@hatiolab/things-scene 10.0.0-beta.92 → 10.0.0-beta.93

package/dist-types/diagnostics/contract-inspector.d.ts

@@ -0,0 +1,103 @@
+import { transferLog } from '../transfer/transfer.js';
+import type { Reservation } from '../navigation/types.js';
+export interface InspectorComponentSummary {
+    type: string;
+    id: string;
+    category?: string;
+    parentId?: string;
+    parentPath?: string;
+    pose?: {
+        position: {
+            x: number;
+            y: number;
+            z: number;
+        };
+        rotation: {
+            x: number;
+            y: number;
+            z: number;
+            w: number;
+        };
+    };
+    state?: Record<string, unknown>;
+    isCarriable?: boolean;
+    isPickable?: boolean;
+    isMover?: boolean;
+    isHolder?: boolean;
+    toolType?: string;
+    childIds?: string[];
+}
+export interface InspectorSimStatus {
+    simTime: number;
+    realTime: number;
+    speed: number;
+    paused: boolean;
+    carrierCount: number;
+}
+export interface ContractInspector {
+    /** Scene 의 모든 component 를 평탄화한 list — 각자 contract markers + parent path. */
+    collectComponents(): InspectorComponentSummary[];
+    /** ID 로 단일 컴포넌트 조회 — 더 풍부한 정보 (e.g. pickupFrames, slots). */
+    getComponent(id: string): (InspectorComponentSummary & {
+        pickupFrames?: any[];
+        slots?: any[];
+        acceptanceWorldQuat?: {
+            x: number;
+            y: number;
+            z: number;
+            w: number;
+        };
+        deliveryWorldPosition?: {
+            x: number;
+            y: number;
+            z: number;
+        };
+    }) | null;
+    /** Sim clock 상태. */
+    simStatus(): InspectorSimStatus;
+    /** TransferLog snapshot (read-only). */
+    transferLog(): {
+        entries: ReturnType<typeof transferLog.toJSON>;
+        stats: ReturnType<typeof transferLog.stats>;
+    };
+    /**
+     * Phase K — ReservationTable snapshot. Atlas 의 Reservations / Conflicts /
+     * Heat 모드가 활용. all reservations + per-resource grouped + 현재 sim time.
+     */
+    reservations(): {
+        simTime: number;
+        all: Reservation[];
+        byResource: Record<string, Reservation[]>;
+        byReserver: Record<string, Reservation[]>;
+    };
+    /**
+     * Phase K — 충돌 누적 로그 + 통계. Atlas 의 Conflicts mode 가 활용.
+     */
+    conflicts(): {
+        simTime: number;
+        log: readonly any[];
+        total: number;
+        rejected: number;
+        preempted: number;
+        byResource: Record<string, number>;
+        byReserver: Record<string, number>;
+    };
+    /** Inspector 의 self-version (extension 의 호환성 검사용). */
+    readonly version: string;
+}
+/**
+ * ContractInspector 인스턴스 빌드 — root 컴포넌트 (rootModel) 를 받아 inspector
+ * 객체 반환. install(rootModel) 로 window.__SCENE_INSPECTOR__ 에 연결.
+ */
+export declare function buildContractInspector(rootModel: any): ContractInspector;
+/**
+ * Inspector 를 window.__SCENE_INSPECTOR__ 에 설치. browser 환경에서만.
+ * Chrome extension 의 content script 가 이걸 query.
+ *
+ * usage:
+ *   import { installContractInspector } from '@hatiolab/things-scene'
+ *   const scene = create(model, { isViewMode: true })
+ *   installContractInspector(scene)  // 또는 scene.rootModel
+ */
+export declare function installContractInspector(rootModel: any): ContractInspector;
+//# sourceMappingURL=contract-inspector.d.ts.map

package/dist-types/diagnostics/contract-inspector.d.ts.map

@@ -0,0 +1 @@
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package/dist-types/diagnostics/inspector.d.ts

@@ -151,6 +151,50 @@ declare class SceneInspector {
     private _safeBounds;
     private _safeClone;
     private _safeValue;
+    /** TransferLog 의 entries + stats snapshot. */
+    transferLog(): {
+        entries: any[];
+        stats: {
+            total: number;
+            committed: number;
+            rolledBack: number;
+            rejectionRate: number;
+            avgTransferDurationMs: number;
+            byPhase: Record<string, number>;
+        };
+    } | null;
+    /** ReservationTable 의 active reservations + groupings. */
+    reservations(): {
+        simTime: number;
+        all: any[];
+        byResource: Record<string, any[]>;
+        byReserver: Record<string, any[]>;
+    } | null;
+    /** Conflict 누적 + outcome 통계. */
+    conflicts(): {
+        simTime: number;
+        log: any[];
+        total: number;
+        rejected: number;
+        preempted: number;
+        byResource: Record<string, number>;
+        byReserver: Record<string, number>;
+    } | null;
+    /**
+     * 단일 component 의 contract 요약 — Phase H/G2 의 markers.
+     * existing getComponentInfo 보다 contract 측면에 특화.
+     */
+    contractSummary(componentId: string, sceneIndex?: number): {
+        type: string;
+        id: string;
+        isCarriable?: boolean;
+        isPickable?: boolean;
+        isMover?: boolean;
+        isHolder?: boolean;
+        toolType?: string;
+        pickupFrames?: any[];
+        slots?: any[];
+    } | null;
 }
 export declare const inspector: SceneInspector;
 export {};

package/dist-types/diagnostics/inspector.d.ts.map

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package/dist-types/math/component-pose.d.ts

@@ -0,0 +1,51 @@
+import { Pose6DOF } from './pose6dof.js';
+/**
+ * Component 의 parent-local pose 를 읽는다.
+ *
+ * 정의: component 가 부모의 좌표계 안에서 차지하는 위치+자세.
+ * 3D pipeline 의 RealObject.center / RealObject.rotation 과 동일한 의미축.
+ *
+ * 좌표 매핑 (state → Pose6DOF):
+ *   pos.x = component.center.x + tx - parent.width/2     (parent-centered 3D X)
+ *   pos.y = cz                                           (3D vertical Y, cz 공식)
+ *   pos.z = component.center.y + ty - parent.height/2    (parent-centered 3D Z)
+ *   rot   = Euler(state.rotationX, -state.rotation, state.rotationY, 'XYZ')
+ *
+ * 컴포넌트가 RealObject 를 안 가지면 cz=0 으로 평면 처리.
+ */
+export declare function getPose(component: any): Pose6DOF;
+/**
+ * Component 의 world pose 를 읽는다.
+ *
+ * 우선순위:
+ *   1. _realObject.object3d.matrixWorld 가 있으면 거기서 분해 (정확)
+ *   2. 부모 chain 을 따라가며 getPose() 합성 (fallback, 2D-only 환경)
+ *
+ * 호출 전에 `obj3d.updateWorldMatrix(true, false)` 보장 책임은 호출자.
+ */
+export declare function getWorldPose(component: any): Pose6DOF;
+/**
+ * Component 에 parent-local pose 를 단일 atomic setState 로 적용.
+ *
+ * 한 번의 호출이 left/top/zPos/rotation/rotationX/rotationY 를 동시에 갱신 →
+ * onchange 가 한 번만 fire → pipeline 이 obj3d 를 한 번 다시 계산. 부분 상태가
+ * frame 사이에 노출되지 않는다 (Phase G 의 핵심 invariant).
+ *
+ * 좌표 역매핑 (Pose6DOF → state):
+ *   center.x = pos.x + parent.width/2 - tx
+ *   center.y = pos.z + parent.height/2 - ty
+ *   zPos     = pos.y - tz - syncZPosOffset + parent.geometricOffsetY
+ *   Euler decompose 'XYZ' → (rotationX = e.x, rotation = -e.y, rotationY = e.z)
+ *
+ * 기존 syncFromObject3D 의 로직과 동일 — 그것을 명시적 API 로 노출.
+ */
+export declare function setPose(component: any, pose: Pose6DOF): void;
+/**
+ * Component 에 world pose 를 적용. 부모의 world pose 의 inverse 로 곱해서
+ * parent-local 로 변환 후 setPose.
+ *
+ * 부모가 root 거나 parent.worldPose 를 못 구하면 setPose 와 동일 (world =
+ * parent-local 로 가정).
+ */
+export declare function setWorldPose(component: any, worldPose: Pose6DOF): void;
+//# sourceMappingURL=component-pose.d.ts.map

package/dist-types/math/component-pose.d.ts.map

@@ -0,0 +1 @@
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package/dist-types/math/index.d.ts

@@ -0,0 +1,3 @@
+export { Pose6DOF, type PoseLike } from './pose6dof.js';
+export { getPose, getWorldPose, setPose, setWorldPose } from './component-pose.js';
+//# sourceMappingURL=index.d.ts.map

package/dist-types/math/index.d.ts.map

@@ -0,0 +1 @@
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package/dist-types/math/pose6dof.d.ts

@@ -0,0 +1,93 @@
+import * as THREE from 'three';
+export interface PoseLike {
+    position: {
+        x: number;
+        y: number;
+        z: number;
+    };
+    rotation: {
+        x: number;
+        y: number;
+        z: number;
+        w: number;
+    };
+}
+export declare class Pose6DOF {
+    /**
+     * Position in the implied coordinate system. World, parent-local, etc — Pose6DOF
+     * 자체는 좌표계를 알지 않는다. 호출자가 어떤 frame 의 값인지 명시할 책임.
+     */
+    readonly position: THREE.Vector3;
+    /**
+     * Orientation as unit quaternion in the implied coordinate system.
+     */
+    readonly rotation: THREE.Quaternion;
+    constructor(position?: THREE.Vector3 | {
+        x: number;
+        y: number;
+        z: number;
+    }, rotation?: THREE.Quaternion | {
+        x: number;
+        y: number;
+        z: number;
+        w: number;
+    });
+    /**
+     * Compose: this 의 frame "안" 에서 child 를 적용. 합성된 결과는 부모(this)의
+     * 좌표계 기준이다.
+     *
+     *   result.position = this.position + this.rotation × child.position
+     *   result.rotation = this.rotation × child.rotation
+     *
+     * 예: holder.worldPose.compose(carrier.localPose) = carrier.worldPose
+     */
+    compose(child: Pose6DOF): Pose6DOF;
+    /**
+     * Inverse: this 가 적용 전으로 되돌리는 변환.
+     *
+     *   inv.rotation = this.rotation⁻¹
+     *   inv.position = -inv.rotation × this.position
+     *
+     * 항등식: this.compose(this.inverse()) = identity = this.inverse().compose(this).
+     */
+    inverse(): Pose6DOF;
+    /**
+     * Transform a point: p' = this.rotation × p + this.position.
+     * 입력은 변경하지 않는다 — 새 Vector3 반환.
+     */
+    transformPoint(p: THREE.Vector3): THREE.Vector3;
+    /**
+     * Transform a pose. compose 의 의미상 동치.
+     *   parent.transformPose(child_local) = child_world
+     */
+    transformPose(child: Pose6DOF): Pose6DOF;
+    toMatrix4(out?: THREE.Matrix4): THREE.Matrix4;
+    /**
+     * Matrix4 의 translation + rotation 만 추출. scale 은 무시 (rigid).
+     * scale 이 1 이 아닌 행렬을 넣으면 scale 분해 후 폐기.
+     */
+    static fromMatrix4(m: THREE.Matrix4): Pose6DOF;
+    /**
+     * Object3D 의 pose 를 캡처. world=true 이면 world matrix (부모 chain 통과)
+     * 를, 아니면 local position/quaternion 을 사용.
+     *
+     * world=true 호출 전에 객체의 worldMatrix 가 최신이어야 한다 (호출자가
+     * `obj.updateWorldMatrix(true, false)` 보장).
+     */
+    static fromObject3D(obj: THREE.Object3D, world?: boolean): Pose6DOF;
+    /**
+     * Object3D 의 local position/quaternion 에 이 pose 를 적용. scale 은 건드리지
+     * 않는다.
+     */
+    applyToObject3D(obj: THREE.Object3D): void;
+    static identity(): Pose6DOF;
+    /**
+     * Numerical equality 검사. position 은 component-wise abs diff, rotation 은
+     * dot product (둘은 sign 다른 같은 회전 — abs(dot) ≈ 1).
+     */
+    equals(other: Pose6DOF, tol?: number): boolean;
+    clone(): Pose6DOF;
+    toJSON(): PoseLike;
+    static fromJSON(j: PoseLike): Pose6DOF;
+}
+//# sourceMappingURL=pose6dof.d.ts.map

package/dist-types/math/pose6dof.d.ts.map

@@ -0,0 +1 @@
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package/dist-types/navigation/index.d.ts

@@ -0,0 +1,7 @@
+export type { LaneGeometry, Lane, ConflictPair, Intersection, NavPolygon, OpenZone, TimeWindow, Reservation, SpeedProfile, PathSegment, PathPlan, PathPlanOptions, Navigable, YieldDecision, YieldPolicy } from './types.js';
+export { ReservationTable, reservationTable, standardYieldPolicy } from './reservation-table.js';
+export type { ReservationEvent, AddResult, Conflict, ConflictRecord } from './reservation-table.js';
+export { NavGraph, buildNavGraph } from './nav-graph.js';
+export type { NavNode, NavEdge, BuildNavGraphOptions } from './nav-graph.js';
+export { planPathAStar, planToReservations } from './path-planner.js';
+//# sourceMappingURL=index.d.ts.map

package/dist-types/navigation/index.d.ts.map

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package/dist-types/navigation/nav-graph.d.ts

@@ -0,0 +1,55 @@
+import type { Lane, Intersection } from './types.js';
+import type { Vec3 } from '../transfer/types.js';
+export interface NavNode {
+    id: string;
+    position: Vec3;
+    /** 'lane-start' | 'lane-end' | 'intersection' | 'goal' (planner 가 임시 추가). */
+    type: string;
+}
+export interface NavEdge {
+    fromNode: string;
+    toNode: string;
+    /** 통과하는 resource id (충돌 검사용). lane id 또는 intersection id. */
+    resource: string;
+    /** 거리 (scene unit). cost 의 기본 단위. */
+    distance: number;
+    /** 통과 sim time (ms). speed 가 결정. lane.speedLimit 또는 vehicle.maxSpeed 기준. */
+    durationMs: number;
+    /** 이 edge 의 통과 방향이 lane 의 정방향과 같으면 true. twoway 의 역방향이면 false. */
+    forward: boolean;
+}
+export declare class NavGraph {
+    readonly nodes: Map<string, NavNode>;
+    /** adjacency list — fromNode → outgoing edges. */
+    readonly edges: Map<string, NavEdge[]>;
+    /** Lane 별 endpoint node id 매핑. graph augmentation (start/goal 추가) 시 유용. */
+    readonly laneEndpoints: Map<string, {
+        startNodeId: string;
+        endNodeId: string;
+    }>;
+    addNode(node: NavNode): void;
+    addEdge(edge: NavEdge): void;
+    edgesFrom(nodeId: string): NavEdge[];
+    /** 가장 가까운 node 찾기 (start/goal 진입용). bruteforce — 큰 그래프엔 spatial index 권장. */
+    findNearestNode(pos: Vec3): NavNode | null;
+}
+export interface BuildNavGraphOptions {
+    /** Lane 별 default speed (없으면 lane.speedLimit, 그것도 없으면 fallback 100). */
+    defaultSpeed?: number;
+}
+/**
+ * Lane / Intersection 으로부터 NavGraph 를 빌드.
+ *
+ * 노드 명명 규약:
+ *   - lane endpoint: `${lane.id}:start`, `${lane.id}:end`
+ *   - intersection: `${intersection.id}` (intersection 자체가 단일 노드 — 통과 cost 는
+ *     intersection.crossingTimeMs 로 모델링)
+ *
+ * Edge 종류:
+ *   - lane traversal: lane.id 가 resource. oneway 면 start→end 만, twoway 면
+ *     양방향 두 edge. distance = lane.geometry.centerPoints 누적.
+ *   - intersection crossing: intersection.id 가 resource. 만나는 lane 들의
+ *     endpoint 간 edge (직선 거리 + crossingTimeMs).
+ */
+export declare function buildNavGraph(lanes: Lane[], intersections: Intersection[], options?: BuildNavGraphOptions): NavGraph;
+//# sourceMappingURL=nav-graph.d.ts.map

package/dist-types/navigation/nav-graph.d.ts.map

@@ -0,0 +1 @@
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package/dist-types/navigation/path-planner.d.ts

@@ -0,0 +1,29 @@
+import type { NavGraph } from './nav-graph.js';
+import type { PathPlan, PathPlanOptions } from './types.js';
+/**
+ * A* 경로 계획.
+ *
+ * @param graph        navigation graph
+ * @param startNodeId  출발 node id
+ * @param goalNodeId   도착 node id
+ * @param options      vehicle 의 speed / priority / startSimMs / deadline
+ * @returns PathPlan 또는 null (도달 불가 / deadline 초과)
+ */
+export declare function planPathAStar(graph: NavGraph, startNodeId: string, goalNodeId: string, options?: PathPlanOptions): PathPlan | null;
+/**
+ * PathPlan 의 segments 를 ReservationTable 의 add 입력 형태로 변환.
+ *
+ * 호출자가 ReservationTable.add 를 segment 별로 시도하고, 실패 시 rollback
+ * (이미 add 된 것들 release) 책임. helper 는 단순 매핑.
+ */
+export declare function planToReservations(plan: PathPlan, reserverId: string, priority?: number, metadata?: Record<string, any>): Array<{
+    resource: string;
+    timeWindow: {
+        startSimMs: number;
+        endSimMs: number;
+    };
+    reserverId: string;
+    priority: number;
+    metadata?: Record<string, any>;
+}>;
+//# sourceMappingURL=path-planner.d.ts.map

package/dist-types/navigation/path-planner.d.ts.map

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package/dist-types/navigation/reservation-table.d.ts

@@ -0,0 +1,103 @@
+import type { Reservation, TimeWindow, YieldDecision, YieldPolicy } from './types.js';
+/** 기본 yield policy: priority 낮은(수치 높은) 쪽이 양보, 같으면 fifo. */
+export declare const standardYieldPolicy: YieldPolicy;
+/**
+ * Conflict — 두 reservation 의 충돌 정보. yield policy 가 어느 쪽이 양보할지 결정.
+ */
+export interface Conflict {
+    a: Reservation;
+    b: Reservation;
+    decision: YieldDecision;
+}
+/**
+ * Phase K — 충돌 발생 기록. observability 의 입력 — Atlas 의 Conflicts mode 가
+ * 활용. 시간순 누적 (ring buffer 로 maxEntries 제한).
+ */
+export interface ConflictRecord {
+    /** 충돌 발생 sim time (proposed reservation 의 시작 시간으로 추정). */
+    simTime: number;
+    resource: string;
+    /** 시도된 reservation (table 에 안 들어감). */
+    proposed: Omit<Reservation, 'id'>;
+    /** 충돌한 기존 reservations. */
+    existing: Reservation[];
+    /** 결과 — 'rejected' (proposed 가 양보) | 'preempted' (기존이 evict 됨). */
+    outcome: 'rejected' | 'preempted';
+}
+export declare class ReservationTable {
+    private readonly _byResource;
+    private readonly _byReserver;
+    private readonly _yieldPolicy;
+    private readonly _listeners;
+    private readonly _conflictLog;
+    private _maxConflictLog;
+    constructor(yieldPolicy?: YieldPolicy);
+    /**
+     * Reservation 을 추가. 같은 resource + 겹치는 window 에 다른 reservation 이
+     * 있으면 yield policy 가 어느 쪽이 양보할지 결정.
+     *
+     * 반환:
+     *   - { ok: true, reservation }                   충돌 없음
+     *   - { ok: false, conflicts }                    이 reservation 이 양보 (추가 안 됨)
+     *   - { ok: 'preempted', reservation, evicted }   기존 reservation 들이 양보 (제거됨)
+     *
+     * preempted 케이스는 호출자가 evicted reservation 의 reserver 들에게
+     * notification 하고 reroute 하도록 함.
+     */
+    add(input: Omit<Reservation, 'id'>): AddResult;
+    /** Phase K — 충돌 로그 (rejected / preempted). 시간순 누적. */
+    conflictLog(): readonly ConflictRecord[];
+    /** maxEntries 설정 (테스트용). */
+    setMaxConflictLog(n: number): void;
+    private _appendConflictLog;
+    /**
+     * 미리 충돌 가능성 검사 (add 안 함). plan 단계에서 reservation 을 사전 검증할 때.
+     */
+    conflicts(resource: string, window: TimeWindow): Reservation[];
+    /** 한 reservation 회수. 도착 완료 또는 cancel 시. */
+    release(reservation: Reservation): void;
+    /** 같은 reserver 의 모든 reservation 일괄 해제. */
+    releaseAllOf(reserverId: string): Reservation[];
+    /** 특정 resource 의 모든 reservation (read-only 사본). */
+    forResource(resource: string): readonly Reservation[];
+    /** 특정 reserver 의 모든 reservation. */
+    forReserver(reserverId: string): readonly Reservation[];
+    /** 모든 reservation. */
+    all(): readonly Reservation[];
+    /** 청소 (테스트용). */
+    clear(): void;
+    /**
+     * Listener 등록. observability (Atlas extension 등) 를 위함.
+     */
+    subscribe(listener: (event: ReservationEvent) => void): () => void;
+    private _insert;
+    private _remove;
+    private _emit;
+}
+export type ReservationEvent = {
+    kind: 'added';
+    reservation: Reservation;
+} | {
+    kind: 'released';
+    reservation: Reservation;
+} | {
+    kind: 'evicted';
+    reservation: Reservation;
+    by: Reservation;
+};
+export type AddResult = {
+    ok: true;
+    reservation: Reservation;
+} | {
+    ok: 'preempted';
+    reservation: Reservation;
+    evicted: Reservation[];
+} | {
+    ok: false;
+    conflicts: Conflict[];
+};
+/**
+ * Singleton — 단일 시뮬레이션 instance 내 공유. 테스트는 자체 인스턴스 만드는 걸 권장.
+ */
+export declare const reservationTable: ReservationTable;
+//# sourceMappingURL=reservation-table.d.ts.map

package/dist-types/navigation/reservation-table.d.ts.map

@@ -0,0 +1 @@
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