@horizon36596/zenith-core 0.1.1

package/dist/render.js

@@ -0,0 +1,464 @@
+import { markerT } from "./checks/intake.js";
+import { fieldBounds } from "./footprint.js";
+import { totalBound } from "./estimate.js";
+import { robotHeightIn } from "./kinematics.js";
+import { mirrorForField, mirrorHeadingRad, mirrorVec, shouldMirror } from "./mirror.js";
+import { ALPHA, FONTS, severityColour, TOKENS } from "./tokens.js";
+/**
+ * `render`: one SVG string that the pull
+ * request, the CLI's `--png` and the editor's static layer all share.
+ *
+ * Frame: `field.json` says the audience is at the bottom and +Y runs away from them, so the
+ * drawing flips Y. Everything is in field inches until the last moment, where `at()` turns a point
+ * into pixels.
+ *
+ * Colours are the literal hex of `tokens.ts`, not CSS custom properties, because an SVG that is
+ * rasterised has no stylesheet to read them from.
+ */
+/** How far apart the footprint ghosts are in seconds of estimated time; density shows speed. */
+export const GHOST_EVERY_S = 0.5;
+/** How far apart they are in inches when there is no estimate to place them by. */
+export const GHOST_EVERY_IN = 12;
+const LEDGER_WIDTH_PX = 300;
+const MARGIN_PX = 16;
+const HEADER_PX = 34;
+/** Two decimals, no exponent and no minus zero, so the same plan always writes the same bytes. */
+const n = (value) => {
+    const rounded = Number(value.toFixed(2));
+    return String(rounded === 0 ? 0 : rounded);
+};
+const escapeText = (value) => value
+    .split("&")
+    .join("&")
+    .split("<")
+    .join("&lt;")
+    .split(">")
+    .join("&gt;")
+    .split('"')
+    .join("&quot;");
+export function render(plan, estimateResult, findings, ledgerRows, options = {}) {
+    const field = plan.field;
+    const bounds = fieldBounds(field);
+    const fieldWidthIn = bounds.maxXIn - bounds.minXIn;
+    const fieldHeightIn = bounds.maxYIn - bounds.minYIn;
+    const showLedger = options.showLedger === true && ledgerRows.length > 0;
+    const fieldPx = options.widthPx ?? 720;
+    const scale = fieldPx / fieldWidthIn;
+    const fieldHeightPx = fieldHeightIn * scale;
+    // A file's poses are in its own alliance's frame, so the routine is mirrored only when it is viewed
+    // as the other alliance, by the symmetry the field declares. `shouldMirror`/`mirrorForField` are
+    // the shared rule: the editor's canvas asks the same two questions of the same two files and gets
+    // the same answer, and both agree with the robot runtime. The field itself is never mirrored.
+    const view = options.alliance ?? plan.auto.alliance;
+    const mode = mirrorForField(field);
+    const mirrorFor = (auto) => shouldMirror(auto, field, view) ? (p) => mirrorVec(p, mode) : (p) => p;
+    const mirrored = shouldMirror(plan.auto, field, view);
+    const point = mirrorFor(plan.auto);
+    const heading = (h) => (mirrored ? mirrorHeadingRad(h, mode) : h);
+    const frame = {
+        scale,
+        fieldWidthPx: fieldPx,
+        fieldHeightPx,
+        // +Y is up on screen because the audience is at the bottom, so the y axis is flipped here and
+        // nowhere else.
+        at: (p) => ({
+            x: MARGIN_PX + (p.xIn - bounds.minXIn) * scale,
+            y: HEADER_PX + (bounds.maxYIn - p.yIn) * scale,
+        }),
+    };
+    const widthPx = MARGIN_PX * 2 + fieldPx + (showLedger ? LEDGER_WIDTH_PX : 0);
+    const heightPx = options.heightPx ?? HEADER_PX + fieldHeightPx + MARGIN_PX;
+    const parts = [];
+    parts.push(`<svg xmlns="http://www.w3.org/2000/svg" width="${n(widthPx)}" height="${n(heightPx)}" viewBox="0 0 ${n(widthPx)} ${n(heightPx)}" font-family="${FONTS.ui}">`);
+    parts.push(`<rect width="${n(widthPx)}" height="${n(heightPx)}" fill="${TOKENS.bgCanvas}"/>`);
+    parts.push(...drawHeader(plan, estimateResult, findings, widthPx, options));
+    parts.push(...drawField(field, plan, frame, point, options));
+    // The base version is in its own file's frame, which is not this one's when the change flipped
+    // the alliance, so it is drawn for the same view by its own mirror.
+    if (options.base !== undefined)
+        parts.push(...drawBase(options.base, frame, mirrorFor(options.base.auto)));
+    parts.push(...drawFindings(plan, findings, frame, point, options));
+    parts.push(...drawPaths(plan, frame, point));
+    parts.push(...drawGhosts(plan, estimateResult, frame, point, heading, options));
+    parts.push(...drawMarkers(plan, frame, point));
+    if (showLedger) {
+        parts.push(...drawLedger(ledgerRows, MARGIN_PX + fieldPx, heightPx));
+    }
+    parts.push("</svg>");
+    return `${parts.join("\n")}\n`;
+}
+/** The header's suffix for a total that is a bound (see `totalBound`). */
+function boundSuffix(estimateResult) {
+    const bound = totalBound(estimateResult);
+    return bound === "lower" ? " at least" : bound === "upper" ? " at most" : "";
+}
+/** The title bar: the routine's name, its estimate and how many findings it has. */
+function drawHeader(plan, estimateResult, findings, widthPx, options) {
+    const alliance = options.alliance ?? plan.auto.alliance;
+    const title = options.title ?? plan.auto.title ?? plan.auto.name;
+    const errors = findings.filter((finding) => finding.severity === "error").length;
+    const warnings = findings.filter((finding) => finding.severity === "warning").length;
+    const timing = estimateResult === null || estimateResult.nominalS === null
+        ? "no estimate"
+        : `${n(estimateResult.nominalS)} s (${n(estimateResult.lowS ?? 0)}-${n(estimateResult.highS ?? 0)})${boundSuffix(estimateResult)}`;
+    const counts = errors + warnings === 0
+        ? "no findings"
+        : `${String(errors)} error${errors === 1 ? "" : "s"}, ${String(warnings)} warning${warnings === 1 ? "" : "s"}`;
+    return [
+        `<g id="header">`,
+        `<text x="${n(MARGIN_PX)}" y="${n(HEADER_PX - 14)}" fill="${TOKENS.textHi}" font-size="15">${escapeText(title)}</text>`,
+        `<text x="${n(widthPx - MARGIN_PX)}" y="${n(HEADER_PX - 14)}" fill="${TOKENS.textMid}" font-size="12" text-anchor="end" font-family="${FONTS.mono}">${escapeText(`${alliance} · ${timing} · ${counts}`)}</text>`,
+        `</g>`,
+    ];
+}
+/** The field itself: the grid, the perimeter, the zones, the obstacles, the elements and targets. */
+function drawField(field, plan, frame, point, options) {
+    const bounds = fieldBounds(field);
+    const parts = [`<g id="field">`];
+    const image = drawFieldImage(field, frame, options);
+    parts.push(...image);
+    const line = (a, b, stroke, width) => {
+        const from = frame.at(a);
+        const to = frame.at(b);
+        return `<line x1="${n(from.x)}" y1="${n(from.y)}" x2="${n(to.x)}" y2="${n(to.y)}" stroke="${stroke}" stroke-width="${n(width)}"/>`;
+    };
+    // A 24 in tile grid, halved to 12 in so a pose can be read off by eye, with the axes brightest.
+    // A field picture carries its own tiles, so the grid is left out under one.
+    for (let xIn = bounds.minXIn; image.length === 0 && xIn <= bounds.maxXIn + 1e-9; xIn += 12) {
+        const major = Math.abs(xIn % 24) < 1e-9;
+        const axis = Math.abs(xIn) < 1e-9;
+        parts.push(line({ xIn, yIn: bounds.minYIn }, { xIn, yIn: bounds.maxYIn }, axis ? TOKENS.gridAxis : major ? TOKENS.gridMajor : TOKENS.gridMinor, axis ? 1 : 0.5));
+    }
+    for (let yIn = bounds.minYIn; image.length === 0 && yIn <= bounds.maxYIn + 1e-9; yIn += 12) {
+        const major = Math.abs(yIn % 24) < 1e-9;
+        const axis = Math.abs(yIn) < 1e-9;
+        parts.push(line({ xIn: bounds.minXIn, yIn }, { xIn: bounds.maxXIn, yIn }, axis ? TOKENS.gridAxis : major ? TOKENS.gridMajor : TOKENS.gridMinor, axis ? 1 : 0.5));
+    }
+    const corner = frame.at({ xIn: bounds.minXIn, yIn: bounds.maxYIn });
+    parts.push(`<rect x="${n(corner.x)}" y="${n(corner.y)}" width="${n(frame.fieldWidthPx)}" height="${n(frame.fieldHeightPx)}" fill="none" stroke="${TOKENS.borderDefault}" stroke-width="1.5"/>`);
+    for (const zone of field.zones ?? []) {
+        parts.push(boxRect(zone, frame, TOKENS.fieldZone, TOKENS.fieldZone, ALPHA.zoneFill, "4 4"), boxLabel(zone, zone.id, frame, TOKENS.fieldZone));
+    }
+    // Obstacles are drawn by their z class: one the robot would hit is filled, because you cannot
+    // drive there; one it passes under is an outline, because you can (`03` section 4, STRUCTURE).
+    const heightIn = robotHeightIn(plan.robot);
+    for (const obstacle of field.obstacles ?? []) {
+        const blocks = (obstacle.solidToRobot ?? true) && obstacle.minZIn < heightIn;
+        parts.push(blocks
+            ? boxRect(obstacle, frame, TOKENS.fieldObstacle, TOKENS.fieldObstacleFill, 1)
+            : boxRect(obstacle, frame, TOKENS.fieldObstacle, "none", 0, "3 3"));
+    }
+    for (const element of field.elements ?? []) {
+        parts.push(...drawElement(element, frame));
+    }
+    for (const target of field.targets ?? []) {
+        parts.push(...drawTarget(target, field, frame));
+    }
+    if (options.waypoints !== undefined) {
+        parts.push(...drawWaypoints(options.waypoints, frame, point));
+    }
+    parts.push(`</g>`);
+    return parts;
+}
+/**
+ * The field picture under the vector layer, placed the way site/docs/file-format.md says: crop
+ * the stored image to `pxBoundsIn`, turn it clockwise on screen by `rotationDeg`, and stretch it
+ * over the field's rectangle. SVG's `rotate` is clockwise on screen because its y axis points down,
+ * so the angle goes in as it is written.
+ */
+function drawFieldImage(field, frame, options) {
+    const spec = field.image;
+    const supplied = options.fieldImage;
+    if (spec === undefined || supplied === undefined)
+        return [];
+    const bounds = fieldBounds(field);
+    const corner = frame.at({ xIn: bounds.minXIn, yIn: bounds.maxYIn });
+    const widthPx = frame.fieldWidthPx;
+    const heightPx = frame.fieldHeightPx;
+    const cx = corner.x + widthPx / 2;
+    const cy = corner.y + heightPx / 2;
+    const rotation = spec.rotationDeg ?? 0;
+    const quarter = rotation === 90 || rotation === 270;
+    // The box the crop fills before it is turned, so that it fills the field after.
+    const w = quarter ? heightPx : widthPx;
+    const h = quarter ? widthPx : heightPx;
+    const x = cx - w / 2;
+    const y = cy - h / 2;
+    const href = escapeText(supplied.href);
+    const turn = rotation === 0 ? "" : ` transform="rotate(${String(rotation)} ${n(cx)} ${n(cy)})"`;
+    if (spec.pxBoundsIn === "fullBleed") {
+        return [
+            `<image href="${href}" x="${n(x)}" y="${n(y)}" width="${n(w)}" height="${n(h)}" preserveAspectRatio="none"${turn}/>`,
+        ];
+    }
+    if (supplied.widthPx === undefined || supplied.heightPx === undefined)
+        return [];
+    const box = spec.pxBoundsIn;
+    return [
+        `<g${turn}>`,
+        `<svg x="${n(x)}" y="${n(y)}" width="${n(w)}" height="${n(h)}" viewBox="${n(box.left)} ${n(box.top)} ${n(box.right - box.left)} ${n(box.bottom - box.top)}" preserveAspectRatio="none">`,
+        `<image href="${href}" width="${n(supplied.widthPx)}" height="${n(supplied.heightPx)}"/>`,
+        `</svg>`,
+        `</g>`,
+    ];
+}
+function boxRect(box, frame, stroke, fill, fillOpacity, dash) {
+    const corner = frame.at({ xIn: box.minXIn, yIn: box.maxYIn });
+    const width = (box.maxXIn - box.minXIn) * frame.scale;
+    const height = (box.maxYIn - box.minYIn) * frame.scale;
+    const dashAttribute = dash === undefined ? "" : ` stroke-dasharray="${dash}"`;
+    const fillAttribute = fill === "none" ? ` fill="none"` : ` fill="${fill}" fill-opacity="${n(fillOpacity)}"`;
+    return `<rect x="${n(corner.x)}" y="${n(corner.y)}" width="${n(width)}" height="${n(height)}"${fillAttribute} stroke="${stroke}" stroke-width="1"${dashAttribute}/>`;
+}
+function boxLabel(box, text, frame, fill) {
+    const at = frame.at({ xIn: (box.minXIn + box.maxXIn) / 2, yIn: (box.minYIn + box.maxYIn) / 2 });
+    return `<text x="${n(at.x)}" y="${n(at.y)}" fill="${fill}" font-size="9" text-anchor="middle" font-family="${FONTS.mono}" opacity="0.7">${escapeText(text)}</text>`;
+}
+/** A game element: a loose piece as a circle of its own radius, a container as a labelled ring. */
+function drawElement(element, frame) {
+    const pivot = element["pivotIn"];
+    const centre = element.xIn !== undefined && element.yIn !== undefined
+        ? { xIn: element.xIn, yIn: element.yIn }
+        : typeof pivot === "object" && pivot !== null
+            ? {
+                xIn: Number(pivot["xIn"] ?? 0),
+                yIn: Number(pivot["yIn"] ?? 0),
+            }
+            : null;
+    if (centre === null)
+        return [];
+    const at = frame.at(centre);
+    const isContainer = element.container !== null && element.container !== undefined;
+    const radiusIn = element.radiusIn ?? (isContainer ? 3 : 1.4);
+    const radiusPx = radiusIn * frame.scale;
+    const parts = [
+        `<circle cx="${n(at.x)}" cy="${n(at.y)}" r="${n(radiusPx)}" fill="${TOKENS.fieldElement}" fill-opacity="${n(ALPHA.elementFill)}" stroke="${TOKENS.fieldElement}" stroke-width="1"${isContainer ? ' stroke-dasharray="2 2"' : ""}/>`,
+    ];
+    if (isContainer) {
+        parts.push(`<text x="${n(at.x)}" y="${n(at.y - radiusPx - 3)}" fill="${TOKENS.fieldElement}" font-size="9" text-anchor="middle" font-family="${FONTS.mono}">${escapeText(element.id)}</text>`);
+    }
+    return parts;
+}
+/** A scoring target as a reticle, placed on whatever element or hive it names. */
+function drawTarget(target, field, frame) {
+    const row = target;
+    const ofId = typeof row["element"] === "string" ? row["element"] : row["hive"];
+    const element = (field.elements ?? []).find((candidate) => candidate.id === ofId);
+    if (element === undefined)
+        return [];
+    const pivot = element["pivotIn"];
+    const centre = element.xIn !== undefined && element.yIn !== undefined
+        ? { xIn: element.xIn, yIn: element.yIn }
+        : typeof pivot === "object" && pivot !== null
+            ? {
+                xIn: Number(pivot["xIn"] ?? 0),
+                yIn: Number(pivot["yIn"] ?? 0),
+            }
+            : null;
+    if (centre === null)
+        return [];
+    const at = frame.at(centre);
+    const r = 5;
+    return [
+        `<g id="target-${escapeText(target.id)}" stroke="${TOKENS.fieldTarget}" stroke-width="1" fill="none">`,
+        `<circle cx="${n(at.x)}" cy="${n(at.y)}" r="${n(r)}"/>`,
+        `<line x1="${n(at.x - r - 3)}" y1="${n(at.y)}" x2="${n(at.x + r + 3)}" y2="${n(at.y)}"/>`,
+        `<line x1="${n(at.x)}" y1="${n(at.y - r - 3)}" x2="${n(at.x)}" y2="${n(at.y + r + 3)}"/>`,
+        `</g>`,
+    ];
+}
+function drawWaypoints(waypoints, frame, point) {
+    const parts = [`<g id="waypoints">`];
+    for (const [name, waypoint] of Object.entries(waypoints.waypoints)) {
+        const at = frame.at(point({ xIn: waypoint.xIn, yIn: waypoint.yIn }));
+        parts.push(`<circle cx="${n(at.x)}" cy="${n(at.y)}" r="2.5" fill="none" stroke="${TOKENS.fieldWaypoint}" stroke-width="1"/>`, `<text x="${n(at.x + 5)}" y="${n(at.y - 4)}" fill="${TOKENS.fieldWaypoint}" font-size="9" font-family="${FONTS.mono}">${escapeText(name)}</text>`);
+    }
+    parts.push(`</g>`);
+    return parts;
+}
+/** Every path step's polyline, in the plan's own order. */
+function pathPoints(step, frame, point) {
+    return step.samples
+        .map((sample) => {
+        const at = frame.at(point(sample.pose));
+        return `${n(at.x)},${n(at.y)}`;
+    })
+        .join(" ");
+}
+function drawPaths(plan, frame, point) {
+    const parts = [`<g id="paths" fill="none" stroke-linejoin="round" stroke-linecap="round">`];
+    for (const step of flat(plan.steps)) {
+        if (step.samples.length < 2)
+            continue;
+        parts.push(`<polyline id="path-${escapeText(step.id)}" points="${pathPoints(step, frame, point)}" stroke="${TOKENS.pathEstimated}" stroke-width="2"/>`);
+    }
+    parts.push(`</g>`);
+    return parts;
+}
+/** The plan being compared against, drawn dashed and dim underneath (`06` section 4, review mode). */
+function drawBase(base, frame, point) {
+    const parts = [`<g id="base" fill="none" opacity="${n(ALPHA.pathGhost)}">`];
+    for (const step of flat(base.steps)) {
+        if (step.samples.length < 2)
+            continue;
+        parts.push(`<polyline points="${pathPoints(step, frame, point)}" stroke="${TOKENS.pathEstimated}" stroke-width="2" stroke-dasharray="4 4"/>`);
+    }
+    parts.push(`</g>`);
+    return parts;
+}
+/** The part of a path a finding points at, widened underneath it in the severity's colour. */
+function drawFindings(plan, findings, frame, point, options) {
+    if (options.showFindings === false)
+        return [];
+    const steps = new Map(flat(plan.steps).map((step) => [step.id, step]));
+    const parts = [`<g id="findings" fill="none" stroke-linecap="round">`];
+    for (const finding of findings) {
+        if (finding.severity === "info")
+            continue;
+        const colour = severityColour(finding.severity);
+        const step = steps.get(finding.stepId);
+        if (step !== undefined && step.samples.length >= 2) {
+            const around = finding.t === undefined
+                ? step.samples
+                : step.samples.filter((sample) => Math.abs(sample.t - (finding.t ?? 0)) <= 0.06);
+            const chosen = around.length >= 2 ? around : step.samples;
+            const points = chosen
+                .map((sample) => {
+                const at = frame.at(point(sample.pose));
+                return `${n(at.x)},${n(at.y)}`;
+            })
+                .join(" ");
+            parts.push(`<polyline points="${points}" stroke="${colour}" stroke-width="6" opacity="${n(ALPHA.findingHighlight)}"/>`);
+        }
+        const spot = finding.geometry?.pointIn;
+        if (spot !== undefined) {
+            const at = frame.at(point(spot));
+            parts.push(`<circle cx="${n(at.x)}" cy="${n(at.y)}" r="4" fill="none" stroke="${colour}" stroke-width="1.5"/>`);
+        }
+    }
+    parts.push(`</g>`);
+    return parts;
+}
+/**
+ * The footprint stamped every half second of estimated time, with a tick along the nose. Where the
+ * robot is slow the stamps crowd together and where it is quick they spread out, so the picture
+ * shows the speed without a single number on it.
+ */
+function drawGhosts(plan, estimateResult, frame, point, heading, options) {
+    const everyS = options.ghostEveryS ?? GHOST_EVERY_S;
+    const everyIn = options.ghostEveryIn ?? GHOST_EVERY_IN;
+    const parts = [`<g id="ghosts">`];
+    for (const step of flat(plan.steps)) {
+        if (step.samples.length < 2)
+            continue;
+        const times = estimateResult?.byStepId[step.id]?.timeAtSampleS;
+        const chosen = times !== undefined && times.length === step.samples.length
+            ? samplesEvery(step, times, everyS)
+            : samplesEveryInch(step, everyIn);
+        for (const sample of chosen) {
+            const pose = { ...point(sample.pose), headingRad: heading(sample.pose.headingRad) };
+            const corners = sample.footprintIn
+                .map((cornerIn) => {
+                const at = frame.at(point(cornerIn));
+                return `${n(at.x)},${n(at.y)}`;
+            })
+                .join(" ");
+            const at = frame.at(pose);
+            const nose = frame.at({
+                xIn: pose.xIn + Math.cos(pose.headingRad) * 6,
+                yIn: pose.yIn + Math.sin(pose.headingRad) * 6,
+            });
+            parts.push(`<polygon points="${corners}" fill="${TOKENS.pathEstimated}" fill-opacity="${n(ALPHA.ghostFootprint)}" stroke="${TOKENS.pathEstimated}" stroke-width="0.5" stroke-opacity="0.5"/>`, `<line x1="${n(at.x)}" y1="${n(at.y)}" x2="${n(nose.x)}" y2="${n(nose.y)}" stroke="${TOKENS.handleHeading}" stroke-width="1"/>`);
+        }
+    }
+    parts.push(`</g>`);
+    return parts;
+}
+/** The samples nearest each half second of the step's own estimated time, the first and last always. */
+function samplesEvery(step, times, everyS) {
+    const last = times[times.length - 1] ?? 0;
+    const chosen = [];
+    const taken = new Set();
+    for (let at = 0; at <= last + 1e-9; at += everyS) {
+        let best = 0;
+        for (let i = 1; i < times.length; i += 1) {
+            if (Math.abs(times[i] - at) < Math.abs(times[best] - at))
+                best = i;
+        }
+        if (!taken.has(best)) {
+            taken.add(best);
+            chosen.push(step.samples[best]);
+        }
+    }
+    const end = step.samples.length - 1;
+    if (!taken.has(end))
+        chosen.push(step.samples[end]);
+    return chosen;
+}
+/** The fallback when there is no estimate: one footprint per foot of arc. */
+function samplesEveryInch(step, everyIn) {
+    const chosen = [];
+    let next = 0;
+    for (const sample of step.samples) {
+        if (sample.sIn + 1e-9 >= next) {
+            chosen.push(sample);
+            next = sample.sIn + everyIn;
+        }
+    }
+    const end = step.samples[step.samples.length - 1];
+    if (end !== undefined && chosen[chosen.length - 1] !== end)
+        chosen.push(end);
+    return chosen;
+}
+/** Every marker as a labelled pin at the point on the path it fires at. */
+function drawMarkers(plan, frame, point) {
+    const parts = [`<g id="markers">`];
+    for (const step of flat(plan.steps)) {
+        if (step.step.kind !== "path")
+            continue;
+        const markers = step.step.markers ?? [];
+        for (const marker of markers) {
+            const t = markerT(marker.at, step.lengthIn);
+            const where = step.geometry?.pointAt(t);
+            if (where === undefined)
+                continue;
+            const at = frame.at(point(where));
+            parts.push(`<line x1="${n(at.x)}" y1="${n(at.y)}" x2="${n(at.x)}" y2="${n(at.y - 12)}" stroke="${TOKENS.markerPin}" stroke-width="1"/>`, `<circle cx="${n(at.x)}" cy="${n(at.y - 14)}" r="3" fill="${TOKENS.markerPin}"/>`, `<text x="${n(at.x + 5)}" y="${n(at.y - 16)}" fill="${TOKENS.markerPin}" font-size="9" font-family="${FONTS.mono}">${escapeText(marker.command.name)}</text>`);
+        }
+    }
+    parts.push(`</g>`);
+    return parts;
+}
+/** The ledger as a side table, the same rows the pull-request body prints. */
+function drawLedger(rows, leftPx, heightPx) {
+    const x = leftPx + MARGIN_PX;
+    const parts = [
+        `<g id="ledger">`,
+        `<rect x="${n(leftPx)}" y="${n(HEADER_PX)}" width="${n(LEDGER_WIDTH_PX)}" height="${n(heightPx - HEADER_PX - MARGIN_PX)}" fill="${TOKENS.bgPanel}" stroke="${TOKENS.borderSubtle}" stroke-width="1"/>`,
+        `<text x="${n(x)}" y="${n(HEADER_PX + 18)}" fill="${TOKENS.textHi}" font-size="12">Ledger</text>`,
+    ];
+    let y = HEADER_PX + 38;
+    for (const row of rows) {
+        if (y > heightPx - MARGIN_PX - 8)
+            break;
+        parts.push(`<text x="${n(x)}" y="${n(y)}" fill="${TOKENS.textMid}" font-size="11" font-family="${FONTS.mono}">${escapeText(row.label)}</text>`);
+        if (row.detail !== undefined) {
+            parts.push(`<text x="${n(x)}" y="${n(y + 13)}" fill="${TOKENS.textLo}" font-size="10" font-family="${FONTS.mono}">${escapeText(row.detail)}</text>`);
+            y += 13;
+        }
+        y += 20;
+    }
+    parts.push(`</g>`);
+    return parts;
+}
+/** Every step, parallel and branch children included, in order. */
+function flat(steps) {
+    const out = [];
+    for (const step of steps) {
+        out.push(step);
+        if (step.children !== undefined)
+            out.push(...flat(step.children));
+    }
+    return out;
+}
+//# sourceMappingURL=render.js.map

package/dist/render.js.map

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

@@ -0,0 +1,39 @@
+import { type Auto, type Segment, type Step, type Waypoints } from "@horizon36596/zenith-schema";
+import type { Pose, Vec2 } from "./geometry/vec.js";
+import type { Finding } from "./types.js";
+export interface ResolvedSegment {
+    kind: Segment["kind"];
+    /** The control polygon: start, any control points, end. */
+    pointsIn: Vec2[];
+    fromPose: Pose;
+    toPose: Pose;
+}
+export interface ResolvedStep {
+    id: string;
+    kind: Step["kind"];
+    step: Step;
+    startPose: Pose;
+    endPose: Pose;
+    segments?: ResolvedSegment[];
+    children?: ResolvedStep[];
+}
+export interface ResolvedAuto {
+    auto: Auto;
+    startPose: Pose;
+    steps: ResolvedStep[];
+    /** SCHEMA findings for unresolvable references, CONTINUITY for a `current` with no previous. */
+    findings: Finding[];
+}
+/** Resolves waypoint references to poses and `"current"` to the previous step's end pose. */
+export declare function resolve(auto: Auto, waypoints?: Waypoints): ResolvedAuto;
+/** Anything shaped like a step tree: a resolved step, a planned step or a step estimate. */
+export interface StepTree {
+    kind: Step["kind"];
+    children?: readonly StepTree[];
+}
+/**
+ * True for a path step, or a group with a path step somewhere inside it: the members of a parallel
+ * group that can decide where the robot ends up, and the ones whose exit speed carries on.
+ */
+export declare function containsPath(step: StepTree): boolean;
+//# sourceMappingURL=resolve.d.ts.map

package/dist/resolve.d.ts.map

@@ -0,0 +1 @@
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