@hatiolab/figure-model 0.10.0 → 0.11.1

package/dist/data-interface.js

@@ -20,9 +20,9 @@
 import { FigureContractError } from "./contract.js";
 import { figureUnitKnown } from "./graph.js";
 import { FIGURE_PART_ID } from "./part-ids.js";
+import { isFigureColour } from "./asset-types.js";
 /** The fastest a motion group plays: three times its authored speed. 0 stops it. */
 export const FIGURE_MOTION_SPEED_MAX = 3;
-const COLOUR = /^#[0-9a-f]{6}$/i;
 /** A field name as the board's accessor reads it bare: a letter or `_`, then letters, digits, `_` and `-`. Not `$`: the accessor reads that as a variable. */
 const FIELD_NAME = /^[A-Za-z_][\w-]*$/;
 const fail = (code, path, message, details) => {
@@ -233,7 +233,7 @@ function checkRule(b, node, targets, path) {
                 domain('output', `${value} is outside ${behavior.input}, ${input.min} to ${input.max}`, { value, within: [input.min, input.max] });
         }
         else if (behavior.kind === 'palette') {
-            if (typeof value !== 'string' || !COLOUR.test(value))
+            if (!isFigureColour(value))
                 domain('output', 'a colour is #RRGGBB', { value });
         }
         else if (behavior.kind === 'motion-clip') {
@@ -433,7 +433,7 @@ function checkBinding(b, schema, targets, path) {
     return b;
 }
 function checkPort(p, targets, path) {
-    fields(p, ['id', 'label', 'tokens', 'parts'], ['group'], path);
+    fields(p, ['id', 'label', 'tokens', 'parts'], ['group', 'states'], path);
     if (typeof p.id !== 'string' || !FIGURE_PART_ID.test(p.id))
         refuse(`${path}.id`, `${String(p.id)} is not an id: a letter, then letters, digits, - and _`, { reason: 'data-id-invalid', list: 'ports', id: String(p.id) });
     const invalid = (what, message, id) => refuse(`${path}.${what}`, message, { reason: 'data-port-invalid', port: p.id, what, ...(id !== undefined ? { id } : {}) });
@@ -441,8 +441,11 @@ function checkPort(p, targets, path) {
         invalid('label', 'a name shown to a person');
     if (!Array.isArray(p.tokens) || !Array.isArray(p.parts))
         fail('ASSET_SCHEMA', path, 'tokens and parts are lists');
-    if (!p.tokens.length && !p.parts.length)
-        invalid('token', 'a status port shows on a colour token, a part, or both');
+    if (p.states !== undefined && !Array.isArray(p.states))
+        fail('ASSET_SCHEMA', `${path}.states`, 'a list of state inputs');
+    const states = p.states ?? [];
+    if (!p.tokens.length && !p.parts.length && !states.length)
+        invalid('token', 'a status port shows on a colour token, a part, a state input, or more');
     for (const t of p.tokens)
         if (typeof t !== 'string' || !Object.hasOwn(targets.palette, t))
             invalid('token', `${String(t)} is not a colour of this figure`, String(t));
@@ -451,6 +454,20 @@ function checkPort(p, targets, path) {
             invalid('part', `${String(part)} is not a part of this figure`, String(part));
     if (p.group !== undefined && (typeof p.group !== 'string' || !targets.groups.has(p.group)))
         invalid('group', `${String(p.group)} is not a motion group of this figure`, String(p.group));
+    const offered = new Set();
+    states.forEach((s, i) => {
+        const at = `${path}.states[${i}]`;
+        if (!s || typeof s !== 'object' || Array.isArray(s))
+            fail('ASSET_SCHEMA', at, 'object required');
+        fields(s, ['input', 'sourceMode'], [], at);
+        if (s.sourceMode !== 'observed' && s.sourceMode !== 'commanded')
+            fail('ASSET_SCHEMA', `${at}.sourceMode`, 'observed or commanded');
+        if (typeof s.input !== 'string' || !targets.states.has(s.input))
+            invalid('state', `${String(s.input)} is not a state input of this figure`, String(s.input));
+        if (offered.has(s.input))
+            invalid('state', `${s.input} is offered twice`, s.input);
+        offered.add(s.input);
+    });
     return p;
 }
 /**
@@ -473,11 +490,27 @@ export function validateFigureDataInterface(asset) {
     checkFields(di.schema, 'dataInterface.schema');
     const targets = targetsOf(asset);
     const portIds = new Set();
+    /* The state inputs ports offer and the motion groups they select clips in: no other port and no binding writes them (ADR-0051 2.3). */
+    const portWrites = new Map();
+    const writeOnce = (target, id, writer, path) => {
+        const other = portWrites.get(`${target} ${id}`);
+        if (other)
+            refuse(path, `${other.kind} ${other.id} and ${writer.kind} ${writer.id} both write ${target} ${id}; one data writer each`, {
+                reason: 'data-writer-duplicate',
+                target,
+                id,
+                writers: [other, writer]
+            });
+        portWrites.set(`${target} ${id}`, writer);
+    };
     (di.ports ?? []).forEach((p, i) => {
         const port = checkPort(p, targets, `dataInterface.ports[${i}]`);
         if (portIds.has(port.id))
             refuse(`dataInterface.ports[${i}].id`, `${port.id} is declared twice`, { reason: 'data-id-duplicate', list: 'ports', id: port.id });
         portIds.add(port.id);
+        (port.states ?? []).forEach((s, j) => writeOnce('state', s.input, { kind: 'port', id: port.id }, `dataInterface.ports[${i}].states[${j}]`));
+        if (port.group !== undefined)
+            writeOnce('motion-clip', port.group, { kind: 'port', id: port.id }, `dataInterface.ports[${i}].group`);
     });
     const ids = new Set();
     const writers = new Map();
@@ -487,6 +520,11 @@ export function validateFigureDataInterface(asset) {
         if (ids.has(binding.id))
             refuse(`${path}.id`, `${binding.id} is declared twice`, { reason: 'data-id-duplicate', list: 'bindings', id: binding.id });
         ids.add(binding.id);
+        /* A binding against a port that offers its input or selects its group's clip; two bindings on one are refused below, as before. */
+        const writes = binding.behavior;
+        const target = writes.kind === 'state' ? ['state', writes.input] : writes.kind === 'motion-clip' ? ['motion-clip', writes.group] : null;
+        if (target && portWrites.has(`${target[0]} ${target[1]}`))
+            writeOnce(target[0], target[1], { kind: 'binding', id: binding.id }, `${path}.behavior`);
         const key = writeKey(binding.behavior);
         if (key === null)
             return;

package/dist/data-interface.js.map

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package/dist/editor-workspace.js

@@ -250,7 +250,7 @@ export function createFigureEditorWorkspace() {
             control(a, q);
             const seen = derive(a.asset, a.inputs).seen;
             const joint = seen.joints?.find(j => j.body1.part === part);
-            if (!joint || joint.type !== 'fixed' || seen.document.model.nodes.some(n => n.id === `${part}.motion`))
+            if (!joint || joint.motion?.length || seen.document.model.nodes.some(n => n.id === `${part}.motion`))
                 fail('EDIT_TARGET', 'only a fixed attachment can be relocated by this drag');
             if (position.length !== 3 || !position.every(Number.isFinite))
                 fail('EDIT_VALUE', 'finite position required');

package/dist/editor-workspace.js.map

@@ -1 +1 @@
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package/dist/examples.js

@@ -29,23 +29,23 @@ export function robotArmFigure() {
     asset.palette = { 'palette.primary': '#477b9e', 'palette.dark': '#2b2b2b', 'palette.accent': '#f79c40', 'palette.neutral': '#9a9a9a' };
     const run = (action) => (asset = applyFigureAuthoring(asset, action));
     ROBOT_ARM_CHAIN.forEach(({ part }) => (asset = addFigurePrimitive(asset, part)));
-    run({ kind: 'set-joint', joint: { id: 'base', type: 'fixed', body0: { plane: 'mounting-plane' }, body1: { part: 'base' } } });
+    run({ kind: 'set-joint', joint: { id: 'base', body0: { plane: 'mounting-plane' }, body1: { part: 'base' } } });
     ROBOT_ARM_CHAIN.forEach(({ part, joint }, i) => {
         if (i === 0)
             return;
         const hang = { body0: { part: ROBOT_ARM_CHAIN[i - 1].part.id, face: 'top' }, body1: { part: part.id } };
         if (!joint)
-            run({ kind: 'set-joint', joint: { id: part.id, type: 'fixed', ...hang } });
+            run({ kind: 'set-joint', joint: { id: part.id, ...hang } });
         else if (joint.continuous)
-            run({ kind: 'set-joint', joint: { id: joint.id, type: 'revolute', ...hang, axis: joint.axis } });
+            run({ kind: 'set-joint', joint: { id: joint.id, ...hang, motion: [{ type: 'revolute', axis: joint.axis }] } });
         else
-            run({ kind: 'set-joint', joint: { id: joint.id, type: 'revolute', ...hang, axis: joint.axis, lowerLimit: joint.min, upperLimit: joint.max } });
+            run({ kind: 'set-joint', joint: { id: joint.id, ...hang, motion: [{ type: 'revolute', axis: joint.axis, lowerLimit: joint.min, upperLimit: joint.max }] } });
     });
     /* Two fingers on the gripper's top, at its two ends, closing towards each other from one value (0..45 mm): the right one mimics. */
     asset = addFigurePrimitive(asset, box('finger-left', 20, 90, 40, 'palette.neutral'));
     asset = addFigurePrimitive(asset, box('finger-right', 20, 90, 40, 'palette.neutral'));
-    run({ kind: 'set-joint', joint: { id: 'gripper', type: 'prismatic', body0: { part: 'gripper', face: 'top' }, body1: { part: 'finger-left' }, origin: { align: { x: 'min' } }, axis: 'X', lowerLimit: 0, upperLimit: 45 } });
-    run({ kind: 'set-joint', joint: { id: 'gripper-mirror', type: 'prismatic', body0: { part: 'gripper', face: 'top' }, body1: { part: 'finger-right' }, origin: { align: { x: 'max' } }, axis: 'X', mimic: { joint: 'gripper', multiplier: -1 } } });
+    run({ kind: 'set-joint', joint: { id: 'gripper', body0: { part: 'gripper', face: 'top' }, body1: { part: 'finger-left' }, origin: { align: { x: 'min' } }, motion: [{ type: 'prismatic', axis: 'X', lowerLimit: 0, upperLimit: 45 }] } });
+    run({ kind: 'set-joint', joint: { id: 'gripper-mirror', body0: { part: 'gripper', face: 'top' }, body1: { part: 'finger-right' }, origin: { align: { x: 'max' } }, motion: [{ type: 'prismatic', axis: 'X', mimic: { motion: 'gripper', multiplier: -1 } }] } });
     run({ kind: 'set-detail-level', level: 'L' });
     run({ kind: 'set-placement', placement: 'floor' });
     return asset;

package/dist/examples.js.map

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package/dist/fasten-place.d.ts

@@ -16,6 +16,24 @@ export type FigureFastenAlignment = 'centre' | 'min' | 'max' | {
  * for.
  */
 export declare function figureFastenAxesOf(source: FigureAsset, to: FigureFastenTarget): Axis[];
+/** Which axis of what a part hangs from each of its own axes lies along, and whether it runs the same way. */
+export interface FigureAxisPairs {
+    /** The part it hangs from; null when it hangs from the mounting plane or nothing -- its axes are the figure's then. */
+    parent: string | null;
+    along: Partial<Record<Axis, {
+        axis: Axis;
+        sign: 1 | -1;
+    }>>;
+}
+/**
+ * Which of its parent's axes each of a part's own axes lies along at rest (ADR-0159 3): the parent part's own axes
+ * when it hangs from a part (ADR-0140 3.11), the figure's when it hangs from the mounting plane or from nothing. A
+ * roller laid on its side has its length along the frame's depth, so that is the measure it follows -- a modeller
+ * that paired the axes by their letters tied it to the frame's height (2026-10-24). An axis lying at an angle to all
+ * three pairs with none: what it follows is the author's to say. Read at rest, every control that leads itself at 0
+ * (or where it stands, when its range leaves 0 out).
+ */
+export declare function figureAxisPairsOf(source: FigureAsset, part: string): FigureAxisPairs;
 /**
  * The place that keeps a part where it stands when it is fastened to `to` (ADR-0140 3.7): on each axis across the face,
  * in the target's own frame (3.11), the middle of the part's real extent (3.4) from the middle of the face -- the

package/dist/fasten-place.d.ts.map

@@ -1 +1 @@
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package/dist/fasten-place.js

@@ -14,6 +14,7 @@ import { figureReachValue, figureShapeExtremeAlong, figureSurfaceFormOf as surfa
 import { figureShapeBoundsOf } from "./shape-ops.js";
 import { applyFigureAuthoring } from "./authoring-actions.js";
 import { AXES } from "./words.js";
+import { figureOwnControlsOf } from "./joint-motions.js";
 /**
  * The axes across the face a part is fastened to: the two that are not its normal -- the plane's by the figure's
  * placement (a floor's is Y, a wall's Z), a part's face by its shape. None for a face the shape does not name an axis
@@ -29,6 +30,41 @@ export function figureFastenAxesOf(source, to) {
     const along = (shape && figureShapeFaces(shape)?.[to.face]?.axis);
     return along ? AXES.filter(a => a !== along) : [];
 }
+/**
+ * Which of its parent's axes each of a part's own axes lies along at rest (ADR-0159 3): the parent part's own axes
+ * when it hangs from a part (ADR-0140 3.11), the figure's when it hangs from the mounting plane or from nothing. A
+ * roller laid on its side has its length along the frame's depth, so that is the measure it follows -- a modeller
+ * that paired the axes by their letters tied it to the frame's height (2026-10-24). An axis lying at an angle to all
+ * three pairs with none: what it follows is the author's to say. Read at rest, every control that leads itself at 0
+ * (or where it stands, when its range leaves 0 out).
+ */
+export function figureAxisPairsOf(source, part) {
+    const joint = source.joints?.find(j => j.body1.part === part);
+    const parent = joint && 'part' in joint.body0 ? joint.body0.part : null;
+    const rest = Object.fromEntries(figureOwnControlsOf(source.joints).map(id => [id, 0]));
+    const geometry = (() => {
+        try {
+            return evaluate(source, rest);
+        }
+        catch {
+            return evaluate(source, {});
+        }
+    })();
+    const poseOf = (id) => geometry.find(g => g.id === id)?.pose;
+    const mine = poseOf(part);
+    const theirs = parent ? poseOf(parent) : { r: IDENTITY };
+    const along = {};
+    if (!mine || !theirs)
+        return { parent, along };
+    const R = mul3(transpose3(theirs.r), mine.r);
+    for (const [k, axis] of AXES.entries()) {
+        const v = mv3(R, AXES.map((_, i) => (i === k ? 1 : 0)));
+        const i = v.findIndex(x => Math.abs(Math.abs(x) - 1) < 1e-9);
+        if (i >= 0)
+            along[axis] = { axis: AXES[i], sign: v[i] > 0 ? 1 : -1 };
+    }
+    return { parent, along };
+}
 /**
  * The place that keeps a part where it stands when it is fastened to `to` (ADR-0140 3.7): on each axis across the face,
  * in the target's own frame (3.11), the middle of the part's real extent (3.4) from the middle of the face -- the