------------------------------------------------\r\n// Constants\r\n// -----------------------------------------------------------------------------\r\n\r\nconst VISUAL_BLOCK_SIZE = 3; // Scale factor for visualization\r\nconst UI_CONSTANTS = {\r\n\tROBOT_SIZE_BASE: 5,\r\n\tCHARGER_SIZE_BASE: 3,\r\n\tOBSTACLE_RADIUS_BASE: 3,\r\n\tZONE_STROKE_BASE: 1.5,\r\n\tZONE_HANDLE_RADIUS_BASE: 5,\r\n\tPIN_WIDTH_BASE: 29,\r\n\tPIN_HEIGHT_BASE: 24,\r\n\tPIN_Y_OFFSET_BASE: 5,\r\n\tPATH_MOP_WIDTH_BASE: 6.5,\r\n\tPATH_MAIN_WIDTH_RATIO_BASE: 0.5,\r\n\tPATH_BACKWASH_WIDTH_BASE: 0.5,\r\n};\r\n\r\n// -----------------------------------------------------------------------------\r\n// Map Application Class\r\n// -----------------------------------------------------------------------------\r\n\r\nclass MapApplication {\r\n\t// State\r\n\tprivate connection: Connection;\r\n\tprivate instanceId: string = \"\";\r\n\tprivate currentRobotDuid: string | null = null;\r\n\tprivate onStateChange: ((id: string, state: any | null | undefined) => void) | null = null;\r\n\tprivate currentMapSubscriptions: string[] = [];\r\n\r\n\t// Map Data\r\n\tprivate map: MapData | undefined;\r\n\tprivate mapImage: MapData[\"IMAGE\"] | undefined;\r\n\tprivate mapMinX: number = 0;\r\n\tprivate mapMinY: number = 0;\r\n\tprivate mapSizeX: number = 0;\r\n\tprivate mapSizeY: number = 0;\r\n\tprivate mapMaxY: number = 0;\r\n\tprivate goToTarget = false;\r\n\tprivate zoomLevel = 0.55;\r\n\r\n\t// D3 & SVG State\r\n\tprivate image = new Image();\r\n\tprivate initialTransform: d3.ZoomTransform | undefined;\r\n\tprivate svg: d3.Selection<d3.BaseType, unknown, HTMLElement, any>;\r\n\tprivate svgContainer: d3.Selection<d3.BaseType, unknown, HTMLElement, any>;\r\n\tprivate mainGroup: d3.Selection<SVGGElement, unknown, HTMLElement, any>;\r\n\tprivate mapImageElement: d3.Selection<SVGImageElement, unknown, HTMLElement, any>;\r\n\r\n\t// Layers\r\n\tprivate carpetGroup: d3.Selection<SVGGElement, unknown, HTMLElement, any>;\r\n\tprivate pathGroup: d3.Selection<SVGGElement, unknown, HTMLElement, any>;\r\n\tprivate mopPathGroup: d3.Selection<SVGGElement, unknown, HTMLElement, any>;\r\n\tprivate backwashPathGroup: d3.Selection<SVGGElement, unknown, HTMLElement, any>;\r\n\tprivate pureCleanPathGroup: d3.Selection<SVGGElement, unknown, HTMLElement, any>;\r\n\r\n\t// Element Groups\r\n\tprivate chargerGroup: d3.Selection<SVGGElement, unknown, HTMLElement, any>;\r\n\tprivate robotGroup: d3.Selection<SVGGElement, unknown, HTMLElement, any>;\r\n\tprivate roomNameGroup: d3.Selection<SVGGElement, unknown, HTMLElement, any>;\r\n\tprivate zoneGroup: d3.Selection<SVGGElement, unknown, HTMLElement, any>;\r\n\tprivate obstacleGroup: d3.Selection<SVGGElement, unknown, HTMLElement, any>;\r\n\tprivate pinGroup: d3.Selection<SVGGElement, unknown, HTMLElement, any>;\r\n\tprivate zoom: d3.ZoomBehavior<Element, unknown>;\r\n\r\n\tprivate wheelZoom = 1;\r\n\tprivate readonly minZoom = 0.1;\r\n\tprivate readonly maxZoom = 10;\r\n\r\n\t// UI Interaction State\r\n\tprivate popupTimeout: number | null = null;\r\n\tprivate popupX: number = 0;\r\n\tprivate popupY: number = 0;\r\n\tprivate selectedObstacleID: any;\r\n\tprivate rects: Rect[] = [];\r\n\tprivate zones: number[][] = [];\r\n\tprivate rectCounter = 0;\r\n\r\n\t// DOM Elements\r\n\tprivate popup!: HTMLElement;\r\n\tprivate popupImage!: HTMLImageElement;\r\n\tprivate triangle!: HTMLElement;\r\n\tprivate largePhoto!: HTMLElement;\r\n\tprivate largePhotoImage!: HTMLImageElement;\r\n\tprivate robotSelect!: HTMLSelectElement;\r\n\tprivate deleteButton!: HTMLButtonElement;\r\n\tprivate addButton!: HTMLButtonElement;\r\n\tprivate startButton!: HTMLButtonElement;\r\n\tprivate pauseButton!: HTMLButtonElement;\r\n\tprivate stopButton!: HTMLButtonElement;\r\n\tprivate dockButton!: HTMLButtonElement;\r\n\tprivate goToButton!: HTMLButtonElement;\r\n\tprivate resetZoomButton!: HTMLButtonElement;\r\n\r\n\tconstructor() {\r\n\t\tthis.connection = new Connection();\r\n\t\t// Initialize D3 selections with empty selections initially or in init()\r\n\t\t// We will initialize them properly in init() after DOM is ready\r\n\t\tthis.svg = d3.select(null) as any;\r\n\t\tthis.svgContainer = d3.select(null) as any;\r\n\t\tthis.mainGroup = d3.select(null) as any;\r\n\t\tthis.mapImageElement = d3.select(null) as any;\r\n\t\tthis.carpetGroup = d3.select(null) as any;\r\n\t\tthis.pathGroup = d3.select(null) as any;\r\n\t\tthis.mopPathGroup = d3.select(null) as any;\r\n\t\tthis.backwashPathGroup = d3.select(null) as any;\r\n\t\tthis.pureCleanPathGroup = d3.select(null) as any;\r\n\t\tthis.chargerGroup = d3.select(null) as any;\r\n\t\tthis.robotGroup = d3.select(null) as any;\r\n\t\tthis.roomNameGroup = d3.select(null) as any;\r\n\t\tthis.zoneGroup = d3.select(null) as any;\r\n\t\tthis.obstacleGroup = d3.select(null) as any;\r\n\t\tthis.pinGroup = d3.select(null) as any;\r\n\t\tthis.zoom = d3.zoom();\r\n\t}\r\n\r\n\tpublic async init() {\r\n\t\tthis.bindDomElements();\r\n\t\tthis.setupD3();\r\n\t\tthis.setupConnection();\r\n\t\tthis.bindUiEvents();\r\n\t}\r\n\r\n\tprivate bindDomElements() {\r\n\t\tconst getElement = <T extends HTMLElement>(id: string): T => {\r\n\t\t\tconst el = document.getElementById(id);\r\n\t\t\tif (!el) throw new Error(`Missing DOM element: ${id}`);\r\n\t\t\treturn el as T;\r\n\t\t};\r\n\r\n\t\tthis.popup = getElement(\"popup\");\r\n\t\tthis.popupImage = getElement(\"popup-image\");\r\n\t\tthis.triangle = getElement(\"triangle\");\r\n\t\tthis.largePhoto = getElement(\"largePhoto\");\r\n\t\tthis.largePhotoImage = getElement(\"largePhoto-image\");\r\n\t\tthis.robotSelect = getElement(\"robotSelect\");\r\n\t\tthis.deleteButton = getElement(\"deleteButton\");\r\n\t\tthis.addButton = getElement(\"addButton\");\r\n\t\tthis.startButton = getElement(\"startButton\");\r\n\t\tthis.pauseButton = getElement(\"pauseButton\");\r\n\t\tthis.stopButton = getElement(\"stopButton\");\r\n\t\tthis.dockButton = getElement(\"dockButton\");\r\n\t\tthis.goToButton = getElement(\"goToButton\");\r\n\t\tthis.resetZoomButton = getElement(\"resetZoomButton\");\r\n\t}\r\n\r\n\tprivate setupD3() {\r\n\t\tthis.svgContainer = d3.select(\"#mapSvgContainer\");\r\n\t\tthis.svg = d3.select(\"#mapSvg\");\r\n\t\tthis.mainGroup = this.svg.append(\"g\").attr(\"class\", \"main-group\");\r\n\t\tthis.mapImageElement = this.mainGroup.append(\"image\").attr(\"class\", \"map-image\");\r\n\r\n\t\t// Add carpet layer (Vector SVG)\r\n\t\tthis.carpetGroup = this.mainGroup.append(\"g\").attr(\"class\", \"carpet\");\r\n\r\n\t\tthis.mopPathGroup = this.mainGroup\r\n\t\t\t.append(\"g\")\r\n\t\t\t.attr(\"class\", \"mop-paths\")\r\n\t\t\t.style(\"opacity\", 0.18);\r\n\t\tthis.pathGroup = this.mainGroup\r\n\t\t\t.append(\"g\")\r\n\t\t\t.attr(\"class\", \"paths\")\r\n\t\t\t.style(\"opacity\", 0.5);\r\n\t\tthis.backwashPathGroup = this.mainGroup\r\n\t\t\t.append(\"g\")\r\n\t\t\t.attr(\"class\", \"backwash-paths\")\r\n\t\t\t.style(\"opacity\", 0.2);\r\n\t\tthis.pureCleanPathGroup = this.mainGroup\r\n\t\t\t.append(\"g\")\r\n\t\t\t.attr(\"class\", \"pure-clean-paths\");\r\n\r\n\t\tthis.chargerGroup = this.mainGroup.append(\"g\").attr(\"class\", \"charger\");\r\n\t\tthis.obstacleGroup = this.mainGroup.append(\"g\").attr(\"class\", \"obstacles\");\r\n\t\tthis.zoneGroup = this.mainGroup.append(\"g\").attr(\"class\", \"zones\");\r\n\t\tthis.robotGroup = this.mainGroup.append(\"g\").attr(\"class\", \"robot\");\r\n\t\tthis.pinGroup = this.mainGroup.append(\"g\").attr(\"class\", \"pins\");\r\n\t\tthis.roomNameGroup = this.mainGroup.append(\"g\").attr(\"class\", \"room-names\");\r\n\r\n\t\tthis.pinGroup\r\n\t\t\t.append(\"image\")\r\n\t\t\t.attr(\"class\", \"goto-pin\")\r\n\t\t\t.attr(\"href\", IMG_GO_TO_PIN)\r\n\t\t\t.attr(\"width\", 29)\r\n\t\t\t.attr(\"height\", 24)\r\n\t\t\t.style(\"opacity\", 0)\r\n\t\t\t.style(\"display\", \"none\")\r\n\t\t\t.style(\"pointer-events\", \"none\");\r\n\r\n\t\tthis.zoom = d3\r\n\t\t\t.zoom()\r\n\t\t\t.scaleExtent([this.minZoom, this.maxZoom])\r\n\t\t\t.on(\"zoom\", (event: any) => this.handleZoom(event));\r\n\r\n\t\tthis.svgContainer.call(this.zoom as any);\r\n\t}\r\n\r\n\tprivate setupConnection() {\r\n\t\tconst instance = this.getQueryParam(\"instance\");\r\n\t\tif (instance === null) {\r\n\t\t\tdocument.body.innerHTML = \"<h1>Error: No instance specified in URL.</h1>\";\r\n\t\t\treturn;\r\n\t\t}\r\n\t\tthis.instanceId = `roborock.${instance}`;\r\n\r\n\t\tconst connCallbacks: ConnCallbacks = {\r\n\t\t\tonConnChange: async (isConnected: boolean) => {\r\n\t\t\t\tif (isConnected) {\r\n\t\t\t\t\tthis.fetchRobotList();\r\n\t\t\t\t}\r\n\t\t\t},\r\n\t\t\tonUpdate: (id, state) => {\r\n\t\t\t\tif (this.onStateChange) this.onStateChange(id, state as any);\r\n\t\t\t},\r\n\t\t\tonError: (err) => {\r\n\t\t\t\tconsole.error(\"Connection error:\", err);\r\n\t\t\t},\r\n\t\t};\r\n\r\n\t\tconst socketUrl = `${window.location.protocol}//${window.location.hostname}:${window.location.port}`;\r\n\t\tthis.connection.init({ name: this.instanceId, connLink: socketUrl }, connCallbacks, true);\r\n\t}\r\n\r\n\tprivate fetchRobotList() {\r\n\t\tconst startKey = `${this.instanceId}.Devices.`;\r\n\t\tconst endKey = `${this.instanceId}.Devices.\\u9999`;\r\n\r\n\t\tthis.connection\r\n\t\t\t.getObjectView(\"system\", \"device\", { startkey: startKey, endkey: endKey })\r\n\t\t\t.then((res: { rows: { id: string; value: any }[] }) => {\r\n\t\t\t\tconst robots: Robot[] = [];\r\n\t\t\t\tif (res && res.rows) {\r\n\t\t\t\t\tres.rows.forEach((row) => {\r\n\t\t\t\t\t\tconst idParts = row.id.split(\".\");\r\n\t\t\t\t\t\tconst duid = idParts[idParts.length - 1];\r\n\t\t\t\t\t\tconst name = row.value && row.value.common && row.value.common.name ? row.value.common.name : duid;\r\n\t\t\t\t\t\tif (duid) robots.push({ duid: duid, name: name });\r\n\t\t\t\t\t});\r\n\t\t\t\t}\r\n\r\n\t\t\t\tif (robots.length === 0) {\r\n\t\t\t\t\tconst instanceDuid = this.getQueryParam(\"instance\");\r\n\t\t\t\t\tif (instanceDuid) {\r\n\t\t\t\t\t\tthis.robotSelect.innerHTML = \"\";\r\n\t\t\t\t\t\tconst option = document.createElement(\"option\");\r\n\t\t\t\t\t\toption.value = instanceDuid;\r\n\t\t\t\t\t\toption.text = `Roborock (Instance ${instanceDuid})`;\r\n\t\t\t\t\t\tthis.robotSelect.appendChild(option);\r\n\t\t\t\t\t\tthis.currentRobotDuid = instanceDuid;\r\n\t\t\t\t\t\tthis.setupSocketListeners(instanceDuid);\r\n\t\t\t\t\t}\r\n\t\t\t\t\treturn;\r\n\t\t\t\t}\r\n\r\n\t\t\t\tthis.robotSelect.innerHTML = \"\";\r\n\t\t\t\trobots.forEach((robot: Robot) => {\r\n\t\t\t\t\tconst option = document.createElement(\"option\");\r\n\t\t\t\t\toption.value = robot.duid;\r\n\t\t\t\t\toption.text = robot.name;\r\n\t\t\t\t\tthis.robotSelect.appendChild(option);\r\n\t\t\t\t});\r\n\r\n\t\t\t\tif (robots.length > 0) {\r\n\t\t\t\t\tconst duid = robots[0].duid;\r\n\t\t\t\t\tthis.currentRobotDuid = duid;\r\n\t\t\t\t\tthis.robotSelect.value = duid;\r\n\t\t\t\t\tthis.setupSocketListeners(duid);\r\n\t\t\t\t}\r\n\t\t\t})\r\n\t\t\t.catch((err) => console.error(\"Error fetching robot list:\", err));\r\n\t}\r\n\r\n\tprivate setupSocketListeners(duid: string) {\r\n\t\tif (this.onStateChange && this.currentMapSubscriptions.length > 0) {\r\n\t\t\tthis.currentMapSubscriptions.forEach((id) => {\r\n\t\t\t\tthis.connection.unsubscribeState(id);\r\n\t\t\t});\r\n\t\t\tthis.currentMapSubscriptions = [];\r\n\t\t}\r\n\r\n\t\tthis.map = undefined;\r\n\t\tthis.mapImage = undefined;\r\n\t\tthis.mapImageElement.attr(\"href\", null);\r\n\t\tthis.carpetGroup.selectAll(\"*\").remove();\r\n\t\tthis.obstacleGroup.selectAll(\"*\").remove();\r\n\t\tthis.pinGroup.select(\"image.goto-pin\").style(\"display\", \"none\").style(\"opacity\", 0);\r\n\t\tthis.robotGroup.selectAll(\"*\").remove();\r\n\t\tthis.chargerGroup.selectAll(\"*\").remove();\r\n\t\tthis.roomNameGroup.selectAll(\"*\").remove();\r\n\t\tthis.pathGroup.selectAll(\"*\").remove();\r\n\t\tthis.mopPathGroup.selectAll(\"*\").remove();\r\n\t\tthis.backwashPathGroup.selectAll(\"*\").remove();\r\n\t\tthis.pureCleanPathGroup.selectAll(\"*\").remove();\r\n\t\tthis.rects = [];\r\n\t\tthis.drawZones();\r\n\t\tthis.deleteButton.disabled = true;\r\n\t\tthis.addButton.disabled = false;\r\n\r\n\t\tconst mapBase64StateId = `${this.instanceId}.Devices.${duid}.map.mapBase64Clean`;\r\n\t\tconst mapDataStateId = `${this.instanceId}.Devices.${duid}.map.mapData`;\r\n\t\tthis.currentMapSubscriptions = [mapBase64StateId, mapDataStateId];\r\n\r\n\t\tthis.onStateChange = (id: string, state: any | null | undefined) => {\r\n\t\t\tif (!state || !state.val) {\r\n\t\t\t\tif (id === mapBase64StateId) {\r\n\t\t\t\t\tthis.mapImageElement.attr(\"href\", null);\r\n\t\t\t\t}\r\n\t\t\t\tif (id === mapDataStateId) {\r\n\t\t\t\t\tthis.map = undefined;\r\n\t\t\t\t\tthis.robotGroup.selectAll(\"*\").remove();\r\n\t\t\t\t}\r\n\t\t\t\treturn;\r\n\t\t\t}\r\n\r\n\t\t\tswitch (id) {\r\n\t\t\t\tcase mapBase64StateId:\r\n\t\t\t\t\tthis.pinGroup.select(\"image.goto-pin\").style(\"display\", \"none\").style(\"opacity\", 0);\r\n\t\t\t\t\tthis.drawBackgroundImage(state.val as string);\r\n\t\t\t\t\tbreak;\r\n\r\n\t\t\t\tcase mapDataStateId:\r\n\t\t\t\t\ttry {\r\n\t\t\t\t\t\tthis.map = typeof state.val === \"string\" ? JSON.parse(state.val) : state.val;\r\n\t\t\t\t\t\tif (this.map && this.map.IMAGE) {\r\n\t\t\t\t\t\t\tthis.mapImage = this.map.IMAGE;\r\n\t\t\t\t\t\t\tthis.updateMapImageSize();\r\n\t\t\t\t\t\t\tthis.drawRobotAndCharger(this.map.ROBOT_POSITION, this.map.CHARGER_LOCATION);\r\n\t\t\t\t\t\t\tthis.drawPaths(this.map.PATH, this.map.MOP_PATH);\r\n\t\t\t\t\t\t\tthis.drawObstacles(this.map.OBSTACLES2);\r\n\t\t\t\t\t\t\tthis.drawRoomNames(this.map.IMAGE.segments.list);\r\n\t\t\t\t\t\t\tthis.drawCarpet(this.map.CARPET_MAP);\r\n\t\t\t\t\t\t}\r\n\t\t\t\t\t} catch (e) {\r\n\t\t\t\t\t\tconsole.error(\"Failed to parse map data JSON:\", state.val, e);\r\n\t\t\t\t\t}\r\n\t\t\t\t\tbreak;\r\n\t\t\t}\r\n\t\t};\r\n\r\n\t\tthis.connection.subscribeState(mapBase64StateId);\r\n\t\tthis.connection.subscribeState(mapDataStateId);\r\n\r\n\t\tthis.connection.getStates([mapBase64StateId, mapDataStateId]).then((states: Record<string, any | null | undefined>) => {\r\n\t\t\tif (!this.onStateChange) return;\r\n\t\t\tthis.onStateChange(mapBase64StateId, states[mapBase64StateId]);\r\n\t\t\tthis.onStateChange(mapDataStateId, states[mapDataStateId]);\r\n\t\t});\r\n\t}\r\n\t// -----------------------------------------------------------------------------\r\n\t// Drawing Methods\r\n\t// -----------------------------------------------------------------------------\r\n\r\n\tprivate updateMapImageSize() {\r\n\t\tif (!this.image.naturalWidth || !this.image.naturalHeight) return;\r\n\r\n\t\t// Use natural size of the image (1:1 scale)\r\n\t\tconst displayWidth = this.image.naturalWidth;\r\n\t\tconst displayHeight = this.image.naturalHeight;\r\n\r\n\t\tthis.mapImageElement\r\n\t\t\t.attr(\"href\", this.image.src)\r\n\t\t\t.attr(\"width\", displayWidth)\r\n\t\t\t.attr(\"height\", displayHeight)\r\n\t\t\t.attr(\"transform\", null)\r\n\t\t\t.style(\"image-rendering\", \"pixelated\");\r\n\t}\r\n\r\n\tprivate drawBackgroundImage(mapBase64: string) {\r\n\t\tif (!mapBase64) {\r\n\t\t\tthis.mapImageElement.attr(\"href\", null);\r\n\t\t\treturn;\r\n\t\t}\r\n\r\n\t\tthis.image.src = mapBase64;\r\n\t\tthis.image.onload = () => {\r\n\t\t\tconst tempCanvas = document.createElement(\"canvas\");\r\n\t\t\tconst tempCtx = tempCanvas.getContext(\"2d\", { willReadFrequently: true });\r\n\t\t\tif (!tempCtx) return;\r\n\r\n\t\t\ttempCanvas.width = this.image.width;\r\n\t\t\ttempCanvas.height = this.image.height;\r\n\t\t\ttempCtx.imageSmoothingEnabled = false;\r\n\t\t\ttempCtx.drawImage(this.image, 0, 0);\r\n\r\n\t\t\tlet mapMaxX = 0;\r\n\t\t\tthis.mapMaxY = 0;\r\n\t\t\tthis.mapMinX = this.image.width;\r\n\t\t\tthis.mapMinY = this.image.height;\r\n\r\n\t\t\tconst imageData = tempCtx.getImageData(0, 0, this.image.width, this.image.height);\r\n\t\t\tconst pixels = imageData.data;\r\n\t\t\tfor (let i = 0; i < pixels.length; i += 4) {\r\n\t\t\t\tconst alpha = pixels[i + 3];\r\n\t\t\t\tif (alpha > 50) {\r\n\t\t\t\t\tconst x = (i / 4) % this.image.width;\r\n\t\t\t\t\tconst y = Math.floor(i / 4 / this.image.width);\r\n\t\t\t\t\tif (x < this.mapMinX) this.mapMinX = x;\r\n\t\t\t\t\tif (x > mapMaxX) mapMaxX = x;\r\n\t\t\t\t\tif (y < this.mapMinY) this.mapMinY = y;\r\n\t\t\t\t\tif (y > this.mapMaxY) this.mapMaxY = y;\r\n\t\t\t\t}\r\n\t\t\t}\r\n\r\n\t\t\tif (this.mapMinX > mapMaxX) {\r\n\t\t\t\tthis.mapMinX = 0;\r\n\t\t\t\tmapMaxX = this.image.width;\r\n\t\t\t\tthis.mapMinY = 0;\r\n\t\t\t\tthis.mapMaxY = this.image.height;\r\n\t\t\t}\r\n\r\n\t\t\t// Calculate content dimensions based on detected pixels\r\n\t\t\tthis.mapSizeX = mapMaxX - this.mapMinX;\r\n\t\t\tthis.mapSizeY = this.mapMaxY - this.mapMinY;\r\n\r\n\t\t\t// Sanity check\r\n\t\t\tif (this.mapSizeX <= 0) this.mapSizeX = this.image.width;\r\n\t\t\tif (this.mapSizeY <= 0) this.mapSizeY = this.image.height;\r\n\r\n\t\t\tthis.updateMapImageSize();\r\n\r\n\t\t\tthis.carpetGroup.attr(\"transform\", null);\r\n\r\n\t\t\tconst svgWidth = parseFloat(this.svg.attr(\"width\")) || 800;\r\n\t\t\tconst svgHeight = parseFloat(this.svg.attr(\"height\")) || 600;\r\n\r\n\t\t\t// Zoom-to-fit calculations\r\n\t\t\tconst aspectRatio = svgWidth / svgHeight;\r\n\t\t\tconst contentAspectRatio = this.mapSizeX / this.mapSizeY;\r\n\r\n\t\t\tif (contentAspectRatio > aspectRatio) {\r\n\t\t\t\tthis.zoomLevel = this.roundTwoDecimals((svgWidth * 0.95) / this.mapSizeX); // 95% fit\r\n\t\t\t} else {\r\n\t\t\t\tthis.zoomLevel = this.roundTwoDecimals((svgHeight * 0.95) / this.mapSizeY);\r\n\t\t\t}\r\n\r\n\t\t\tif (this.zoomLevel < 0.1) this.zoomLevel = 0.1;\r\n\r\n\t\t\t// Center the content within the SVG\r\n\t\t\tconst contentCenterX = this.mapMinX + this.mapSizeX / 2;\r\n\t\t\tconst contentCenterY = this.mapMinY + this.mapSizeY / 2;\r\n\r\n\t\t\tthis.initialTransform = d3.zoomIdentity\r\n\t\t\t\t.translate(svgWidth / 2, svgHeight / 2)\r\n\t\t\t\t.scale(this.zoomLevel)\r\n\t\t\t\t.translate(-contentCenterX, -contentCenterY);\r\n\r\n\t\t\tthis.svgContainer.call(this.zoom.transform as any, this.initialTransform);\r\n\r\n\t\t\tif (this.map) {\r\n\t\t\t\tthis.drawRobotAndCharger(this.map.ROBOT_POSITION, this.map.CHARGER_LOCATION);\r\n\t\t\t\tthis.drawPaths(this.map.PATH, this.map.MOP_PATH);\r\n\t\t\t\tthis.drawObstacles(this.map.OBSTACLES2);\r\n\t\t\t\tthis.drawRoomNames(this.map.IMAGE.segments.list);\r\n\t\t\t\tthis.drawCarpet(this.map.CARPET_MAP);\r\n\t\t\t}\r\n\t\t};\r\n\t}\r\n\r\n\tprivate drawRobotAndCharger(robotPos?: PositionBlock, chargerPos?: PositionBlock) {\r\n\t\tthis.robotGroup.selectAll(\"image.robot\").remove();\r\n\t\tthis.chargerGroup.selectAll(\"image.charger\").remove();\r\n\r\n\t\tif (!robotPos && !chargerPos) return;\r\n\r\n\t\tconst params = this.getMapParams();\r\n\t\tif (!params) return;\r\n\r\n\t\tconst scaledChargerSize = this.rescaler.chargerSize();\r\n\t\tconst scaledRobotSize = this.rescaler.robotSize();\r\n\r\n\t\t// Charger\r\n\t\tconst chargerData = chargerPos ? [chargerPos] : [];\r\n\t\tconst charger = this.chargerGroup.selectAll(\"image.charger\").data(chargerData);\r\n\t\tcharger.exit().remove();\r\n\t\tcharger\r\n\t\t\t.enter()\r\n\t\t\t.append(\"image\")\r\n\t\t\t.attr(\"class\", \"charger\")\r\n\t\t\t.attr(\"href\", IMG_CHARGER)\r\n\t\t\t.merge(charger as any)\r\n\t\t\t.attr(\"width\", scaledChargerSize)\r\n\t\t\t.attr(\"height\", scaledChargerSize)\r\n\t\t\t.attr(\"x\", (d) => this.robotToSvg({ x: d.position[0], y: d.position[1] }, params).x - scaledChargerSize / 2)\r\n\t\t\t.attr(\"y\", (d) => this.robotToSvg({ x: d.position[0], y: d.position[1] }, params).y - scaledChargerSize / 2);\r\n\r\n\t\t// Robot\r\n\t\tconst robotData = robotPos ? [robotPos] : [];\r\n\t\tconst robot = this.robotGroup.selectAll(\"image.robot\").data(robotData);\r\n\t\trobot.exit().remove();\r\n\t\trobot\r\n\t\t\t.enter()\r\n\t\t\t.append(\"image\")\r\n\t\t\t.attr(\"class\", \"robot\")\r\n\t\t\t.attr(\"href\", IMG_ROBOT_ORIGINAL)\r\n\t\t\t.merge(robot as any)\r\n\t\t\t.attr(\"width\", scaledRobotSize)\r\n\t\t\t.attr(\"height\", scaledRobotSize)\r\n\t\t\t.attr(\"transform\", (d) => {\r\n\t\t\t\tconst svgCoords = this.robotToSvg({ x: d.position[0], y: d.position[1] }, params);\r\n\t\t\t\tconst angle = -(d.angle ?? 0) + 90;\r\n\t\t\t\treturn `translate(${svgCoords.x}, ${svgCoords.y}) rotate(${angle}) translate(${-scaledRobotSize / 2}, ${-scaledRobotSize / 2})`;\r\n\t\t\t});\r\n\t}\r\n\r\n\tprivate drawRoomNames(segmentsList: SegmentInfo[]) {\r\n\t\tconst params = this.getMapParams();\r\n\t\tif (!params || !segmentsList) {\r\n\t\t\tthis.roomNameGroup.selectAll(\"text.room-name\").remove();\r\n\t\t\treturn;\r\n\t\t}\r\n\t\tconst baseFontSize = 12;\r\n\t\tconst baseStrokeWidth = 2.5;\r\n\r\n\t\tconst textElements = this.roomNameGroup.selectAll(\"text.room-name\").data(segmentsList, (d: any) => d.id);\r\n\t\ttextElements.exit().remove();\r\n\t\ttextElements\r\n\t\t\t.enter()\r\n\t\t\t.append(\"text\")\r\n\t\t\t.attr(\"class\", \"room-name\")\r\n\t\t\t.attr(\"text-anchor\", \"middle\")\r\n\t\t\t.attr(\"dominant-baseline\", \"middle\")\r\n\t\t\t.style(\"fill\", \"#000\")\r\n\t\t\t.style(\"stroke\", \"white\")\r\n\t\t\t.style(\"pointer-events\", \"none\")\r\n\t\t\t.style(\"font-weight\", \"900\")\r\n\t\t\t.style(\"font-size\", `${baseFontSize}px`)\r\n\t\t\t.style(\"stroke-width\", `${baseStrokeWidth}px`)\r\n\t\t\t.style(\"paint-order\", \"stroke\")\r\n\t\t\t.attr(\"shape-rendering\", \"geometricPrecision\")\r\n\t\t\t.merge(textElements as any)\r\n\t\t\t.text((d) => d.name)\r\n\t\t\t.attr(\"x\", (d) => {\r\n\t\t\t\tif (d.center && typeof d.center[0] === \"number\" && !isNaN(d.center[0]))\r\n\t\t\t\t\treturn this.robotToSvg({ x: d.center[0], y: d.center[1] }, params).x;\r\n\t\t\t\treturn -1000;\r\n\t\t\t})\r\n\t\t\t.attr(\"y\", (d) => {\r\n\t\t\t\tif (d.center && typeof d.center[1] === \"number\" && !isNaN(d.center[1]))\r\n\t\t\t\t\treturn this.robotToSvg({ x: d.center[0], y: d.center[1] }, params).y;\r\n\t\t\t\treturn -1000;\r\n\t\t\t});\r\n\t}\r\n\r\n\tprivate drawPaths(pathData?: PathBlock, mopData?: number[]) {\r\n\t\tconst params = this.getMapParams();\r\n\t\tif (!params || !pathData?.points || !mopData) {\r\n\t\t\tthis.pathGroup.selectAll(\"*\").remove();\r\n\t\t\tthis.mopPathGroup.selectAll(\"*\").remove();\r\n\t\t\tthis.backwashPathGroup.selectAll(\"*\").remove();\r\n\t\t\tthis.pureCleanPathGroup.selectAll(\"*\").remove();\r\n\t\t\treturn;\r\n\t\t}\r\n\r\n\t\tconst scale = VISUAL_BLOCK_SIZE;\r\n\r\n\t\tconst paths: PathResult = processPaths(\r\n\t\t\tpathData.points,\r\n\t\t\tmopData,\r\n\t\t\t(robotPoint, p) => this.robotToSvg({ x: robotPoint[0], y: robotPoint[1] }, p),\r\n\t\t\tscale,\r\n\t\t\tparams\r\n\t\t);\r\n\r\n\t\tconst scaledMopWidth = this.rescaler.pathMopWidth();\r\n\t\tconst scaledPathWidth = this.rescaler.pathMainWidth();\r\n\t\tconst scaledBackwashWidth = this.rescaler.pathBackwashWidth();\r\n\r\n\t\t// 1. Main Path\r\n\t\tconst mainPath = this.pathGroup.selectAll(\"path.main-path\").data(paths.mainPathD ? [paths.mainPathD] : []);\r\n\t\tmainPath.exit().remove();\r\n\t\tmainPath\r\n\t\t\t.enter()\r\n\t\t\t.append(\"path\")\r\n\t\t\t.attr(\"class\", \"main-path\")\r\n\t\t\t.merge(mainPath as any)\r\n\t\t\t.attr(\"d\", (d) => d)\r\n\t\t\t.style(\"fill\", \"none\")\r\n\t\t\t.style(\"stroke\", \"rgba(255,255,255,1.0)\")\r\n\t\t\t.style(\"stroke-width\", `${scaledPathWidth}px`)\r\n\t\t\t.style(\"stroke-linecap\", \"round\")\r\n\t\t\t.style(\"stroke-linejoin\", \"round\");\r\n\r\n\t\t// 2. Backwash Path\r\n\t\tconst backwashPath = this.backwashPathGroup.selectAll(\"path.backwash-path\").data(paths.backwashPathD ? [paths.backwashPathD] : []);\r\n\t\tbackwashPath.exit().remove();\r\n\t\tbackwashPath\r\n\t\t\t.enter()\r\n\t\t\t.append(\"path\")\r\n\t\t\t.attr(\"class\", \"backwash-path\")\r\n\t\t\t.merge(backwashPath as any)\r\n\t\t\t.attr(\"d\", (d) => d)\r\n\t\t\t.style(\"fill\", \"none\")\r\n\t\t\t.style(\"stroke\", \"rgba(255,255,255,1.0)\")\r\n\t\t\t.style(\"stroke-width\", `${scaledBackwashWidth}px`)\r\n\t\t\t.style(\"stroke-dasharray\", `${4}, ${8}`)\r\n\t\t\t.style(\"stroke-linecap\", \"round\")\r\n\t\t\t.style(\"stroke-linejoin\", \"round\");\r\n\r\n\t\t// 3. PureClean Path\r\n\t\tconst pureCleanPath = this.pureCleanPathGroup.selectAll(\"path.pure-clean-path\").data(paths.pureCleanPathD ? [paths.pureCleanPathD] : []);\r\n\t\tpureCleanPath.exit().remove();\r\n\t\tpureCleanPath\r\n\t\t\t.enter()\r\n\t\t\t.append(\"path\")\r\n\t\t\t.attr(\"class\", \"pure-clean-path\")\r\n\t\t\t.merge(pureCleanPath as any)\r\n\t\t\t.attr(\"d\", (d) => d)\r\n\t\t\t.style(\"fill\", \"none\")\r\n\t\t\t.style(\"stroke\", \"rgba(255,255,255,1.0)\")\r\n\t\t\t.style(\"stroke-width\", `${scaledBackwashWidth}px`)\r\n\t\t\t.style(\"stroke-linecap\", \"round\")\r\n\t\t\t.style(\"stroke-linejoin\", \"round\");\r\n\r\n\t\t// 4. Mop Path\r\n\t\tconst mopPath = this.mopPathGroup.selectAll(\"path.mop-path\").data(paths.mopPathD ? [paths.mopPathD] : []);\r\n\t\tmopPath.exit().remove();\r\n\t\tmopPath\r\n\t\t\t.enter()\r\n\t\t\t.append(\"path\")\r\n\t\t\t.attr(\"class\", \"mop-path\")\r\n\t\t\t.merge(mopPath as any)\r\n\t\t\t.attr(\"d\", (d) => d)\r\n\t\t\t.style(\"fill\", \"none\")\r\n\t\t\t.style(\"stroke\", \"rgba(255,255,255,1.0)\")\r\n\t\t\t.style(\"stroke-width\", `${scaledMopWidth}px`)\r\n\t\t\t.style(\"stroke-linecap\", \"round\")\r\n\t\t\t.style(\"stroke-linejoin\", \"round\");\r\n\t}\r\n\r\n\tprivate drawObstacles(obstaclesData?: Array<[number, number, ...any]>) {\r\n\t\tconst params = this.getMapParams();\r\n\t\tif (!params || !obstaclesData) {\r\n\t\t\tthis.obstacleGroup.selectAll(\".obstacle-group\").remove();\r\n\t\t\treturn;\r\n\t\t}\r\n\t\tconst fixedRadius = this.rescaler.scale() * UI_CONSTANTS.OBSTACLE_RADIUS_BASE;\r\n\t\tconst bgRadius = fixedRadius * 1.1;\r\n\t\tconst imageSize = fixedRadius * 1.8;\r\n\r\n\t\tconst OBSTACLE_MAPPING: Record<number, string> = {\r\n\t\t\t\"-99\": \"99\",\r\n\t\t\t0: \"0\",\r\n\t\t\t1: \"1\",\r\n\t\t\t2: \"2\",\r\n\t\t\t3: \"3\",\r\n\t\t\t4: \"3\",\r\n\t\t\t5: \"5_cn\",\r\n\t\t\t9: \"9\",\r\n\t\t\t10: \"10\",\r\n\t\t\t18: \"18\",\r\n\t\t\t25: \"25\",\r\n\t\t\t26: \"26\",\r\n\t\t\t27: \"26\",\r\n\t\t\t34: \"10\",\r\n\t\t\t42: \"18\",\r\n\t\t\t48: \"48\",\r\n\t\t\t49: \"49\",\r\n\t\t\t50: \"50\",\r\n\t\t\t51: \"51\",\r\n\t\t\t54: \"54\",\r\n\t\t\t65: \"65\",\r\n\t\t\t67: \"67\",\r\n\t\t\t69: \"69\",\r\n\t\t\t70: \"70\",\r\n\t\t\t99: \"99\",\r\n\t\t};\r\n\r\n\t\tconst groups = this.obstacleGroup.selectAll(\".obstacle-group\").data(obstaclesData);\r\n\r\n\t\tgroups.exit().remove();\r\n\r\n\t\tconst enterGroups = groups\r\n\t\t\t.enter()\r\n\t\t\t.append(\"g\")\r\n\t\t\t.attr(\"class\", \"obstacle-group\")\r\n\t\t\t.style(\"cursor\", \"default\")\r\n\t\t\t.on(\"click\", (event: MouseEvent, d: any) => {\r\n\t\t\t\tif (!this.currentRobotDuid) return;\r\n\t\t\t\tevent.stopPropagation();\r\n\t\t\t\tthis.selectedObstacleID = d[6];\r\n\t\t\t\tconst robotPoint = { x: d[0], y: d[1] };\r\n\t\t\t\tconst worldPoint = robotCoordsToLocalCoords(robotPoint, params!);\r\n\t\t\t\tthis.popupX = worldPoint.x;\r\n\t\t\t\tthis.popupY = worldPoint.y;\r\n\r\n\t\t\t\tif (this.popupTimeout) clearTimeout(this.popupTimeout);\r\n\r\n\t\t\t\tthis.connection\r\n\t\t\t\t\t.sendTo(this.instanceId, \"get_obstacle_image\", { obstacleId: this.selectedObstacleID, duid: this.currentRobotDuid, type: 1 })\r\n\t\t\t\t\t.then((response) => {\r\n\t\t\t\t\t\tif (response && (response as any).image) {\r\n\t\t\t\t\t\t\tlet imageData = (response as any).image as string;\r\n\t\t\t\t\t\t\tif (typeof imageData === \"string\" && !imageData.startsWith(\"data:image/\")) imageData = \"data:image/png;base64,\" + imageData;\r\n\t\t\t\t\t\t\tthis.popupImage.src = imageData;\r\n\t\t\t\t\t\t\tthis.popup.style.display = \"block\";\r\n\t\t\t\t\t\t\tthis.triangle.style.display = \"block\";\r\n\t\t\t\t\t\t\tthis.updatePopupPosition();\r\n\t\t\t\t\t\t\tthis.popupTimeout = window.setTimeout(() => {\r\n\t\t\t\t\t\t\t\tthis.popup.style.display = \"none\";\r\n\t\t\t\t\t\t\t\tthis.triangle.style.display = \"none\";\r\n\t\t\t\t\t\t\t\tthis.popupTimeout = null;\r\n\t\t\t\t\t\t\t}, 3000);\r\n\t\t\t\t\t\t}\r\n\t\t\t\t\t})\r\n\t\t\t\t\t.catch((err) => console.error(\"Error getting obstacle image:\", err));\r\n\t\t\t\tthis.updatePopupPosition();\r\n\t\t\t});\r\n\r\n\t\tenterGroups\r\n\t\t\t.append(\"circle\")\r\n\t\t\t.attr(\"class\", \"obstacle-bg\")\r\n\t\t\t.attr(\"r\", bgRadius)\r\n\t\t\t.attr(\"fill\", \"rgba(100, 100, 100, 0.2)\") // More transparent\r\n\t\t\t.attr(\"stroke\", \"white\")\r\n\t\t\t.attr(\"stroke-width\", 0.5); // Thinner border\r\n\r\n\t\tenterGroups\r\n\t\t\t.append(\"image\")\r\n\t\t\t.attr(\"class\", \"obstacle-icon\")\r\n\t\t\t.attr(\"width\", imageSize)\r\n\t\t\t.attr(\"height\", imageSize)\r\n\t\t\t.attr(\"x\", -imageSize / 2)\r\n\t\t\t.attr(\"y\", -imageSize / 2)\r\n\t\t\t.on(\"error\", function () {\r\n\t\t\t\td3.select(this).attr(\"href\", \"images/projects_comroborocktanos_resources_obstacle_new_p18.png\");\r\n\t\t\t});\r\n\r\n\t\tconst allGroups = enterGroups.merge(groups as any);\r\n\r\n\t\tallGroups.attr(\"transform\", (d: any) => {\r\n\t\t\tconst pos = this.robotToSvg({ x: d[0] + 25, y: d[1] + 25 }, params); // Added +25 offset for obstacle center?\r\n\t\t\treturn `translate(${pos.x}, ${pos.y})`;\r\n\t\t});\r\n\r\n\t\tallGroups\r\n\t\t\t.select(\"image\")\r\n\t\t\t.attr(\"href\", (d: any) => {\r\n\t\t\t\tconst type = d[2];\r\n\t\t\t\tconst suffix = OBSTACLE_MAPPING[type] || \"18\";\r\n\t\t\t\treturn `images/projects_comroborocktanos_resources_obstacle_new_p${suffix}.png`;\r\n\t\t\t});\r\n\t}\r\n\r\n\tprivate drawCarpet(carpetMap?: number[]) {\r\n\t\tif (!carpetMap || !this.mapImage || !this.mapImage.dimensions) {\r\n\t\t\tthis.carpetGroup.selectAll(\"*\").remove();\r\n\t\t\treturn;\r\n\t\t}\r\n\r\n\t\t// mapData provides UNSCALED dimensions (raw grid size)\r\n\t\t// We do NOT divide by VISUAL_BLOCK_SIZE here because dimensions IS the grid size.\r\n\t\tconst gridWidth = this.mapImage.dimensions.width;\r\n\t\tconst gridHeight = this.mapImage.dimensions.height;\r\n\t\tconst stride = 3;\r\n\r\n\t\tconst pathCoords: string[] = [];\r\n\r\n\t\t// Consistent Offsets with Coords.ts\r\n\t\t// For grid-based elements (Carpet), we align to the grid cell (0,0), not the center (1.5, 1.5).\r\n\t\t// Paths use 1.5 to be in the center of the cell. Carpets fill the cell.\r\n\t\tconst offsetX = 0;\r\n\t\tconst offsetY = 0;\r\n\r\n\t\tcarpetMap.forEach((px) => {\r\n\t\t\tconst col = px % gridWidth;\r\n\t\t\tconst row = Math.floor(px / gridWidth);\r\n\t\t\tconst invertedRow = gridHeight - row - 1;\r\n\r\n\t\t\tconst baseX = col * VISUAL_BLOCK_SIZE + offsetX;\r\n\t\t\tconst baseY = invertedRow * VISUAL_BLOCK_SIZE + offsetY;\r\n\r\n\t\t\tfor (let dx = 0; dx < VISUAL_BLOCK_SIZE; dx++) {\r\n\t\t\t\tfor (let dy = 0; dy < VISUAL_BLOCK_SIZE; dy++) {\r\n\t\t\t\t\tif ((dx + dy) % stride === 2) {\r\n\t\t\t\t\t\tpathCoords.push(`M${baseX + dx} ${baseY + dy}h1v1h-1z`);\r\n\t\t\t\t\t}\r\n\t\t\t\t}\r\n\t\t\t}\r\n\t\t});\r\n\r\n\t\tconst combinedPathData = pathCoords.join(\"\");\r\n\r\n\t\tconst pathSelection = this.carpetGroup.selectAll(\"path.carpet-path\").data([combinedPathData]);\r\n\t\tpathSelection.exit().remove();\r\n\t\tpathSelection\r\n\t\t\t.enter()\r\n\t\t\t.append(\"path\")\r\n\t\t\t.attr(\"class\", \"carpet-path\")\r\n\t\t\t.style(\"fill\", \"rgba(0, 0, 0, 0.4)\")\r\n\t\t\t.attr(\"shape-rendering\", \"crispEdges\")\r\n\t\t\t.merge(pathSelection as any)\r\n\t\t\t.attr(\"d\", (d) => d);\r\n\t}\r\n\r\n\tprivate drawZones() {\r\n\t\tconst dragHandler = d3\r\n\t\t\t.drag<SVGGElement, Rect>()\r\n\t\t\t.on(\"start\", (event: any) => {\r\n\t\t\t\tconst element = event.sourceEvent.target.closest(\"g.zone\");\r\n\t\t\t\tif (element) d3.select(element).raise().style(\"cursor\", \"grabbing\");\r\n\t\t\t\tthis.deleteButton.disabled = false;\r\n\t\t\t})\r\n\t\t\t.on(\"drag\", (event: any, d: Rect) => {\r\n\t\t\t\tif (!this.mapImage) return;\r\n\t\t\t\tconst minBoundX = this.mapMinX,\r\n\t\t\t\t\tminBoundY = this.mapMinY,\r\n\t\t\t\t\tmaxBoundX = this.mapMinX + this.mapSizeX,\r\n\t\t\t\t\tmaxBoundY = this.mapMinY + this.mapSizeY;\r\n\t\t\t\tlet newX = Math.max(minBoundX, d.x + event.dx);\r\n\t\t\t\tlet newY = Math.max(minBoundY, d.y + event.dy);\r\n\t\t\t\tif (newX + d.width > maxBoundX) newX = maxBoundX - d.width;\r\n\t\t\t\tif (newY + d.height > maxBoundY) newY = maxBoundY - d.height;\r\n\t\t\t\td.x = newX;\r\n\t\t\t\td.y = newY;\r\n\t\t\t\tconst element = event.sourceEvent.target.closest(\"g.zone\");\r\n\t\t\t\tif (element) d3.select(element).attr(\"transform\", `translate(${d.x - this.mapMinX}, ${d.y - this.mapMinY})`);\r\n\t\t\t})\r\n\t\t\t.on(\"end\", (event: any) => {\r\n\t\t\t\tconst element = event.sourceEvent.target.closest(\"g.zone\");\r\n\t\t\t\tif (element) d3.select(element).style(\"cursor\", \"move\");\r\n\t\t\t\tthis.updateRobotZones();\r\n\t\t\t});\r\n\r\n\t\tconst resizeHandler = d3\r\n\t\t\t.drag<SVGCircleElement, Rect>()\r\n\t\t\t.on(\"start\", (event: any) => {\r\n\t\t\t\tevent.sourceEvent.stopPropagation();\r\n\t\t\t\tconst element = event.sourceEvent.target;\r\n\t\t\t\tif (element) d3.select(element).raise();\r\n\t\t\t})\r\n\t\t\t.on(\"drag\", (event: any, d: Rect) => {\r\n\t\t\t\tif (!this.mapImage) return;\r\n\t\t\t\tconst maxBoundX = this.mapMinX + this.mapSizeX,\r\n\t\t\t\t\tmaxBoundY = this.mapMinY + this.mapSizeY;\r\n\t\t\t\tlet newWidth = Math.max(d.width + event.dx, 20);\r\n\t\t\t\tlet newHeight = Math.max(d.height + event.dy, 20);\r\n\t\t\t\tif (d.x + newWidth > maxBoundX) newWidth = maxBoundX - d.x;\r\n\t\t\t\tif (d.y + newHeight > maxBoundY) newHeight = maxBoundY - d.y;\r\n\t\t\t\td.width = newWidth;\r\n\t\t\t\td.height = newHeight;\r\n\t\t\t\tconst element = event.sourceEvent.target;\r\n\t\t\t\tif (element) {\r\n\t\t\t\t\tconst parentGroup = d3.select(element.parentNode as SVGGElement);\r\n\t\t\t\t\tparentGroup.select(\"rect\").attr(\"width\", d.width).attr(\"height\", d.height);\r\n\t\t\t\t\tparentGroup.select(\"circle.zone-handle\").attr(\"cx\", d.width).attr(\"cy\", d.height);\r\n\t\t\t\t}\r\n\t\t\t})\r\n\t\t\t.on(\"end\", () => this.updateRobotZones());\r\n\r\n\t\tconst selection = this.zoneGroup.selectAll(\"g.zone\").data(this.rects, (d: any) => d.id);\r\n\t\tselection.exit().remove();\r\n\t\tconst enterGroup = selection.enter().append(\"g\").attr(\"class\", \"zone\").call(dragHandler as any);\r\n\t\tenterGroup.append(\"rect\").attr(\"class\", \"zone-rect\").attr(\"x\", 0).attr(\"y\", 0).style(\"stroke-width\", this.rescaler.zoneStrokeWidth());\r\n\t\tenterGroup.append(\"circle\").attr(\"class\", \"zone-handle\").attr(\"r\", this.rescaler.zoneHandleRadius()).call(resizeHandler as any);\r\n\t\tconst mergedSelection = selection.merge(enterGroup as any);\r\n\t\tmergedSelection.attr(\"transform\", (d: Rect) => `translate(${d.x - this.mapMinX}, ${d.y - this.mapMinY})`);\r\n\t\tmergedSelection\r\n\t\t\t.select(\"rect\")\r\n\t\t\t.attr(\"width\", (d: Rect) => d.width)\r\n\t\t\t.attr(\"height\", (d: Rect) => d.height)\r\n\t\t\t.style(\"stroke-width\", this.rescaler.zoneStrokeWidth());\r\n\t\tmergedSelection\r\n\t\t\t.select(\"circle.zone-handle\")\r\n\t\t\t.attr(\"cx\", (d: Rect) => d.width)\r\n\t\t\t.attr(\"cy\", (d: Rect) => d.height)\r\n\t\t\t.attr(\"r\", this.rescaler.zoneHandleRadius());\r\n\t}\r\n\r\n\t// -----------------------------------------------------------------------------\r\n\t// Helper Methods\r\n\t// -----------------------------------------------------------------------------\r\n\r\n\tprivate updateRobotZones() {\r\n\t\tconst params = this.getMapParams();\r\n\t\tif (!params) return;\r\n\t\tconst cleanCountInput = document.getElementById(\"cleanCount\") as HTMLInputElement;\r\n\t\tthis.zones = [];\r\n\t\tconst cleanCount = parseInt(cleanCountInput.value) || 1;\r\n\t\tfor (const rect of this.rects) {\r\n\t\t\tconst p1 = { x: rect.x, y: rect.y };\r\n\t\t\tconst p2 = { x: rect.x + rect.width, y: rect.y + rect.height };\r\n\t\t\tconst coords1 = localCoordsToRobotCoords(p1, params);\r\n\t\t\tconst coords2 = localCoordsToRobotCoords(p2, params);\r\n\t\t\tthis.zones.push([\r\n\t\t\t\tMath.min(coords1.x, coords2.x),\r\n\t\t\t\tMath.min(coords1.y, coords2.y),\r\n\t\t\t\tMath.max(coords1.x, coords2.x),\r\n\t\t\t\tMath.max(coords1.y, coords2.y),\r\n\t\t\t\tcleanCount,\r\n\t\t\t]);\r\n\t\t}\r\n\t\tconsole.log(\"Zones updated:\", JSON.stringify(this.zones));\r\n\t}\r\n\r\n\tprivate updatePopupPosition() {\r\n\t\tif (this.popup.style.display === \"block\" && this.popupX !== undefined && this.popupY !== undefined) {\r\n\t\t\tconst transform = d3.zoomTransform(this.svgContainer.node() as Element);\r\n\t\t\tconst svgCoords = this.worldToSvgCoords(this.popupX, this.popupY);\r\n\t\t\tconst screenCoords = transform.apply([svgCoords.x, svgCoords.y]);\r\n\t\t\tthis.popup.style.left = `${screenCoords[0]}px`;\r\n\t\t\tthis.popup.style.top = `${screenCoords[1]}px`;\r\n\t\t}\r\n\t}\r\n\r\n\tprivate handleZoom(event: any) {\r\n\t\tconst transform = event.transform;\r\n\t\tthis.mainGroup.attr(\"transform\", transform);\r\n\t\tthis.wheelZoom = transform.k;\r\n\r\n\t\tthis.zoneGroup.selectAll(\"rect.zone-rect\").style(\"stroke-width\", this.rescaler.zoneStrokeWidth());\r\n\t\tthis.zoneGroup.selectAll(\"circle.zone-handle\").attr(\"r\", this.rescaler.zoneHandleRadius());\r\n\r\n\t\tconst scaledRobotSize = this.rescaler.robotSize();\r\n\t\tthis.robotGroup\r\n\t\t\t.selectAll(\"image.robot\")\r\n\t\t\t.attr(\"width\", scaledRobotSize)\r\n\t\t\t.attr(\"height\", scaledRobotSize)\r\n\t\t\t.attr(\"transform\", (d: any) => {\r\n\t\t\t\tconst params = this.getMapParams();\r\n\t\t\t\tif (!params) return \"\";\r\n\t\t\t\tconst svgCoords = this.robotToSvg({ x: d.position[0], y: d.position[1] }, params);\r\n\t\t\t\tconst angle = -(d.angle ?? 0) + 90;\r\n\t\t\t\treturn `translate(${svgCoords.x}, ${svgCoords.y}) rotate(${angle}) translate(${-scaledRobotSize / 2}, ${-scaledRobotSize / 2})`;\r\n\t\t\t});\r\n\r\n\t\tconst scaledChargerSize = this.rescaler.chargerSize();\r\n\t\tthis.chargerGroup\r\n\t\t\t.selectAll(\"image.charger\")\r\n\t\t\t.attr(\"width\", scaledChargerSize)\r\n\t\t\t.attr(\"height\", scaledChargerSize)\r\n\t\t\t.attr(\"x\", (d: any) => {\r\n\t\t\t\tconst params = this.getMapParams();\r\n\t\t\t\tif (!params) return 0;\r\n\t\t\t\treturn this.robotToSvg({ x: d.position[0], y: d.position[1] }, params).x - scaledChargerSize / 2;\r\n\t\t\t})\r\n\t\t\t.attr(\"y\", (d: any) => {\r\n\t\t\t\tconst params = this.getMapParams();\r\n\t\t\t\tif (!params) return 0;\r\n\t\t\t\treturn this.robotToSvg({ x: d.position[0], y: d.position[1] }, params).y - scaledChargerSize / 2;\r\n\t\t\t});\r\n\r\n\t\tthis.pathGroup.selectAll(\"path.main-path\").style(\"stroke-width\", `${this.rescaler.pathMainWidth()}px`);\r\n\t\tthis.backwashPathGroup.selectAll(\"path.backwash-path\").style(\"stroke-width\", `${this.rescaler.pathBackwashWidth()}px`);\r\n\t\tthis.mopPathGroup.selectAll(\"path.mop-path\").style(\"stroke-width\", `${this.rescaler.pathMopWidth()}px`);\r\n\t\tthis.pureCleanPathGroup.selectAll(\"path.pure-clean-path\").style(\"stroke-width\", `${this.rescaler.pathBackwashWidth()}px`);\r\n\r\n\t\tconst scaledPinWidth = this.rescaler.pinWidth();\r\n\t\tconst scaledPinHeight = this.rescaler.pinHeight();\r\n\t\tconst scaledPinYOffset = this.rescaler.pinYOffset();\r\n\t\tthis.pinGroup\r\n\t\t\t.selectAll(\"image.goto-pin\")\r\n\t\t\t.attr(\"width\", scaledPinWidth)\r\n\t\t\t.attr(\"height\", scaledPinHeight)\r\n\t\t\t.attr(\"x\", function () {\r\n\t\t\t\tconst centerX = d3.select(this).attr(\"data-center-x\");\r\n\t\t\t\treturn (parseFloat(centerX) || 0) - scaledPinWidth / 2;\r\n\t\t\t})\r\n\t\t\t.attr(\"y\", function () {\r\n\t\t\t\tconst centerY = d3.select(this).attr(\"data-center-y\");\r\n\t\t\t\treturn (parseFloat(centerY) || 0) - (scaledPinHeight - scaledPinYOffset);\r\n\t\t\t});\r\n\r\n\t\tthis.updatePopupPosition();\r\n\t}\r\n\r\n\tprivate getMapParams(): MapParams | null {\r\n\t\tif (!this.mapImage || !this.mapImage.dimensions || this.mapMaxY === undefined) {\r\n\t\t\treturn null;\r\n\t\t}\r\n\t\treturn {\r\n\t\t\tscaleFactor: VISUAL_BLOCK_SIZE,\r\n\t\t\tleft: this.mapImage.position.left,\r\n\t\t\ttopMap: this.mapImage.position.top,\r\n\t\t\tmapMaxY: this.mapMaxY,\r\n\t\t\timageHeight: this.mapImage.dimensions.height,\r\n\t\t\timageWidth: this.mapImage.dimensions.width,\r\n\t\t};\r\n\t}\r\n\r\n\tprivate screenToWorldCoords(x: number, y: number): Point {\r\n\t\tif (this.mapMinX === undefined || this.mapMinY === undefined) return { x: 0, y: 0 };\r\n\t\tconst transform = d3.zoomTransform(this.svgContainer.node() as Element);\r\n\t\tconst inverted = transform.invert([x, y]);\r\n\t\treturn { x: inverted[0] + this.mapMinX, y: inverted[1] + this.mapMinY };\r\n\t}\r\n\r\n\tprivate worldToSvgCoords(x: number, y: number): Point {\r\n\t\t// Since we no longer translate the background image (it sits at 0,0),\r\n\t\t// we should not subtract mapMinX from the coordinates.\r\n\t\t// However, World Coordinates (from coords.ts) are 0-based relative to the Grid.\r\n\t\t// And the Image starts at Grid 0.\r\n\t\t// So WorldX = SvgX.\r\n\t\treturn { x: x, y: y };\r\n\t}\r\n\r\n\tprivate robotToSvg(robotPoint: Point, params: any): Point {\r\n\t\tconst worldPoint = robotCoordsToLocalCoords(robotPoint, params);\r\n\t\treturn this.worldToSvgCoords(worldPoint.x, worldPoint.y);\r\n\t}\r\n\r\n\tprivate roundTwoDecimals(number: number): number {\r\n\t\treturn Math.round(number * 100) / 100;\r\n\t}\r\n\r\n\tprivate getQueryParam(param: string): string | null {\r\n\t\tconst urlParams = new URLSearchParams(window.location.search);\r\n\t\treturn urlParams.get(param);\r\n\t}\r\n\r\n\tprivate bindUiEvents() {\r\n\t\tthis.robotSelect.addEventListener(\"change\", () => {\r\n\t\t\tconst newDuid = this.robotSelect.value;\r\n\t\t\tif (newDuid && newDuid !== this.currentRobotDuid) {\r\n\t\t\t\tthis.currentRobotDuid = newDuid;\r\n\t\t\t\tthis.setupSocketListeners(newDuid);\r\n\t\t\t}\r\n\t\t});\r\n\r\n\t\tthis.deleteButton.addEventListener(\"click\", () => {\r\n\t\t\tif (this.rects.length > 0) {\r\n\t\t\t\tthis.rects.pop();\r\n\t\t\t\tthis.drawZones();\r\n\t\t\t\tif (this.rects.length < 5) this.addButton.disabled = false;\r\n\t\t\t\tif (this.rects.length < 1) this.deleteButton.disabled = true;\r\n\t\t\t}\r\n\t\t});\r\n\r\n\t\tthis.addButton.addEventListener(\"click\", () => {\r\n\t\t\tif (this.goToTarget) {\r\n\t\t\t\tthis.goToTarget = false;\r\n\t\t\t\tthis.svg.style(\"cursor\", \"grab\");\r\n\t\t\t\tthis.svgContainer.on(\"mousemove.gototarget\", null);\r\n\t\t\t\tthis.svgContainer.on(\"click.gototarget\", null);\r\n\t\t\t\tthis.pinGroup.select(\"image.goto-pin\").style(\"display\", \"none\").style(\"opacity\", 0);\r\n\t\t\t\tthis.goToButton.textContent = \"GoTo Point\";\r\n\t\t\t\treturn;\r\n\t\t\t}\r\n\t\t\tconst svgWidth = parseFloat(this.svg.attr(\"width\"));\r\n\t\t\tconst svgHeight = parseFloat(this.svg.attr(\"height\"));\r\n\t\t\tconst centerWorld = this.screenToWorldCoords(svgWidth / 2, svgHeight / 2);\r\n\t\t\tconst params = this.getMapParams();\r\n\t\t\tif (!params) return;\r\n\r\n\t\t\tthis.rects.push({\r\n\t\t\t\tid: this.rectCounter++,\r\n\t\t\t\tx: centerWorld.x - 25 * params.scaleFactor,\r\n\t\t\t\ty: centerWorld.y - 25 * params.scaleFactor,\r\n\t\t\t\twidth: 50 * params.scaleFactor,\r\n\t\t\t\theight: 50 * params.scaleFactor,\r\n\t\t\t});\r\n\t\t\tthis.drawZones();\r\n\t\t\tif (this.rects.length > 0) this.deleteButton.disabled = false;\r\n\t\t\tif (this.rects.length > 4) this.addButton.disabled = true;\r\n\t\t\tthis.updateRobotZones();\r\n\t\t});\r\n\r\n\t\tthis.startButton.addEventListener(\"click\", () => {\r\n\t\t\tif (!this.currentRobotDuid) return;\r\n\t\t\tthis.updateRobotZones();\r\n\t\t\tconst command = this.zones.length > 0 ? \"app_zoned_clean\" : \"app_start\";\r\n\t\t\tconst parameters = this.zones.length > 0 ? { zones: this.zones, duid: this.currentRobotDuid } : { duid: this.currentRobotDuid };\r\n\t\t\tthis.connection.sendTo(this.instanceId, command, parameters).catch((err) => console.error(\"Error sending command:\", err));\r\n\t\t\tthis.rects = [];\r\n\t\t\tthis.drawZones();\r\n\t\t\tthis.deleteButton.disabled = true;\r\n\t\t\tthis.addButton.disabled = false;\r\n\t\t\tthis.startButton.style.display = \"none\";\r\n\t\t\tthis.pauseButton.style.display = \"inline-block\";\r\n\t\t});\r\n\r\n\t\tthis.pauseButton.addEventListener(\"click\", () => {\r\n\t\t\tif (!this.currentRobotDuid) return;\r\n\t\t\tthis.connection.sendTo(this.instanceId, \"app_pause\", { duid: this.currentRobotDuid });\r\n\t\t\tthis.startButton.style.display = \"inline-block\";\r\n\t\t\tthis.pauseButton.style.display = \"none\";\r\n\t\t});\r\n\r\n\t\tthis.stopButton.addEventListener(\"click\", () => {\r\n\t\t\tif (!this.currentRobotDuid) return;\r\n\t\t\tthis.connection.sendTo(this.instanceId, \"app_stop\", { duid: this.currentRobotDuid });\r\n\t\t\tthis.startButton.style.display = \"inline-block\";\r\n\t\t\tthis.pauseButton.style.display = \"none\";\r\n\t\t});\r\n\r\n\t\tthis.dockButton.addEventListener(\"click\", () => {\r\n\t\t\tif (!this.currentRobotDuid) return;\r\n\t\t\tthis.connection.sendTo(this.instanceId, \"app_charge\", { duid: this.currentRobotDuid });\r\n\t\t});\r\n\r\n\t\tthis.goToButton.addEventListener(\"click\", () => {\r\n\t\t\tif (this.goToTarget) {\r\n\t\t\t\tthis.goToTarget = false;\r\n\t\t\t\tthis.svg.style(\"cursor\", \"grab\");\r\n\t\t\t\tthis.svgContainer.on(\"mousemove.gototarget\", null);\r\n\t\t\t\tthis.svgContainer.on(\"click.gototarget\", null);\r\n\t\t\t\tthis.pinGroup.select(\"image.goto-pin\").style(\"display\", \"none\").style(\"opacity\", 0);\r\n\t\t\t\tthis.goToButton.textContent = \"GoTo Point\";\r\n\t\t\t\treturn;\r\n\t\t\t}\r\n\t\t\tthis.goToTarget = true;\r\n\t\t\tthis.svg.style(\"cursor\", \"none\");\r\n\t\t\tthis.goToButton.textContent = \"Cancel\";\r\n\t\t\tconst transform = d3.zoomTransform(this.svgContainer.node() as Element);\r\n\t\t\tconst svgWidth = parseFloat(this.svg.attr(\"width\"));\r\n\t\t\tconst svgHeight = parseFloat(this.svg.attr(\"height\"));\r\n\t\t\tconst [initialX, initialY] = transform.invert([svgWidth / 2, svgHeight / 2]);\r\n\t\t\tconst scaledPinWidth = this.rescaler.pinWidth();\r\n\t\t\tconst scaledPinHeight = this.rescaler.pinHeight();\r\n\t\t\tconst scaledPinYOffset = this.rescaler.pinYOffset();\r\n\t\t\tconst pin = this.pinGroup.select(\"image.goto-pin\");\r\n\t\t\tpin\r\n\t\t\t\t.style(\"display\", \"block\")\r\n\t\t\t\t.style(\"opacity\", 0.7)\r\n\t\t\t\t.attr(\"data-center-x\", initialX)\r\n\t\t\t\t.attr(\"data-center-y\", initialY)\r\n\t\t\t\t.attr(\"x\", initialX - scaledPinWidth / 2)\r\n\t\t\t\t.attr(\"y\", initialY - (scaledPinHeight - scaledPinYOffset));\r\n\r\n\t\t\tthis.svgContainer.on(\"mousemove.gototarget\", (event: MouseEvent) => {\r\n\t\t\t\tconst [mouseX, mouseY] = d3.pointer(event, this.mainGroup.node());\r\n\t\t\t\tconst scaledW = this.rescaler.pinWidth();\r\n\t\t\t\tconst scaledH = this.rescaler.pinHeight();\r\n\t\t\t\tconst scaledOff = this.rescaler.pinYOffset();\r\n\t\t\t\tpin\r\n\t\t\t\t\t.attr(\"data-center-x\", mouseX)\r\n\t\t\t\t\t.attr(\"data-center-y\", mouseY)\r\n\t\t\t\t\t.attr(\"x\", mouseX - scaledW / 2)\r\n\t\t\t\t\t.attr(\"y\", mouseY - (scaledH - scaledOff));\r\n\t\t\t});\r\n\r\n\t\t\tthis.svgContainer.on(\"click.gototarget\", (event: MouseEvent) => {\r\n\t\t\t\tevent.stopImmediatePropagation();\r\n\t\t\t\tconst params = this.getMapParams();\r\n\t\t\t\tif (!this.currentRobotDuid || !params) return;\r\n\t\t\t\tconst [mouseX, mouseY] = d3.pointer(event, this.mainGroup.node());\r\n\t\t\t\tconst worldX = mouseX + this.mapMinX;\r\n\t\t\t\tconst worldY = mouseY + this.mapMinY;\r\n\t\t\t\tconst point = localCoordsToRobotCoords({ x: worldX, y: worldY }, params);\r\n\t\t\t\tthis.connection.sendTo(this.instanceId, \"app_goto_target\", { points: [point.x, point.y], duid: this.currentRobotDuid });\r\n\t\t\t\tpin.style(\"opacity\", 1.0);\r\n\t\t\t\tthis.goToTarget = false;\r\n\t\t\t\tthis.svg.style(\"cursor\", \"grab\");\r\n\t\t\t\tthis.svgContainer.on(\"mousemove.gototarget\", null);\r\n\t\t\t\tthis.svgContainer.on(\"click.gototarget\", null);\r\n\t\t\t\tthis.goToButton.textContent = \"GoTo Point\";\r\n\t\t\t});\r\n\t\t});\r\n\r\n\t\tthis.resetZoomButton.addEventListener(\"click\", () => {\r\n\t\t\tif (this.initialTransform) {\r\n\t\t\t\tthis.svgContainer.transition().duration(750).call(this.zoom.transform as any, this.initialTransform);\r\n\t\t\t}\r\n\t\t});\r\n\r\n\t\tthis.popupImage.addEventListener(\"click\", () => {\r\n\t\t\tthis.largePhoto.style.display = \"block\";\r\n\t\t\tthis.popup.style.display = \"none\";\r\n\t\t\tthis.triangle.style.display = \"none\";\r\n\t\t\tif (this.popupTimeout) clearTimeout(this.popupTimeout);\r\n\t\t\tthis.popupTimeout = null;\r\n\t\t\tif (!this.currentRobotDuid || !this.selectedObstacleID) return;\r\n\t\t\tthis.largePhotoImage.src = \"\";\r\n\t\t\tthis.connection\r\n\t\t\t\t.sendTo(this.instanceId, \"get_obstacle_image\", { obstacleId: this.selectedObstacleID, duid: this.currentRobotDuid, type: 0 })\r\n\t\t\t\t.then((response: any) => {\r\n\t\t\t\t\tif (response && typeof response.image === \"string\") this.largePhotoImage.src = response.image.replace(/\\s/g, \"\");\r\n\t\t\t\t})\r\n\t\t\t\t.catch((err) => console.error(\"Error getting large obstacle image:\", err));\r\n\t\t});\r\n\r\n\t\tthis.largePhoto.addEventListener(\"click\", () => {\r\n\t\t\tthis.largePhoto.style.display = \"none\";\r\n\t\t});\r\n\t}\r\n\r\n\t// Rescaler Helper\r\n\tprivate get rescaler() {\r\n\t\treturn {\r\n\t\t\tscale: () => VISUAL_BLOCK_SIZE,\r\n\t\t\trobotSize: () => VISUAL_BLOCK_SIZE * UI_CONSTANTS.ROBOT_SIZE_BASE,\r\n\t\t\tchargerSize: () => VISUAL_BLOCK_SIZE * UI_CONSTANTS.CHARGER_SIZE_BASE,\r\n\t\t\tzoneStrokeWidth: () => UI_CONSTANTS.ZONE_STROKE_BASE / this.wheelZoom,\r\n\t\t\tzoneHandleRadius: () => UI_CONSTANTS.ZONE_HANDLE_RADIUS_BASE / this.wheelZoom,\r\n\t\t\tpinWidth: () => UI_CONSTANTS.PIN_WIDTH_BASE / this.wheelZoom,\r\n\t\t\tpinHeight: () => UI_CONSTANTS.PIN_HEIGHT_BASE / this.wheelZoom,\r\n\t\t\tpinYOffset: () => UI_CONSTANTS.PIN_Y_OFFSET_BASE / this.wheelZoom,\r\n\t\t\tpathMopWidth: () => UI_CONSTANTS.PATH_MOP_WIDTH_BASE * VISUAL_BLOCK_SIZE,\r\n\t\t\tpathMainWidth: () => Math.max(1, VISUAL_BLOCK_SIZE * UI_CONSTANTS.PATH_MAIN_WIDTH_RATIO_BASE),\r\n\t\t\tpathBackwashWidth: () => UI_CONSTANTS.PATH_BACKWASH_WIDTH_BASE * VISUAL_BLOCK_SIZE,\r\n\t\t};\r\n\t}\r\n}\r\n\r\n// =================================================================================\r\n// --- Main Entry Point ---\r\n// =================================================================================\r\n\r\nwindow.onload = async () => {\r\n\tconst app = new MapApplication();\r\n\tapp.init().catch((err) => console.error(\"Failed to initialize Map Application:\", err));\r\n};\r\n"]}
\ No newline at end of file