@hatiolab/figure-model 0.6.3 → 0.6.5

package/dist/part-edit.js.map

@@ -1 +1 @@
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package/dist/proposal.d.ts

@@ -28,7 +28,7 @@ export interface FigureProposalFitRoom {
     placement: FigurePlacement;
 }
 export type FigureProposalStep = FigureProposalAddPart | FigureProposalFitRoom | FigureAuthoringAction | FigurePartEdit;
-declare const PART_EDIT_KINDS: readonly ["set-material", "set-segments", "remove-part", "set-capabilities", "set-state-input", "set-state-defaults", "set-driver", "remove-driver", "set-clip", "duplicate-part", "move-part", "rename-part", "set-visibility"];
+declare const PART_EDIT_KINDS: readonly ["set-material", "set-segments", "remove-part", "set-capabilities", "set-state-input", "set-state-defaults", "set-driver", "remove-driver", "set-clip", "set-motion-group", "remove-motion-group", "set-data-property", "remove-data-property", "rename-data-property", "set-data-connection", "remove-data-connection", "duplicate-part", "move-part", "rename-part", "set-visibility"];
 type Exhaustive<T extends never> = T;
 export type _PartEditKindsComplete = Exhaustive<Exclude<FigurePartEdit['kind'], (typeof PART_EDIT_KINDS)[number]>>;
 /**
@@ -50,6 +50,6 @@ export declare const FIGURE_PROPOSAL_GRAMMAR: readonly FigureProposalWord[];
 /** Taken only through a word of its own (`fit-room` asks the kernel for the proposal it confirms). */
 type LeftOut = 'declare-occupancy';
 export type _GrammarComplete = Exhaustive<Exclude<FigureAuthoringAction['kind'] | FigurePartEdit['kind'], LeftOut | (typeof FIGURE_PROPOSAL_KINDS)[number]>>;
-export declare const FIGURE_PROPOSAL_KINDS: readonly ["add-part", "set-section-corner", "set-cavity", "set-section", "set-placement", "attach", "set-joint", "declare-instance-size", "link-dimension", "follow-size", "unlink-dimension", "scale-uniformly", "follow-size-in-proportion", "scale-position", "fix-position", "nudge-part", "detach", "remove-joint", "make-repeat", "set-repeat", "add-design-input", "set-input-range", "publish-input", "unpublish-input", "remove-repeat", "add-binding", "remove-binding", "set-slot-layout", "remove-slot-layout", "set-carrier", "fit-room", "set-mounting-face", "clear-mounting-face", "set-detail-level", "rename", "set-material", "set-segments", "rename-part", "set-visibility", "remove-part", "duplicate-part", "move-part", "set-capabilities", "set-state-input", "set-state-defaults", "set-driver", "remove-driver", "set-clip"];
+export declare const FIGURE_PROPOSAL_KINDS: readonly ["add-part", "set-section-corner", "set-cavity", "set-section", "set-placement", "attach", "set-joint", "declare-instance-size", "link-dimension", "follow-size", "unlink-dimension", "scale-uniformly", "follow-size-in-proportion", "scale-position", "fix-position", "nudge-part", "detach", "remove-joint", "make-repeat", "set-repeat", "add-design-input", "set-input-range", "publish-input", "unpublish-input", "remove-repeat", "add-binding", "remove-binding", "set-slot-layout", "remove-slot-layout", "set-carrier", "fit-room", "set-mounting-face", "clear-mounting-face", "set-detail-level", "rename", "set-material", "set-segments", "rename-part", "set-visibility", "remove-part", "duplicate-part", "move-part", "set-capabilities", "set-state-input", "set-state-defaults", "set-driver", "remove-driver", "set-clip", "set-motion-group", "remove-motion-group", "set-data-property", "remove-data-property", "rename-data-property", "set-data-connection", "remove-data-connection"];
 export {};
 //# sourceMappingURL=proposal.d.ts.map

package/dist/proposal.d.ts.map

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package/dist/proposal.js

@@ -31,6 +31,13 @@ const PART_EDIT_KINDS = [
     'set-driver',
     'remove-driver',
     'set-clip',
+    'set-motion-group',
+    'remove-motion-group',
+    'set-data-property',
+    'remove-data-property',
+    'rename-data-property',
+    'set-data-connection',
+    'remove-data-connection',
     'duplicate-part',
     'move-part',
     'rename-part',
@@ -187,9 +194,28 @@ export const FIGURE_PROPOSAL_GRAMMAR = [
     { kind: 'set-capabilities', shape: `{ kind: 'set-capabilities', names: string[] }`, means: 'What the figure can do, by name, for a scene to attach behaviour.' },
     { kind: 'set-state-input', shape: `{ kind: 'set-state-input', input, label?, sweep?, min?, max?, start? }`, means: 'A control: the words a person sees, how long it takes to travel, its range and where it starts.' },
     { kind: 'set-state-defaults', shape: `{ kind: 'set-state-defaults', values: { [control]: number } }`, means: 'The pose the figure stands in.' },
-    { kind: 'set-driver', shape: `{ kind: 'set-driver', state, clip, duration?, keys: [{ seconds, value }], interpolation?: 'linear' | 'step', loop?: 'wrap' | 'hold', accumulates? }`, means: 'A control played over time in a clip.' },
-    { kind: 'remove-driver', shape: `{ kind: 'remove-driver', state }`, means: 'The control is not played any more.' },
-    { kind: 'set-clip', shape: `{ kind: 'set-clip', clip, name?, duration? }`, means: 'A clip renamed, or its length changed.' }
+    { kind: 'set-driver', shape: `{ kind: 'set-driver', state, clip, duration?, keys: [{ seconds, value }], interpolation?: 'linear' | 'step', loop?: 'wrap' | 'hold', accumulates?, group? }`, means: 'A control played over time in a clip. group puts a new clip in that motion group, so it may play a control the group already plays.' },
+    { kind: 'remove-driver', shape: `{ kind: 'remove-driver', state, clip? }`, means: 'The control is not played in that clip any more. Name the clip when several clips play the control.' },
+    { kind: 'set-clip', shape: `{ kind: 'set-clip', clip, name?, duration? }`, means: 'A clip renamed, or its length changed.' },
+    {
+        kind: 'set-motion-group',
+        shape: `{ kind: 'set-motion-group', group: { id, label, clips: string[], defaultClip, transitionSeconds } }`,
+        means: 'Clips of which one plays at a time, on the same controls -- idle, walk, run. Only clips of one group may play the same control.'
+    },
+    { kind: 'remove-motion-group', shape: `{ kind: 'remove-motion-group', id }`, means: 'The group goes; refused while two of its clips play one control.' },
+    {
+        kind: 'set-data-property',
+        shape: `{ kind: 'set-data-property', property: { id, label, kind: 'number', unit, min, max, default } | { id, label, kind: 'boolean', default } | { id, label, kind: 'enum', values: string[], default } }`,
+        means: 'A value the figure takes from live data, by a stable id a consumer maps its data onto.'
+    },
+    { kind: 'remove-data-property', shape: `{ kind: 'remove-data-property', id }`, means: 'The data property goes; remove the connections that read it first.' },
+    { kind: 'rename-data-property', shape: `{ kind: 'rename-data-property', id, to }`, means: "The data property's id, and every connection that reads it." },
+    {
+        kind: 'set-data-connection',
+        shape: `{ kind: 'set-data-connection', connection: { id, property, transform: { kind: 'identity' } | { kind: 'affine', scale, offset } | { kind: 'lookup', cases: [{ when, value }] }, target: { kind: 'state', input: control, sourceMode: 'observed' | 'commanded' } | { kind: 'palette', token } | { kind: 'motion-clip', group } | { kind: 'motion-speed', group } } }`,
+        means: 'What a data property moves: a control, a colour, or which clip of a motion group plays and how fast. A lookup covers every value of an enum or a boolean once.'
+    },
+    { kind: 'remove-data-connection', shape: `{ kind: 'remove-data-connection', id }`, means: 'The connection goes.' }
 ];
 export const FIGURE_PROPOSAL_KINDS = [
     'add-part',
@@ -239,6 +265,13 @@ export const FIGURE_PROPOSAL_KINDS = [
     'set-state-defaults',
     'set-driver',
     'remove-driver',
-    'set-clip'
+    'set-clip',
+    'set-motion-group',
+    'remove-motion-group',
+    'set-data-property',
+    'remove-data-property',
+    'rename-data-property',
+    'set-data-connection',
+    'remove-data-connection'
 ];
 //# sourceMappingURL=proposal.js.map

package/dist/proposal.js.map

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package/dist/release-contract.d.ts

@@ -1,5 +1,5 @@
 import type { FigureAsset } from './asset-types.ts';
-export type FigureContractChangeCode = 'placement-changed' | 'size-inputs-gone' | 'size-inputs-added' | 'size-range-narrowed' | 'authored-size-changed' | 'state-input-gone' | 'state-unit-changed' | 'state-range-narrowed' | 'state-input-added' | 'clip-gone' | 'clip-added' | 'binding-gone' | 'binding-role-changed' | 'binding-capacity-reduced' | 'binding-accepts-narrowed' | 'binding-added' | 'slot-moved' | 'slot-anchor-gone' | 'slot-anchor-moved' | 'capability-gone' | 'capability-added' | 'occupancy-changed' | 'contact-face-changed' | 'public-input-gone' | 'public-input-range-narrowed' | 'public-input-added' | 'state-input-joints-changed' | 'joint-axis-changed' | 'joint-child-changed' | 'joint-motion-unit-changed' | 'joint-list-unread' | 'carrier-gone' | 'carrier-added' | 'carrier-type-changed' | 'carrier-dimensions-changed';
+export type FigureContractChangeCode = 'placement-changed' | 'size-inputs-gone' | 'size-inputs-added' | 'size-range-narrowed' | 'authored-size-changed' | 'state-input-gone' | 'state-unit-changed' | 'state-range-narrowed' | 'state-input-added' | 'clip-gone' | 'clip-added' | 'binding-gone' | 'binding-role-changed' | 'binding-capacity-reduced' | 'binding-accepts-narrowed' | 'binding-added' | 'slot-moved' | 'slot-anchor-gone' | 'slot-anchor-moved' | 'capability-gone' | 'capability-added' | 'occupancy-changed' | 'contact-face-changed' | 'public-input-gone' | 'public-input-range-narrowed' | 'public-input-added' | 'state-input-joints-changed' | 'joint-axis-changed' | 'joint-child-changed' | 'joint-motion-unit-changed' | 'joint-list-unread' | 'carrier-gone' | 'carrier-added' | 'carrier-type-changed' | 'carrier-dimensions-changed' | 'data-property-gone' | 'data-property-kind-changed' | 'data-property-narrowed' | 'data-property-added' | 'data-property-label-changed' | 'data-property-default-changed' | 'data-connections-changed' | 'motion-group-gone' | 'motion-group-clip-removed' | 'motion-clip-group-changed' | 'motion-group-added' | 'motion-group-clip-added' | 'motion-group-default-changed' | 'motion-group-transition-changed';
 export interface FigureContractChange {
     code: FigureContractChangeCode;
     /** True refuses the release. */

package/dist/release-contract.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"release-contract.d.ts","sourceRoot":"","sources":["../src/release-contract.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,WAAW,EAAsB,MAAM,kBAAkB,CAAA;AA+CvE,MAAM,MAAM,wBAAwB,GAChC,mBAAmB,GACnB,kBAAkB,GAClB,mBAAmB,GACnB,qBAAqB,GACrB,uBAAuB,GACvB,kBAAkB,GAClB,oBAAoB,GACpB,sBAAsB,GACtB,mBAAmB,GACnB,WAAW,GACX,YAAY,GACZ,cAAc,GACd,sBAAsB,GACtB,0BAA0B,GAC1B,0BAA0B,GAC1B,eAAe,GACf,YAAY,GACZ,kBAAkB,GAClB,mBAAmB,GACnB,iBAAiB,GACjB,kBAAkB,GAClB,mBAAmB,GACnB,sBAAsB,GACtB,mBAAmB,GACnB,6BAA6B,GAC7B,oBAAoB,GACpB,4BAA4B,GAC5B,oBAAoB,GACpB,qBAAqB,GACrB,2BAA2B,GAC3B,mBAAmB,GACnB,cAAc,GACd,eAAe,GACf,sBAAsB,GACtB,4BAA4B,GAC5B,oBAAoB,GACpB,4BAA4B,GAC5B,wBAAwB,GACxB,qBAAqB,GACrB,6BAA6B,GAC7B,+BAA+B,GAC/B,0BAA0B,GAC1B,mBAAmB,GACnB,2BAA2B,GAC3B,2BAA2B,GAC3B,oBAAoB,GACpB,yBAAyB,GACzB,8BAA8B,GAC9B,iCAAiC,CAAA;AAErC,MAAM,WAAW,oBAAoB;IACnC,IAAI,EAAE,wBAAwB,CAAA;IAC9B,gCAAgC;IAChC,QAAQ,EAAE,OAAO,CAAA;IACjB,gGAAgG;IAChG,OAAO,CAAC,EAAE,MAAM,CAAA;IAChB,6DAA6D;IAC7D,MAAM,EAAE,MAAM,CAAC,MAAM,EAAE,MAAM,GAAG,MAAM,CAAC,CAAA;IACvC,sDAAsD;IACtD,MAAM,EAAE,MAAM,CAAA;CACf;AAyGD;;;GAGG;AACH,wBAAgB,qBAAqB,CAAC,MAAM,EAAE,WAAW,EAAE,KAAK,EAAE,WAAW,GAAG,oBAAoB,EAAE,CA8PrG"}

package/dist/release-contract.js

@@ -332,10 +332,84 @@ export function figureContractChanges(before, after) {
                 detail: `carrier dimensions changed: ${size(wasCarrier)} → ${size(nowCarrier)} mm`
             });
     }
+    dataChanges(before, after, push);
+    motionGroupChanges(before, after, push);
     /* ── joints ────────────────────────────────────────────────────────────── */
     jointChanges(before, after, wasState, nowState, push);
     return changes;
 }
+/** What a consumer's data mapping leans on: the property ids, each one's kind, unit and the values it takes. */
+function dataChanges(before, after, push) {
+    const was = new Map((before.dataInterface?.properties ?? []).map(p => [p.id, p]));
+    const now = new Map((after.dataInterface?.properties ?? []).map(p => [p.id, p]));
+    const say = (p) => (p.kind === 'number' ? `number ${p.unit}` : p.kind);
+    for (const [id, a] of was) {
+        const b = now.get(id);
+        if (!b) {
+            push({ code: 'data-property-gone', blocking: true, subject: id, values: { id }, detail: `data property ${id} is gone` });
+            continue;
+        }
+        if (say(a) !== say(b)) {
+            push({ code: 'data-property-kind-changed', blocking: true, subject: id, values: { id, before: say(a), after: say(b) }, detail: `data property ${id} changed: ${say(a)} → ${say(b)}` });
+            continue;
+        }
+        if (a.kind === 'number' && b.kind === 'number' && (b.min > a.min || b.max < a.max))
+            push({ code: 'data-property-narrowed', blocking: true, subject: id, values: { id, before: `${a.min}…${a.max}`, after: `${b.min}…${b.max}` }, detail: `data property ${id} narrowed: ${a.min}…${a.max} → ${b.min}…${b.max}` });
+        if (a.kind === 'enum' && b.kind === 'enum') {
+            const dropped = a.values.filter(v => !b.values.includes(v));
+            if (dropped.length)
+                push({ code: 'data-property-narrowed', blocking: true, subject: id, values: { id, before: a.values.join(', '), after: b.values.join(', ') }, detail: `data property ${id} no longer takes ${dropped.join(', ')}` });
+        }
+        if (a.label !== b.label)
+            push({ code: 'data-property-label-changed', blocking: false, subject: id, values: { id, before: a.label, after: b.label }, detail: `data property ${id} label changed` });
+        if (a.default !== b.default)
+            push({ code: 'data-property-default-changed', blocking: false, subject: id, values: { id, before: String(a.default), after: String(b.default) }, detail: `data property ${id} default changed: ${String(a.default)} → ${String(b.default)}` });
+    }
+    for (const id of now.keys())
+        if (!was.has(id))
+            push({ code: 'data-property-added', blocking: false, subject: id, values: { id }, detail: `data property ${id} is new` });
+    /* What the properties move: a new pose, colour or clip for the same data, said and not refused. */
+    const connections = (a) => JSON.stringify([...(a.dataInterface?.connections ?? [])].sort((x, y) => (x.id < y.id ? -1 : x.id > y.id ? 1 : 0)));
+    if (connections(before) !== connections(after))
+        push({ code: 'data-connections-changed', blocking: false, values: {}, detail: 'what the data properties move changed' });
+}
+/** What a board's selection leans on: the group ids, the clips each holds, which group a clip is in. */
+function motionGroupChanges(before, after, push) {
+    const was = new Map((before.motionGroups ?? []).map(g => [g.id, g]));
+    const now = new Map((after.motionGroups ?? []).map(g => [g.id, g]));
+    for (const [id, a] of was) {
+        const b = now.get(id);
+        if (!b) {
+            push({ code: 'motion-group-gone', blocking: true, subject: id, values: { group: id }, detail: `motion group ${id} is gone` });
+            continue;
+        }
+        for (const clip of a.clips)
+            if (!b.clips.includes(clip))
+                push({ code: 'motion-group-clip-removed', blocking: true, subject: id, values: { group: id, clip }, detail: `motion group ${id} no longer holds ${clip}` });
+        for (const clip of b.clips)
+            if (!a.clips.includes(clip))
+                push({ code: 'motion-group-clip-added', blocking: false, subject: id, values: { group: id, clip }, detail: `motion group ${id} now holds ${clip}` });
+        if (a.defaultClip !== b.defaultClip)
+            push({ code: 'motion-group-default-changed', blocking: false, subject: id, values: { group: id, before: a.defaultClip, after: b.defaultClip }, detail: `motion group ${id} starts with ${b.defaultClip}, was ${a.defaultClip}` });
+        if (a.transitionSeconds !== b.transitionSeconds)
+            push({ code: 'motion-group-transition-changed', blocking: false, subject: id, values: { group: id, before: a.transitionSeconds, after: b.transitionSeconds }, detail: `motion group ${id} changes clip over ${b.transitionSeconds} s, was ${a.transitionSeconds} s` });
+    }
+    for (const id of now.keys())
+        if (!was.has(id))
+            push({ code: 'motion-group-added', blocking: false, subject: id, values: { group: id }, detail: `motion group ${id} is new` });
+    /*
+      A clip of both releases that played on its own and is in a group now: the board's `clips` played it, and now the
+      group's selection does. A clip that left a group is said above, as the group gone or the clip removed from it.
+    */
+    const nowGroup = new Map((after.motionGroups ?? []).flatMap(g => g.clips.map(c => [c, g.id])));
+    const wasGrouped = new Set((before.motionGroups ?? []).flatMap(g => g.clips));
+    const nowClips = clipsOf(after);
+    for (const clip of clipsOf(before)) {
+        const group = nowGroup.get(clip);
+        if (nowClips.has(clip) && group !== undefined && !wasGrouped.has(clip))
+            push({ code: 'motion-clip-group-changed', blocking: true, subject: clip, values: { clip, group }, detail: `clip ${clip} played on its own and is now in motion group ${group}` });
+    }
+}
 /**
  * Types a place took before and does not now. A place names what it takes (ADR-0087 decision 3) and an empty list is
  * refused when a figure is compiled, so an empty list can only be a release from before that rule, where it meant

package/dist/release-contract.js.map

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package/dist/robots.d.ts

@@ -43,6 +43,28 @@ export declare const COBOT_CHAIN: {
         max: number;
     };
 }[];
+/** The robot dog's walk and run: how far each thigh swings and each knee bends, and how long a stride takes. */
+export declare const ROBOT_DOG_GAITS: {
+    readonly walk: {
+        readonly seconds: 1.2;
+        readonly swing: 20;
+        readonly bend: 40;
+    };
+    readonly run: {
+        readonly seconds: 0.6;
+        readonly swing: 40;
+        readonly bend: 80;
+    };
+};
+/**
+ * The four-legged robot made the example of ADR-0051 §5 (detail design §9): a head that turns, walk and run on the same
+ * thighs and knees with idle holding the legs straight, one motion group selecting among them, public data properties
+ * -- mode, cadence, headAngle, batteryLow -- and two box places on its back. Every step is a shared command. The numbers
+ * are for seeing it work, not a gait a real machine walks.
+ */
+export declare function robotDogFigure(): RobotFigure;
+/** The item type the robot dog's back takes: an example's own, not a carrier type of any site. */
+export declare const ROBOT_DOG_BOX = "EXAMPLE-BOX";
 /**
  * An autonomous mobile robot carrying a six-axis arm: a chassis on two drive wheels and two casters, a laser scanner on
  * its front, the arm's base on its top at the rear. Each drive wheel turns without end on its own value; the arm is

package/dist/robots.d.ts.map

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