@hatiolab/figure-model 0.6.7 → 0.7.1

package/docs/prototypes/spatial-plan.test.mjs

@@ -1,102 +0,0 @@
-import {test} from 'node:test'
-import assert from 'node:assert/strict'
-import {compile,ContractError} from './typed-plan.mjs'
-const near=(a,b)=>assert.ok(Number.isFinite(a)&&Math.abs(a-b)<1e-8,`${a} != ${b}`)
-const equal=(a,b)=>a.forEach((v,i)=>near(v,b[i]))
-const c=(id,value,unit='mm')=>({id,value,unit})
-const n=(id,op,args,outputs,params)=>({id,op,args,outputs,...(params?{params}:{})})
-const rigid=(id,from,to,translation=['zero','zero','zero'],rotation=['angle0','angle0','angle0'])=>n(id,'rigid@1',[...translation,...rotation],{pose:id},{from,to})
-function base(){return {version:'r3-spatial-1',inputs:[],constants:[c('zero',0),c('angle0',0,'rad')],nodes:[]}}
-function wheel(){
-  const m=base();m.inputs=[{id:'radius',unit:'mm',min:10,max:1000},{id:'floorY',unit:'mm',min:-100,max:100},{id:'heading',unit:'deg',min:-180,max:180}]
-  m.constants.push(c('axle',84),c('tilt',-90,'deg'))
-  m.nodes.push(n('wheel','cylinder-shape@1',['radius','axle'],{shape:'shape'},{frame:'wheelLocal'}),
-    n('bottom','feature@1',['shape'],{pose:'self'},{frame:'touch',name:'radialBottom'}),
-    rigid('floor','floorFrame','world',['zero','floorY','zero'],['angle0','heading','angle0']),
-    rigid('mating','touch','floorFrame',['zero','zero','zero'],['tilt','angle0','angle0']),
-    n('attachment','attach@1',['floor','mating','self'],{pose:'pose'}),
-    n('place','place@1',['shape','pose'],{placed:'placed'}),
-    n('witness','compose@1',['pose','self'],{pose:'contactWorld'}))
-  return m
-}
-test('AGV wheel intent: changed radius, floor height and heading preserve contact (125 cases)',()=>{
-  const plan=compile(wheel())
-  for(const radius of [50,115,162.63455967,250,500])for(const floorY of [-100,-20,0,20,100])for(const heading of [-180,-45,0,60,180]){
-    const r=plan.evaluate({radius,floorY,heading})
-    equal(r.values.contactWorld.t,[0,floorY,0]);near(r.values.pose.t[1],floorY+radius)
-    near(r.geometry[0].shape.dimensions.radius,radius)
-  }
-})
-function lamp(){
-  const m=base();m.inputs=[{id:'height',unit:'mm',min:100,max:4000},{id:'rx',unit:'deg',min:-180,max:180},{id:'ry',unit:'deg',min:-180,max:180},{id:'rz',unit:'deg',min:-180,max:180}]
-  m.constants.push(c('width',400),c('depth',100),c('lampSize',40))
-  m.nodes.push(n('support','box-shape@1',['width','height','depth'],{shape:'supportShape'},{frame:'supportLocal'}),
-    n('supportFeature','feature@1',['supportShape'],{pose:'top'},{frame:'supportTop',name:'top'}),
-    rigid('supportPose','supportLocal','world',['zero','zero','zero'],['rx','ry','rz']),
-    n('worldTop','compose@1',['supportPose','top'],{pose:'worldTop'}),
-    n('lamp','box-shape@1',['lampSize','lampSize','lampSize'],{shape:'lampShape'},{frame:'lampLocal'}),
-    n('lampFeature','feature@1',['lampShape'],{pose:'bottom'},{frame:'lampBottom',name:'bottom'}),
-    rigid('offset','lampBottom','supportTop'),
-    n('attachment','attach@1',['worldTop','offset','bottom'],{pose:'lampPose'}),
-    n('lampWitness','compose@1',['lampPose','bottom'],{pose:'lampContact'}),
-    n('placedSupport','place@1',['supportShape','supportPose'],{placed:'supportPlaced'}),
-    n('placedLamp','place@1',['lampShape','lampPose'],{placed:'lampPlaced'}))
-  return m
-}
-test('support/lamp attachment: 4 heights × 27 general 3-axis orientations',()=>{
-  const p=compile(lamp())
-  for(const height of [100,500,1500,3000])for(const rx of [-65,0,80])for(const ry of [-35,0,90])for(const rz of [-40,0,160]){
-    const r=p.evaluate({height,rx,ry,rz}),a=r.values.lampContact,b=r.values.worldTop
-    equal(a.t,b.t);equal(a.r.flat(),b.r.flat());assert.equal(r.geometry.length,2)
-  }
-})
-test('two-link articulation: same compiler resolves dimensions, features and moving attachment',()=>{
-  const m=lamp()
-  // Replace static offset with a hinge at the shared interface; no special robot engine.
-  m.nodes.find(n=>n.id==='offset').args[3]='joint'
-  m.inputs.push({id:'joint',unit:'deg',min:-150,max:150})
-  const p=compile(m)
-  for(const height of [100,1000,3000])for(const joint of [-150,-60,0,60,150]){
-    const r=p.evaluate({height,rx:30,ry:45,rz:70,joint})
-    equal(r.values.lampContact.t,r.values.worldTop.t)
-    near(r.values.lampPose.r[0].reduce((s,x)=>s+x*x,0),1)
-  }
-})
-test('world-point distance may drive another shape length in the same graph',()=>{
-  const m=base();m.constants.push(c('x',30),c('y',40),c('r',5))
-  m.nodes.push(n('a','point@1',['zero','zero','zero'],{point:'a'},{frame:'world'}),
-    n('b','point@1',['x','y','zero'],{point:'b'},{frame:'local'}),rigid('map','local','world'),
-    n('mapped','map-point@1',['map','b'],{point:'worldB'}),n('distance','distance@1',['a','worldB'],{length:'len'}),
-    n('beam','cylinder-shape@1',['r','len'],{shape:'shape'},{frame:'beamLocal'}))
-  near(compile(m).evaluate({}).values.shape.dimensions.length,50)
-  m.nodes.find(n=>n.id==='distance').args[1]='b'
-  assert.throws(()=>compile(m),e=>e.code==='FRAME_TYPE')
-})
-test('wrong transform order, wrong self feature frame and scalar/spatial misuse reject',()=>{
-  for(const mutate of [
-    m=>{m.nodes.find(n=>n.id==='witness').args.reverse()},
-    m=>{m.nodes.find(n=>n.id==='mating').params.from='different'},
-    m=>{m.nodes.push(n('bad','add@1',['pose','pose'],{value:'bad'}))},
-    m=>{m.nodes.find(n=>n.id==='place').args[1]='floor'}
-  ]){
-    const m=wheel();mutate(m);assert.throws(()=>compile(m),e=>e instanceof ContractError&&['FRAME_TYPE','TYPE'].includes(e.code))
-  }
-})
-test('cross geometry/feature/placement cycle is diagnosed as one graph',()=>{
-  const m=wheel()
-  m.nodes.push(n('a','point@1',['zero','zero','zero'],{point:'origin'},{frame:'wheelLocal'}),
-    n('mapped','map-point@1',['pose','origin'],{point:'worldOrigin'}),
-    n('b','point@1',['zero','zero','zero'],{point:'worldZero'},{frame:'world'}),
-    n('distance','distance@1',['worldOrigin','worldZero'],{length:'derivedRadius'}))
-  m.nodes.find(n=>n.id==='wheel').args[0]='derivedRadius'
-  assert.throws(()=>compile(m),e=>e.code==='CYCLE'&&e.message.includes('wheel'))
-})
-test('missing feature and declaration reorder; unsuccessful evaluation leaves no stale geometry',()=>{
-  const m=lamp(),args={height:500,rx:30,ry:70,rz:-20},p=compile(m),r=p.evaluate(args)
-  m.nodes.reverse();const reversed=compile(m).evaluate(args)
-  equal(r.values.lampPose.t,reversed.values.lampPose.t)
-  assert.throws(()=>p.evaluate({...args,height:0}),e=>e.code==='INPUT_RANGE')
-  assert.deepEqual(p.evaluate(args),r)
-  m.nodes.find(n=>n.id==='lampFeature').params.name='opening'
-  assert.throws(()=>compile(m),e=>e.code==='UNKNOWN_FEATURE')
-})

package/docs/prototypes/typed-repeat.test.mjs

@@ -1,96 +0,0 @@
-import fs from 'node:fs'
-import {test} from 'node:test'
-import assert from 'node:assert/strict'
-import {compile} from './typed-plan.mjs'
-import {meshOf,meshAudit} from './dryroom-mesh.mjs'
-const seeds=JSON.parse(fs.readFileSync(new URL('../../../operato-application/packages/operato-figure/server/seed/figure-samples.json',import.meta.url)))
-const c=(id,value,unit='mm')=>({id,value,unit})
-const n=(id,op,args,outputs,params)=>({id,op,args,outputs,...(params?{params}:{})})
-const near=(a,b)=>assert.ok(Math.abs(a-b)<1e-6,`${a} != ${b}`)
-export function repeatModel(kind){
-  const type={tray:'FORMATION_TRAY',charger:'FORMATION_CHARGER',conveyor:'CONVEYOR'}[kind]
-  const s=seeds.find(s=>s.type===type).source,primary=s.parts.find(p=>p.name===({tray:'cell',charger:'shelf',conveyor:'roller'}[kind]))
-  const secondary=kind==='conveyor'?null:s.parts.find(p=>p.name===(kind==='tray'?'contact':'channel-lamp'))
-  const axis=kind==='charger'?'y':'x',extent=kind==='charger'?60:primary.transform.size.x
-  const margin=kind==='tray'?30:kind==='charger'?160:150
-  const m={version:'r3-spatial-1',inputs:[{id:'span',unit:'mm',min:0,max:10000},{id:'angle',unit:'deg',min:-180,max:180,role:'state'}],constants:[c('zero',0),c('a0',0,'rad'),c('quarter',90,'deg'),c('negHalf',-.5,'ratio'),c('margin',margin),c('extent',extent),c('pitch',primary.repeat.pitch),c('align',0,'ratio'),c('limit',100,'count'),c('eight',8,'count')],nodes:[]}
-  const rigid=(id,from,to,xyz,rot=['a0','a0','a0'])=>n(id,'rigid@1',[...xyz,...rot],{pose:id},{from,to})
-  m.nodes.push(n('half','mul@1',['span','negHalf'],{value:'left'}),rigid('root','item','world',axis==='x'?['left','zero','zero']:['zero','zero','zero']))
-  m.nodes.push(kind==='tray'?n('layout','fixed-count@1',['eight','span','margin','margin','extent','align','limit'],{layout:'layout'}):n('layout','fit-pitch@1',['span','margin','margin','extent','pitch','align','limit'],{layout:'layout'}))
-  const members=[]
-  for(const [index,p] of [primary,secondary].filter(Boolean).entries()){
-    const label=index?'secondary':'primary',d=p.transform.size,t=p.transform.position
-    for(const a of ['x','y','z'])m.constants.push(c(`${label}${a}`,t[a]-(a===axis?primary.transform.position[a]:0)))
-    let shape
-    if(kind==='conveyor'){
-      m.constants.push(c('radius',d.x/2),c('length',d.y))
-      shape=n(label,'cylinder-shape@1',['radius','length'],{shape:`${label}Shape`},{frame:label})
-      // Rx(90) lays the cylinder along Z; its local Y rotation follows afterwards.
-    } else {
-      for(const [key,val] of Object.entries(d))m.constants.push(c(`${label}Size${key}`,val))
-      shape=n(label,'box-shape@1',['x','y','z'].map(a=>`${label}Size${a}`),{shape:`${label}Shape`},{frame:label})
-    }
-    m.nodes.push(shape,rigid(`${label}Pose`,label,'item',['x','y','z'].map(a=>`${label}${a}`),kind==='conveyor'?['quarter','angle','a0']:['a0','a0','a0']),n(`${label}Member`,'member@1',[`${label}Shape`,`${label}Pose`],{placed:`${label}Member`}))
-    members.push(`${label}Member`)
-  }
-  m.nodes.push(n('assembly','assembly@1',members,{assembly:'assembly'}),n('repeat','repeat@1',['layout','assembly','root'],{collection:'collection'},{axis}))
-  return m
-}
-
-test('three actual-seed-derived assemblies: combined span and spin, no template duplicates',()=>{
-  let states=0
-  for(const [kind,spans] of [['tray',[500,600,1200]],['charger',[1000,2800,5600]],['conveyor',[1200,2400,4800]]]){
-    const p=compile(repeatModel(kind))
-    for(const span of spans)for(const angle of [-180,-90,0,90,180]){
-      const r=p.evaluate({span,angle}),count=r.values.layout.count
-      assert.equal(r.geometry.length,count*(kind==='conveyor'?1:2))
-      for(let i=0;i<count;i++){
-        const a=r.geometry.find(g=>g.index===i&&g.key==='primaryMember')
-        const axis=kind==='charger'?1:0,center=r.values.layout.centers[i]
-        near(a.pose.t[axis],center+(axis===0?-span/2:0))
-        const extent=kind==='conveyor'?96:kind==='tray'?52:60,margin=kind==='conveyor'?150:kind==='tray'?30:160
-        assert.ok(center-extent/2>=margin-1e-6&&center+extent/2<=span-margin+1e-6)
-        if(kind==='conveyor')near(a.pose.t[1],500)
-        else {
-          const b=r.geometry.find(g=>g.index===i&&g.key==='secondaryMember')
-          near(b.pose.t[axis]-a.pose.t[axis],0)
-          if(kind==='tray')near(b.pose.t[1]-a.pose.t[1],90)
-          else near(b.pose.t[2]-a.pose.t[2],295)
-        }
-      }
-      states++
-    }
-  }
-  assert.equal(states,45)
-})
-test('extent-aware threshold, empty result, limit and fixed-count insufficiency',()=>{
-  const p=compile(repeatModel('conveyor'))
-  for(const [span,want] of [[395,0],[396,1],[545.99,1],[546,2],[546.01,2]])assert.equal(p.evaluate({span,angle:0}).geometry.length,want)
-  const m=repeatModel('conveyor');m.constants.find(c=>c.id==='limit').value=1
-  assert.throws(()=>compile(m).evaluate({span:546,angle:0}),e=>e.code==='RESOURCE_LIMIT')
-  assert.throws(()=>compile(repeatModel('tray')).evaluate({span:400,angle:0}),e=>e.code==='NO_SPACE')
-})
-test('stable keys with grow/shrink/regrow and explicit dangling reference',()=>{
-  const m=repeatModel('conveyor'),p=compile(m),small=p.evaluate({span:545.99,angle:0}),big=p.evaluate({span:546,angle:0})
-  assert.equal(small.geometry[0].id,big.geometry[0].id)
-  assert.deepEqual(p.evaluate({span:546,angle:0}),big)
-  m.constants.push(c('selected',1,'count'));m.nodes.push(n('select','select-item@1',['collection','selected'],{placed:'selectedItem'},{member:'primaryMember'}))
-  const withRef=compile(m);withRef.evaluate({span:546,angle:0})
-  assert.throws(()=>withRef.evaluate({span:545.99,angle:0}),e=>e.code==='TARGET_ABSENT')
-})
-test('topology state dependency, count type, frame mismatch and cycles reject',()=>{
-  let m=repeatModel('tray');m.constants.find(c=>c.id==='eight').unit='ratio';assert.throws(()=>compile(m),e=>e.code==='TYPE')
-  m=repeatModel('tray');m.constants.find(c=>c.id==='eight').value=8.5;assert.throws(()=>compile(m),e=>e.code==='COUNT')
-  m=repeatModel('charger');m.inputs[0].role='state';assert.throws(()=>compile(m),e=>e.code==='TOPOLOGY_STATE')
-  m=repeatModel('conveyor');m.nodes.find(n=>n.id==='root').params.from='wrong';assert.throws(()=>compile(m),e=>e.code==='FRAME_TYPE')
-  m=repeatModel('conveyor');m.nodes.find(n=>n.id==='layout').args[0]='collection';assert.throws(()=>compile(m),e=>e.code==='CYCLE')
-})
-test('all generated boxes and cylinders are closed oriented meshes; layout snapshots repeat exactly',()=>{
-  let meshes=0
-  for(const [kind,span] of [['tray',600],['charger',2800],['conveyor',2400]]){
-    const p=compile(repeatModel(kind)),r=p.evaluate({span,angle:0})
-    for(const placed of r.geometry){const g=meshOf(placed),a=meshAudit(g);assert.equal(a.badEdges,0);assert.equal(a.euler,2);assert.ok(a.volume>0&&a.minArea>0);g.dispose();meshes++}
-    assert.deepEqual(p.evaluate({span,angle:0}),r)
-  }
-  console.log({meshes})
-})