@horizon36596/zenith-cli 0.1.1

package/dist/javaCodegen.js

@@ -0,0 +1,537 @@
+import { RUNTIME_PACKAGE } from "./commandLibrary.js";
+const SOLVERSLIB_PACKAGE = RUNTIME_PACKAGE.solverslib;
+const SOLVERSLIB = {
+    imports: [
+        "import com.pedropathing.api.Paths;",
+        "import com.pedropathing.paths.Path;",
+        "import com.seattlesolvers.solverslib.command.Command;",
+        "import com.seattlesolvers.solverslib.command.ConditionalCommand;",
+        "import com.seattlesolvers.solverslib.command.InstantCommand;",
+        "import com.seattlesolvers.solverslib.command.SequentialCommandGroup;",
+        "import com.seattlesolvers.solverslib.command.WaitUntilCommand;",
+        "import com.seattlesolvers.solverslib.geometry.Pose2d;",
+        "import com.seattlesolvers.solverslib.geometry.Rotation2d;",
+        "",
+        "import org.horizon36596.zenith.Args;",
+        `import ${SOLVERSLIB_PACKAGE}.AutoFromFile;`,
+        `import ${SOLVERSLIB_PACKAGE}.DeferredPath;`,
+        `import ${SOLVERSLIB_PACKAGE}.NamedCommands;`,
+        `import ${SOLVERSLIB_PACKAGE}.Parallel;`,
+        `import ${SOLVERSLIB_PACKAGE}.PathMarkers;`,
+        `import ${SOLVERSLIB_PACKAGE}.Poses;`,
+        `import ${SOLVERSLIB_PACKAGE}.RobotTimeout;`,
+        `import ${SOLVERSLIB_PACKAGE}.WaitRobotTime;`,
+    ],
+    poseType: "Pose2d",
+    newPose: "new Pose2d(xIn, yIn, new Rotation2d(headingRad))",
+    toPedro: (pose) => `Poses.toPedro(${pose})`,
+    waitUntil: (condition) => `new WaitUntilCommand(${condition})`,
+    sequenceClass: "SequentialCommandGroup",
+    emptyArm: "new InstantCommand()",
+    branch: (thenArm, elseArm, condition) => `new ConditionalCommand(${thenArm}, ${elseArm}, ${condition})`,
+};
+const IVY_PACKAGE = RUNTIME_PACKAGE.ivy;
+const IVY = {
+    imports: [
+        "import com.pedropathing.api.Paths;",
+        "import com.pedropathing.ivy.Command;",
+        "import com.pedropathing.ivy.commands.Commands;",
+        "import com.pedropathing.math.Pose;",
+        "import com.pedropathing.paths.Path;",
+        "",
+        "import org.horizon36596.zenith.Args;",
+        `import ${IVY_PACKAGE}.AutoFromFile;`,
+        `import ${IVY_PACKAGE}.Branch;`,
+        `import ${IVY_PACKAGE}.DeferredPath;`,
+        `import ${IVY_PACKAGE}.NamedCommands;`,
+        `import ${IVY_PACKAGE}.Parallel;`,
+        `import ${IVY_PACKAGE}.PathMarkers;`,
+        `import ${IVY_PACKAGE}.RobotTimeout;`,
+        `import ${IVY_PACKAGE}.Sequence;`,
+        `import ${IVY_PACKAGE}.WaitRobotTime;`,
+    ],
+    poseType: "Pose",
+    newPose: "new Pose(xIn, yIn, headingRad)",
+    toPedro: (pose) => pose,
+    waitUntil: (condition) => `Commands.waitUntil(${condition})`,
+    sequenceClass: "Sequence",
+    // Never Command.NOOP, which never finishes.
+    emptyArm: "Commands.instant(() -> { })",
+    branch: (thenArm, elseArm, condition) => `Branch.of(${condition}, ${thenArm}, ${elseArm})`,
+};
+const DIALECTS = { solverslib: SOLVERSLIB, ivy: IVY };
+const INDENT = "    ";
+/** `first-auto` -> `FirstAuto`; the class is `<Pascal>Generated`. */
+export function pascalCase(name) {
+    return name
+        .split(/[^a-zA-Z0-9]+/)
+        .filter((part) => part.length > 0)
+        .map((part) => part.charAt(0).toUpperCase() + part.slice(1))
+        .join("");
+}
+/** `first-auto` -> `firstAuto`, for a private helper method name. */
+function camelCase(name) {
+    const pascal = pascalCase(name);
+    return pascal.length === 0 ? "step" : pascal.charAt(0).toLowerCase() + pascal.slice(1);
+}
+/** A Java double literal: always carries a decimal point, four places, no trailing noise. */
+function num(value) {
+    const rounded = Number(value.toFixed(4));
+    const text = (rounded === 0 ? 0 : rounded).toString();
+    return text.includes(".") || text.includes("e") ? text : `${text}.0`;
+}
+function javaString(value) {
+    return JSON.stringify(value);
+}
+function poseExpr(pose, comment) {
+    const base = `alliance(pose(${num(pose.xIn)}, ${num(pose.yIn)}, ${num(pose.headingRad)}))`;
+    return comment === undefined ? base : `${base} /* ${comment} */`;
+}
+function argsExpr(args) {
+    const entries = Object.entries(args ?? {});
+    // Args.of, not Map.of: Map.of is Android API 30 and a Control Hub runs API 24.
+    if (entries.length === 0)
+        return "Args.of()";
+    const parts = entries.map(([key, value]) => {
+        const javaValue = typeof value === "string" ? javaString(value) : typeof value === "boolean" ? String(value) : num(value);
+        return `${javaString(key)}, ${javaValue}`;
+    });
+    return `Args.of(${parts.join(", ")})`;
+}
+function commandCallExpr(call) {
+    return `NamedCommands.build(${javaString(call.name)}, ${argsExpr(call.args)}, this)`;
+}
+/** The raw `from` a segment names, for a short comment: a waypoint ref, "current", or nothing. */
+function fromComment(segment) {
+    if (segment.from === "current")
+        return "current";
+    if (typeof segment.from === "object" && "ref" in segment.from)
+        return `ref: ${segment.from.ref}`;
+    return undefined;
+}
+function toComment(segment) {
+    if (typeof segment.to === "object" && "ref" in segment.to)
+        return `ref: ${segment.to.ref}`;
+    return undefined;
+}
+/**
+ * One segment's bare curve, no heading yet: `Paths.line(...)` or `Paths.curve(...)`. `liveFrom` names
+ * the variable holding the robot's pose when the step starts, for a first segment from `"current"`.
+ */
+function curveExpr(dialect, segment, fromPose, toPose, liveFrom) {
+    const from = dialect.toPedro(liveFrom ?? poseExpr(fromPose, fromComment(segment)));
+    const to = dialect.toPedro(poseExpr(toPose, toComment(segment)));
+    if (segment.kind === "line")
+        return `Paths.line(${from}, ${to})`;
+    const controls = segment.control.map((point) => dialect.toPedro(poseExpr({ xIn: point.xIn, yIn: point.yIn, headingRad: point.headingRad ?? 0 })));
+    return `Paths.curve(${[from, ...controls, to].join(", ")})`;
+}
+/**
+ * A heading the file wrote, in the running alliance's frame: `AutoFromFile.headingRad`, which mirrors
+ * it through the same `alliance(...)` the poses go through, so a file run as the other alliance faces
+ * the other alliance's way.
+ */
+const headingExpr = (rad) => `headingRad(${num(rad)})`;
+/**
+ * A heading reached by turning `turn` from `rad`, in the running alliance's frame: the start through
+ * `headingRad`, the turn through `turnRad`, which keeps its size and reverses it under a reflection.
+ * `turnExpr` is Java, so a range can turn by an expression in t.
+ */
+const turnedExpr = (rad, turnExpr) => turnExpr === null ? headingExpr(rad) : `${headingExpr(rad)} + turnRad(${turnExpr})`;
+/** A point a `facePoint` heading faces, through `alliance(...)` like every other pose. */
+const pointExpr = (dialect, xIn, yIn) => dialect.toPedro(poseExpr({ xIn, yIn, headingRad: 0 }));
+/** Pedro's own interpolator for one range's mode, or a range-local turn for `linear`. */
+function rangeInterpolatorExpr(dialect, range, from, to, localFrom, localTo) {
+    const interpolator = "com.pedropathing.paths.interpolator.Interpolator";
+    const inner = range.heading;
+    switch (inner.mode) {
+        case "tangent":
+            return `${interpolator}.tangent`;
+        case "tangentReversed":
+            return `${interpolator}.tangent.reverse()`;
+        case "constant":
+            return `${interpolator}.constant(${headingExpr(inner.headingRad)})`;
+        case "facePoint":
+            return `${interpolator}.facingPoint(${pointExpr(dialect, inner.xIn, inner.yIn)})`;
+        case "linear": {
+            // Pedro's Interpolator.linear runs over the whole of t, so a range turns over its own stretch
+            // with a small lambda, the short way, as PathBuilder.rangeInterpolator does.
+            const span = range.endT - range.startT;
+            const raw = inner.toRad - inner.fromRad;
+            const wrapped = ((((raw + Math.PI) % (2 * Math.PI)) + 2 * Math.PI) % (2 * Math.PI)) - Math.PI;
+            const at = (fraction) => inner.fromRad + wrapped * (span <= 0 ? 1 : (fraction - range.startT) / span);
+            const start = at(from);
+            const delta = at(to) - start;
+            const localSpan = localTo - localFrom;
+            const progress = `Math.min(1, Math.max(0, (t - ${num(localFrom)}) / ${num(localSpan > 0 ? localSpan : 1)}))`;
+            const already = start - inner.fromRad;
+            const turn = `${Number(num(already)) === 0 ? "" : `${num(already)} + `}${num(delta)} * ${progress}`;
+            return `(curve, t) -> ${turnedExpr(inner.fromRad, turn)}`;
+        }
+    }
+}
+/**
+ * A `piecewise` heading on one segment, clipped to it the way `PathBuilder.piecewiseFor` clips it.
+ * The segment's own t is taken as its arc-length fraction here, which is exact for a line and a close
+ * reading for a curve (the runtime maps through its chord table).
+ */
+function piecewiseExpr(dialect, heading, startFraction, endFraction) {
+    const span = endFraction - startFraction;
+    const pieces = [];
+    let previous = 0;
+    heading.ranges.forEach((range, index) => {
+        const from = Math.max(range.startT, startFraction);
+        const to = Math.min(range.endT, endFraction);
+        if (to <= from && !(span <= 0 && index === heading.ranges.length - 1))
+            return;
+        const localFrom = span <= 0 ? 0 : (from - startFraction) / span;
+        const localTo = span <= 0 ? 1 : (to - startFraction) / span;
+        if (localTo <= previous)
+            return;
+        pieces.push({ end: localTo, expr: rangeInterpolatorExpr(dialect, range, from, to, localFrom, localTo) });
+        previous = localTo;
+    });
+    const last = pieces[pieces.length - 1];
+    if (last !== undefined)
+        last.end = 1;
+    const untils = pieces.map((piece) => `.until(${num(piece.end)}, ${piece.expr})`).join("");
+    return `com.pedropathing.paths.interpolator.Interpolator.piecewise()${untils}`;
+}
+/**
+ * Attaches the step's heading mode to one segment's curve. Mirrors `PedroPaths.withHeading`, with the
+ * heading in the running alliance's frame as `AllianceFrame` puts it there: every heading through
+ * `headingRad`, every turn through `turnRad`, every point through `alliance(...)`.
+ */
+function withHeadingExpr(dialect, curve, heading, startFraction = 0, endFraction = 1) {
+    if (heading === undefined)
+        return curve;
+    switch (heading.mode) {
+        case "piecewise":
+            return `${curve}.heading(${piecewiseExpr(dialect, heading, startFraction, endFraction)})`;
+        case "tangent":
+            return `${curve}.tangent()`;
+        case "tangentReversed":
+            return `${curve}.reverseTangent()`;
+        case "constant":
+            return `${curve}.constant(${headingExpr(heading.headingRad)})`;
+        case "linear": {
+            // One sweep across the whole step, cut into the share this segment owns by arc length, as
+            // PedroPaths.withHeading cuts it, so a two-segment path turns half way by the join. The sweep
+            // is a turn, so the other alliance turns it the mirrored way.
+            const sweep = heading.toRad - heading.fromRad;
+            const turn = (fraction) => {
+                const turned = num(sweep * fraction);
+                return Number(turned) === 0 ? null : turned;
+            };
+            return `${curve}.linear(${turnedExpr(heading.fromRad, turn(startFraction))}, ${turnedExpr(heading.fromRad, turn(endFraction))})`;
+        }
+        case "facePoint":
+            return `${curve}.facingPoint(${pointExpr(dialect, heading.xIn, heading.yIn)})`;
+    }
+}
+/**
+ * A unique, readable method name for a step, so two steps that share an id never collide. Prefixed
+ * with `step` so a step called `drive`, `follower` or `run` cannot shadow a method the class inherits
+ * from `AutoFromFile`, its `AutoContext` or the SDK's OpMode, which would not compile.
+ */
+function methodName(ctx, id) {
+    return uniqueName(ctx, `step${pascalCase(id) || "Unnamed"}`);
+}
+/** `base`, or `base` with the first free number after it, reserved so no later method takes it. */
+function uniqueName(ctx, base) {
+    let candidate = base;
+    let suffix = 2;
+    while (ctx.usedNames.has(candidate)) {
+        candidate = `${base}${String(suffix)}`;
+        suffix += 1;
+    }
+    ctx.usedNames.add(candidate);
+    return candidate;
+}
+function pushLines(ctx, indent, text) {
+    ctx.lines.push(`${indent}${text}`);
+}
+/** True when the step's first segment starts from `"current"`, which the runtime builds when the step starts. */
+function startsFromCurrent(planStep) {
+    return planStep.kind === "path" && planStep.step.segments[0]?.from === "current";
+}
+/**
+ * The body of a path step that starts from `"current"`: `DeferredPath.of`, the runtime's own call for
+ * such a step, which builds the path from the live pose when the step starts by calling `buildName`.
+ * The marker commands are built here, at init, as the runtime builds them, for their requirements.
+ */
+function generateDeferredPathBody(ctx, planStep, buildName, indent) {
+    const step = planStep.step;
+    const markers = (step.markers ?? []).map((marker) => `, ${commandCallExpr(marker.command)}`).join("");
+    pushLines(ctx, indent, `// Starts from "current": built when the step starts, from where the robot is then.`);
+    pushLines(ctx, indent, `return DeferredPath.of(${javaString(planStep.id)}, this, from -> ${buildName}(from)${markers});`);
+}
+/**
+ * True when some number in a path step's Java comes from the step's length, which for a step from
+ * `"current"` is the planned one here and the live one on the robot: a marker anywhere but the start,
+ * or a heading shared out between segments by arc length.
+ */
+function dependsOnLength(step) {
+    // Progress along the path is measured against the segment lengths, so only a marker at its very
+    // start fires in the same place whatever the length.
+    const markers = (step.markers ?? []).some((marker) => !(("t" in marker.at && marker.at.t === 0) || ("distanceIn" in marker.at && marker.at.distanceIn === 0)));
+    const heading = step.heading?.mode === "piecewise" || (step.heading?.mode === "linear" && step.segments.length > 1);
+    return markers || heading;
+}
+/**
+ * Builds the `Command` for a path step's body, as the statements of a private helper method.
+ * `liveFrom` is set for a step from `"current"`: the name of the parameter holding the live pose.
+ */
+function generatePathBody(ctx, planStep, indent, liveFrom) {
+    const step = planStep.step;
+    const segments = planStep.segments ?? [];
+    const curveVars = [];
+    if (liveFrom !== undefined && dependsOnLength(step)) {
+        pushLines(ctx, indent, "// The lengths, marker distances and heading splits below are the planned path's; the runtime measures the live one.");
+    }
+    segments.forEach((segment, index) => {
+        const raw = step.segments[index];
+        if (raw === undefined) {
+            throw new Error(`codegen: step "${planStep.id}" segment ${String(index)} has no source segment; plan() and the file disagree on segment count.`);
+        }
+        const curve = curveExpr(ctx.dialect, raw, segment.fromPose, segment.toPose, index === 0 ? liveFrom : undefined);
+        const breaks = planStep.geometry?.breaks;
+        const total = planStep.geometry?.lengthIn ?? 0;
+        const startFraction = breaks === undefined || total === 0 ? 0 : (breaks[index] ?? 0) / total;
+        const endFraction = breaks === undefined || total === 0 ? 1 : (breaks[index + 1] ?? total) / total;
+        const withHeading = withHeadingExpr(ctx.dialect, curve, step.heading, startFraction, endFraction);
+        const varName = `seg${String(index)}`;
+        pushLines(ctx, indent, `Path ${varName} = ${withHeading};`);
+        curveVars.push(varName);
+    });
+    const pathExpr = curveVars.length === 1 ? curveVars[0] : `Paths.path(${curveVars.join(", ")})`;
+    pushLines(ctx, indent, `Path path = ${pathExpr};`);
+    // No speedFraction in the file means the robot's own default, exactly as AutoBuilder reads it.
+    const speed = step.speedFraction === undefined ? "defaultSpeedFraction()" : num(step.speedFraction);
+    pushLines(ctx, indent, `Command drive = followPath(path, ${speed});`);
+    if (step.endCondition !== undefined) {
+        const until = ctx.dialect.waitUntil(`NamedCommands.condition(${javaString(step.endCondition.condition)})`);
+        pushLines(ctx, indent, `drive = Parallel.race(drive, ${until});`);
+    }
+    const markers = step.markers ?? [];
+    if (markers.length === 0) {
+        pushLines(ctx, indent, "return drive;");
+        return;
+    }
+    const totalLengthIn = planStep.lengthIn;
+    const breaks = planStep.geometry?.breaks ?? [0, totalLengthIn];
+    const segmentLengths = breaks.slice(1).map((end, index) => end - (breaks[index] ?? 0));
+    pushLines(ctx, indent, `double[] segmentLengthsIn = { ${segmentLengths.map(num).join(", ")} };`);
+    pushLines(ctx, indent, "java.util.List<PathMarkers.Marker> markers = new java.util.ArrayList<PathMarkers.Marker>();");
+    for (const marker of markers) {
+        const distanceIn = "t" in marker.at
+            ? marker.at.t * totalLengthIn
+            : "distanceIn" in marker.at
+                ? marker.at.distanceIn
+                : totalLengthIn - marker.at.distanceFromEndIn;
+        pushLines(ctx, indent, `markers.add(new PathMarkers.Marker(${num(distanceIn)}, ${commandCallExpr(marker.command)}));`);
+    }
+    pushLines(ctx, indent, "return PathMarkers.wrap(drive, segmentLengthsIn, markers, this);");
+}
+function generateCommandBody(ctx, planStep, indent) {
+    const step = planStep.step;
+    pushLines(ctx, indent, `return ${commandCallExpr({ name: step.name, args: step.args })};`);
+}
+function generateWaitBody(ctx, planStep, indent) {
+    const step = planStep.step;
+    if (step.until !== undefined) {
+        pushLines(ctx, indent, `return ${ctx.dialect.waitUntil(`NamedCommands.condition(${javaString(step.until)})`)};`);
+        return;
+    }
+    pushLines(ctx, indent, `return new WaitRobotTime(${String(Math.round((step.seconds ?? 0) * 1000))}, this);`);
+}
+function generateParallelBody(ctx, planStep, indent) {
+    const step = planStep.step;
+    const children = planStep.children ?? [];
+    pushLines(ctx, indent, "java.util.List<Command> members = new java.util.ArrayList<Command>();");
+    let deadlineVar = null;
+    for (const child of children) {
+        const name = stepCall(ctx, child);
+        const varName = `m_${camelCase(child.id)}`;
+        const memberVar = `member_${camelCase(child.id)}`;
+        pushLines(ctx, indent, `Command ${varName} = ${name}();`);
+        // The wrapped command is hoisted into its own local exactly once, then both added to members
+        // and (when this is the deadline child) reused as `deadline` — the same object, not a second
+        // `step(...)` call building a fresh wrapper WPILib would reject as "added to more than one
+        // CommandGroup" (finding 7).
+        pushLines(ctx, indent, `Command ${memberVar} = step(${javaString(child.id)}, ${varName});`);
+        pushLines(ctx, indent, `members.add(${memberVar});`);
+        if (child.id === step.deadline)
+            deadlineVar = memberVar;
+    }
+    if (step.mode === "all") {
+        pushLines(ctx, indent, "return Parallel.all(members.toArray(new Command[0]));");
+    }
+    else if (step.mode === "race") {
+        pushLines(ctx, indent, "return Parallel.race(members.toArray(new Command[0]));");
+    }
+    else {
+        if (deadlineVar === null) {
+            // Silently falling back to members.get(0) would run the group against a deadline the auto
+            // file never named, disagreeing with whatever packages/core's estimator assumed (finding 6);
+            // failing loudly here, naming the step, is the only sound choice codegen can make on its own.
+            const names = children.map((child) => child.id).join(", ") || "(no children)";
+            throw new Error(`codegen: parallel step ${javaString(planStep.id)} has mode "deadline" but its deadline ` +
+                `(${JSON.stringify(step.deadline ?? null)}) names no direct child; it must be one of: ${names}.`);
+        }
+        pushLines(ctx, indent, `Command deadline = ${deadlineVar};`);
+        pushLines(ctx, indent, "members.remove(deadline);");
+        pushLines(ctx, indent, "return Parallel.deadline(deadline, members.toArray(new Command[0]));");
+    }
+}
+/**
+ * A `sequence` step is a `SequentialCommandGroup` (on Ivy, the runtime's `Sequence`) of its members, each wrapped in `step(...)` like
+ * the top level's, so the trace names every member and a timeout on a member still applies.
+ */
+function generateSequenceBody(ctx, planStep, indent) {
+    const names = (planStep.children ?? []).map((child) => {
+        const name = stepCall(ctx, child);
+        return `step(${javaString(child.id)}, ${name}())`;
+    });
+    pushLines(ctx, indent, `return new ${ctx.dialect.sequenceClass}(${names.join(", ")});`);
+}
+function generateBranchBody(ctx, planStep, indent) {
+    const step = planStep.step;
+    const children = planStep.children ?? [];
+    // `resolve()` lays a branch's children out as [...then, ...else] in file order
+    // (packages/core/src/resolve.ts), so a slice by count is exact where matching by id would miss a step with no
+    // explicit id (resolve gives those an auto id that does not appear in the raw file at all).
+    const thenSteps = children.slice(0, step.then.length);
+    const elseSteps = children.slice(step.then.length, step.then.length + (step.else?.length ?? 0));
+    const sequence = (label, steps) => {
+        if (steps.length === 0)
+            return ctx.dialect.emptyArm;
+        const names = steps.map((child) => {
+            const name = stepCall(ctx, child);
+            return `step(${javaString(child.id)}, ${name}())`;
+        });
+        pushLines(ctx, indent, `Command ${label} = new ${ctx.dialect.sequenceClass}(${names.join(", ")});`);
+        return label;
+    };
+    const thenVar = sequence("thenBranch", thenSteps);
+    const elseVar = step.else === undefined ? ctx.dialect.emptyArm : sequence("elseBranch", elseSteps);
+    pushLines(ctx, indent, `return ${ctx.dialect.branch(thenVar, elseVar, `NamedCommands.condition(${javaString(step.condition)})`)};`);
+}
+/**
+ * Generates one step's private helper method (recursing into `sequence`, `parallel` and `branch`
+ * children first).
+ */
+function generateStepMethod(ctx, planStep) {
+    const name = methodName(ctx, planStep.id);
+    const body = [];
+    const inner = { ...ctx, lines: body };
+    const indent = INDENT + INDENT;
+    // A step from "current" also gets the method that builds its path, written after its own.
+    let buildMethod;
+    switch (planStep.kind) {
+        case "path":
+            if (startsFromCurrent(planStep)) {
+                const buildName = uniqueName(ctx, `${name}From`);
+                ctx.deferred.used = true;
+                generateDeferredPathBody(inner, planStep, buildName, indent);
+                const buildBody = [];
+                generatePathBody({ ...inner, lines: buildBody }, planStep, indent, "from");
+                buildMethod = [
+                    `${INDENT}private Command ${buildName}(${ctx.dialect.poseType} from) {`,
+                    ...buildBody,
+                    `${INDENT}}`,
+                ].join("\n");
+            }
+            else {
+                generatePathBody(inner, planStep, indent);
+            }
+            break;
+        case "command":
+            generateCommandBody(inner, planStep, indent);
+            break;
+        case "wait":
+            generateWaitBody(inner, planStep, indent);
+            break;
+        case "sequence":
+            generateSequenceBody(inner, planStep, indent);
+            break;
+        case "parallel":
+            generateParallelBody(inner, planStep, indent);
+            break;
+        case "branch":
+            generateBranchBody(inner, planStep, indent);
+            break;
+    }
+    const method = [
+        `${INDENT}private Command ${name}() {`,
+        ...body,
+        `${INDENT}}`,
+    ];
+    ctx.helpers.push(method.join("\n"));
+    if (buildMethod !== undefined)
+        ctx.helpers.push(buildMethod);
+    return name;
+}
+/** Generates a step's method, wraps it in `RobotTimeout` when it has a `timeoutS`, and returns the
+ * name of the method to call for its finished command (with or without the timeout wrapper). */
+function stepCall(ctx, planStep) {
+    const innerName = generateStepMethod(ctx, planStep);
+    const timeoutS = planStep.step.timeoutS;
+    if (timeoutS === undefined)
+        return innerName;
+    const wrapperName = uniqueName(ctx, `${innerName}WithTimeout`);
+    ctx.helpers.push([
+        `${INDENT}private Command ${wrapperName}() {`,
+        `${INDENT}${INDENT}return RobotTimeout.of(${innerName}(), ${num(timeoutS)}, this);`,
+        `${INDENT}}`,
+    ].join("\n"));
+    return wrapperName;
+}
+/** Renders the full generated class. Pure: every input is the plan's own numbers. */
+export function generateAutoJava(plan, options) {
+    const className = `${pascalCase(plan.auto.name)}Generated`;
+    const dialect = DIALECTS[options.commandLibrary];
+    const ctx = { lines: [], helpers: [], usedNames: new Set(), dialect, deferred: { used: false } };
+    const topCalls = plan.steps.map((planStep) => {
+        const called = stepCall(ctx, planStep);
+        return `${INDENT}${INDENT}${INDENT}step(${javaString(planStep.id)}, ${called}())`;
+    });
+    const startPoseLine = `${INDENT}${INDENT}return ${poseExpr(plan.startPose)};`;
+    const lines = [
+        `/** GENERATED by zenith from ${options.sourcePath} (sha ${options.shaHex}). Do not edit; edit the file. */`,
+        "",
+        `package ${options.packageName};`,
+        "",
+        ...dialect.imports.filter((line) => ctx.deferred.used || !line.endsWith(".DeferredPath;")),
+        "",
+        "/**",
+        ` * GENERATED by zenith from ${options.sourcePath} (sha ${options.shaHex}). Do not edit; edit the file.`,
+        " *",
+        " * Reads as the plan: one private method per step, called in file order from buildRoutine().",
+        " * Abstract, and never referenced by an {@code @Autonomous} OpMode; {@code zenith deploy} writes the",
+        " * class that actually runs on the robot.",
+        " */",
+        `public abstract class ${className} extends AutoFromFile {`,
+        "",
+        `${INDENT}@Override`,
+        `${INDENT}protected ${dialect.poseType} startPose() {`,
+        startPoseLine,
+        `${INDENT}}`,
+        "",
+        `${INDENT}@Override`,
+        `${INDENT}protected Command buildRoutine() {`,
+        `${INDENT}${INDENT}return new ${dialect.sequenceClass}(`,
+        topCalls.join(",\n"),
+        `${INDENT}${INDENT});`,
+        `${INDENT}}`,
+        "",
+        `${INDENT}private static ${dialect.poseType} pose(double xIn, double yIn, double headingRad) {`,
+        `${INDENT}${INDENT}return ${dialect.newPose};`,
+        `${INDENT}}`,
+        "",
+        ctx.helpers.join("\n\n"),
+        "}",
+    ];
+    return `${lines.join("\n")}\n`;
+}
+//# sourceMappingURL=javaCodegen.js.map

package/dist/javaCodegen.js.map

@@ -0,0 +1 @@
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package/dist/launcher.d.ts

@@ -0,0 +1,39 @@
+/** A sim command that cannot be launched, with a message written for the person running it. */
+export declare class LauncherError extends Error {
+    constructor(message: string);
+}
+/** What a missing tool is, so the message can say what to install. */
+export declare class MissingToolError extends LauncherError {
+    readonly tool: "java" | "gradle" | "command";
+    constructor(tool: "java" | "gradle" | "command", message: string);
+}
+export interface SimLaunch {
+    /** The executable, absolute where Zenith resolved it. */
+    file: string;
+    args: string[];
+    /** The command as the team wrote it, with `{auto}` filled in, for a progress header. */
+    display: string;
+}
+/** The host facts the launcher depends on, so tests can play Windows on Linux and the reverse. */
+export interface Platform {
+    platform: NodeJS.Platform;
+    env: NodeJS.ProcessEnv;
+    exists: (path: string) => boolean;
+}
+export declare const hostPlatform: () => Platform;
+/** The `java` executable Gradle would use: `JAVA_HOME` first, then the `PATH`. */
+export declare function findJava(host?: Platform): string;
+/**
+ * Gradle skips a test task whose inputs have not changed since it last passed, and then no trace is
+ * written: running the sim again on an unchanged auto would only ever report a stale trace. Gradle's
+ * built-in `--rerun` task option (Gradle 7.6 and later) runs the task regardless. It is added last,
+ * where it binds to the command's last task, unless the command already forces a rerun itself.
+ */
+export declare function withRerun(args: readonly string[]): string[];
+/**
+ * Turns the command's argv into something `spawn` can start with `shell: false` on this platform,
+ * and fails with a plain-language `LauncherError` when the tool it needs is missing or the command
+ * cannot be started safely.
+ */
+export declare function resolveLauncher(argv: readonly string[], root: string, host?: Platform): SimLaunch;
+//# sourceMappingURL=launcher.d.ts.map

package/dist/launcher.d.ts.map

@@ -0,0 +1 @@
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