@horizon36596/zenith-core 0.1.1

package/dist/trace.js

@@ -0,0 +1,187 @@
+/**
+ * The trace file the robot repository's headless sim writes
+ * (site/docs/simulation.md), and what can be read off it without knowing
+ * anything about a season.
+ *
+ * It is not one of the five file kinds `@horizon36596/zenith-schema` owns, so the parsing is here and it is
+ * deliberately forgiving in one direction only: a key the sim build does not fill yet is absent
+ * rather than wrong, and every absent key reads as empty. A key that is present but the wrong
+ * shape throws, naming the key, because a trace that is silently half-read would show up as a
+ * confident wrong number in the overlay.
+ *
+ * Pure, like the rest of core: nothing here runs a sim or reads a file.
+ */
+export class TraceError extends Error {
+    constructor(message) {
+        super(message);
+        this.name = "TraceError";
+    }
+}
+const isRecord = (value) => typeof value === "object" && value !== null && !Array.isArray(value);
+const numberAt = (source, key, fallback) => {
+    const value = source[key];
+    if (value === undefined)
+        return fallback;
+    if (typeof value !== "number" || !Number.isFinite(value)) {
+        throw new TraceError(`${key} is not a finite number.`);
+    }
+    return value;
+};
+function poseRow(row, key, at) {
+    if (!Array.isArray(row) || row.length < 4) {
+        throw new TraceError(`${key}[${String(at)}] is not a [timeS, xIn, yIn, headingRad] row.`);
+    }
+    const numbers = row.slice(0, 4).map((value) => {
+        if (typeof value !== "number" || !Number.isFinite(value)) {
+            throw new TraceError(`${key}[${String(at)}] holds a value that is not a finite number.`);
+        }
+        return value;
+    });
+    return [
+        numbers[0],
+        numbers[1],
+        numbers[2],
+        numbers[3],
+    ];
+}
+function poseRows(value, key) {
+    if (value === undefined)
+        return [];
+    if (!Array.isArray(value))
+        throw new TraceError(`${key} is not an array.`);
+    return value.map((row, at) => poseRow(row, key, at));
+}
+function steps(value) {
+    if (value === undefined)
+        return [];
+    if (!Array.isArray(value))
+        throw new TraceError("steps is not an array.");
+    return value.map((entry, at) => {
+        if (!isRecord(entry))
+            throw new TraceError(`steps[${String(at)}] is not an object.`);
+        const { id, startS, endS } = entry;
+        if (typeof id !== "string" || typeof startS !== "number" || typeof endS !== "number") {
+            throw new TraceError(`steps[${String(at)}] needs id, startS and endS.`);
+        }
+        return { id, startS, endS, interrupted: entry["interrupted"] === true };
+    });
+}
+function contacts(value) {
+    if (value === undefined)
+        return [];
+    if (!Array.isArray(value))
+        throw new TraceError("structureContacts is not an array.");
+    return value.map((entry, at) => {
+        if (!isRecord(entry))
+            throw new TraceError(`structureContacts[${String(at)}] is not an object.`);
+        const obstacle = entry["obstacle"];
+        if (typeof obstacle !== "string") {
+            throw new TraceError(`structureContacts[${String(at)}] needs an obstacle name.`);
+        }
+        return {
+            timeS: numberAt(entry, "timeS", 0),
+            obstacle,
+            penetrationIn: numberAt(entry, "penetrationIn", 0),
+        };
+    });
+}
+function ledgerRows(value) {
+    if (value === undefined)
+        return [];
+    if (!Array.isArray(value))
+        throw new TraceError("ledger is not an array.");
+    return value.map((entry, at) => {
+        if (!isRecord(entry))
+            throw new TraceError(`ledger[${String(at)}] is not an object.`);
+        const tips = entry["tips"];
+        const row = { timeS: numberAt(entry, "timeS", 0) };
+        if (entry["held"] !== undefined)
+            row.held = numberAt(entry, "held", 0);
+        if (entry["launches"] !== undefined)
+            row.launches = numberAt(entry, "launches", 0);
+        if (isRecord(tips)) {
+            const counts = {};
+            for (const [alliance, count] of Object.entries(tips)) {
+                if (typeof count === "number")
+                    counts[alliance] = count;
+            }
+            row.tips = counts;
+        }
+        return row;
+    });
+}
+function events(value) {
+    if (value === undefined)
+        return [];
+    if (!Array.isArray(value))
+        throw new TraceError("events is not an array.");
+    return value.map((entry, at) => {
+        if (!isRecord(entry))
+            throw new TraceError(`events[${String(at)}] is not an object.`);
+        const kind = entry["kind"];
+        if (typeof kind !== "string")
+            throw new TraceError(`events[${String(at)}] needs a kind.`);
+        const alliance = entry["alliance"];
+        return {
+            timeS: numberAt(entry, "timeS", 0),
+            kind,
+            ...(typeof alliance === "string" ? { alliance } : {}),
+        };
+    });
+}
+/** Parses a trace, naming the first key that is wrong rather than failing silently. */
+export function parseTrace(json) {
+    if (!isRecord(json))
+        throw new TraceError("A trace file must be a JSON object.");
+    if (json["poses"] === undefined)
+        throw new TraceError("A trace file needs a poses array.");
+    const sha = json["sha"];
+    const capabilities = json["capabilities"];
+    return {
+        formatVersion: numberAt(json, "formatVersion", 1),
+        auto: typeof json["auto"] === "string" ? json["auto"] : "",
+        sha: typeof sha === "string" ? sha : null,
+        simTimeS: numberAt(json, "simTimeS", 0),
+        tickS: numberAt(json, "tickS", 0.02),
+        capabilities: Array.isArray(capabilities) ? capabilities.map(String) : [],
+        steps: steps(json["steps"]),
+        poses: poseRows(json["poses"], "poses"),
+        truthPoses: poseRows(json["truthPoses"], "truthPoses"),
+        structureContacts: contacts(json["structureContacts"]),
+        ledger: ledgerRows(json["ledger"]),
+        events: events(json["events"]),
+    };
+}
+/** The last recorded time, which is how far a playback scrubber can run on recorded time. */
+export function traceDurationS(trace) {
+    const lastPose = trace.poses[trace.poses.length - 1];
+    const lastStep = trace.steps[trace.steps.length - 1];
+    return Math.max(lastPose?.[0] ?? 0, lastStep?.endS ?? 0);
+}
+/** How long each step actually took, by step id. */
+export function traceStepDurations(trace) {
+    const durations = new Map();
+    for (const step of trace.steps)
+        durations.set(step.id, step.endS - step.startS);
+    return durations;
+}
+const MEASURABLE = ["structureContacts", "ledger"];
+export function traceSummary(trace) {
+    const tips = {};
+    for (const row of trace.ledger) {
+        for (const [alliance, count] of Object.entries(row.tips ?? {}))
+            tips[alliance] = count;
+    }
+    const last = trace.ledger[trace.ledger.length - 1];
+    return {
+        totalS: traceDurationS(trace),
+        structureContacts: trace.structureContacts.length,
+        launches: trace.ledger.reduce((sum, row) => sum + (row.launches ?? 0), 0),
+        tips,
+        heldAtEnd: last?.held ?? null,
+        inert: trace.capabilities.length === 0
+            ? []
+            : MEASURABLE.filter((capability) => !trace.capabilities.includes(capability)),
+    };
+}
+//# sourceMappingURL=trace.js.map

package/dist/trace.js.map

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

@@ -0,0 +1,219 @@
+import type { Auto, Field, Robot, Step, Waypoints } from "@horizon36596/zenith-schema";
+import type { PathGeometry } from "./geometry/path.js";
+import type { Pose, Vec2 } from "./geometry/vec.js";
+import type { ResolvedSegment } from "./resolve.js";
+/** Every check code of site/docs/checks-and-findings.md. M0 raises a subset. */
+export type FindingCode = "SCHEMA" | "CONTINUITY" | "HEADING_MISSING" | "HEADING" | "HEADING_RANGES" | "PERIMETER" | "STRUCTURE" | "KEEPOUT" | "START_ILLEGAL" | "LEGAL_APPROACH" | "TURRET_RANGE" | "CAPACITY" | "EMPTY_SHOT" | "STRAFE_FRACTION" | "MOUTH_LEADING" | "SWEEP_SPEED" | "TIME_BUDGET" | "TIMEOUT_TIGHT" | "STATIONARY_MARKER" | "MOVES_ROBOT" | "PROVENANCE";
+export type Severity = "error" | "warning" | "info";
+/** What a finding points at on the field, when it points at anything. */
+export interface FindingGeometry {
+    pointIn?: Vec2;
+    polygonIn?: Vec2[];
+    obstacleId?: string;
+    zoneId?: string;
+    penetrationIn?: number;
+}
+/** The finding shape of site/docs/checks-and-findings.md. */
+export interface Finding {
+    severity: Severity;
+    stepId: string;
+    t?: number;
+    code: FindingCode;
+    message: string;
+    geometry?: FindingGeometry;
+    /**
+     * The one-click fixes the editor offers on this finding (site/docs/editor.md). Each one is
+     * structured, so `applyFix` can carry it out on the document without the editor knowing anything
+     * about the check that raised it.
+     */
+    fixes?: Fix[];
+}
+/** The five one-click fixes of `05` section 3, as data the editor can apply. */
+export type FixKind = "makeTangent" | "turnAtPreviousStop" | "slowSweep" | "moveToLegalApproach" | "splitSegment";
+interface FixBase {
+    /** The step the fix rewrites, which is not always the step the finding points at. */
+    stepId: string;
+    /** What the button says, in the words a person would use. */
+    label: string;
+}
+export type Fix = (FixBase & {
+    kind: "makeTangent";
+    params: {
+        reversed?: boolean;
+    };
+}) | (FixBase & {
+    kind: "turnAtPreviousStop";
+    params: {
+        headingRad: number;
+        fromRad?: number;
+        turnInStepId?: string;
+    };
+}) | (FixBase & {
+    kind: "slowSweep";
+    params: {
+        speedFraction: number;
+    };
+}) | (FixBase & {
+    kind: "moveToLegalApproach";
+    params: {
+        xIn: number;
+        yIn: number;
+        headingRad?: number;
+    };
+}) | (FixBase & {
+    kind: "splitSegment";
+    params: {
+        segmentIndex: number;
+        u?: number;
+    };
+});
+/** One place along a path step where the robot's pose and footprint were worked out. */
+export interface PlanSample {
+    /** Arc length along this step, in inches. */
+    sIn: number;
+    /** Arc length normalised over the whole step, in [0, 1]; the same t markers use. */
+    t: number;
+    pose: Pose;
+    /** The expanded footprint, four corners counter-clockwise. */
+    footprintIn: Vec2[];
+    /** One polygon per mouth in `robot.json`. */
+    mouthsIn: Vec2[][];
+}
+export interface PlanStep {
+    id: string;
+    kind: Step["kind"];
+    step: Step;
+    startPose: Pose;
+    /** Null when the step is a `movesRobot` command, whose end pose nobody can predict. */
+    endPose: Pose | null;
+    lengthIn: number;
+    samples: PlanSample[];
+    geometry?: PathGeometry;
+    /** The resolved segments of a path step, for the continuity check and the inspector. */
+    segments?: ResolvedSegment[];
+    /** Parallel and branch steps carry their children here. */
+    children?: PlanStep[];
+}
+export interface Plan {
+    auto: Auto;
+    robot: Robot;
+    field: Field;
+    startPose: Pose;
+    steps: PlanStep[];
+    /** Findings raised while resolving and planning: SCHEMA, CONTINUITY, HEADING_MISSING. */
+    findings: Finding[];
+}
+/** Per-step timing from the estimate's time model (`estimate.ts`). */
+export interface StepEstimate {
+    stepId: string;
+    kind: Step["kind"];
+    /** Seconds, or null when the step's duration cannot be predicted. */
+    nominalS: number | null;
+    lowS: number | null;
+    highS: number | null;
+    /** The share of a path step's arc length driven more sideways than forwards, in [0, 1]. */
+    strafeFraction: number | null;
+    /** What that sideways driving costs against the same path driven nose-first, in seconds. */
+    strafeCostS: number | null;
+    /**
+     * True when the seconds are not a prediction: either the step has no predictable duration at all
+     * (`nominalS` is null and it counts as zero in the total, making the total a lower bound), or it
+     * ends on a sensor and `nominalS` is the upper bound of driving the whole path.
+     */
+    unknown: boolean;
+    /** How fast the robot is still moving as the step ends; the next step accelerates from it. */
+    exitVelocityInPerS: number;
+    /**
+     * For a path step, the cumulative seconds at each of the plan's samples, so a caller can turn a
+     * time into a place on the path: the renderer's footprint ghosts and the editor's playback
+     * scrubbing both need it, and both would otherwise have to redo the profile.
+     */
+    timeAtSampleS?: readonly number[];
+    /** Parallel and branch children, in the order they appear in the file. */
+    children?: StepEstimate[];
+}
+export interface Estimate {
+    steps: StepEstimate[];
+    /** Every step including parallel and branch children, by id, for the editor and the checks. */
+    byStepId: Readonly<Record<string, StepEstimate>>;
+    nominalS: number | null;
+    lowS: number | null;
+    highS: number | null;
+    /** True when at least one step's estimate is `unknown`, so the total is a bound, not a number. */
+    hasUnknown: boolean;
+    /** The half-width of the band as a fraction of nominal: 0.2 until `07` fits a recorded run. */
+    bandFraction: number;
+    /** The assumptions behind the numbers, for `zenith estimate --explain`. */
+    assumptions: string[];
+    /** The same sentences as `assumptions`, under the name `zenith estimate --explain` prints. */
+    explain: string[];
+}
+/** One row of the ledger panel and of the pull-request body (site/docs/seasons.md). */
+export interface LedgerRow {
+    stepId: string;
+    label: string;
+    detail?: string;
+    holds?: Record<string, number>;
+}
+export interface RenderOptions {
+    /** The field's own width in pixels; the picture is wider than this when the ledger is shown. */
+    widthPx?: number;
+    heightPx?: number;
+    /** Draw the routine for this alliance, mirroring it when it is not the one the file is in. */
+    alliance?: "RED" | "BLUE";
+    showFindings?: boolean;
+    showLedger?: boolean;
+    /** Seconds of estimated time between footprint ghosts; the default is 0.5. */
+    ghostEveryS?: number;
+    /** Inches between footprint ghosts when there is no estimate; the default is 12. */
+    ghostEveryIn?: number;
+    /** A second plan to ghost underneath, for reviewing a change (`06` section 4). */
+    base?: Plan;
+    /** The named poses to pin, when the caller has them. */
+    waypoints?: Waypoints;
+    /** Overrides the title in the picture's header. */
+    title?: string;
+    /**
+     * The picture `field.image` names, already read by the caller (core reads no files): an `href`
+     * such as a `data:` URI, and the stored image's size in pixels, which a `pxBoundsIn` crop needs.
+     * When it is absent, or the field has no image, or a crop is asked for without the size, the
+     * field is drawn as vector alone.
+     */
+    fieldImage?: {
+        href: string;
+        widthPx?: number;
+        heightPx?: number;
+    };
+}
+export type AutoDiffChangeKind = "added" | "removed" | "changed" | "moved";
+/** How far one pose moved between two versions of a step. */
+export interface PoseDelta {
+    /** Where the pose sits in the step, such as `segments[0].to` or `segments[1].control[0]`. */
+    where: string;
+    dxIn: number;
+    dyIn: number;
+    /** The short-way heading change, or null when neither version names a heading. */
+    dHeadingRad: number | null;
+    distanceIn: number;
+}
+export interface AutoDiffChange {
+    kind: AutoDiffChangeKind;
+    stepId: string;
+    /** One sentence naming what happened to this step. */
+    summary: string;
+    /** For a changed step, the keys that differ, in the schema's own order. */
+    fields?: string[];
+    /** For a changed path step, how far each pose moved. */
+    poseDeltas?: PoseDelta[];
+    /** Where the step sat in each version, for a move. */
+    fromIndex?: number;
+    toIndex?: number;
+}
+export interface AutoDiff {
+    changes: AutoDiffChange[];
+    /** Keys of the document itself that differ: name, title, description, alliance, start. */
+    header: string[];
+    identical: boolean;
+}
+export {};
+//# sourceMappingURL=types.d.ts.map

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package/dist/types.js

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+export {};
+//# sourceMappingURL=types.js.map

package/dist/types.js.map

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package/dist/unimplemented.d.ts

@@ -0,0 +1,8 @@
+/**
+ * Thrown by the parts of the core API a later milestone fills in. The signature is exported now so
+ * the editor, the CLI and the MCP server can be built against the final shape.
+ */
+export declare class NotImplementedError extends Error {
+    constructor(what: string, milestone: string, where: string);
+}
+//# sourceMappingURL=unimplemented.d.ts.map

package/dist/unimplemented.d.ts.map

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package/dist/unimplemented.js

@@ -0,0 +1,11 @@
+/**
+ * Thrown by the parts of the core API a later milestone fills in. The signature is exported now so
+ * the editor, the CLI and the MCP server can be built against the final shape.
+ */
+export class NotImplementedError extends Error {
+    constructor(what, milestone, where) {
+        super(`${what} is not implemented yet: ${milestone} builds it (${where}).`);
+        this.name = "NotImplementedError";
+    }
+}
+//# sourceMappingURL=unimplemented.js.map

package/dist/unimplemented.js.map

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package/package.json

@@ -0,0 +1,59 @@
+{
+  "name": "@horizon36596/zenith-core",
+  "version": "0.1.1",
+  "description": "The pure planning core of Zenith: path geometry, heading modes, feasibility checks, time estimates, structural edits, canonical form and SVG render.",
+  "keywords": [
+    "ftc",
+    "first-tech-challenge",
+    "robotics",
+    "autonomous",
+    "zenith",
+    "path-planning",
+    "feasibility",
+    "trajectory"
+  ],
+  "homepage": "https://libraries.horizon36596.org/zenith/",
+  "bugs": {
+    "url": "https://github.com/Horizon-36596/zenith/issues"
+  },
+  "repository": {
+    "type": "git",
+    "url": "git+https://github.com/Horizon-36596/zenith.git",
+    "directory": "packages/core"
+  },
+  "license": "MIT",
+  "author": "Horizon (FTC 36596)",
+  "type": "module",
+  "main": "./dist/index.js",
+  "types": "./dist/index.d.ts",
+  "exports": {
+    ".": {
+      "types": "./dist/index.d.ts",
+      "default": "./dist/index.js"
+    }
+  },
+  "files": [
+    "dist",
+    "!dist/**/*.test.*",
+    "!dist/**/*.qa.test.*",
+    "!dist/**/testSupport.*",
+    "!dist/**/*.tsbuildinfo",
+    "!dist/testing",
+    "!dist/**/testing.*",
+    "README.md",
+    "LICENSE",
+    "NOTICE"
+  ],
+  "engines": {
+    "node": ">=22"
+  },
+  "publishConfig": {
+    "access": "public",
+    "provenance": true
+  },
+  "dependencies": {
+    "zod": "^3.25.76",
+    "@horizon36596/zenith-schema": "0.1.1"
+  },
+  "scripts": {}
+}