@horizon36596/zenith-core 0.1.1

package/dist/resolve.js

@@ -0,0 +1,172 @@
+import { childLists } from "@horizon36596/zenith-schema";
+import { childPrefix, effectiveId } from "./edit/ids.js";
+import { wrapAngle } from "./geometry/angle.js";
+import { makePath } from "./geometry/path.js";
+import { headingFunction } from "./heading.js";
+const ORIGIN = { xIn: 0, yIn: 0, headingRad: 0 };
+/** Resolves waypoint references to poses and `"current"` to the previous step's end pose. */
+export function resolve(auto, waypoints) {
+    const findings = [];
+    const named = waypoints?.waypoints ?? {};
+    const resolvePose = (source, stepId, current, fallbackHeadingRad) => {
+        if (source === "current") {
+            if (current === null) {
+                findings.push({
+                    severity: "error",
+                    stepId,
+                    code: "CONTINUITY",
+                    message: 'from: "current" needs a previous step that defines where the robot ended.',
+                });
+                return { ...ORIGIN, headingRad: fallbackHeadingRad };
+            }
+            return current;
+        }
+        if ("ref" in source) {
+            const waypoint = named[source.ref];
+            if (waypoint === undefined) {
+                findings.push({
+                    severity: "error",
+                    stepId,
+                    code: "SCHEMA",
+                    message: `No waypoint named ${JSON.stringify(source.ref)} in waypoints.json.`,
+                });
+                return { ...(current ?? ORIGIN), headingRad: fallbackHeadingRad };
+            }
+            return { xIn: waypoint.xIn, yIn: waypoint.yIn, headingRad: waypoint.headingRad };
+        }
+        return {
+            xIn: source.xIn,
+            yIn: source.yIn,
+            headingRad: source.headingRad ?? fallbackHeadingRad,
+        };
+    };
+    const startId = "start";
+    const start = auto.start.pose;
+    let startPose;
+    if ("ref" in start) {
+        startPose = resolvePose(start, startId, null, 0);
+    }
+    else {
+        if (start.headingRad === undefined) {
+            findings.push({
+                severity: "error",
+                stepId: startId,
+                code: "SCHEMA",
+                message: "The start pose needs a headingRad: nothing else can supply the robot's heading.",
+            });
+        }
+        startPose = { xIn: start.xIn, yIn: start.yIn, headingRad: start.headingRad ?? 0 };
+    }
+    // `together` is set for the members of a parallel group: they all run at once, so every one of
+    // them starts where the group started (`"current"` included), not where the member written
+    // before it ends. This is the same rule the CONTINUITY check applies.
+    const resolveSteps = (steps, prefix, entry, together = false) => {
+        const resolved = [];
+        let current = entry;
+        for (const [index, step] of steps.entries()) {
+            if (together)
+                current = entry;
+            const id = effectiveId(step, index, prefix);
+            const startOfStep = current;
+            if (step.kind === "path") {
+                const segments = [];
+                let cursor = current;
+                for (const segment of step.segments) {
+                    const fromPose = resolvePose(segment.from, id, cursor, cursor.headingRad);
+                    const toPose = resolvePose(segment.to, id, fromPose, fromPose.headingRad);
+                    const controls = segment.kind === "bezier"
+                        ? segment.control.map((point) => ({ xIn: point.xIn, yIn: point.yIn }))
+                        : [];
+                    segments.push({
+                        kind: segment.kind,
+                        pointsIn: [
+                            { xIn: fromPose.xIn, yIn: fromPose.yIn },
+                            ...controls,
+                            { xIn: toPose.xIn, yIn: toPose.yIn },
+                        ],
+                        fromPose,
+                        toPose,
+                    });
+                    cursor = toPose;
+                }
+                const endPose = headingForEnd(step, segments, cursor);
+                resolved.push({ id, kind: step.kind, step, startPose: startOfStep, endPose, segments });
+                current = endPose;
+                continue;
+            }
+            if (step.kind === "sequence") {
+                // A sequence chains its members exactly like the top level: each starts where the one
+                // before it ended, and the group ends where its last member does.
+                const children = resolveSteps(step.steps, childPrefix(id, 1, 0), current);
+                const endPose = children[children.length - 1]?.endPose ?? current;
+                resolved.push({ id, kind: step.kind, step, startPose: startOfStep, endPose, children });
+                current = endPose;
+                continue;
+            }
+            if (step.kind === "parallel" || step.kind === "branch") {
+                const branches = childLists(step);
+                const children = [];
+                let endPose = current;
+                for (const [branchIndex, branch] of branches.entries()) {
+                    const branchSteps = resolveSteps(branch, childPrefix(id, branches.length, branchIndex), current, step.kind === "parallel");
+                    children.push(...branchSteps);
+                    if (step.kind === "parallel") {
+                        const deadline = step.deadline === undefined
+                            ? undefined
+                            : branchSteps.find((child) => child.id === step.deadline);
+                        // The member that decides where the group ends is its deadline, or else the last
+                        // member that drives: a path, or a sequence or group with a path inside it.
+                        const mover = deadline ?? [...branchSteps].reverse().find(containsPath);
+                        if (mover !== undefined)
+                            endPose = mover.endPose;
+                    }
+                    else if (branchIndex === 0) {
+                        const last = branchSteps[branchSteps.length - 1];
+                        if (last !== undefined)
+                            endPose = last.endPose;
+                    }
+                }
+                resolved.push({ id, kind: step.kind, step, startPose: startOfStep, endPose, children });
+                current = endPose;
+                continue;
+            }
+            resolved.push({ id, kind: step.kind, step, startPose: startOfStep, endPose: current });
+        }
+        return resolved;
+    };
+    return { auto, startPose, steps: resolveSteps(auto.steps, "step", startPose), findings };
+}
+/**
+ * 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 function containsPath(step) {
+    if (step.kind === "path")
+        return true;
+    return (step.children ?? []).some(containsPath);
+}
+/**
+ * The heading the robot holds at the end of a path step: the mode's own h(1), evaluated over the
+ * geometry the step resolved to, which is exactly what `plan` samples at the last point.
+ *
+ * `tangent`, `tangentReversed` and `facePoint` need the geometry to answer, so this takes the
+ * resolved segments rather than trusting the `to` pose's `headingRad`: that pose only says where
+ * the robot stops, and a mode that computes the heading overrides whatever it carries. Without
+ * this, `resolve` and `plan` disagree about where the next step starts and every stationary step
+ * after a path is checked at a heading the robot never holds.
+ *
+ * With no mode declared the step keeps the heading it arrives with; `plan` raises HEADING_MISSING.
+ */
+function headingForEnd(step, segments, end) {
+    const heading = step.heading;
+    if (heading === undefined)
+        return end;
+    if (heading.mode === "constant")
+        return { ...end, headingRad: wrapAngle(heading.headingRad) };
+    if (segments.length === 0) {
+        return heading.mode === "linear" ? { ...end, headingRad: wrapAngle(heading.toRad) } : end;
+    }
+    const geometry = makePath(segments.map((segment) => segment.pointsIn));
+    return { ...end, headingRad: headingFunction(heading, geometry)(1) };
+}
+//# sourceMappingURL=resolve.js.map

package/dist/resolve.js.map

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

@@ -0,0 +1,65 @@
+import type { Field, Robot } from "@horizon36596/zenith-schema";
+import type { Pose, Vec2 } from "./geometry/vec.js";
+import type { Finding, LedgerRow } from "./types.js";
+/**
+ * Whatever the season plugin wants to remember between steps. The core never looks inside it: it
+ * only threads it through the ledger (site/docs/seasons.md).
+ */
+export type SeasonState = Readonly<Record<string, unknown>>;
+export type TargetId = string;
+/** The plugin interface of site/docs/seasons.md. `season-biobuzz` implements it in M1. */
+export interface SeasonRules {
+    /** The `rules.plugin` name in `field.json` that selects this implementation. */
+    readonly id: string;
+    initialState(field: Field): SeasonState;
+    onLaunch(state: SeasonState, target: TargetId, count: number, pose: Pose): SeasonState;
+    onCollect(state: SeasonState, containerId: string, count: number): SeasonState;
+    currentTarget(state: SeasonState, alliance: "RED" | "BLUE"): TargetId | null;
+    legalApproach(state: SeasonState, target: TargetId, pose: Pose, robot: Robot): boolean;
+    /**
+     * The start rules, for a start pose in the frame of `alliance`, the file's own alliance.
+     * `field.json`'s `startRules` are written for `field.frame.canonicalAlliance`; a plugin reads them
+     * for the other alliance through its own counterparts (its own half, its own loading zone).
+     * `alliance` is optional so a plugin written before it existed still type-checks; left out, it
+     * means the canonical alliance.
+     */
+    startLegal(field: Field, pose: Pose, robot: Robot, alliance?: "RED" | "BLUE"): Finding[];
+    summary(state: SeasonState): LedgerRow[];
+    /**
+     * Optional, and the one addition to the interface as `03` section 6 draws it: the auto says what
+     * the robot starts holding (`start.holds`), and the ledger has to get that into the state before
+     * the first step runs. A plugin that tracks nothing can leave it out.
+     */
+    start?(state: SeasonState, holds: Readonly<Record<string, number>>): SeasonState;
+    /** Optional: what the robot is holding now, which the CAPACITY and EMPTY_SHOT checks read. */
+    holds?(state: SeasonState): Record<string, number>;
+    /**
+     * Optional: the author asserting a tip happened, from a command whose registry entry carries
+     * `ledger: { tip: "own" }` or from a step's `expect.tip`. It is trusted over whatever the
+     * plugin's own model of the season predicted.
+     */
+    onTip?(state: SeasonState, which: "own" | "opponent", alliance: "RED" | "BLUE"): SeasonState;
+    /** Optional: where on the field a target sits, so TURRET_RANGE can work out the bearing to it. */
+    targetPoint?(state: SeasonState, target: TargetId): Vec2 | null;
+    /**
+     * Optional: the closest pose to this one that `legalApproach` would accept, so LEGAL_APPROACH can
+     * offer a "move to legal approach" fix with real coordinates rather than a shrug.
+     */
+    nearestLegalApproach?(state: SeasonState, target: TargetId, pose: Pose, robot: Robot): Pose | null;
+    /** Optional: a one-line description of what a step did to the state, for the ledger's rows. */
+    describe?(before: SeasonState, after: SeasonState): string | null;
+    /**
+     * Optional: the other alliance's name for a field id, so a mirrored routine expects the hive and
+     * the flowers it will actually be in front of. `mirrorAuto` asks this about every id a step's
+     * `expect` names; returning `null` means the id has no counterpart and the routine cannot be
+     * mirrored, which is refused rather than silently kept.
+     */
+    mirrorId?(id: string): string | null;
+}
+/**
+ * The rules used when no season plugin is loaded: nothing is illegal, nothing is tracked. M0's
+ * START_ILLEGAL check goes through `startLegal`, so a season package can add the real rule without
+ * the core learning anything about the game.
+ */
+export declare const noSeasonRules: SeasonRules;
+//# sourceMappingURL=season.d.ts.map

package/dist/season.d.ts.map

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package/dist/season.js

@@ -0,0 +1,16 @@
+/**
+ * The rules used when no season plugin is loaded: nothing is illegal, nothing is tracked. M0's
+ * START_ILLEGAL check goes through `startLegal`, so a season package can add the real rule without
+ * the core learning anything about the game.
+ */
+export const noSeasonRules = {
+    id: "none",
+    initialState: () => ({}),
+    onLaunch: (state) => state,
+    onCollect: (state) => state,
+    currentTarget: () => null,
+    legalApproach: () => true,
+    startLegal: () => [],
+    summary: () => [],
+};
+//# sourceMappingURL=season.js.map

package/dist/season.js.map

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

@@ -0,0 +1,97 @@
+/**
+ * The command tree the runtime builds from an auto file (`robot/auto-runtime/AutoBuilder.java`),
+ * reduced to what decides timing: SolversLib's `SequentialCommandGroup`, `ParallelCommandGroup`,
+ * `ParallelRaceGroup`, `ParallelDeadlineGroup` and `ConditionalCommand`, the runtime's `AutoStep`,
+ * `RobotTimeout`, `WaitRobotTime`, `FollowPath` and `PathMarkers`, and Pedro's follower underneath.
+ *
+ * The life cycle is the scheduler's: `initialize` once, then each tick `execute` and a look at
+ * `isFinished`, then `end(interrupted)`. A group initialises its next member in the same pass that
+ * ends the one before, so a member starts on the tick its predecessor ends, and every member,
+ * however short, is running for at least one tick.
+ */
+export interface SimCommand {
+    initialize(): void;
+    execute(): void;
+    /** Must give the same answer when asked twice in one pass: groups ask again in `end`. */
+    isFinished(): boolean;
+    end(interrupted: boolean): void;
+}
+/** The clock the commands read, in whole ticks so a duration compares exactly. */
+export interface SimClock {
+    readonly tick: number;
+    readonly tickS: number;
+}
+/** Seconds from `startTick` to now, compared the way `WaitRobotTime` compares nanoseconds. */
+export declare const elapsedAtLeast: (clock: SimClock, startTick: number, seconds: number) => boolean;
+/** `WaitRobotTime`, and a named command timed by its `estimateS`. Null seconds waits forever. */
+export declare class TimedCommand implements SimCommand {
+    private readonly clock;
+    private readonly seconds;
+    private startTick;
+    constructor(clock: SimClock, seconds: number | null);
+    initialize(): void;
+    execute(): void;
+    isFinished(): boolean;
+    end(): void;
+}
+/** `InstantCommand`: finishes on its first look. */
+export declare class InstantCommand implements SimCommand {
+    initialize(): void;
+    execute(): void;
+    isFinished(): boolean;
+    end(): void;
+}
+/** `SequentialCommandGroup`. */
+export declare class SequenceCommand implements SimCommand {
+    private readonly members;
+    private index;
+    constructor(members: readonly SimCommand[]);
+    initialize(): void;
+    execute(): void;
+    isFinished(): boolean;
+    end(interrupted: boolean): void;
+}
+/** `ParallelCommandGroup`: ends when every member has. */
+export declare class ParallelAllCommand implements SimCommand {
+    private readonly members;
+    private running;
+    constructor(members: readonly SimCommand[]);
+    initialize(): void;
+    execute(): void;
+    isFinished(): boolean;
+    end(interrupted: boolean): void;
+}
+/** `ParallelRaceGroup`: ends when the first member does; the rest end interrupted. */
+export declare class RaceCommand implements SimCommand {
+    readonly members: readonly SimCommand[];
+    private finished;
+    constructor(members: readonly SimCommand[]);
+    initialize(): void;
+    execute(): void;
+    isFinished(): boolean;
+    end(): void;
+}
+/** `ParallelDeadlineGroup`: ends when the deadline does; whatever is still running is interrupted. */
+export declare class DeadlineCommand implements SimCommand {
+    private running;
+    private finished;
+    private readonly members;
+    constructor(deadline: SimCommand, others: readonly SimCommand[]);
+    initialize(): void;
+    execute(): void;
+    isFinished(): boolean;
+    end(): void;
+}
+/** `ConditionalCommand`: picks a side as it starts and is that side from then on. */
+export declare class ConditionalCommand implements SimCommand {
+    private readonly condition;
+    private readonly onTrue;
+    private readonly onFalse;
+    private selected;
+    constructor(condition: () => boolean, onTrue: SimCommand, onFalse: SimCommand);
+    initialize(): void;
+    execute(): void;
+    isFinished(): boolean;
+    end(interrupted: boolean): void;
+}
+//# sourceMappingURL=commands.d.ts.map

package/dist/sim/commands.d.ts.map

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package/dist/sim/commands.js

@@ -0,0 +1,185 @@
+/** Seconds from `startTick` to now, compared the way `WaitRobotTime` compares nanoseconds. */
+export const elapsedAtLeast = (clock, startTick, seconds) => (clock.tick - startTick) * clock.tickS >= seconds - 1e-9;
+/** `WaitRobotTime`, and a named command timed by its `estimateS`. Null seconds waits forever. */
+export class TimedCommand {
+    clock;
+    seconds;
+    startTick = 0;
+    constructor(clock, seconds) {
+        this.clock = clock;
+        this.seconds = seconds;
+    }
+    initialize() {
+        this.startTick = this.clock.tick;
+    }
+    execute() { }
+    isFinished() {
+        return this.seconds !== null && elapsedAtLeast(this.clock, this.startTick, this.seconds);
+    }
+    end() { }
+}
+/** `InstantCommand`: finishes on its first look. */
+export class InstantCommand {
+    initialize() { }
+    execute() { }
+    isFinished() {
+        return true;
+    }
+    end() { }
+}
+/** `SequentialCommandGroup`. */
+export class SequenceCommand {
+    members;
+    index = 0;
+    constructor(members) {
+        this.members = members;
+    }
+    initialize() {
+        this.index = 0;
+        this.members[0]?.initialize();
+    }
+    execute() {
+        const current = this.members[this.index];
+        if (current === undefined)
+            return;
+        current.execute();
+        if (current.isFinished()) {
+            current.end(false);
+            this.index += 1;
+            this.members[this.index]?.initialize();
+        }
+    }
+    isFinished() {
+        return this.index >= this.members.length;
+    }
+    end(interrupted) {
+        if (interrupted)
+            this.members[this.index]?.end(true);
+    }
+}
+/** `ParallelCommandGroup`: ends when every member has. */
+export class ParallelAllCommand {
+    members;
+    running = [];
+    constructor(members) {
+        this.members = members;
+    }
+    initialize() {
+        this.running = this.members.map(() => true);
+        for (const member of this.members)
+            member.initialize();
+    }
+    execute() {
+        this.members.forEach((member, index) => {
+            if (!this.running[index])
+                return;
+            member.execute();
+            if (member.isFinished()) {
+                member.end(false);
+                this.running[index] = false;
+            }
+        });
+    }
+    isFinished() {
+        return !this.running.some(Boolean);
+    }
+    end(interrupted) {
+        if (!interrupted)
+            return;
+        this.members.forEach((member, index) => {
+            if (this.running[index])
+                member.end(true);
+        });
+    }
+}
+/** `ParallelRaceGroup`: ends when the first member does; the rest end interrupted. */
+export class RaceCommand {
+    members;
+    finished = false;
+    constructor(members) {
+        this.members = members;
+    }
+    initialize() {
+        this.finished = false;
+        for (const member of this.members)
+            member.initialize();
+    }
+    execute() {
+        for (const member of this.members) {
+            member.execute();
+            if (member.isFinished())
+                this.finished = true;
+        }
+    }
+    isFinished() {
+        return this.finished;
+    }
+    end() {
+        for (const member of this.members)
+            member.end(!member.isFinished());
+    }
+}
+/** `ParallelDeadlineGroup`: ends when the deadline does; whatever is still running is interrupted. */
+export class DeadlineCommand {
+    running = [];
+    finished = false;
+    members;
+    constructor(deadline, others) {
+        this.members = [deadline, ...others];
+    }
+    initialize() {
+        this.finished = false;
+        this.running = this.members.map(() => true);
+        for (const member of this.members)
+            member.initialize();
+    }
+    execute() {
+        this.members.forEach((member, index) => {
+            if (!this.running[index])
+                return;
+            member.execute();
+            if (member.isFinished()) {
+                member.end(false);
+                this.running[index] = false;
+                if (index === 0)
+                    this.finished = true;
+            }
+        });
+    }
+    isFinished() {
+        return this.finished;
+    }
+    end() {
+        this.members.forEach((member, index) => {
+            if (this.running[index])
+                member.end(true);
+        });
+    }
+}
+/** `ConditionalCommand`: picks a side as it starts and is that side from then on. */
+export class ConditionalCommand {
+    condition;
+    onTrue;
+    onFalse;
+    selected;
+    constructor(condition, onTrue, onFalse) {
+        this.condition = condition;
+        this.onTrue = onTrue;
+        this.onFalse = onFalse;
+        this.selected = onTrue;
+    }
+    initialize() {
+        this.selected = this.condition() ? this.onTrue : this.onFalse;
+        this.selected.initialize();
+    }
+    execute() {
+        this.selected.execute();
+    }
+    isFinished() {
+        return this.selected.isFinished();
+    }
+    end(interrupted) {
+        this.selected.end(interrupted);
+    }
+}
+//# sourceMappingURL=commands.js.map

package/dist/sim/commands.js.map

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

@@ -0,0 +1,37 @@
+/**
+ * Pedro Pathing v3's two curve kinds, as the follower sees them: `paths/curves/Line.java` and
+ * `paths/curves/bezier/BezierCurve.java` in core-3.0.0-20260828.185437-17. The closest-point search
+ * is Pedro's own (a coarse grid, then Newton on the squared distance), because where the follower
+ * thinks it is on the path decides everything it does next, and a better search would be a
+ * different follower.
+ *
+ * Written for speed, since the follower calls these several times a tick: the Bezier is kept in
+ * power-basis coefficients (Pedro caches the same product of its characteristic matrix and control
+ * points) and evaluated by Horner's rule.
+ */
+export interface XY {
+    x: number;
+    y: number;
+}
+/** `PathBuilder.SAMPLES_PER_SEGMENT`: the runtime's own segment lengths, which markers use. */
+export declare const RUNTIME_LENGTH_SAMPLES = 64;
+export interface SimCurve {
+    readonly start: XY;
+    readonly end: XY;
+    /** Pedro's `length()`. */
+    readonly lengthIn: number;
+    /** The length `PathBuilder.arcLengthIn` gives the runtime, by 64 chords. */
+    readonly runtimeLengthIn: number;
+    get(t: number): XY;
+    derivative(t: number): XY;
+    /** Unit tangent. Pedro throws on a zero derivative; this falls back to the chord. */
+    tangent(t: number): XY;
+    closestT(x: number, y: number, initialGuess: number): number;
+    remainingDistance(t: number): number;
+}
+export declare function makeLine(start: XY, end: XY): SimCurve;
+/** A Bezier of any degree from its control polygon, start and end included. */
+export declare function makeBezier(points: readonly XY[]): SimCurve;
+/** A line for two points, a Bezier for three or more, the way `PathBuilder.geometry` chooses. */
+export declare function makeSimCurve(points: readonly XY[]): SimCurve;
+//# sourceMappingURL=curves.d.ts.map

package/dist/sim/curves.d.ts.map

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