@horizon36596/zenith-core 0.1.1

package/dist/mirror.d.ts

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+import { type Auto, type Field, type Pose, type Waypoints } from "@horizon36596/zenith-schema";
+import type { Vec2 } from "./geometry/vec.js";
+/**
+ * Mirroring a routine to the other alliance, the way `field.json` declares the field is symmetric
+ * (`alliances.mirror`). BIOBUZZ, like most FTC games, is point symmetric about the field centre.
+ *
+ * Every mode is its own inverse: mirroring twice gives the document back, which is the property the
+ * editor's "flip alliance" button rests on and what `05` section 6 asks to be tested.
+ *
+ * A pose that lives in `waypoints.json` is a special case. There is one set of waypoints, in the
+ * canonical alliance's frame, and the robot runtime resolves a reference to those numbers and then
+ * mirrors the pose only when the file's alliance is not the one it is running as. So a mirrored
+ * file that kept `{ "ref": "a" }` would drive to `a` itself, where the routine run as the other
+ * alliance drives to the mirror of `a`. `mirrorAuto` therefore writes a referenced pose out as the
+ * mirrored numbers when it is given the waypoints, which is what a caller saving the result must do.
+ */
+export type MirrorMode = "pointSymmetry" | "mirrorX" | "mirrorY" | "none";
+/**
+ * The symmetry this field declares between the two alliances. `field.json` is the only place that
+ * says it, and every renderer asks here rather than assuming point symmetry.
+ */
+export declare const mirrorForField: (field: Field) => MirrorMode;
+/**
+ * Whether a routine has to be mirrored to be drawn for `viewAlliance`.
+ *
+ * A file's poses are in the frame of the file's own `alliance` (site/docs/file-format.md), so the
+ * rule is the robot runtime's (`AutoFile.mirrorsInto`): mirror if and only if the alliance being
+ * viewed is not the file's. A BLUE file viewed as BLUE is drawn as it is, where the robot running it
+ * as BLUE drives; viewed as RED it is mirrored. `field.frame.canonicalAlliance` plays no part: it
+ * says which alliance the field file's own rules (`startRules`) are written for, not which frame a
+ * file is in. The field itself, its picture and its obstacles, is never mirrored.
+ *
+ * `render` and the editor's canvas both ask this one function, which is what keeps the SVG and the
+ * canvas drawing the same file the same way. A caller that draws a mirrored view has to put every
+ * point it writes back through the same mirror (every kind is its own inverse), so what is drawn
+ * is what is stored.
+ *
+ * `viewAlliance` is what a caller is asking to see; omit it to mean the routine's own alliance.
+ */
+export declare function shouldMirror(auto: Auto, field: Field, viewAlliance?: Auto["alliance"]): boolean;
+/** `mirrorX` reflects across the x axis, so y changes sign; `mirrorY` reflects across the y axis. */
+export declare function mirrorVec(point: Vec2, mode: MirrorMode): Vec2;
+/**
+ * The mirrored heading, and its own inverse: mirroring twice gives back the exact number the file
+ * carried, for every heading canonical form can write, half turns included.
+ *
+ * The one value that cannot round-trip is a heading at exactly +/-pi in full double precision, which
+ * is the same pose either way and which four-decimal canonical form never writes.
+ */
+export declare function mirrorHeadingRad(headingRad: number, mode: MirrorMode): number;
+/** The mirrored pose, keeping the provenance: the number came from the same place either way. */
+export declare function mirrorPose(pose: Pose, mode: MirrorMode): Pose;
+/**
+ * +1 when a mirror keeps the way a turn goes, -1 when it reverses it. A point symmetry is a half
+ * turn of the whole field, so a counter-clockwise turn stays counter-clockwise; a reflection makes
+ * it clockwise.
+ */
+export declare function mirrorTurnSign(mode: MirrorMode): 1 | -1;
+/** The other alliance's name for a field id; `null` when there is none. */
+export type MirrorIds = (id: string) => string | null;
+/**
+ * The same routine for the other alliance: every pose mirrored and the alliance flipped. Mirroring
+ * twice gives the document back, byte for byte, when the document names no waypoint or no
+ * `waypoints` is passed.
+ *
+ * `waypoints` is the project's `waypoints.json`, and a caller that is going to write the result out
+ * has to pass it too. With it, every `{ "ref": name }` pose is written as the mirrored numbers of
+ * that waypoint, so the saved file drives where the robot runtime drives the original run as the
+ * other alliance (the module comment says why a kept reference would not). That step is one way: the
+ * reference does not come back when the result is mirrored again. Left out, references are carried
+ * across unchanged, which is only safe for a result that is never saved or run. A name missing from
+ * `waypoints` is refused.
+ *
+ * `mirrorId` is the season's `SeasonRules.mirrorId` hook, and a caller that is going to write the
+ * result out has to pass it: a step's `expect.collectFrom` and `expect.launchesInto` name field
+ * elements by id, and `hiveRedUpCell` means the RED hive whichever alliance the file claims. Left
+ * out, those ids are carried across unchanged, which is only safe for a preview that never reads
+ * them back — the editor's "mirror to the other alliance" is a view toggle and does exactly that.
+ */
+export declare function mirrorAuto(auto: Auto, mode?: MirrorMode, mirrorId?: MirrorIds, waypoints?: Waypoints): Auto;
+//# sourceMappingURL=mirror.d.ts.map

package/dist/mirror.d.ts.map

@@ -0,0 +1 @@
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package/dist/mirror.js

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+import { childLists, withChildLists, } from "@horizon36596/zenith-schema";
+import { wrapAngle } from "./geometry/angle.js";
+/**
+ * The symmetry this field declares between the two alliances. `field.json` is the only place that
+ * says it, and every renderer asks here rather than assuming point symmetry.
+ */
+export const mirrorForField = (field) => field.frame.mirror;
+/**
+ * Whether a routine has to be mirrored to be drawn for `viewAlliance`.
+ *
+ * A file's poses are in the frame of the file's own `alliance` (site/docs/file-format.md), so the
+ * rule is the robot runtime's (`AutoFile.mirrorsInto`): mirror if and only if the alliance being
+ * viewed is not the file's. A BLUE file viewed as BLUE is drawn as it is, where the robot running it
+ * as BLUE drives; viewed as RED it is mirrored. `field.frame.canonicalAlliance` plays no part: it
+ * says which alliance the field file's own rules (`startRules`) are written for, not which frame a
+ * file is in. The field itself, its picture and its obstacles, is never mirrored.
+ *
+ * `render` and the editor's canvas both ask this one function, which is what keeps the SVG and the
+ * canvas drawing the same file the same way. A caller that draws a mirrored view has to put every
+ * point it writes back through the same mirror (every kind is its own inverse), so what is drawn
+ * is what is stored.
+ *
+ * `viewAlliance` is what a caller is asking to see; omit it to mean the routine's own alliance.
+ */
+export function shouldMirror(auto, field, viewAlliance) {
+    if (mirrorForField(field) === "none")
+        return false;
+    return (viewAlliance ?? auto.alliance) !== auto.alliance;
+}
+/** `mirrorX` reflects across the x axis, so y changes sign; `mirrorY` reflects across the y axis. */
+export function mirrorVec(point, mode) {
+    switch (mode) {
+        case "pointSymmetry":
+            return { xIn: -point.xIn, yIn: -point.yIn };
+        case "mirrorX":
+            return { xIn: point.xIn, yIn: -point.yIn };
+        case "mirrorY":
+            return { xIn: -point.xIn, yIn: point.yIn };
+        default:
+            return { xIn: point.xIn, yIn: point.yIn };
+    }
+}
+/**
+ * How far past the (-pi, pi] boundary a heading may sit and still be read as the half turn it is.
+ *
+ * Canonical form rounds radians to four decimals, so a half turn is written 3.1416 or -3.1416, both
+ * a hair outside the interval. Wrapping one of those to the other side is what stopped mirroring
+ * twice from giving the document back: the pose was right and the bytes were not. Half of the last
+ * canonical digit is far more than the 7.4e-6 involved and far less than anything a heading means.
+ */
+const HALF_TURN_TOLERANCE_RAD = 5e-5;
+const inCanonicalRange = (rad) => rad > -Math.PI - HALF_TURN_TOLERANCE_RAD && rad <= Math.PI + HALF_TURN_TOLERANCE_RAD;
+/**
+ * A half turn from `rad`: the same angle either way round, so the one that stays inside the
+ * canonical range is chosen, and `preferNegative` decides when both do.
+ *
+ * Both do exactly when `rad` is a hair either side of zero, whose two half-turn partners are the
+ * two spellings of a half turn, +3.1416 and -3.1416. Which one to write back is the whole question
+ * this function exists to answer: picking by the side of zero the caller came from is what makes
+ * mirroring its own inverse there, rather than turning every half turn positive.
+ */
+function halfTurn(rad, preferNegative) {
+    const up = rad + Math.PI;
+    const down = rad - Math.PI;
+    const upFits = inCanonicalRange(up);
+    const downFits = inCanonicalRange(down);
+    if (upFits && downFits)
+        return preferNegative ? down : up;
+    if (upFits)
+        return up;
+    if (downFits)
+        return down;
+    // A heading written far outside the canonical range; there is no spelling to preserve.
+    return wrapAngle(up);
+}
+/** Negation without producing -0, which canonical form would write as 0 anyway. */
+const negate = (rad) => (rad === 0 ? 0 : -rad);
+/**
+ * The mirrored heading, and its own inverse: mirroring twice gives back the exact number the file
+ * carried, for every heading canonical form can write, half turns included.
+ *
+ * The one value that cannot round-trip is a heading at exactly +/-pi in full double precision, which
+ * is the same pose either way and which four-decimal canonical form never writes.
+ */
+export function mirrorHeadingRad(headingRad, mode) {
+    switch (mode) {
+        case "pointSymmetry":
+            return halfTurn(headingRad, headingRad < 0);
+        case "mirrorX":
+            // Reflecting across the x axis is exact negation, which is its own inverse for every value,
+            // boundary included. Wrapping the result is what broke that at -pi.
+            return negate(headingRad);
+        case "mirrorY":
+            // Reflecting across the y axis is pi - h, which is the negation taken a half turn round.
+            return halfTurn(negate(headingRad), headingRad > 0);
+        default:
+            // "none": the field declares no symmetry, so the heading is the heading.
+            return headingRad;
+    }
+}
+/** The mirrored pose, keeping the provenance: the number came from the same place either way. */
+export function mirrorPose(pose, mode) {
+    const point = mirrorVec(pose, mode);
+    return {
+        ...pose,
+        xIn: point.xIn,
+        yIn: point.yIn,
+        ...(pose.headingRad === undefined ? {} : { headingRad: mirrorHeadingRad(pose.headingRad, mode) }),
+    };
+}
+/**
+ * A pose source for the other alliance. A waypoint reference becomes the mirrored waypoint's numbers
+ * when `waypoints` is given, and is left as it is when not; see the module comment.
+ */
+function mirrorSource(source, mode, waypoints) {
+    if (source === "current")
+        return source;
+    if (!("ref" in source))
+        return mirrorPose(source, mode);
+    if (waypoints === undefined)
+        return source;
+    const waypoint = waypoints.waypoints[source.ref];
+    if (waypoint === undefined) {
+        throw new Error(`This routine cannot be mirrored: it names the waypoint ${JSON.stringify(source.ref)}, which is not in waypoints.json.`);
+    }
+    return mirrorPose({ xIn: waypoint.xIn, yIn: waypoint.yIn, headingRad: waypoint.headingRad }, mode);
+}
+const mirrorSegment = (segment, mode, waypoints) => segment.kind === "bezier"
+    ? {
+        ...segment,
+        from: mirrorSource(segment.from, mode, waypoints),
+        control: segment.control.map((point) => mirrorPose(point, mode)),
+        to: mirrorSource(segment.to, mode, waypoints),
+    }
+    : {
+        ...segment,
+        from: mirrorSource(segment.from, mode, waypoints),
+        to: mirrorSource(segment.to, mode, waypoints),
+    };
+/**
+ * The other alliance's name for a field id, from the season's `mirrorId` hook.
+ *
+ * Mirroring is refused rather than guessed: an id with no counterpart would leave a BLUE routine
+ * expecting to launch into the RED hive, and LEGAL_APPROACH, TURRET_RANGE and the ledger would all
+ * then be about the wrong side of the field.
+ */
+function mirrorExpect(step, mirrorId) {
+    const expected = step.expect;
+    if (expected === undefined || mirrorId === undefined)
+        return expected;
+    const other = (id) => {
+        if (id === undefined)
+            return undefined;
+        const mapped = mirrorId(id);
+        if (mapped === null) {
+            throw new Error(`This routine cannot be mirrored: ${JSON.stringify(id)} has no counterpart on the other alliance.`);
+        }
+        return mapped;
+    };
+    return {
+        ...expected,
+        ...(expected.collectFrom === undefined ? {} : { collectFrom: other(expected.collectFrom) }),
+        ...(expected.launchesInto === undefined ? {} : { launchesInto: other(expected.launchesInto) }),
+    };
+}
+function mirrorStep(step, mode, mirrorId, waypoints) {
+    switch (step.kind) {
+        case "path": {
+            // Markers are placed by t or by distance along the path, so they mirror with it untouched.
+            const heading = step.heading;
+            const expected = mirrorExpect(step, mirrorId);
+            return {
+                ...step,
+                segments: step.segments.map((segment) => mirrorSegment(segment, mode, waypoints)),
+                ...(heading === undefined ? {} : { heading: mirrorHeading(heading, mode) }),
+                ...(expected === undefined ? {} : { expect: expected }),
+            };
+        }
+        case "command": {
+            const expected = mirrorExpect(step, mirrorId);
+            return expected === undefined ? step : { ...step, expect: expected };
+        }
+        case "sequence":
+        case "parallel":
+        case "branch":
+            return withChildLists(step, childLists(step).map((list) => list.map((child) => mirrorStep(child, mode, mirrorId, waypoints))));
+        default:
+            return step;
+    }
+}
+/**
+ * +1 when a mirror keeps the way a turn goes, -1 when it reverses it. A point symmetry is a half
+ * turn of the whole field, so a counter-clockwise turn stays counter-clockwise; a reflection makes
+ * it clockwise.
+ */
+export function mirrorTurnSign(mode) {
+    return mode === "mirrorX" || mode === "mirrorY" ? -1 : 1;
+}
+const TWO_PI = Math.PI * 2;
+/**
+ * The mirrored end of a `linear` sweep. The sweep `toRad - fromRad` is what the robot shares out
+ * between segments (`linearHeadingPieces`), so it has to survive the mirror with its size and with
+ * its direction turned by `mirrorTurnSign`. Mirroring each end on its own keeps both in the
+ * canonical range, which moves the sweep by a whole turn whenever the two ends wrap differently:
+ * a 270 degree sweep split over two segments then turned 90 degrees the other way on the other
+ * alliance. So the end is the mirrored heading moved by whole turns until the sweep is right, which
+ * leaves it untouched, and the file unchanged, whenever the two already agree.
+ */
+function mirrorSweepEnd(heading, fromRad, mode) {
+    const toRad = mirrorHeadingRad(heading.toRad, mode);
+    const sweep = mirrorTurnSign(mode) * (heading.toRad - heading.fromRad);
+    const turns = Math.round((sweep - (toRad - fromRad)) / TWO_PI);
+    return turns === 0 ? toRad : toRad + turns * TWO_PI;
+}
+function mirrorHeading(heading, mode) {
+    switch (heading.mode) {
+        case "constant":
+            return { ...heading, headingRad: mirrorHeadingRad(heading.headingRad, mode) };
+        case "linear": {
+            const fromRad = mirrorHeadingRad(heading.fromRad, mode);
+            return { ...heading, fromRad, toRad: mirrorSweepEnd(heading, fromRad, mode) };
+        }
+        case "facePoint": {
+            const point = mirrorVec({ xIn: heading.xIn, yIn: heading.yIn }, mode);
+            // The offset is measured from the line to the point, so it survives the mirror unchanged
+            // under point symmetry and changes sign under a reflection.
+            return {
+                ...heading,
+                xIn: point.xIn,
+                yIn: point.yIn,
+                ...(heading.offsetRad === undefined || mode === "pointSymmetry" || mode === "none"
+                    ? {}
+                    : { offsetRad: -heading.offsetRad }),
+            };
+        }
+        case "piecewise":
+            // The ranges are fractions of the path, which the mirror keeps; only their headings move.
+            return {
+                ...heading,
+                ranges: heading.ranges.map((range) => ({
+                    ...range,
+                    heading: mirrorHeading(range.heading, mode),
+                })),
+            };
+        default:
+            // `tangent` and `tangentReversed` follow the mirrored path on their own.
+            return heading;
+    }
+}
+/**
+ * The same routine for the other alliance: every pose mirrored and the alliance flipped. Mirroring
+ * twice gives the document back, byte for byte, when the document names no waypoint or no
+ * `waypoints` is passed.
+ *
+ * `waypoints` is the project's `waypoints.json`, and a caller that is going to write the result out
+ * has to pass it too. With it, every `{ "ref": name }` pose is written as the mirrored numbers of
+ * that waypoint, so the saved file drives where the robot runtime drives the original run as the
+ * other alliance (the module comment says why a kept reference would not). That step is one way: the
+ * reference does not come back when the result is mirrored again. Left out, references are carried
+ * across unchanged, which is only safe for a result that is never saved or run. A name missing from
+ * `waypoints` is refused.
+ *
+ * `mirrorId` is the season's `SeasonRules.mirrorId` hook, and a caller that is going to write the
+ * result out has to pass it: a step's `expect.collectFrom` and `expect.launchesInto` name field
+ * elements by id, and `hiveRedUpCell` means the RED hive whichever alliance the file claims. Left
+ * out, those ids are carried across unchanged, which is only safe for a preview that never reads
+ * them back — the editor's "mirror to the other alliance" is a view toggle and does exactly that.
+ */
+export function mirrorAuto(auto, mode = "pointSymmetry", mirrorId, waypoints) {
+    return {
+        ...auto,
+        alliance: auto.alliance === "RED" ? "BLUE" : "RED",
+        start: {
+            ...auto.start,
+            // A start pose is a waypoint reference or a pose, never "current", and mirroring keeps it one
+            // of those two, so the result is still a start pose.
+            pose: mirrorSource(auto.start.pose, mode, waypoints),
+        },
+        steps: auto.steps.map((step) => mirrorStep(step, mode, mirrorId, waypoints)),
+    };
+}
+//# sourceMappingURL=mirror.js.map

package/dist/mirror.js.map

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

@@ -0,0 +1,29 @@
+import type { Field, Robot } from "@horizon36596/zenith-schema";
+import type { ResolvedAuto } from "./resolve.js";
+import type { Plan, PlanStep } from "./types.js";
+export interface PlanOptions {
+    /** Distance between footprint samples along a path, in inches. The spec's default is 2. */
+    sampleSpacingIn?: number;
+    /** Which footprint box to sweep. The checks use the expanded one. */
+    footprint?: "startIn" | "expandedIn";
+    /**
+     * Reuse the geometry of a step that has not structurally changed. On by default: dragging one
+     * waypoint in the editor replans one step and hands back the rest, which is what keeps the
+     * checks under a frame. Turn it off to measure the cold cost of planning.
+     */
+    memoize?: boolean;
+}
+/** Forgets every memoised step, for a caller that has edited a robot or field file in place. */
+export declare function clearPlanCache(): void;
+/**
+ * Turns a resolved auto into per-step geometry: the samples every 2 in of arc (plus the endpoints
+ * and every segment boundary) with the pose, the heading and the footprint at each
+ * (site/docs/paths-explained.md).
+ *
+ * Pure and deterministic: the same files always give the same samples, so the CLI, the editor and
+ * a reviewer see the same answer.
+ */
+export declare function plan(resolved: ResolvedAuto, robot: Robot, field: Field, options?: PlanOptions): Plan;
+/** Every step of a plan, parallel and branch children included, in order. */
+export declare function flattenSteps(steps: readonly PlanStep[]): PlanStep[];
+//# sourceMappingURL=plan.d.ts.map

package/dist/plan.d.ts.map

@@ -0,0 +1 @@
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package/dist/plan.js

@@ -0,0 +1,159 @@
+import { footprintAt } from "./footprint.js";
+import { makePath, sampleDistances, SAMPLE_SPACING_IN } from "./geometry/path.js";
+import { headingFunction } from "./heading.js";
+/**
+ * The memo of planned steps, keyed on the robot (footprints depend on it) and then on the step's
+ * structure. Planning is pure, so a step whose geometry, heading and start pose are unchanged has
+ * the same samples as last time; sweeping the footprint is the expensive part and this is what
+ * makes an edit cost one step rather than the whole routine.
+ *
+ * A hit hands back the same `PlanStep` object, so a plan's steps are to be read and not written to.
+ * The per-robot map is bounded, because an editor session drags a waypoint hundreds of times and
+ * every drag is a new key.
+ */
+const MEMO_LIMIT = 1024;
+const memo = new WeakMap();
+/** The structure a planned step depends on, as a string; a miss costs a replan and nothing worse. */
+const identityOf = (step) => ({
+    id: step.id,
+    kind: step.kind,
+    step: step.step,
+    startPose: step.startPose,
+    endPose: step.endPose,
+    segments: step.segments?.map((segment) => segment.pointsIn),
+    children: step.children?.map(identityOf),
+});
+/**
+ * A WeakMap cannot be emptied, so every key carries this number and raising it makes the next
+ * lookup miss for every robot.
+ */
+let cacheEpoch = 0;
+/** Forgets every memoised step, for a caller that has edited a robot or field file in place. */
+export function clearPlanCache() {
+    cacheEpoch += 1;
+}
+/**
+ * Turns a resolved auto into per-step geometry: the samples every 2 in of arc (plus the endpoints
+ * and every segment boundary) with the pose, the heading and the footprint at each
+ * (site/docs/paths-explained.md).
+ *
+ * Pure and deterministic: the same files always give the same samples, so the CLI, the editor and
+ * a reviewer see the same answer.
+ */
+export function plan(resolved, robot, field, options = {}) {
+    const spacingIn = options.sampleSpacingIn ?? SAMPLE_SPACING_IN;
+    const which = options.footprint ?? "expandedIn";
+    const findings = [...resolved.findings];
+    const perRobot = memo.get(robot) ?? new Map();
+    memo.set(robot, perRobot);
+    const staticSample = (pose) => {
+        const footprint = footprintAt(pose, robot, which);
+        return { sIn: 0, t: 0, pose, footprintIn: footprint.bodyIn, mouthsIn: footprint.mouthsIn };
+    };
+    const planned = (step) => {
+        if (step.kind === "path" && step.segments !== undefined && step.segments.length > 0) {
+            const geometry = makePath(step.segments.map((segment) => segment.pointsIn));
+            const heading = step.step.kind === "path" ? step.step.heading : undefined;
+            if (heading === undefined) {
+                findings.push({
+                    severity: "error",
+                    stepId: step.id,
+                    code: "HEADING_MISSING",
+                    message: "A path step needs a heading mode: Pedro throws at run time without an interpolator.",
+                });
+            }
+            // With no mode declared, hold the heading the step started at so the footprint sweep still
+            // means something; the HEADING_MISSING error above is what stops the file being valid.
+            const headingAt = heading === undefined
+                ? () => step.startPose.headingRad
+                : headingFunction(heading, geometry);
+            const samples = [];
+            for (const sIn of sampleDistances(geometry, spacingIn)) {
+                const t = geometry.tAtDistance(sIn);
+                const point = geometry.pointAtDistance(sIn);
+                const pose = { xIn: point.xIn, yIn: point.yIn, headingRad: headingAt(t) };
+                const footprint = footprintAt(pose, robot, which);
+                samples.push({
+                    sIn,
+                    t,
+                    pose,
+                    footprintIn: footprint.bodyIn,
+                    mouthsIn: footprint.mouthsIn,
+                });
+            }
+            const last = samples[samples.length - 1];
+            const endPose = last === undefined ? step.endPose : last.pose;
+            return {
+                id: step.id,
+                kind: step.kind,
+                step: step.step,
+                startPose: samples[0]?.pose ?? step.startPose,
+                endPose,
+                lengthIn: geometry.lengthIn,
+                samples,
+                geometry,
+                segments: step.segments,
+            };
+        }
+        if (step.children !== undefined) {
+            const children = step.children.map(planStep);
+            return {
+                id: step.id,
+                kind: step.kind,
+                step: step.step,
+                startPose: step.startPose,
+                endPose: step.endPose,
+                lengthIn: children.reduce((sum, child) => sum + child.lengthIn, 0),
+                samples: [],
+                children,
+            };
+        }
+        return {
+            id: step.id,
+            kind: step.kind,
+            step: step.step,
+            startPose: step.startPose,
+            endPose: step.endPose,
+            lengthIn: 0,
+            samples: [staticSample(step.startPose)],
+        };
+    };
+    const planStep = (step) => {
+        if (options.memoize === false)
+            return planned(step);
+        const key = `${String(cacheEpoch)}|${which}|${String(spacingIn)}|${JSON.stringify(identityOf(step))}`;
+        const hit = perRobot.get(key);
+        if (hit !== undefined) {
+            findings.push(...hit.findings);
+            return hit.step;
+        }
+        const before = findings.length;
+        const fresh = planned(step);
+        perRobot.set(key, { step: fresh, findings: findings.slice(before) });
+        if (perRobot.size > MEMO_LIMIT) {
+            const oldest = perRobot.keys().next();
+            if (oldest.done !== true)
+                perRobot.delete(oldest.value);
+        }
+        return fresh;
+    };
+    return {
+        auto: resolved.auto,
+        robot,
+        field,
+        startPose: resolved.startPose,
+        steps: resolved.steps.map(planStep),
+        findings,
+    };
+}
+/** Every step of a plan, parallel and branch children included, in order. */
+export function flattenSteps(steps) {
+    const out = [];
+    for (const step of steps) {
+        out.push(step);
+        if (step.children !== undefined)
+            out.push(...flattenSteps(step.children));
+    }
+    return out;
+}
+//# sourceMappingURL=plan.js.map

package/dist/plan.js.map

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package/dist/prBody.d.ts

@@ -0,0 +1,24 @@
+import type { Auto } from "@horizon36596/zenith-schema";
+import type { Estimate, Finding, LedgerRow } from "./types.js";
+/**
+ * The pull request body of site/docs/github.md: the name, what the
+ * routine does, the committed render, a table of steps with their estimates and strafe, the totals
+ * against the autonomous period, the ledger at the end and whether the simulator was run.
+ *
+ * It is built in core rather than in the CLI or the GitHub client so that `zenith propose`, the
+ * editor's Propose button and the review bot all write the same body, and so that the body can be
+ * tested without a network.
+ */
+/** The FTC autonomous period, used when the caller does not pass the field's own number. */
+export declare const DEFAULT_PERIOD_S = 30;
+export interface PrBodyOptions {
+    /** Where the committed SVG lives, usually `autos/.renders/<name>.svg` on the work branch. */
+    renderUrl?: string;
+    /** One line about the simulator run, or nothing, which reads as "not run". */
+    simSummary?: string;
+    /** The autonomous period in seconds, from `field.periods.autoS`. */
+    periodS?: number;
+}
+/** The body of the pull request a proposal opens (`06` section 3). */
+export declare function prBody(auto: Auto, estimate: Estimate | null, findings: readonly Finding[], ledgerRows: readonly LedgerRow[], options?: PrBodyOptions): string;
+//# sourceMappingURL=prBody.d.ts.map

package/dist/prBody.d.ts.map

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