@horizon36596/zenith-core 0.1.1

package/dist/checks/heading.js

@@ -0,0 +1,78 @@
+import { radToDeg } from "../geometry/angle.js";
+import { HALF_TURN_TOLERANCE_RAD, linearHeadingPieces, rangeProblem } from "../heading.js";
+/**
+ * HEADING: where the file asks for a heading the robot will not hold.
+ *
+ * - warning: a `linear` heading that asks one segment for more than half a turn. The runtime hands
+ *   Pedro that segment's two headings and Pedro turns the short way, so the robot goes round the
+ *   other way from the one the file wrote. The preview already draws the short way; this says so.
+ * - info: a `facePoint` heading with a non-zero `offsetRad`, which the robot runtime does not pass
+ *   to Pedro yet.
+ *
+ * HEADING_RANGES (error): a `piecewise` heading whose ranges do not run from 0 to 1 in order with no
+ * gap and no overlap. Pedro's `PiecewiseInterpolator` throws on the robot for exactly these, so the
+ * file cannot run. Inside ranges that are fine, a `linear` range over half a turn and a `facePoint`
+ * range with an offset raise the same HEADING findings as a whole-step heading.
+ */
+export function checkHeading(steps) {
+    const findings = [];
+    for (const planned of steps) {
+        if (planned.step.kind !== "path")
+            continue;
+        const heading = planned.step.heading;
+        if (heading === undefined)
+            continue;
+        if (heading.mode === "piecewise") {
+            const problem = rangeProblem(heading.ranges);
+            if (problem !== null) {
+                findings.push({ severity: "error", stepId: planned.id, code: "HEADING_RANGES", message: problem });
+                continue;
+            }
+            for (const [index, range] of heading.ranges.entries()) {
+                const inner = range.heading;
+                if (inner.mode === "linear" && Math.abs(inner.toRad - inner.fromRad) > Math.PI + HALF_TURN_TOLERANCE_RAD) {
+                    findings.push({
+                        severity: "warning",
+                        stepId: planned.id,
+                        t: range.startT,
+                        code: "HEADING",
+                        message: `Range ${String(index + 1)} asks for over half a turn; the robot takes the short way. Split the range if you want the long way.`,
+                    });
+                }
+                if (inner.mode === "facePoint" && (inner.offsetRad ?? 0) !== 0) {
+                    findings.push({
+                        severity: "info",
+                        stepId: planned.id,
+                        t: range.startT,
+                        code: "HEADING",
+                        message: `The robot runtime ignores offsetRad for now (range ${String(index + 1)}).`,
+                    });
+                }
+            }
+            continue;
+        }
+        if (heading.mode === "linear" && planned.geometry !== undefined) {
+            const pieces = linearHeadingPieces(heading, planned.geometry);
+            if (!pieces.some((piece) => piece.reversed))
+                continue;
+            const turnRad = pieces.reduce((sum, piece) => sum + piece.turnRad, 0);
+            findings.push({
+                severity: "warning",
+                stepId: planned.id,
+                code: "HEADING",
+                message: `This turn is over half a turn; the robot takes the short way (${String(Math.round(radToDeg(turnRad)))}°). Split the path or use a waypoint heading if you want the long way.`,
+            });
+            continue;
+        }
+        if (heading.mode === "facePoint" && (heading.offsetRad ?? 0) !== 0) {
+            findings.push({
+                severity: "info",
+                stepId: planned.id,
+                code: "HEADING",
+                message: "The robot runtime ignores offsetRad for now.",
+            });
+        }
+    }
+    return findings;
+}
+//# sourceMappingURL=heading.js.map

package/dist/checks/heading.js.map

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package/dist/checks/intake.d.ts

@@ -0,0 +1,28 @@
+import type { CommandCall, MarkerAt, Mouth, Robot } from "@horizon36596/zenith-schema";
+import type { PlanStep } from "../types.js";
+interface IntakeCall {
+    /** The mouths the call addresses, by id. */
+    mouthIds: string[];
+    running: boolean;
+}
+/** Reads a command call as an intake instruction, or returns null when it is not one. */
+export declare function intakeCall(robot: Robot, call: CommandCall): IntakeCall | null;
+/** Where along a path step each mouth starts running: 0 when it already was, or a marker's t. */
+export type RunningFrom = ReadonlyMap<string, number>;
+export interface IntakeTimeline {
+    /** For each path step id, the mouths running on it and where they started. */
+    byStepId: ReadonlyMap<string, RunningFrom>;
+}
+/** Where a marker sits as a fraction of the step, whichever of the three ways it was written. */
+export declare const markerT: (at: MarkerAt, lengthIn: number) => number;
+/**
+ * Walks the auto once and works out, for every path step, which mouths are running over it: those
+ * a previous command turned on and never stopped, those a marker turns on part way through, and,
+ * inside a parallel group, those any other member of the group turns on, because that member runs
+ * alongside the drive (a deadline drive with an intake sequence beside it is the common case).
+ */
+export declare function intakeTimeline(steps: readonly PlanStep[], robot: Robot): IntakeTimeline;
+/** Which way a mouth points in the field frame when the robot is at this heading. */
+export declare function mouthHeadingRad(mouth: Mouth, robotHeadingRad: number): number;
+export {};
+//# sourceMappingURL=intake.d.ts.map

package/dist/checks/intake.d.ts.map

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package/dist/checks/intake.js

@@ -0,0 +1,131 @@
+/**
+ * Which mouths are running while a path step is driven.
+ *
+ * Nothing here knows the name `setIntake`: a command counts as an intake command when its registry
+ * entry in `robot.json` requires the intake and takes a `state` parameter, which is the contract
+ * site/docs/file-format.md sets out. That way a robot that calls the command something else, or
+ * has three mouths, still gets the MOUTH_LEADING and SWEEP_SPEED checks.
+ */
+const RUNNING_STATES = new Set(["FORWARD", "REVERSE", "ON", "IN", "OUT"]);
+const STOPPED_STATES = new Set(["STOP", "OFF", "IDLE"]);
+/** Reads a command call as an intake instruction, or returns null when it is not one. */
+export function intakeCall(robot, call) {
+    const spec = robot.commands.find((command) => command.name === call.name);
+    if (spec === undefined)
+        return null;
+    if (!(spec.requires ?? []).includes("intake"))
+        return null;
+    const state = call.args?.["state"] ?? spec.params?.["state"]?.default;
+    if (typeof state !== "string")
+        return null;
+    const running = RUNNING_STATES.has(state)
+        ? true
+        : STOPPED_STATES.has(state)
+            ? false
+            : null;
+    if (running === null)
+        return null;
+    const side = call.args?.["side"] ?? spec.params?.["side"]?.default;
+    const mouths = robot.mouths ?? [];
+    const mouthIds = typeof side === "string" && side !== "BOTH" && side !== "ALL"
+        ? mouths.filter((mouth) => mouth.side === side).map((mouth) => mouth.id)
+        : mouths.map((mouth) => mouth.id);
+    return { mouthIds, running };
+}
+/** Where a marker sits as a fraction of the step, whichever of the three ways it was written. */
+export const markerT = (at, lengthIn) => {
+    if ("t" in at)
+        return at.t;
+    if (lengthIn <= 0)
+        return 0;
+    if ("distanceIn" in at)
+        return Math.min(at.distanceIn / lengthIn, 1);
+    return Math.max(1 - at.distanceFromEndIn / lengthIn, 0);
+};
+/**
+ * Walks the auto once and works out, for every path step, which mouths are running over it: those
+ * a previous command turned on and never stopped, those a marker turns on part way through, and,
+ * inside a parallel group, those any other member of the group turns on, because that member runs
+ * alongside the drive (a deadline drive with an intake sequence beside it is the common case).
+ */
+export function intakeTimeline(steps, robot) {
+    const running = new Set();
+    const byStepId = new Map();
+    const turnedOn = (list, into) => {
+        for (const planned of list) {
+            const step = planned.step;
+            if (step.kind === "command") {
+                const call = intakeCall(robot, { name: step.name, ...(step.args === undefined ? {} : { args: step.args }) });
+                if (call?.running === true)
+                    for (const id of call.mouthIds)
+                        into.add(id);
+            }
+            if (planned.children !== undefined)
+                turnedOn(planned.children, into);
+        }
+        return into;
+    };
+    const walk = (list, alongside = new Set()) => {
+        for (const planned of list) {
+            const step = planned.step;
+            if (step.kind === "command") {
+                const call = intakeCall(robot, { name: step.name, ...(step.args === undefined ? {} : { args: step.args }) });
+                if (call !== null) {
+                    for (const id of call.mouthIds) {
+                        if (call.running)
+                            running.add(id);
+                        else
+                            running.delete(id);
+                    }
+                }
+                continue;
+            }
+            if (step.kind === "path") {
+                const from = new Map();
+                for (const id of running)
+                    from.set(id, 0);
+                for (const id of alongside)
+                    from.set(id, 0);
+                for (const marker of step.markers ?? []) {
+                    const call = intakeCall(robot, marker.command);
+                    if (call === null)
+                        continue;
+                    const t = markerT(marker.at, planned.lengthIn);
+                    for (const id of call.mouthIds) {
+                        if (call.running) {
+                            from.set(id, Math.min(from.get(id) ?? 1, t));
+                            running.add(id);
+                        }
+                        else {
+                            from.delete(id);
+                            running.delete(id);
+                        }
+                    }
+                }
+                byStepId.set(planned.id, from);
+                continue;
+            }
+            if (planned.children === undefined)
+                continue;
+            if (step.kind === "parallel") {
+                walk(planned.children, turnedOn(planned.children, new Set(alongside)));
+            }
+            else {
+                walk(planned.children, alongside);
+            }
+        }
+    };
+    walk(steps);
+    return { byStepId };
+}
+/** Which way a mouth points in the field frame when the robot is at this heading. */
+export function mouthHeadingRad(mouth, robotHeadingRad) {
+    const offsets = {
+        FRONT: 0,
+        BACK: Math.PI,
+        LEFT: Math.PI / 2,
+        RIGHT: -Math.PI / 2,
+    };
+    return robotHeadingRad + offsets[mouth.side];
+}
+//# sourceMappingURL=intake.js.map

package/dist/checks/intake.js.map

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

@@ -0,0 +1,28 @@
+import type { Field, Robot } from "@horizon36596/zenith-schema";
+import type { Estimate, Finding, Plan, PlanStep } from "../types.js";
+import { type RunningFrom } from "./intake.js";
+/**
+ * KEEPOUT: the footprint enters a zone whose rule applies during autonomous.
+ *
+ * A zone counts only when it says `appliesInAuto: true`. The BIOBUZZ loading zones say "no start
+ * here", which START_ILLEGAL already covers, and warning about driving through them would be a
+ * false alarm; the flag is how a field file asks for this check.
+ */
+export declare function checkKeepout(steps: readonly PlanStep[], field: Field): Finding[];
+/**
+ * STRAFE_FRACTION: more of a leg driven sideways than the robot file's threshold allows. The
+ * finding carries both the fraction and what it costs in seconds, because `03` section 5 is
+ * explicit that a percentage alone does not let anyone accept the cost knowingly.
+ */
+export declare function checkStrafeFraction(plan: Plan, estimate: Estimate | null, robot: Robot): Finding[];
+/**
+ * MOUTH_LEADING: a leg driven with an intake running where the running mouth is not within 30
+ * degrees of the travel direction. A body wider than the mouth shoves game pieces aside instead of
+ * taking them in, which is a quiet way to lose a cycle.
+ */
+export declare function checkMouthLeading(steps: readonly PlanStep[], robot: Robot, running: ReadonlyMap<string, RunningFrom>): Finding[];
+/** SWEEP_SPEED: a leg driven faster than the robot's sweep speed with an intake running. */
+export declare function checkSweepSpeed(steps: readonly PlanStep[], robot: Robot, running: ReadonlyMap<string, RunningFrom>): Finding[];
+/** Runs every motion check over a plan. */
+export declare function checkMotion(plan: Plan, estimate: Estimate | null, robot: Robot, field: Field, steps: readonly PlanStep[]): Finding[];
+//# sourceMappingURL=motion.d.ts.map

package/dist/checks/motion.d.ts.map

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package/dist/checks/motion.js

@@ -0,0 +1,252 @@
+import { wrapAngle } from "../geometry/angle.js";
+import { polygonOverlapsBox } from "../geometry/sat.js";
+import { MOUTH_LEADING_TOLERANCE_RAD, robotLimits, strafeFractionWarn, sweepSpeedFraction, } from "../kinematics.js";
+import { intakeTimeline, mouthHeadingRad } from "./intake.js";
+/**
+ * The checks that are about how the robot moves: KEEPOUT, STRAFE_FRACTION, MOUTH_LEADING and
+ * SWEEP_SPEED (site/docs/checks-and-findings.md).
+ */
+const degrees = (rad) => `${((rad * 180) / Math.PI).toFixed(0)} degrees`;
+const percent = (fraction) => `${(fraction * 100).toFixed(0)} %`;
+/**
+ * KEEPOUT: the footprint enters a zone whose rule applies during autonomous.
+ *
+ * A zone counts only when it says `appliesInAuto: true`. The BIOBUZZ loading zones say "no start
+ * here", which START_ILLEGAL already covers, and warning about driving through them would be a
+ * false alarm; the flag is how a field file asks for this check.
+ */
+export function checkKeepout(steps, field) {
+    const findings = [];
+    const zones = (field.zones ?? []).filter((zone) => zone.appliesInAuto === true);
+    if (zones.length === 0)
+        return findings;
+    for (const step of steps) {
+        for (const zone of zones) {
+            let worst = null;
+            for (const sample of step.samples) {
+                for (const polygon of [sample.footprintIn, ...sample.mouthsIn]) {
+                    const overlap = polygonOverlapsBox(polygon, zone);
+                    if (!overlap.overlaps)
+                        continue;
+                    if (worst === null || overlap.penetrationIn > worst.penetrationIn) {
+                        worst = { t: sample.t, penetrationIn: overlap.penetrationIn };
+                    }
+                }
+            }
+            if (worst === null)
+                continue;
+            findings.push({
+                severity: "warning",
+                stepId: step.id,
+                t: worst.t,
+                code: "KEEPOUT",
+                message: `The footprint enters ${zone.id}, which applies during autonomous${zone.rule === undefined ? "" : ` (${zone.rule})`}.`,
+                geometry: { zoneId: zone.id, penetrationIn: worst.penetrationIn },
+            });
+        }
+    }
+    return findings;
+}
+/**
+ * STRAFE_FRACTION: more of a leg driven sideways than the robot file's threshold allows. The
+ * finding carries both the fraction and what it costs in seconds, because `03` section 5 is
+ * explicit that a percentage alone does not let anyone accept the cost knowingly.
+ */
+export function checkStrafeFraction(plan, estimate, robot) {
+    if (estimate === null)
+        return [];
+    const threshold = strafeFractionWarn(robot);
+    const findings = [];
+    // Every leg, including the ones inside a parallel group or a branch arm: the estimate already
+    // carries their strafeFraction, and a sideways leg costs the same seconds wherever it sits.
+    for (const { step, siblings, index } of sited(plan.steps)) {
+        const timing = estimate.byStepId[step.id];
+        if (timing?.strafeFraction == null || step.kind !== "path")
+            continue;
+        if (timing.strafeFraction <= threshold)
+            continue;
+        const costS = timing.strafeCostS ?? 0;
+        findings.push({
+            severity: "warning",
+            stepId: step.id,
+            code: "STRAFE_FRACTION",
+            message: `This leg is driven sideways for ${percent(timing.strafeFraction)} of its length, which costs ${costS.toFixed(2)} s against driving it nose-first; the warning threshold is ${percent(threshold)}.`,
+            geometry: { polygonIn: step.samples.map((sample) => sample.pose) },
+            fixes: strafeFixes(siblings, step, index),
+        });
+    }
+    return findings;
+}
+/**
+ * Every step of a plan with the list that holds it: the top level, one parallel group's members,
+ * or one arm of a branch. A branch's two arms are separate lists, because the last step of `then`
+ * does not run before the first step of `else`.
+ */
+function sited(steps) {
+    const out = [];
+    steps.forEach((step, index) => {
+        out.push({ step, siblings: steps, index });
+        const children = step.children;
+        if (children === undefined)
+            return;
+        if (step.step.kind === "branch") {
+            const thenCount = step.step.then.length;
+            out.push(...sited(children.slice(0, thenCount)));
+            out.push(...sited(children.slice(thenCount)));
+            return;
+        }
+        out.push(...sited(children));
+    });
+    return out;
+}
+/** The two fixes `03` section 5 names for a strafing leg: drive it nose-first, or turn beforehand. */
+function strafeFixes(siblings, step, index) {
+    const fixes = [
+        {
+            kind: "makeTangent",
+            stepId: step.id,
+            label: "Point the nose along the path",
+            params: {},
+        },
+    ];
+    const entryHeadingRad = step.samples[0]?.pose.headingRad;
+    const tangent = step.geometry?.tangentAtDistance(0);
+    if (entryHeadingRad === undefined || tangent === undefined)
+        return fixes;
+    const headingRad = wrapAngle(Math.atan2(tangent.yIn, tangent.xIn));
+    let previous;
+    for (let before = index - 1; before >= 0; before -= 1) {
+        const candidate = siblings[before];
+        if (candidate !== undefined && candidate.kind === "path") {
+            previous = candidate;
+            break;
+        }
+    }
+    if (previous === undefined)
+        return fixes;
+    fixes.push({
+        kind: "turnAtPreviousStop",
+        stepId: step.id,
+        label: `Turn to ${degrees(headingRad)} at the end of ${previous.id} instead`,
+        params: {
+            headingRad,
+            fromRad: previous.samples[0]?.pose.headingRad ?? headingRad,
+            turnInStepId: previous.id,
+        },
+    });
+    return fixes;
+}
+/**
+ * MOUTH_LEADING: a leg driven with an intake running where the running mouth is not within 30
+ * degrees of the travel direction. A body wider than the mouth shoves game pieces aside instead of
+ * taking them in, which is a quiet way to lose a cycle.
+ */
+export function checkMouthLeading(steps, robot, running) {
+    const findings = [];
+    const mouths = robot.mouths ?? [];
+    if (mouths.length === 0)
+        return findings;
+    for (const step of steps) {
+        const active = running.get(step.id);
+        if (active === undefined || active.size === 0)
+            continue;
+        const geometry = step.geometry;
+        if (geometry === undefined)
+            continue;
+        let runningIn = 0;
+        let badIn = 0;
+        let worst = { deviationRad: 0, t: 0, mouthId: "" };
+        for (let i = 1; i < step.samples.length; i += 1) {
+            const before = step.samples[i - 1];
+            const after = step.samples[i];
+            if (before === undefined || after === undefined)
+                continue;
+            const ds = after.sIn - before.sIn;
+            if (ds <= 0)
+                continue;
+            const midT = (before.t + after.t) / 2;
+            const live = mouths.filter((mouth) => {
+                const from = active.get(mouth.id);
+                return from !== undefined && midT >= from;
+            });
+            if (live.length === 0)
+                continue;
+            const tangent = geometry.tangentAtDistance((before.sIn + after.sIn) / 2);
+            const travelRad = Math.atan2(tangent.yIn, tangent.xIn);
+            const headingRad = (before.pose.headingRad + after.pose.headingRad) / 2;
+            let best = { deviationRad: Infinity, mouthId: "" };
+            for (const mouth of live) {
+                const deviationRad = Math.abs(wrapAngle(mouthHeadingRad(mouth, headingRad) - travelRad));
+                if (deviationRad < best.deviationRad)
+                    best = { deviationRad, mouthId: mouth.id };
+            }
+            runningIn += ds;
+            if (best.deviationRad > MOUTH_LEADING_TOLERANCE_RAD)
+                badIn += ds;
+            if (best.deviationRad > worst.deviationRad) {
+                worst = { deviationRad: best.deviationRad, t: midT, mouthId: best.mouthId };
+            }
+        }
+        if (runningIn === 0 || badIn <= runningIn / 2)
+            continue;
+        findings.push({
+            severity: "warning",
+            stepId: step.id,
+            t: worst.t,
+            code: "MOUTH_LEADING",
+            message: `The ${worst.mouthId} mouth is running but points up to ${degrees(worst.deviationRad)} away from the direction of travel over ${percent(badIn / runningIn)} of this leg; the limit is ${degrees(MOUTH_LEADING_TOLERANCE_RAD)}, and a body wider than the mouth shoves game pieces aside.`,
+            fixes: [
+                { kind: "makeTangent", stepId: step.id, label: "Point the nose along the path", params: {} },
+                {
+                    kind: "makeTangent",
+                    stepId: step.id,
+                    label: "Point the back mouth along the path",
+                    params: { reversed: true },
+                },
+            ],
+        });
+    }
+    return findings;
+}
+/** SWEEP_SPEED: a leg driven faster than the robot's sweep speed with an intake running. */
+export function checkSweepSpeed(steps, robot, running) {
+    const limits = robotLimits(robot);
+    const sweep = sweepSpeedFraction(robot);
+    const findings = [];
+    for (const step of steps) {
+        const active = running.get(step.id);
+        if (active === undefined || active.size === 0)
+            continue;
+        if (step.step.kind !== "path")
+            continue;
+        const speedFraction = step.step.speedFraction ?? limits.defaultPathSpeedFraction;
+        if (speedFraction <= sweep)
+            continue;
+        findings.push({
+            severity: "warning",
+            stepId: step.id,
+            code: "SWEEP_SPEED",
+            message: `This leg intakes at ${percent(speedFraction)} of full speed, above the ${percent(sweep)} the robot file sets for a sweep.`,
+            fixes: [
+                {
+                    kind: "slowSweep",
+                    stepId: step.id,
+                    label: `Slow this sweep to ${percent(sweep)}`,
+                    params: { speedFraction: sweep },
+                },
+            ],
+        });
+    }
+    return findings;
+}
+/** Runs every motion check over a plan. */
+export function checkMotion(plan, estimate, robot, field, steps) {
+    const running = intakeTimeline(plan.steps, robot).byStepId;
+    return [
+        ...checkKeepout(steps, field),
+        ...checkStrafeFraction(plan, estimate, robot),
+        ...checkMouthLeading(steps, robot, running),
+        ...checkSweepSpeed(steps, robot, running),
+    ];
+}
+//# sourceMappingURL=motion.js.map

package/dist/checks/motion.js.map

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

@@ -0,0 +1,29 @@
+import type { Field, Robot } from "@horizon36596/zenith-schema";
+import type { Estimate, Finding, PlanStep } from "../types.js";
+/**
+ * The checks about the shape of the routine rather than its geometry: TIME_BUDGET, TIMEOUT_TIGHT,
+ * STATIONARY_MARKER, MOVES_ROBOT and PROVENANCE
+ * (site/docs/checks-and-findings.md).
+ */
+/** The label an inline pose is taken to carry when it has none (`03` section 4, PROVENANCE). */
+export declare const INHERITED_PROVENANCE = "SET FROM EDITOR";
+/** TIME_BUDGET: the routine over the period. Nominal over is a warning, optimistic over an error. */
+export declare function checkTimeBudget(estimate: Estimate | null, field: Field): Finding[];
+/** TIMEOUT_TIGHT: a step whose timeout leaves it almost no room over its own estimate. */
+export declare function checkTimeouts(steps: readonly PlanStep[], estimate: Estimate | null): Finding[];
+/** STATIONARY_MARKER: a marker that fires a command the robot is meant to be standing still for. */
+export declare function checkStationaryMarkers(steps: readonly PlanStep[], robot: Robot): Finding[];
+/**
+ * MOVES_ROBOT: a command whose registry entry says it drives the robot leaves the end pose unknown,
+ * so whatever follows has to start from wherever it actually ended.
+ *
+ * It takes the flattened list: a command that drives the robot does so inside a parallel group or a
+ * branch arm too, and the step after it is no better placed to name a fixed pose for having been
+ * nested.
+ */
+export declare function checkMovesRobot(steps: readonly PlanStep[], robot: Robot): Finding[];
+/** PROVENANCE: an inline pose with no label, which is taken to be the editor's own. */
+export declare function checkProvenance(steps: readonly PlanStep[]): Finding[];
+/** Runs every scheduling check over a plan. */
+export declare function checkSchedule(estimate: Estimate | null, robot: Robot, field: Field, steps: readonly PlanStep[]): Finding[];
+//# sourceMappingURL=schedule.d.ts.map

package/dist/checks/schedule.d.ts.map

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