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Copyright (C) 2012-2020 Bryan A. Jones.\n//\n//  This file is part of the CellBotics system.\n//\n//  The CellBotics system is free software: you can redistribute it and/or\n//  modify it under the terms of the GNU General Public License as\n//  published by the Free Software Foundation, either version 3 of the\n//  License, or (at your option) any later version.\n//\n//  The CellBotics system is distributed in the hope that it will be\n//  useful, but WITHOUT ANY WARRANTY; without even the implied warranty\n//  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU\n//  General Public License for more details.\n//\n//  You should have received a copy of the GNU General Public License\n//  along with the CellBotics system.  If not, see\n//  <http://www.gnu.org/licenses/>.\n//\n// *********************************************************\n// |docname| - Automatically bind methods to their instances\n// *********************************************************\n\n\"use strict\";\n\n\n// The following two functions were taken from https://github.com/sindresorhus/auto-bind/blob/master/index.js and lightly modified. They provide an easy way to bind all callable methods to their instance. See `Binding Methods to Class Instance Objects <https://ponyfoo.com/articles/binding-methods-to-class-instance-objects>`_ for more discussion on this crazy JavaScript necessity.\n//\n// Gets all non-builtin properties up the prototype chain\nconst getAllProperties = object => {\n\tconst properties = new Set();\n\n\tdo {\n\t\tfor (const key of Reflect.ownKeys(object)) {\n\t\t\tproperties.add([object, key]);\n\t\t}\n\t} while ((object = Reflect.getPrototypeOf(object)) && object !== Object.prototype);\n\n\treturn properties;\n};\n\n\n// Invoke this in the constructor of an object.\nexport function auto_bind(self) {\n    for (const [object, key] of getAllProperties(self.constructor.prototype)) {\n        if (key === 'constructor') {\n            continue;\n        }\n\n        const descriptor = Reflect.getOwnPropertyDescriptor(object, key);\n        if (descriptor && typeof descriptor.value === 'function') {\n            self[key] = self[key].bind(self);\n        }\n    }\n}\n","// .. Copyright (C) 2012-2020 Bryan A. Jones.\n//\n//  This file is part of the CellBotics system.\n//\n//  The CellBotics system is free software: you can redistribute it and/or\n//  modify it under the terms of the GNU General Public License as\n//  published by the Free Software Foundation, either version 3 of the\n//  License, or (at your option) any later version.\n//\n//  The CellBotics system is distributed in the hope that it will be\n//  useful, but WITHOUT ANY WARRANTY; without even the implied warranty\n//  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU\n//  General Public License for more details.\n//\n//  You should have received a copy of the GNU General Public License\n//  along with the CellBotics system.  If not, see\n//  <http://www.gnu.org/licenses/>.\n//\n// ********************************************\n// |docname| - Polyfill for the Permissions API\n// ********************************************\n// This is primarily for iOS devices that don't provide Permissions, but use another method to allow access to various sensors.\n\n\"use strict\";\n\n// Only supply this if there's not Permissions and we have tne iOS flavor available. See sample code in https://dev.to/li/how-to-requestpermission-for-devicemotion-and-deviceorientation-events-in-ios-13-46g2 or the `W3C working draft <https://www.w3.org/TR/orientation-event/#deviceorientation>`_.\nif (\n    !navigator.permissions &&\n    (typeof DeviceMotionEvent.requestPermission === \"function\") &&\n    (typeof DeviceOrientationEvent.requestPermission === \"function\")\n) {\n    navigator.permissions = {\n        query: options => {\n            // Ignore everything but the name, since our use case is only for SimpleSensor.\n            switch (options.name) {\n                case \"accelerometer\":\n                case \"gyroscope\":\n                // The requested permissions doesn't allow us to determine which of the following two permissions we need, so ask for both.\n                return new Promise((resolve, reject) => {\n                    Promise.all([\n                        // The polyfill for the accelerometer, gyro, and related classes needs just this.\n                        DeviceMotionEvent.requestPermission(),\n                        // The polyfill for the orientation sensors needs just this.\n                        DeviceOrientationEvent.requestPermission()\n                    ]).then(\n                        // We now have an array of strings, the result of the requestPermission calls. If all are \"granted\", then return {state: \"granted\"}, else return {state: \"denied\"}.\n                        vals => resolve({state:\n                            (vals.every(x => x === \"granted\") ? \"granted\" : \"denied\")\n                        })\n                    )\n                });\n\n                // There's nothing else that needs permission to work.\n                default:\n                return Promise.resolve({state: \"granted\"});\n            }\n        }\n    };\n}\n","// ********************************\n// |docname| - Base Sensor polyfill\n// ********************************\n// The `geolocation-sensor.js` and `motion-sensors.js` files depend on this.\n\n\"use strict\";\n\n// @ts-check\nconst __sensor__ = Symbol(\"__sensor__\");\n\nconst slot = __sensor__;\n\nfunction defineProperties(target, descriptions) {\n  for (const property in descriptions) {\n    Object.defineProperty(target, property, {\n      configurable: true,\n      value: descriptions[property]\n    });\n  }\n}\n\nconst EventTargetMixin = (superclass, ...eventNames) => class extends superclass {\n  constructor(...args) {\n    // @ts-ignore\n    super(args);\n    const eventTarget = document.createDocumentFragment();\n\n    this.addEventListener = (type, ...args) => {\n      return eventTarget.addEventListener(type, ...args);\n    }\n\n    this.removeEventListener = (...args) => {\n      // @ts-ignore\n      return eventTarget.removeEventListener(...args);\n    }\n\n    this.dispatchEvent = (event) => {\n      defineProperties(event, { currentTarget: this });\n      if (!event.target) {\n        defineProperties(event, { target: this });\n      }\n\n      const methodName = `on${event.type}`;\n      if (typeof this[methodName] == \"function\") {\n          this[methodName](event);\n      }\n\n      const retValue = eventTarget.dispatchEvent(event);\n\n      if (retValue && this.parentNode) {\n        this.parentNode.dispatchEvent(event);\n      }\n\n      defineProperties(event, { currentTarget: null, target: null });\n\n      return retValue;\n    }\n  }\n};\n\nclass EventTarget extends EventTargetMixin(Object) {};\n\nfunction defineReadonlyProperties(target, slot, descriptions) {\n  const propertyBag = target[slot];\n  for (const property in descriptions) {\n    propertyBag[property] = descriptions[property];\n    Object.defineProperty(target, property, {\n      get: () => propertyBag[property]\n    });\n  }\n}\n\nclass SensorErrorEvent extends Event {\n  constructor(type, errorEventInitDict) {\n    super(type, errorEventInitDict);\n\n    if (!errorEventInitDict || !(errorEventInitDict.error instanceof DOMException)) {\n      throw TypeError(\n        \"Failed to construct 'SensorErrorEvent':\" +\n        \"2nd argument much contain 'error' property\"\n      );\n    }\n\n    Object.defineProperty(this, \"error\", {\n      configurable: false,\n      writable: false,\n      value: errorEventInitDict.error\n    });\n  }\n};\n\nfunction defineOnEventListener(target, name) {\n  Object.defineProperty(target, `on${name}`, {\n    enumerable: true,\n    configurable: false,\n    writable: true,\n    value: null\n  });\n}\n\nconst SensorState = {\n  IDLE: 1,\n  ACTIVATING: 2,\n  ACTIVE: 3,\n}\n\nclass Sensor extends EventTarget {\n  constructor(options) {\n    super();\n    this[slot] = new WeakMap;\n\n    defineOnEventListener(this, \"reading\");\n    defineOnEventListener(this, \"activate\");\n    defineOnEventListener(this, \"error\");\n\n    defineReadonlyProperties(this, slot, {\n      activated: false,\n      hasReading: false,\n      timestamp: null\n    })\n\n    this[slot].state = SensorState.IDLE;\n\n    this[slot].notifyError = (message, name) => {\n      let error = new SensorErrorEvent(\"error\", {\n        error: new DOMException(message, name)\n      });\n      this.dispatchEvent(error);\n      this.stop();\n    }\n\n    this[slot].notifyActivatedState = () => {\n      let activate = new Event(\"activate\");\n      this[slot].activated = true;\n      this.dispatchEvent(activate);\n      this[slot].state = SensorState.ACTIVE;\n    }\n\n    this[slot].activateCallback = () => {};\n    this[slot].deactivateCallback = () => {};\n\n    this[slot].frequency = null;\n\n    if (window && window.parent != window.top) {\n      throw new DOMException(\"Only instantiable in a top-level browsing context\", \"SecurityError\");\n    }\n\n    if (options && typeof(options.frequency) == \"number\") {\n      if (options.frequency > 60) {\n        this.frequency = options.frequency;\n      }\n    }\n  }\n\n  start() {\n    if (this[slot].state === SensorState.ACTIVATING || this[slot].state === SensorState.ACTIVE) {\n      return;\n    }\n    this[slot].state = SensorState.ACTIVATING;\n    this[slot].activateCallback();\n  }\n\n  stop() {\n    if (this[slot].state === SensorState.IDLE) {\n      return;\n    }\n    this[slot].activated = false;\n    this[slot].hasReading = false;\n    this[slot].timestamp = null;\n    this[slot].deactivateCallback();\n\n    this[slot].state = SensorState.IDLE;\n  }\n}","// ***********************************\n// |docname| - Motion sensors polyfill\n// ***********************************\n// @ts-check\n\"use strict\";\n\nimport \"./sensor.js\";\n\n//const slot = __sensor__;\n\nlet orientation;\n\n// @ts-ignore\nif (screen.orientation) {\n  // @ts-ignore\n  orientation = screen.orientation;\n} else if (screen.msOrientation) {\n  orientation = screen.msOrientation;\n} else {\n  orientation = {};\n  Object.defineProperty(orientation, \"angle\", {\n    get: () => { return (window.orientation || 0) }\n  });\n}\n\nconst DeviceOrientationMixin = (superclass, ...eventNames) => class extends superclass {\n  constructor(...args) {\n    // @ts-ignore\n    super(args);\n\n    for (const eventName of eventNames) {\n      if (`on${eventName}` in window) {\n        this[slot].eventName = eventName;\n        break;\n      }\n    }\n\n    this[slot].activateCallback = () => {\n      window.addEventListener(this[slot].eventName, this[slot].handleEvent, { capture: true });\n    }\n\n    this[slot].deactivateCallback = () => {\n      window.removeEventListener(this[slot].eventName, this[slot].handleEvent, { capture: true });\n    }\n  }\n};\n\nfunction toQuaternionFromEuler(alpha, beta, gamma) {\n  const degToRad = Math.PI / 180\n\n  const x = (beta || 0) * degToRad;\n  const y = (gamma || 0) * degToRad;\n  const z = (alpha || 0) * degToRad;\n\n  const cZ = Math.cos(z * 0.5);\n  const sZ = Math.sin(z * 0.5);\n  const cY = Math.cos(y * 0.5);\n  const sY = Math.sin(y * 0.5);\n  const cX = Math.cos(x * 0.5);\n  const sX = Math.sin(x * 0.5);\n\n  const qx = sX * cY * cZ - cX * sY * sZ;\n  const qy = cX * sY * cZ + sX * cY * sZ;\n  const qz = cX * cY * sZ + sX * sY * cZ;\n  const qw = cX * cY * cZ - sX * sY * sZ;\n\n  return [qx, qy, qz, qw];\n}\n\nfunction rotateQuaternionByAxisAngle(quat, axis, angle) {\n  const sHalfAngle = Math.sin(angle / 2);\n  const cHalfAngle = Math.cos(angle / 2);\n\n  const transformQuat = [\n    axis[0] * sHalfAngle,\n    axis[1] * sHalfAngle,\n    axis[2] * sHalfAngle,\n    cHalfAngle\n  ];\n\n  function multiplyQuaternion(a, b) {\n    const qx = a[0] * b[3] + a[3] * b[0] + a[1] * b[2] - a[2] * b[1];\n    const qy = a[1] * b[3] + a[3] * b[1] + a[2] * b[0] - a[0] * b[2];\n    const qz = a[2] * b[3] + a[3] * b[2] + a[0] * b[1] - a[1] * b[0];\n    const qw = a[3] * b[3] - a[0] * b[0] - a[1] * b[1] - a[2] * b[2];\n\n    return [qx, qy, qz, qw];\n  }\n\n  function normalizeQuaternion(quat) {\n    const length = Math.sqrt(quat[0] ** 2 + quat[1] ** 2 + quat[2] ** 2 + quat[3] ** 2);\n    if (length === 0) {\n      return [0, 0, 0, 1];\n    }\n\n    return quat.map(v => v / length);\n  }\n\n  return normalizeQuaternion(multiplyQuaternion(quat, transformQuat));\n}\n\nfunction toMat4FromQuat(mat, q) {\n  const typed = mat instanceof Float32Array || mat instanceof Float64Array;\n\n  if (typed && mat.length >= 16) {\n    mat[0] = 1 - 2 * (q[1] ** 2 + q[2] ** 2);\n    mat[1] = 2 * (q[0] * q[1] - q[2] * q[3]);\n    mat[2] = 2 * (q[0] * q[2] + q[1] * q[3]);\n    mat[3] = 0;\n\n    mat[4] = 2 * (q[0] * q[1] + q[2] * q[3]);\n    mat[5] = 1 - 2 * (q[0] ** 2 + q[2] ** 2);\n    mat[6] = 2 * (q[1] * q[2] - q[0] * q[3]);\n    mat[7] = 0;\n\n    mat[8] = 2 * (q[0] * q[2] - q[1] * q[3]);\n    mat[9] = 2 * (q[1] * q[2] + q[0] * q[3]);\n    mat[10] = 1 - 2 * (q[0] ** 2 + q[1] ** 2);\n    mat[11] = 0;\n\n    mat[12] = 0;\n    mat[13] = 0;\n    mat[14] = 0;\n    mat[15] = 1;\n  }\n\n  return mat;\n}\n\nfunction worldToScreen(quaternion) {\n  return !quaternion ? null :\n    rotateQuaternionByAxisAngle(\n      quaternion,\n      [0, 0, 1],\n      - orientation.angle * Math.PI / 180\n    );\n}\n\n// @ts-ignore\nconst RelativeOrientationSensor = window.RelativeOrientationSensor ||\nclass RelativeOrientationSensor extends DeviceOrientationMixin(Sensor, \"deviceorientation\") {\n  constructor(options = {}) {\n    super(options);\n\n    switch (options.coordinateSystem || 'world') {\n      case 'screen':\n        Object.defineProperty(this, \"quaternion\", {\n          get: () => worldToScreen(this[slot].quaternion)\n        });\n        break;\n      case 'world':\n      default:\n        Object.defineProperty(this, \"quaternion\", {\n          get: () => this[slot].quaternion\n        });\n    }\n\n    this[slot].handleEvent = event => {\n      // If there is no sensor we will get values equal to null.\n      if (event.absolute || event.alpha === null) {\n        // Spec: The implementation can still decide to provide\n        // absolute orientation if relative is not available or\n        // the resulting data is more accurate. In either case,\n        // the absolute property must be set accordingly to reflect\n        // the choice.\n        this[slot].notifyError(\"Could not connect to a sensor\", \"NotReadableError\");\n        return;\n      }\n\n      if (!this[slot].activated) {\n        this[slot].notifyActivatedState();\n      }\n\n      this[slot].timestamp = performance.now();\n\n      this[slot].quaternion = toQuaternionFromEuler(\n        event.alpha,\n        event.beta,\n        event.gamma\n      );\n\n      this[slot].hasReading = true;\n      this.dispatchEvent(new Event(\"reading\"));\n    }\n\n    this[slot].deactivateCallback = () => {\n      this[slot].quaternion = null;\n    }\n  }\n\n  populateMatrix(mat) {\n    toMat4FromQuat(mat, this.quaternion);\n  }\n}\n\n// @ts-ignore\nconst AbsoluteOrientationSensor = window.AbsoluteOrientationSensor ||\nclass AbsoluteOrientationSensor extends DeviceOrientationMixin(\n  Sensor, \"deviceorientationabsolute\", \"deviceorientation\") {\n  constructor(options = {}) {\n    super(options);\n\n    switch (options.coordinateSystem || 'world') {\n      case 'screen':\n        Object.defineProperty(this, \"quaternion\", {\n          get: () => worldToScreen(this[slot].quaternion)\n        });\n        break;\n      case 'world':\n      default:\n        Object.defineProperty(this, \"quaternion\", {\n          get: () => this[slot].quaternion\n        });\n    }\n\n    this[slot].handleEvent = event => {\n      // If absolute is set, or webkitCompassHeading exists,\n      // absolute values should be available.\n      const isAbsolute = event.absolute === true || \"webkitCompassHeading\" in event;\n      const hasValue = event.alpha !== null || event.webkitCompassHeading !== undefined;\n\n      if (!isAbsolute || !hasValue) {\n        // Spec: If an implementation can never provide absolute\n        // orientation information, the event should be fired with\n        // the alpha, beta and gamma attributes set to null.\n        this[slot].notifyError(\"Could not connect to a sensor\", \"NotReadableError\");\n        return;\n      }\n\n      if (!this[slot].activated) {\n        this[slot].notifyActivatedState();\n      }\n\n      this[slot].hasReading = true;\n      this[slot].timestamp = performance.now();\n\n      const heading = event.webkitCompassHeading != null ? 360 - event.webkitCompassHeading : event.alpha;\n\n      this[slot].quaternion = toQuaternionFromEuler(\n        heading,\n        event.beta,\n        event.gamma\n      );\n\n      this.dispatchEvent(new Event(\"reading\"));\n    }\n\n    this[slot].deactivateCallback = () => {\n      this[slot].quaternion = null;\n    }\n  }\n\n  populateMatrix(mat) {\n    toMat4FromQuat(mat, this.quaternion);\n  }\n}\n\n// @ts-ignore\nconst Gyroscope = window.Gyroscope ||\nclass Gyroscope extends DeviceOrientationMixin(Sensor, \"devicemotion\") {\n  constructor(options) {\n    super(options);\n    this[slot].handleEvent = event => {\n      // If there is no sensor we will get values equal to null.\n      if (event.rotationRate.alpha === null) {\n        this[slot].notifyError(\"Could not connect to a sensor\", \"NotReadableError\");\n        return;\n      }\n\n      if (!this[slot].activated) {\n        this[slot].notifyActivatedState();\n      }\n\n      this[slot].timestamp = performance.now();\n\n      this[slot].x = event.rotationRate.alpha;\n      this[slot].y = event.rotationRate.beta;\n      this[slot].z = event.rotationRate.gamma;\n\n      this[slot].hasReading = true;\n      this.dispatchEvent(new Event(\"reading\"));\n    }\n\n    defineReadonlyProperties(this, slot, {\n      x: null,\n      y: null,\n      z: null\n    });\n\n    this[slot].deactivateCallback = () => {\n      this[slot].x = null;\n      this[slot].y = null;\n      this[slot].z = null;\n    }\n  }\n}\n\n// @ts-ignore\nconst Accelerometer = window.Accelerometer ||\nclass Accelerometer extends DeviceOrientationMixin(Sensor, \"devicemotion\") {\n  constructor(options) {\n    super(options);\n    this[slot].handleEvent = event => {\n      // If there is no sensor we will get values equal to null.\n      if (event.accelerationIncludingGravity.x === null) {\n        this[slot].notifyError(\"Could not connect to a sensor\", \"NotReadableError\");\n        return;\n      }\n\n      if (!this[slot].activated) {\n        this[slot].notifyActivatedState();\n      }\n\n      this[slot].timestamp = performance.now();\n\n      this[slot].x = event.accelerationIncludingGravity.x;\n      this[slot].y = event.accelerationIncludingGravity.y;\n      this[slot].z = event.accelerationIncludingGravity.z;\n\n      this[slot].hasReading = true;\n      this.dispatchEvent(new Event(\"reading\"));\n    }\n\n    defineReadonlyProperties(this, slot, {\n      x: null,\n      y: null,\n      z: null\n    });\n\n    this[slot].deactivateCallback = () => {\n      this[slot].x = null;\n      this[slot].y = null;\n      this[slot].z = null;\n    }\n  }\n}\n\n// @ts-ignore\nconst LinearAccelerationSensor = window.LinearAccelerationSensor ||\nclass LinearAccelerationSensor extends DeviceOrientationMixin(Sensor, \"devicemotion\") {\n  constructor(options) {\n    super(options);\n    this[slot].handleEvent = event => {\n      // If there is no sensor we will get values equal to null.\n      if (event.acceleration.x === null) {\n        this[slot].notifyError(\"Could not connect to a sensor\", \"NotReadableError\");\n        return;\n      }\n\n      if (!this[slot].activated) {\n        this[slot].notifyActivatedState();\n      }\n\n      this[slot].timestamp = performance.now();\n\n      this[slot].x = event.acceleration.x;\n      this[slot].y = event.acceleration.y;\n      this[slot].z = event.acceleration.z;\n\n      this[slot].hasReading = true;\n      this.dispatchEvent(new Event(\"reading\"));\n    }\n\n    defineReadonlyProperties(this, slot, {\n      x: null,\n      y: null,\n      z: null\n    });\n\n    this[slot].deactivateCallback = () => {\n      this[slot].x = null;\n      this[slot].y = null;\n      this[slot].z = null;\n    }\n  }\n}\n\n// @ts-ignore\nconst GravitySensor = window.GravitySensor ||\n class GravitySensor extends DeviceOrientationMixin(Sensor, \"devicemotion\") {\n  constructor(options) {\n    super(options);\n    this[slot].handleEvent = event => {\n      // If there is no sensor we will get values equal to null.\n      if (event.acceleration.x === null || event.accelerationIncludingGravity.x === null) {\n        this[slot].notifyError(\"Could not connect to a sensor\", \"NotReadableError\");\n        return;\n      }\n\n      if (!this[slot].activated) {\n        this[slot].notifyActivatedState();\n      }\n\n      this[slot].timestamp = performance.now();\n\n      this[slot].x = event.accelerationIncludingGravity.x - event.acceleration.x;\n      this[slot].y = event.accelerationIncludingGravity.y - event.acceleration.y;\n      this[slot].z = event.accelerationIncludingGravity.z - event.acceleration.z;\n\n      this[slot].hasReading = true;\n      this.dispatchEvent(new Event(\"reading\"));\n    }\n\n    defineReadonlyProperties(this, slot, {\n      x: null,\n      y: null,\n      z: null\n    });\n\n    this[slot].deactivateCallback = () => {\n      this[slot].x = null;\n      this[slot].y = null;\n      this[slot].z = null;\n    }\n  }\n}","// ***************************************\n// |docname| - Geolocation sensor polyfill\n// ***************************************\n// @ts-check\n\"use strict\";\n\nimport \"./sensor.js\";\n\n//const slot = __sensor__;\n\nclass GeolocationSensorSingleton {\n  constructor() {\n    if (!this.constructor.instance) {\n      this.constructor.instance = this;\n    }\n\n    this.sensors = new Set();\n    this.watchId = null;\n    this.accuracy = null;\n    this.lastPosition = null;\n\n    return this.constructor.instance;\n  }\n\n  async obtainPermission() {\n    let state = \"prompt\"; // Default for geolocation.\n    // @ts-ignore\n    if (navigator.permissions) {\n      // @ts-ignore\n      const permission = await navigator.permissions.query({ name:\"geolocation\"});\n      state = permission.state;\n    }\n\n    return new Promise(resolve => {\n      const successFn = position => {\n        this.lastPosition = position;\n        resolve(\"granted\");\n      }\n\n      const errorFn = err => {\n        if (err.code === err.PERMISSION_DENIED) {\n          resolve(\"denied\");\n        } else {\n          resolve(state);\n        }\n      }\n\n      const options = { maximumAge: Infinity, timeout: 10 };\n      navigator.geolocation.getCurrentPosition(successFn, errorFn, options);\n    });\n  }\n\n  calculateAccuracy() {\n    let enableHighAccuracy = false;\n\n    for (const sensor of this.sensors) {\n      if (sensor[slot].options.accuracy === \"high\") {\n        enableHighAccuracy = true;\n        break;\n      }\n    }\n    return enableHighAccuracy;\n  }\n\n  async register(sensor) {\n    const permission = await this.obtainPermission();\n    if (permission !== \"granted\") {\n      sensor[slot].notifyError(\"Permission denied.\", \"NowAllowedError\");\n      return;\n    }\n\n    if (this.lastPosition) {\n      const age = performance.now() - this.lastPosition.timeStamp;\n      const maxAge = sensor[slot].options.maxAge;\n      if (maxAge == null || age <= maxAge) {\n        sensor[slot].handleEvent(age, this.lastPosition.coords);\n      }\n    }\n\n    this.sensors.add(sensor);\n\n    // Check whether we need to reconfigure our navigation.geolocation\n    // watch, ie. tear it down and recreate.\n    const accuracy = this.calculateAccuracy();\n    if (this.watchId && this.accuracy === accuracy) {\n      // We don't need to reset, return.\n      return;\n    }\n\n    if (this.watchId) {\n      navigator.geolocation.clearWatch(this.watchId);\n    }\n\n    const handleEvent = position => {\n      this.lastPosition = position;\n\n      const timestamp = position.timestamp - performance.timing.navigationStart;\n      const coords = position.coords;\n\n      for (const sensor of this.sensors) {\n        sensor[slot].handleEvent(timestamp, coords);\n      }\n    }\n\n    const handleError = error => {\n      let type;\n      switch(error.code) {\n        case error.TIMEOUT:\n          type = \"TimeoutError\";\n          break;\n        case error.PERMISSION_DENIED:\n          type = \"NotAllowedError\";\n          break;\n        case error.POSITION_UNAVAILABLE:\n          type = \"NotReadableError\";\n          break;\n        default:\n          type = \"UnknownError\";\n      }\n      for (const sensor of this.sensors) {\n        sensor[slot].handleError(error.message, type);\n      }\n    }\n\n    const options = {\n      enableHighAccuracy: accuracy,\n      maximumAge: 0,\n      timeout: Infinity\n    }\n\n    this.watchId = navigator.geolocation.watchPosition(\n      handleEvent, handleError, options\n    );\n  }\n\n  deregister(sensor) {\n    this.sensors.delete(sensor);\n    if (!this.sensors.size && this.watchId) {\n      navigator.geolocation.clearWatch(this.watchId);\n      this.watchId = null;\n    }\n  }\n}\n\n// @ts-ignore\nconst GeolocationSensor = window.GeolocationSensor ||\nclass GeolocationSensor extends Sensor {\n  constructor(options = {}) {\n    super(options);\n\n    this[slot].options = options;\n\n    const props = {\n      latitude: null,\n      longitude: null,\n      altitude: null,\n      accuracy: null,\n      altitudeAccuracy: null,\n      heading: null,\n      speed: null\n    }\n\n    const propertyBag = this[slot];\n    for (const propName in props) {\n      propertyBag[propName] = props[propName];\n      Object.defineProperty(this, propName, {\n        get: () => propertyBag[propName]\n      });\n    }\n\n    this[slot].handleEvent = (timestamp, coords) => {\n      if (!this[slot].activated) {\n        this[slot].notifyActivatedState();\n      }\n\n      this[slot].timestamp = timestamp;\n\n      this[slot].accuracy = coords.accuracy;\n      this[slot].altitude = coords.altitude;\n      this[slot].altitudeAccuracy = coords.altitudeAccuracy;\n      this[slot].heading = coords.heading;\n      this[slot].latitude = coords.latitude;\n      this[slot].longitude = coords.longitude;\n      this[slot].speed = coords.speed;\n\n      this[slot].hasReading = true;\n      this.dispatchEvent(new Event(\"reading\"));\n    }\n\n    this[slot].handleError = (message, type) => {\n      this[slot].notifyError(message, type);\n    }\n\n    this[slot].activateCallback = () => {\n      (new GeolocationSensorSingleton()).register(this);\n    }\n\n    this[slot].deactivateCallback = () => {\n      (new GeolocationSensorSingleton()).deregister(this);\n    }\n  }\n}","// .. Copyright (C) 2012-2020 Bryan A. Jones.\n//\n//  This file is part of the CellBotics system.\n//\n//  The CellBotics system is free software: you can redistribute it and/or\n//  modify it under the terms of the GNU General Public License as\n//  published by the Free Software Foundation, either version 3 of the\n//  License, or (at your option) any later version.\n//\n//  The CellBotics system is distributed in the hope that it will be\n//  useful, but WITHOUT ANY WARRANTY; without even the implied warranty\n//  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU\n//  General Public License for more details.\n//\n//  You should have received a copy of the GNU General Public License\n//  along with the CellBotics system.  If not, see\n//  <http://www.gnu.org/licenses/>.\n//\n// **********************************\n// |docname| - Interface with sensors\n// **********************************\n// This provides code to access `sensor APIs <https://developer.mozilla.org/en-US/docs/Web/API/Sensor_APIs>`_.\n\"use strict\";\n\nimport \"./permissions_polyfill.js\";\nimport \"./sensor_polyfill/geolocation-sensor.js\";\nimport \"./sensor_polyfill/motion-sensors.js\";\nimport { auto_bind } from \"./auto-bind.js\";\n\n// SimpleSensor\n// ============\n// This class wraps a `Sensor <https://developer.mozilla.org/en-US/docs/Web/API/Sensor>`_ with simple ``start``, ``ready``, and ``stop`` functions.\nclass SimpleSensor {\n    constructor() {\n        auto_bind(this);\n\n        this.sensor = null;\n    }\n\n    // This was initially based on the MDN Sensor API docs.\n    async start(\n        // The class to use for the sensor to start. It must be based on the Sensor interface.\n        sensor_class,\n        // An array of strings, giving the name of the API to ask permissions of for this sensor. See https://developer.mozilla.org/en-US/docs/Web/API/Permissions/query.\n        sensor_permission,\n        // Options to pass to this sensor's constructor.\n        sensor_options\n    ) {\n        if (this.sensor) {\n            throw \"In use. Stop the sensor before starting another.\";\n        }\n        if (typeof sensor_class !== \"function\") {\n            throw \"Not available.\";\n        }\n\n        // Get permission to use these sensors, if the API is supported.\n        if (navigator.permissions) {\n            let result = await Promise.all(sensor_permission.map(x => navigator.permissions.query({ name: x })));\n            if (!result.every(val => val.state === \"granted\")) {\n                throw `Permission to use the ${sensor_permission} sensor was denied.`;\n            }\n        }\n\n        // To access a sensor:\n        //\n        // #.   Create it, then start it, synchronously checking for errors in this process.\n        // #.   Await for a response from the sensor: an acceptance indicating the sensor works, or a rejection indicating a failure.\n        //\n        // Since the event handlers to accept or reject the promise must be set up in the synchronous phase, wrap everything in a promise. All the operations above therefore start when the promise is awaited.\n        this.sensor = null;\n        let on_error;\n        let on_reading;\n        let p = new Promise((resolve, reject) => {\n            try {\n                this.sensor = new sensor_class(sensor_options);\n\n                // Handle callback errors by rejecting the promise.\n                let that = this;\n                on_error = event => {\n                    that.sensor.removeEventListener(\"error\", on_error);\n                    // Handle runtime errors.\n                    if (event.error.name === 'NotAllowedError') {\n                        reject(\"Access to this sensor is not allowed.\");\n                    } else if (event.error.name === 'NotReadableError' ) {\n                        reject('Cannot connect to the sensor.');\n                    }\n                    reject(`Unknown error: ${event.error.name}`);\n\n                }\n                this.sensor.addEventListener('error', on_error);\n\n                // Wait for the first sensor reading to accept the promise.\n                on_reading = event => {\n\n                    that.sensor.removeEventListener(\"reading\", on_reading);\n                    resolve();\n                }\n                this.sensor.addEventListener(\"reading\", on_reading);\n\n                this.sensor.start();\n            } catch (error) {\n                // Handle construction errors.\n                if (error.name === 'SecurityError') {\n                    // See the note above about feature policy.\n                    reject(\"Sensor construction was blocked by a feature policy.\");\n                } else if (error.name === 'ReferenceError') {\n                    reject(\"Sensor is not supported by the User Agent.\");\n                } else {\n                    reject(error);\n                }\n            }\n        });\n\n        // Start the sensor, waiting until it produces a reading or an error.\n        try {\n            console.log(`Await ${new Date()}`);\n            await p;\n        } catch (err) {\n            this.stop();\n            throw err;\n        } finally {\n            console.log(`Done ${new Date()}`);\n            this.sensor.removeEventListener(\"error\", on_error);\n            this.sensor.removeEventListener(\"reading\", on_reading);\n        }\n    }\n\n    // True if the sensor is activated and has a reading.\n    get ready() {\n        return this.sensor && this.sensor.activated && this.sensor.hasReading;\n    }\n\n    // To save device power, be sure to stop the sensor as soon as the readings are no longer needed.\n    stop() {\n        this.sensor && this.sensor.stop();\n        this.sensor = null;\n    }\n}\n\n\n// Abstract helper classes\n// =======================\n// Several sensors return x, y, and z values. Collect the common code here.\nclass SimpleXYZSensor extends SimpleSensor {\n    get x() {\n        return this.sensor.x;\n    }\n\n    get y() {\n        return this.sensor.y;\n    }\n\n    get z() {\n        return this.sensor.z;\n    }\n}\n\n\n// Two sensors return a quaternion or rotation matrix.\nclass SimpleOrientationSensor extends SimpleSensor {\n    get quaternion() {\n        return this.sensor.quaternion;\n    }\n\n    populateMatrix(targetMatrix) {\n        return this.sensor.populateMatrix(targetMatrix);\n    }\n}\n\n\n// Concrete classes\n// ================\n// Note the use of ``window.SensorName`` instead of ``SensorName`` for non-polyfills. This avoids exceptions if the particular sensor isn't defined, producing an ``undefined`` instead. For polyfills, we must use ``SensorName`` instead of ``window.SensorName``.\nexport class SimpleAmbientLightSensor extends SimpleSensor {\n    async start(als_options) {\n        return super.start(window.AmbientLightSensor, [\"ambient-light-sensor\"], als_options);\n    }\n\n    get illuminance() {\n        return this.sensor.illuminance;\n    }\n}\n\n\n// See the `W3C draft spec <https://w3c.github.io/geolocation-sensor/#geolocationsensor-interface>`_.\nexport class SimpleGeolocationSensor extends SimpleSensor {\n    async start(geo_options) {\n        return super.start(GeolocationSensor, [\"geolocation\"], geo_options);\n    }\n\n    get latitude() {\n        return this.sensor.latitude;\n    }\n\n    get longitude() {\n        return this.sensor.longitude;\n    }\n\n    get altitude() {\n        return this.sensor.altitude;\n    }\n\n    get accuracy() {\n        return this.sensor.accuracy;\n    }\n\n    get altitudeAccuracy() {\n        return this.sensor.altitudeAccuracy;\n    }\n\n    get heading() {\n        return this.sensor.heading;\n    }\n\n    get speed() {\n        return this.sensor.speed;\n    }\n}\n\n\nexport class SimpleAccelerometer extends SimpleXYZSensor {\n    async start(accelerometer_options) {\n        return super.start(Accelerometer, [\"accelerometer\"], accelerometer_options);\n    }\n}\n\n\nexport class SimpleGyroscope extends SimpleXYZSensor {\n    async start(gyro_options) {\n        return super.start(Gyroscope, [\"gyroscope\"], gyro_options);\n    }\n}\n\n\nexport class SimpleLinearAccelerationSensor extends SimpleXYZSensor {\n    async start(accel_options) {\n        return super.start(LinearAccelerationSensor, [\"accelerometer\"], accel_options);\n    }\n}\n\n\nexport class SimpleGravitySensor extends SimpleXYZSensor {\n    async start(grav_options) {\n        return super.start(GravitySensor, [\"accelerometer\"], grav_options);\n    }\n}\n\n\nexport class SimpleMagnetometer extends SimpleXYZSensor {\n    async start(mag_options) {\n        return super.start(window.Magnetometer, [\"magnetometer\"], mag_options);\n    }\n}\n\n\nexport class SimpleAbsoluteOrientationSensor extends SimpleOrientationSensor {\n    async start(orient_options) {\n        return super.start(AbsoluteOrientationSensor, [\"accelerometer\", \"gyroscope\", \"magnetometer\"], orient_options);\n    }\n}\n\n\nexport class SimpleRelativeOrientationSensor extends SimpleOrientationSensor {\n    async start(orient_options) {\n        return super.start(RelativeOrientationSensor, [\"accelerometer\", \"gyroscope\"], orient_options);\n    }\n}\n"],"names":["auto_bind","self","object","key","properties","Set","Reflect","ownKeys","add","getPrototypeOf","Object","prototype","getAllProperties","constructor","descriptor","getOwnPropertyDescriptor","value","bind","navigator","permissions","DeviceMotionEvent","requestPermission","DeviceOrientationEvent","query","options","name","Promise","resolve","reject","all","then","vals","state","every","x","Symbol","Event","orientation","window","GeolocationSensor","Sensor","screen","msOrientation","defineProperty","get","DeviceOrientationMixin","superclass","eventNames","args","super","eventName","this","slot","activateCallback","addEventListener","handleEvent","capture","deactivateCallback","removeEventListener","RelativeOrientationSensor","AbsoluteOrientationSensor","Gyroscope","Accelerometer","LinearAccelerationSensor","GravitySensor","SimpleSensor","sensor","async","sensor_class","sensor_permission","sensor_options","map","val","on_error","on_reading","p","that","event","error","start","console","log","Date","err","stop","ready","activated","hasReading","SimpleXYZSensor","y","z","SimpleOrientationSensor","quaternion","populateMatrix","targetMatrix","SimpleAmbientLightSensor","als_options","AmbientLightSensor","illuminance","SimpleGeolocationSensor","geo_options","latitude","longitude","altitude","accuracy","altitudeAccuracy","heading","speed","SimpleAccelerometer","accelerometer_options","SimpleGyroscope","gyro_options","SimpleLinearAccelerationSensor","accel_options","SimpleGravitySensor","grav_options","SimpleMagnetometer","mag_options","Magnetometer","SimpleAbsoluteOrientationSensor","orient_options","SimpleRelativeOrientationSensor"],"sourceRoot":""}