@horizon36596/zenith-core 0.1.1

package/dist/checks/schedule.js

@@ -0,0 +1,166 @@
+import { TIMEOUT_TIGHT_MULTIPLE } from "../kinematics.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 const INHERITED_PROVENANCE = "SET FROM EDITOR";
+/** TIME_BUDGET: the routine over the period. Nominal over is a warning, optimistic over an error. */
+export function checkTimeBudget(estimate, field) {
+    const periodS = field.periods?.autoS;
+    if (estimate === null || periodS === undefined || estimate.nominalS === null)
+        return [];
+    const findings = [];
+    if ((estimate.lowS ?? estimate.nominalS) > periodS) {
+        findings.push({
+            severity: "error",
+            stepId: "total",
+            code: "TIME_BUDGET",
+            message: `Even the optimistic end of the estimate, ${(estimate.lowS ?? estimate.nominalS).toFixed(1)} s, is over the ${periodS.toFixed(0)} s autonomous period.`,
+        });
+    }
+    else if (estimate.nominalS > periodS) {
+        findings.push({
+            severity: "warning",
+            stepId: "total",
+            code: "TIME_BUDGET",
+            message: `The routine is estimated at ${estimate.nominalS.toFixed(1)} s against a ${periodS.toFixed(0)} s autonomous period; only the optimistic end of the band fits.`,
+        });
+    }
+    if (estimate.hasUnknown && estimate.nominalS <= periodS) {
+        // Two different kinds of "unknown" reach here. A step with no estimate at all counts as zero
+        // seconds, so the total understates the routine; a step that ends on a sensor contributes the
+        // seconds it would take to drive the whole path, which it can only beat. Saying "lower bound"
+        // about the second kind would be wrong, so they are reported apart.
+        const rows = Object.values(estimate.byStepId);
+        const unpriced = rows.some((row) => row.unknown && row.nominalS === null);
+        findings.push({
+            severity: "info",
+            stepId: "total",
+            code: "TIME_BUDGET",
+            message: unpriced
+                ? `The total of ${estimate.nominalS.toFixed(1)} s is a lower bound: at least one step has no estimate, so the routine may not fit the ${periodS.toFixed(0)} s period.`
+                : `The total of ${estimate.nominalS.toFixed(1)} s is an upper bound: at least one step ends on a condition rather than at the end of its path, so the routine may come in under it.`,
+        });
+    }
+    return findings;
+}
+/** TIMEOUT_TIGHT: a step whose timeout leaves it almost no room over its own estimate. */
+export function checkTimeouts(steps, estimate) {
+    if (estimate === null)
+        return [];
+    const findings = [];
+    for (const step of steps) {
+        const timeoutS = "timeoutS" in step.step ? step.step.timeoutS : undefined;
+        const nominalS = estimate.byStepId[step.id]?.nominalS;
+        if (timeoutS === undefined || nominalS === null || nominalS === undefined)
+            continue;
+        if (timeoutS >= nominalS * TIMEOUT_TIGHT_MULTIPLE)
+            continue;
+        findings.push({
+            severity: "info",
+            stepId: step.id,
+            code: "TIMEOUT_TIGHT",
+            message: `The timeout of ${timeoutS.toFixed(1)} s is under ${String(TIMEOUT_TIGHT_MULTIPLE)} times this step's estimate of ${nominalS.toFixed(2)} s, so a slow run will be cut short.`,
+        });
+    }
+    return findings;
+}
+/** STATIONARY_MARKER: a marker that fires a command the robot is meant to be standing still for. */
+export function checkStationaryMarkers(steps, robot) {
+    const findings = [];
+    for (const step of steps) {
+        if (step.step.kind !== "path")
+            continue;
+        for (const marker of step.step.markers ?? []) {
+            const spec = robot.commands.find((command) => command.name === marker.command.name);
+            if (spec?.stationary !== true)
+                continue;
+            findings.push({
+                severity: "warning",
+                stepId: step.id,
+                ...("t" in marker.at ? { t: marker.at.t } : {}),
+                code: "STATIONARY_MARKER",
+                message: `The marker runs ${marker.command.name}, which robot.json marks as stationary, while this path is still moving.`,
+            });
+        }
+    }
+    return findings;
+}
+/**
+ * MOVES_ROBOT: a command whose registry entry says it drives the robot leaves the end pose unknown,
+ * so whatever follows has to start from wherever it actually ended.
+ *
+ * It takes the flattened list: a command that drives the robot does so inside a parallel group or a
+ * branch arm too, and the step after it is no better placed to name a fixed pose for having been
+ * nested.
+ */
+export function checkMovesRobot(steps, robot) {
+    const findings = [];
+    const movesRobot = new Set(robot.commands.filter((command) => command.movesRobot === true).map((command) => command.name));
+    let after = null;
+    for (const step of steps) {
+        if (after !== null && step.step.kind === "path") {
+            const first = step.step.segments[0];
+            if (first !== undefined && first.from !== "current") {
+                findings.push({
+                    severity: "error",
+                    stepId: step.id,
+                    code: "MOVES_ROBOT",
+                    message: `${after} moves the robot, so nobody knows where it ended; this step must start from "current" rather than a fixed pose.`,
+                });
+            }
+        }
+        if (step.step.kind === "command") {
+            after = movesRobot.has(step.step.name) ? step.step.name : null;
+        }
+        else if (step.step.kind === "path" || step.step.kind === "wait") {
+            after = null;
+        }
+    }
+    return findings;
+}
+/** PROVENANCE: an inline pose with no label, which is taken to be the editor's own. */
+export function checkProvenance(steps) {
+    const findings = [];
+    for (const step of steps) {
+        if (step.step.kind !== "path")
+            continue;
+        let unlabelled = 0;
+        for (const segment of step.step.segments) {
+            const ends = [segment.from, segment.to];
+            for (const end of ends) {
+                if (end === "current" || "ref" in end)
+                    continue;
+                if (end.provenance === undefined)
+                    unlabelled += 1;
+            }
+            if (segment.kind === "bezier") {
+                unlabelled += segment.control.filter((point) => point.provenance === undefined).length;
+            }
+        }
+        if (unlabelled === 0)
+            continue;
+        findings.push({
+            severity: "info",
+            stepId: step.id,
+            code: "PROVENANCE",
+            message: unlabelled === 1
+                ? `One pose on this step carries no provenance, so it is taken as ${INHERITED_PROVENANCE}.`
+                : `${String(unlabelled)} poses on this step carry no provenance, so they are taken as ${INHERITED_PROVENANCE}.`,
+        });
+    }
+    return findings;
+}
+/** Runs every scheduling check over a plan. */
+export function checkSchedule(estimate, robot, field, steps) {
+    return [
+        ...checkTimeBudget(estimate, field),
+        ...checkTimeouts(steps, estimate),
+        ...checkStationaryMarkers(steps, robot),
+        ...checkMovesRobot(steps, robot),
+        ...checkProvenance(steps),
+    ];
+}
+//# sourceMappingURL=schedule.js.map

package/dist/checks/schedule.js.map

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package/dist/checks/season.d.ts

@@ -0,0 +1,6 @@
+import type { Robot } from "@horizon36596/zenith-schema";
+import type { LedgerRun } from "../ledger.js";
+import type { SeasonRules } from "../season.js";
+import type { Finding, Plan } from "../types.js";
+export declare function checkSeason(plan: Plan, robot: Robot, season: SeasonRules, run: LedgerRun): Finding[];
+//# sourceMappingURL=season.d.ts.map

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

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package/dist/checks/season.js

@@ -0,0 +1,126 @@
+import { wrapAngle } from "../geometry/angle.js";
+/**
+ * The checks that need the ledger and the season plugin: LEGAL_APPROACH, TURRET_RANGE, CAPACITY
+ * and EMPTY_SHOT (site/docs/checks-and-findings.md). The core still knows
+ * nothing about the game; it asks the plugin and reports the answer.
+ */
+const degrees = (rad) => `${((rad * 180) / Math.PI).toFixed(0)} degrees`;
+const total = (holds) => Object.values(holds).reduce((sum, value) => sum + value, 0);
+/** Every step in the order the ledger walked them, parallel and branch children included. */
+function flatten(steps) {
+    const flat = [];
+    for (const step of steps) {
+        flat.push(step);
+        if (step.children !== undefined)
+            flat.push(...flatten(step.children));
+    }
+    return flat;
+}
+/** The leg that put the robot where it is standing, which is the one a move fix has to rewrite. */
+function drivingStepBefore(flat, stepId) {
+    const index = flat.findIndex((step) => step.id === stepId);
+    for (let before = index - 1; before >= 0; before -= 1) {
+        const candidate = flat[before];
+        if (candidate !== undefined && candidate.kind === "path")
+            return candidate;
+    }
+    return null;
+}
+export function checkSeason(plan, robot, season, run) {
+    const findings = [];
+    const flat = flatten(plan.steps);
+    const poseOf = new Map(flat.map((step) => [step.id, step.startPose]));
+    const capacity = robot.capacity;
+    const turret = robot.shooter?.turretRangeRad;
+    const startHolds = season.holds === undefined ? {} : season.holds(run.initialState);
+    if (capacity !== undefined && total(startHolds) > capacity.max) {
+        findings.push({
+            severity: "error",
+            stepId: "start",
+            code: "CAPACITY",
+            message: `The auto starts holding ${String(total(startHolds))} ${capacity.elementKind}, over the ${String(capacity.max)} the robot can carry.`,
+        });
+    }
+    for (const entry of run.entries) {
+        const pose = poseOf.get(entry.stepId) ?? plan.startPose;
+        const held = season.holds === undefined ? {} : season.holds(entry.before);
+        if (entry.launched > 0) {
+            const target = entry.target;
+            // LEGAL_APPROACH: the ledger's current target has to be legally approachable from here.
+            if (target !== null && !season.legalApproach(entry.before, target, pose, robot)) {
+                const fixes = [];
+                const legal = season.nearestLegalApproach === undefined
+                    ? null
+                    : season.nearestLegalApproach(entry.before, target, pose, robot);
+                const driving = drivingStepBefore(flat, entry.stepId);
+                if (legal !== null && driving !== null) {
+                    fixes.push({
+                        kind: "moveToLegalApproach",
+                        stepId: driving.id,
+                        label: `Move the end of ${driving.id} to the legal approach band`,
+                        params: {
+                            xIn: legal.xIn,
+                            yIn: legal.yIn,
+                            ...(Number.isFinite(legal.headingRad) ? { headingRad: legal.headingRad } : {}),
+                        },
+                    });
+                }
+                findings.push({
+                    severity: "error",
+                    stepId: entry.stepId,
+                    code: "LEGAL_APPROACH",
+                    message: `This step launches at ${target} from a pose that is not a legal approach to it.`,
+                    geometry: { pointIn: { xIn: pose.xIn, yIn: pose.yIn } },
+                    ...(fixes.length === 0 ? {} : { fixes }),
+                });
+            }
+            // TURRET_RANGE: the bearing from the chassis to the target has to be inside the turret's arc.
+            const point = target === null || season.targetPoint === undefined
+                ? null
+                : season.targetPoint(entry.before, target);
+            if (point !== null && turret !== undefined) {
+                const bearingRad = wrapAngle(Math.atan2(point.yIn - pose.yIn, point.xIn - pose.xIn) - pose.headingRad);
+                if (bearingRad < turret.minRad || bearingRad > turret.maxRad) {
+                    findings.push({
+                        severity: "warning",
+                        stepId: entry.stepId,
+                        code: "TURRET_RANGE",
+                        message: `The target sits ${degrees(bearingRad)} off the nose here, outside the turret's range of ${degrees(turret.minRad)} to ${degrees(turret.maxRad)}.`,
+                        geometry: { pointIn: point },
+                    });
+                }
+            }
+            // EMPTY_SHOT: firing with nothing in the hopper.
+            if (total(held) === 0) {
+                findings.push({
+                    severity: "warning",
+                    stepId: entry.stepId,
+                    code: "EMPTY_SHOT",
+                    message: "This step launches, and the ledger says the robot is holding nothing.",
+                });
+            }
+            else if (entry.launched > total(held)) {
+                findings.push({
+                    severity: "warning",
+                    stepId: entry.stepId,
+                    code: "EMPTY_SHOT",
+                    message: `This step launches ${String(entry.launched)}, and the ledger says the robot is holding only ${String(total(held))}.`,
+                });
+            }
+        }
+        // CAPACITY: collecting more than the robot can hold on top of what it already has.
+        if (entry.collected !== null && capacity !== undefined) {
+            const wanted = total(held) + entry.collected.count;
+            if (wanted > capacity.max) {
+                findings.push({
+                    severity: "error",
+                    stepId: entry.stepId,
+                    code: "CAPACITY",
+                    message: `This step collects ${String(entry.collected.count)} from ${entry.collected.containerId} on top of ${String(total(held))} already aboard, which is ${String(wanted)} against a capacity of ${String(capacity.max)}.`,
+                });
+            }
+        }
+    }
+    return findings;
+}
+//# sourceMappingURL=season.js.map

package/dist/checks/season.js.map

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package/dist/continuity.d.ts

@@ -0,0 +1,38 @@
+import type { Step } from "@horizon36596/zenith-schema";
+import { type Pose, type Vec2 } from "./geometry/vec.js";
+import type { ResolvedSegment } from "./resolve.js";
+/** The gap two segment endpoints may leave before it is a CONTINUITY error, in inches. */
+export declare const CONTINUITY_TOLERANCE_IN = 0.5;
+/**
+ * What the continuity walk needs of a step: a resolved step (`resolve`) and a planned one (`plan`)
+ * both have this shape, so the check and the editor's insert-in-the-middle read one definition.
+ */
+export interface ContinuityNode {
+    id: string;
+    step: Step;
+    endPose: Pose | null;
+    segments?: readonly ResolvedSegment[];
+    /** A branch's children are its `then` steps followed by its `else` steps, as `resolve` lays them. */
+    children?: readonly ContinuityNode[];
+}
+/** One place where the robot would have to jump. */
+export interface ContinuityGap {
+    stepId: string;
+    /** `start`: the step does not begin where the robot was. `segment`: a segment does not begin where the one before it ended. */
+    where: "start" | "segment";
+    /** For a `segment` gap, the 0-based index of the segment that starts away from the last. */
+    segmentIndex?: number;
+    gapIn: number;
+    /** Where the step or segment starts. */
+    pointIn: Vec2;
+}
+/**
+ * Every gap over `toleranceIn`, depth first in document order.
+ *
+ * A sequence chains like the top level: its first member starts where the robot was and each later
+ * one where the member before it ended. Every member of a parallel group, and the first step of each
+ * side of a branch, starts from the pose the group started at, not from wherever the member before
+ * it happened to finish: two paths in a `parallel` both begin where the robot was.
+ */
+export declare function continuityGaps(steps: readonly ContinuityNode[], entry: Pose, toleranceIn?: number): ContinuityGap[];
+//# sourceMappingURL=continuity.d.ts.map

package/dist/continuity.d.ts.map

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package/dist/continuity.js

@@ -0,0 +1,69 @@
+import { distance } from "./geometry/vec.js";
+/** The gap two segment endpoints may leave before it is a CONTINUITY error, in inches. */
+export const CONTINUITY_TOLERANCE_IN = 0.5;
+/**
+ * Every gap over `toleranceIn`, depth first in document order.
+ *
+ * A sequence chains like the top level: its first member starts where the robot was and each later
+ * one where the member before it ended. Every member of a parallel group, and the first step of each
+ * side of a branch, starts from the pose the group started at, not from wherever the member before
+ * it happened to finish: two paths in a `parallel` both begin where the robot was.
+ */
+export function continuityGaps(steps, entry, toleranceIn = CONTINUITY_TOLERANCE_IN) {
+    const gaps = [];
+    let previous = null;
+    for (const step of steps) {
+        const startPose = previous?.endPose ?? entry;
+        if (step.children !== undefined) {
+            if (step.step.kind === "sequence") {
+                gaps.push(...continuityGaps(step.children, startPose, toleranceIn));
+            }
+            else if (step.step.kind === "parallel") {
+                for (const child of step.children) {
+                    gaps.push(...continuityGaps([child], startPose, toleranceIn));
+                }
+            }
+            else if (step.step.kind === "branch") {
+                const thenCount = step.step.then.length;
+                gaps.push(...continuityGaps(step.children.slice(0, thenCount), startPose, toleranceIn));
+                gaps.push(...continuityGaps(step.children.slice(thenCount), startPose, toleranceIn));
+            }
+            previous = step;
+            continue;
+        }
+        const segments = step.segments;
+        if (segments !== undefined) {
+            for (let i = 1; i < segments.length; i += 1) {
+                const before = segments[i - 1];
+                const after = segments[i];
+                if (before === undefined || after === undefined)
+                    continue;
+                const gapIn = distance(before.toPose, after.fromPose);
+                if (gapIn > toleranceIn) {
+                    gaps.push({
+                        stepId: step.id,
+                        where: "segment",
+                        segmentIndex: i,
+                        gapIn,
+                        pointIn: { xIn: after.fromPose.xIn, yIn: after.fromPose.yIn },
+                    });
+                }
+            }
+            const first = segments[0];
+            if (first !== undefined) {
+                const gapIn = distance(startPose, first.fromPose);
+                if (gapIn > toleranceIn) {
+                    gaps.push({
+                        stepId: step.id,
+                        where: "start",
+                        gapIn,
+                        pointIn: { xIn: first.fromPose.xIn, yIn: first.fromPose.yIn },
+                    });
+                }
+            }
+        }
+        previous = step;
+    }
+    return gaps;
+}
+//# sourceMappingURL=continuity.js.map

package/dist/continuity.js.map

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

@@ -0,0 +1,37 @@
+import { type Auto, type Step } from "@horizon36596/zenith-schema";
+import type { AutoDiff, Estimate, PoseDelta } from "./types.js";
+/**
+ * The step-level structural diff two versions of a routine are reviewed through
+ * (site/docs/github.md).
+ *
+ * It is keyed on step id, not on position, because a review wants to say "the second volley moved
+ * two inches" rather than "eleven lines changed". A step without an id in the file is keyed on its
+ * position in the list it sits in, exactly as `resolve` names it, so the two views agree.
+ *
+ * Both functions are pure and deterministic: the same pair of documents always gives the same
+ * changes in the same order, which is what lets a bot rewrite one comment in place.
+ */
+/** A step, and where it sits in the document. */
+interface Entry {
+    id: string;
+    step: Step;
+    /** The list the step is a member of: `steps`, or `<owner id>.steps`, `.then`, `.else`. */
+    list: string;
+    /** Its position in that list. */
+    index: number;
+    /** Its position in a walk of the whole document, which is the order changes are reported in. */
+    order: number;
+}
+/** Walks the whole step tree in document order, naming every step the way `resolve` names it. */
+export declare function walkSteps(steps: readonly Step[]): Entry[];
+/** Every pose that moved between two versions of a path step, named by where it sits. */
+export declare function poseDeltas(before: Step, after: Step): PoseDelta[];
+/** The step-level structural diff between two routines. */
+export declare function diff(a: Auto, b: Auto): AutoDiff;
+/**
+ * The diff as markdown, for a pull request comment or the CLI. Passing the two estimates adds what
+ * the change costs in seconds, which is usually the question being asked.
+ */
+export declare function diffToMarkdown(autoDiff: AutoDiff, estimateA?: Estimate, estimateB?: Estimate): string;
+export {};
+//# sourceMappingURL=diff.d.ts.map

package/dist/diff.d.ts.map

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