@horizon36596/zenith-core 0.1.1

package/dist/estimate.js

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+import { evaluateEstimateExpression, parseEstimateExpression, UNKNOWN_ESTIMATE, } from "@horizon36596/zenith-schema";
+import { wrapAngle } from "./geometry/angle.js";
+import { decelInPerS2, lateralAccelLimitInPerS2, robotLimits, velocityCapInPerS, } from "./kinematics.js";
+import { containsPath } from "./resolve.js";
+/**
+ * The estimate's time model.
+ *
+ * Pedro v3 is a geometric follower with no trajectory, so there is no profile to read: this is a
+ * kinematic model that states its assumptions (`estimate().explain`) and is calibrated against
+ * recorded runs in `07`. Pure and deterministic; the same files always give the same seconds.
+ */
+/** Speeds below this are treated as a standstill, in in/s. */
+const STOPPED_IN_PER_S = 1e-6;
+const isRecord = (value) => typeof value === "object" && value !== null && !Array.isArray(value);
+/** A finite difference over a sampled series that copes with the two ends and with repeats. */
+function slope(values, positions, index) {
+    const previous = index === 0 ? index : index - 1;
+    const next = index === values.length - 1 ? index : index + 1;
+    const ds = positions[next] - positions[previous];
+    if (Math.abs(ds) < 1e-9)
+        return 0;
+    return wrapAngle(values[next] - values[previous]) / ds;
+}
+/**
+ * Builds the per-sample caps of `03` section 3 steps 1, 4 and 5: the direction-dependent velocity
+ * ellipse, the heading-rate limit and the curvature cap.
+ *
+ * `headingAt` lets the caller ask what the same geometry would cost driven nose-first, which is how
+ * the strafe cost in seconds is worked out.
+ */
+function profileSamples(step, geometry, limits, speedFraction, headings) {
+    const positions = step.samples.map((sample) => sample.sIn);
+    const travel = step.samples.map((sample) => {
+        const tangent = geometry.tangentAtDistance(sample.sIn);
+        return Math.atan2(tangent.yIn, tangent.xIn);
+    });
+    return step.samples.map((sample, index) => {
+        const phiRad = wrapAngle(travel[index] - headings[index]);
+        let cap = speedFraction * velocityCapInPerS(limits, phiRad);
+        const headingRatePerIn = Math.abs(slope(headings, positions, index));
+        if (headingRatePerIn > 1e-9) {
+            cap = Math.min(cap, limits.maxAngularVelRadPerS / headingRatePerIn);
+        }
+        const curvaturePerIn = Math.abs(slope(travel, positions, index));
+        if (curvaturePerIn > 1e-9) {
+            cap = Math.min(cap, Math.sqrt(lateralAccelLimitInPerS2(limits) / curvaturePerIn));
+        }
+        return { sIn: sample.sIn, phiRad, capInPerS: cap, decelInPerS2: decelInPerS2(limits, phiRad) };
+    });
+}
+/**
+ * The two-pass profile of `03` section 3 step 6: take the minimum of the caps, raise it forwards
+ * under `accel` from the entry velocity, lower it backwards under the direction's deceleration into
+ * the exit velocity, then integrate `ds / v`.
+ */
+export function integrateProfile(samples, limits, entryVelocityInPerS, exitVelocityInPerS) {
+    const count = samples.length;
+    if (count === 0) {
+        return { seconds: 0, strafeFraction: 0, exitVelocityInPerS: 0, timeAtSampleS: [] };
+    }
+    if (count === 1) {
+        return {
+            seconds: 0,
+            strafeFraction: 0,
+            exitVelocityInPerS: entryVelocityInPerS,
+            timeAtSampleS: [0],
+        };
+    }
+    const velocities = samples.map((sample) => sample.capInPerS);
+    velocities[0] = Math.min(velocities[0], entryVelocityInPerS);
+    for (let i = 1; i < count; i += 1) {
+        const ds = samples[i].sIn - samples[i - 1].sIn;
+        const reachable = Math.sqrt(velocities[i - 1] ** 2 + 2 * limits.accelInPerS2 * Math.max(ds, 0));
+        velocities[i] = Math.min(velocities[i], reachable);
+    }
+    velocities[count - 1] = Math.min(velocities[count - 1], exitVelocityInPerS);
+    for (let i = count - 2; i >= 0; i -= 1) {
+        const ds = samples[i + 1].sIn - samples[i].sIn;
+        const stoppable = Math.sqrt(velocities[i + 1] ** 2 +
+            2 * samples[i].decelInPerS2 * Math.max(ds, 0));
+        velocities[i] = Math.min(velocities[i], stoppable);
+    }
+    let seconds = 0;
+    let sidewaysIn = 0;
+    let totalIn = 0;
+    const timeAtSampleS = [0];
+    for (let i = 1; i < count; i += 1) {
+        const before = samples[i - 1];
+        const after = samples[i];
+        const ds = after.sIn - before.sIn;
+        if (ds <= 0) {
+            timeAtSampleS.push(seconds);
+            continue;
+        }
+        const mean = (velocities[i - 1] + velocities[i]) / 2;
+        seconds += mean <= STOPPED_IN_PER_S ? 0 : ds / mean;
+        timeAtSampleS.push(seconds);
+        totalIn += ds;
+        // Each interval is attributed half to the sample at each of its ends, so a leg that is
+        // sideways throughout scores exactly 1 and a nose-first leg exactly 0.
+        for (const sample of [before, after]) {
+            if (Math.abs(Math.sin(sample.phiRad)) > Math.abs(Math.cos(sample.phiRad))) {
+                sidewaysIn += ds / 2;
+            }
+        }
+    }
+    return {
+        seconds,
+        // Clamped because the halves are summed in floating point: a leg that is sideways throughout
+        // must read exactly 1, not 1.0000000000000002.
+        strafeFraction: totalIn === 0 ? 0 : Math.min(1, Math.max(0, sidewaysIn / totalIn)),
+        exitVelocityInPerS: velocities[count - 1],
+        timeAtSampleS,
+    };
+}
+/** The numbers a command's `estimateS` expression may name: its arguments, resolved to seconds. */
+export function commandScope(spec, args, robot) {
+    const durations = namedDurations(robot);
+    const scope = {};
+    const put = (name, raw) => {
+        if (raw === undefined)
+            return;
+        if (typeof raw === "number")
+            scope[name] = raw;
+        else if (typeof raw === "boolean")
+            scope[name] = raw ? 1 : 0;
+        else {
+            // An enum argument stands for a duration the robot file tabulates, which is how
+            // `0.6 + count * cadence` reads `shooter.cadenceS.rapid` (site/docs/file-format.md).
+            const seconds = durations.get(raw);
+            if (seconds !== undefined)
+                scope[name] = seconds;
+        }
+    };
+    for (const [name, param] of Object.entries(spec?.params ?? {})) {
+        const fromArgs = args?.[name];
+        put(name, fromArgs ?? ("default" in param ? param.default : undefined));
+    }
+    for (const [name, raw] of Object.entries(args ?? {})) {
+        if (!(name in scope))
+            put(name, raw);
+    }
+    return scope;
+}
+/** Every `name: seconds` pair the robot file tabulates under `shooter`, such as the shot cadences. */
+function namedDurations(robot) {
+    const durations = new Map();
+    const shooter = robot.shooter;
+    if (!isRecord(shooter))
+        return durations;
+    for (const table of Object.values(shooter)) {
+        if (!isRecord(table))
+            continue;
+        for (const [name, value] of Object.entries(table)) {
+            if (name === "value" || name === "provenance")
+                continue;
+            if (typeof value === "number")
+                durations.set(name, value);
+        }
+    }
+    return durations;
+}
+/** The seconds a command step takes, or null when its registry entry says `"unknown"`. */
+export function commandSeconds(name, args, robot) {
+    const spec = robot.commands.find((command) => command.name === name);
+    if (spec === undefined)
+        return null;
+    if (spec.estimateS.trim() === UNKNOWN_ESTIMATE)
+        return null;
+    let expression;
+    try {
+        expression = parseEstimateExpression(spec.estimateS);
+    }
+    catch {
+        return null;
+    }
+    const seconds = evaluateEstimateExpression(expression, commandScope(spec, args, robot));
+    return seconds === null || !Number.isFinite(seconds) ? null : Math.max(seconds, 0);
+}
+/** True when the registry marks this command as one the robot stands still for. */
+export const isStationary = (robot, name) => robot.commands.find((command) => command.name === name)?.stationary === true;
+/**
+ * Per-step `{nominalS, lowS, highS, strafeFraction, strafeCostS, unknown}` and the total with its
+ * band, from the model of `03` section 3. Deterministic and pure.
+ */
+export function estimate(plan, robot) {
+    const limits = robotLimits(robot);
+    const assumptions = explain(plan, robot, limits);
+    const byStepId = {};
+    const band = (seconds) => seconds === null
+        ? { lowS: null, highS: null }
+        : {
+            lowS: seconds * (1 - limits.bandFraction),
+            highS: seconds * (1 + limits.bandFraction),
+        };
+    const record = (row) => {
+        byStepId[row.stepId] = row;
+        return row;
+    };
+    const blank = (step, seconds, carry, exitVelocityInPerS) => {
+        carry.velocityInPerS = exitVelocityInPerS;
+        return record({
+            stepId: step.id,
+            kind: step.kind,
+            nominalS: seconds,
+            ...band(seconds),
+            strafeFraction: null,
+            strafeCostS: null,
+            unknown: seconds === null,
+            exitVelocityInPerS,
+        });
+    };
+    const estimatePath = (step, carry) => {
+        const geometry = step.geometry;
+        if (geometry === undefined || step.samples.length < 2) {
+            return blank(step, limits.settleS, carry, 0);
+        }
+        const pathStep = step.step;
+        const speedFraction = pathStep.speedFraction ?? limits.defaultPathSpeedFraction;
+        const headings = step.samples.map((sample) => sample.pose.headingRad);
+        // The follower holds the end pose when `holdEnd` is set, so the step brakes to a stop; when it
+        // does not, the backward pass leaves whatever the caps allow and the next step carries it on.
+        const exitCap = limits.holdEnd ? 0 : Infinity;
+        const planned = integrateProfile(profileSamples(step, geometry, limits, speedFraction, headings), limits, carry.velocityInPerS, exitCap);
+        // The same geometry driven nose-first, which is what "make tangent" would produce and so what
+        // the strafing on this leg actually costs (`03` section 5).
+        const tangentHeadings = step.samples.map((sample) => {
+            const tangent = geometry.tangentAtDistance(sample.sIn);
+            return Math.atan2(tangent.yIn, tangent.xIn);
+        });
+        const tangent = integrateProfile(profileSamples(step, geometry, limits, speedFraction, tangentHeadings), limits, carry.velocityInPerS, exitCap);
+        const nominalS = planned.seconds + limits.settleS;
+        carry.velocityInPerS = planned.exitVelocityInPerS;
+        // A step with an endCondition stops when a sensor says so, which can only be sooner than
+        // driving the whole path: the seconds stay as the upper bound they are, and `unknown` says the
+        // number is a bound rather than a prediction, so the timeline hatches it and the time budget
+        // does not read the total as firm.
+        const endsOnCondition = pathStep.endCondition !== undefined;
+        return record({
+            stepId: step.id,
+            kind: step.kind,
+            nominalS,
+            ...band(nominalS),
+            strafeFraction: planned.strafeFraction,
+            strafeCostS: Math.max(planned.seconds - tangent.seconds, 0),
+            unknown: endsOnCondition,
+            exitVelocityInPerS: planned.exitVelocityInPerS,
+            timeAtSampleS: planned.timeAtSampleS,
+        });
+    };
+    const estimateStep = (step, carry) => {
+        switch (step.kind) {
+            case "path":
+                return estimatePath(step, carry);
+            case "command": {
+                const call = step.step;
+                const seconds = commandSeconds(call.name, call.args, robot);
+                // A command the robot stands still for leaves it stopped; one that runs while the drive
+                // keeps going (`setIntake`) leaves the carried velocity alone (`03` section 3 step 3).
+                const stationary = isStationary(robot, call.name);
+                return blank(step, seconds, carry, stationary ? 0 : carry.velocityInPerS);
+            }
+            case "wait": {
+                const wait = step.step;
+                return blank(step, wait.seconds ?? null, carry, 0);
+            }
+            case "sequence":
+                return estimateSequenceGroup(step, carry);
+            case "parallel":
+                return estimateParallel(step, carry);
+            case "branch":
+                return estimateBranch(step, carry);
+        }
+    };
+    /**
+     * A sequence costs the sum of its members, and the speed carries through it exactly as it does
+     * through the top-level list: a path inside it accelerates from wherever the step before the
+     * sequence left the robot, and the step after the sequence starts from its last member's exit.
+     *
+     * A member with no predictable duration counts as zero, as it does in the routine's total, and
+     * marks the sequence `unknown`; the sum is null only when no member is known at all.
+     */
+    const estimateSequenceGroup = (step, carry) => {
+        const children = (step.children ?? []).map((child) => estimateStep(child, carry));
+        const known = children.filter((child) => child.nominalS !== null);
+        const nominalS = children.length > 0 && known.length === 0
+            ? null
+            : known.reduce((sum, child) => sum + child.nominalS, 0);
+        return record({
+            stepId: step.id,
+            kind: step.kind,
+            nominalS,
+            ...band(nominalS),
+            strafeFraction: null,
+            strafeCostS: null,
+            unknown: children.some((child) => child.unknown),
+            exitVelocityInPerS: carry.velocityInPerS,
+            children,
+        });
+    };
+    /**
+     * Members that run at the same time. Each one starts from the speed the group was entered at and
+     * gets its own carry: two paths in a `parallel` both begin where the robot was and neither hands
+     * its exit speed to the other, which is the same reading CONTINUITY takes of their start poses.
+     */
+    const estimateConcurrent = (children, entry) => children.map((child) => estimateStep(child, { velocityInPerS: entry.velocityInPerS }));
+    /** Steps that run one after another, threading one carry, seeded from `entry`. */
+    const estimateSequence = (children, entry) => {
+        const inner = { velocityInPerS: entry.velocityInPerS };
+        return children.map((child) => estimateStep(child, inner));
+    };
+    const estimateParallel = (step, carry) => {
+        const group = step.step;
+        const children = estimateConcurrent(step.children ?? [], carry);
+        const known = children.filter((child) => child.nominalS !== null).map((child) => child.nominalS);
+        const anyUnknown = children.some((child) => child.unknown);
+        let nominalS;
+        let unknown = anyUnknown;
+        if (group.mode === "deadline") {
+            const deadline = children.find((child) => child.stepId === group.deadline);
+            if (deadline === undefined) {
+                // The group names no child that exists, which `check` raises a SCHEMA error for. Cost it
+                // like `all` rather than returning null: the members still take the time they take, and a
+                // null here would quietly subtract it from the routine total the time budget is judged on.
+                nominalS = known.length === 0 ? null : Math.max(...known);
+                unknown = true;
+            }
+            else {
+                nominalS = deadline.nominalS;
+                unknown = deadline.unknown;
+            }
+        }
+        else if (group.mode === "race") {
+            // The first child to finish ends the group, so a known child is an upper bound and an
+            // unknown one could still come in under it.
+            nominalS = known.length === 0 ? null : Math.min(...known);
+        }
+        else {
+            nominalS = known.length === 0 ? null : Math.max(...known);
+        }
+        // The velocity carries through a parallel group from whichever child drives (`03` §3.3).
+        const mover = children.find((child) => child.stepId === group.deadline && containsPath(child)) ??
+            [...children].reverse().find(containsPath);
+        const exitVelocityInPerS = mover?.exitVelocityInPerS ?? carry.velocityInPerS;
+        carry.velocityInPerS = exitVelocityInPerS;
+        return record({
+            stepId: step.id,
+            kind: step.kind,
+            nominalS,
+            ...band(nominalS),
+            strafeFraction: null,
+            strafeCostS: null,
+            unknown,
+            exitVelocityInPerS,
+            children,
+        });
+    };
+    const estimateBranch = (step, carry) => {
+        const branch = step.step;
+        const planned = step.children ?? [];
+        const thenCount = branch.then.length;
+        // Only one arm ever runs, so the `else` side starts from the entry speed as well, not from
+        // wherever the `then` side happened to finish.
+        const thenSide = estimateSequence(planned.slice(0, thenCount), carry);
+        const elseSide = estimateSequence(planned.slice(thenCount), carry);
+        const children = [...thenSide, ...elseSide];
+        const total = (rows) => rows.some((row) => row.nominalS === null)
+            ? null
+            : rows.reduce((sum, row) => sum + row.nominalS, 0);
+        const thenS = total(thenSide);
+        const elseS = elseSide.length === 0 ? 0 : total(elseSide);
+        // Nobody can know which way a condition goes at planning time, so the branch costs the longer
+        // side: a time budget that assumed the short one would be a promise the routine cannot keep.
+        const nominalS = thenS === null || elseS === null ? null : Math.max(thenS, elseS);
+        const exitVelocityInPerS = thenSide[thenSide.length - 1]?.exitVelocityInPerS ?? carry.velocityInPerS;
+        carry.velocityInPerS = exitVelocityInPerS;
+        return record({
+            stepId: step.id,
+            kind: step.kind,
+            nominalS,
+            ...band(nominalS),
+            strafeFraction: null,
+            strafeCostS: null,
+            unknown: children.some((child) => child.unknown),
+            exitVelocityInPerS,
+            children,
+        });
+    };
+    const carry = { velocityInPerS: 0 };
+    const steps = plan.steps.map((step) => estimateStep(step, carry));
+    const hasUnknown = steps.some((step) => step.unknown);
+    const nominalS = steps.reduce((sum, step) => sum + (step.nominalS ?? 0), 0);
+    return {
+        steps,
+        byStepId,
+        nominalS,
+        lowS: nominalS * (1 - limits.bandFraction),
+        highS: nominalS * (1 + limits.bandFraction),
+        hasUnknown,
+        bandFraction: limits.bandFraction,
+        assumptions,
+        explain: assumptions,
+    };
+}
+/** The sentences `zenith estimate --explain` prints: every assumption behind the numbers above. */
+function explain(plan, robot, limits) {
+    const round = (value, digits = 1) => value.toFixed(digits);
+    const percent = (value) => `${round(value * 100, 0)} %`;
+    const lines = [];
+    lines.push(`Pedro v3 is a geometric follower with no trajectory to read, so these seconds come from a kinematic model of ${robot.name}, not from the follower.`);
+    lines.push(`The speed cap in a travel direction is the ellipse through ${round(limits.maxForwardVelInPerS)} in/s nose-on and ${round(limits.maxStrafeVelInPerS)} in/s sideways, scaled by the step's speedFraction (default ${round(limits.defaultPathSpeedFraction, 2)}).`);
+    lines.push(`Braking uses the same ellipse between ${round(limits.forwardDecelInPerS2)} in/s² forwards and ${round(limits.strafeDecelInPerS2)} in/s² sideways, which is why a sideways leg costs far more than the speed ratio suggests: stopping from full strafe takes ${round((limits.maxStrafeVelInPerS * limits.maxStrafeVelInPerS) / (2 * limits.strafeDecelInPerS2))} in against ${round((limits.maxForwardVelInPerS * limits.maxForwardVelInPerS) / (2 * limits.forwardDecelInPerS2))} in nose-first.`);
+    lines.push(`Acceleration is a flat ${round(limits.accelInPerS2)} in/s², applied from the velocity the previous step ended at; a stationary command and a wait both leave the robot at rest.`);
+    lines.push(limits.holdEnd
+        ? "The follower holds the end pose, so every path step is braked to a standstill before the next one starts."
+        : "The follower does not hold the end pose, so a path step hands its remaining speed to the step after it.");
+    lines.push(`A sample is slowed until the heading the mode demands fits inside ${round(limits.maxAngularVelRadPerS, 2)} rad/s.`);
+    lines.push(`Cornering is capped at sqrt(a · R) with a taken as the sideways deceleration, ${round(limits.strafeDecelInPerS2)} in/s². That is a proxy for how hard this drivetrain holds a curve, not a measurement.`);
+    lines.push(`Each path step adds ${round(limits.settleS, 2)} s of settle time for the follower to declare the end constraints met.`);
+    lines.push(`A command step is timed by its estimateS expression in robot.json; one that reads "unknown" is shown hatched and left out of the total, so the total is a lower bound.`);
+    lines.push("A sequence costs the sum of its steps, with the speed carried through it; a parallel group costs the longest of its children under `all`, the shortest under `race`, and its deadline step under `deadline`; a branch costs the longer of its two sides.");
+    lines.push(`The band is nominal ± ${percent(limits.bandFraction)}${robot.kinematics.calibration === undefined ? ", the uncalibrated default until a recorded run narrows it" : `, fitted from a recorded run (${robot.kinematics.calibration.provenance ?? "no provenance recorded"})`}.`);
+    const periodS = plan.field.periods?.autoS;
+    if (periodS !== undefined) {
+        lines.push(`The autonomous period on this field is ${round(periodS, 0)} s.`);
+    }
+    return lines;
+}
+/**
+ * Which way an estimate's total is a bound, when it is one. A step with no predictable duration
+ * counts as zero seconds, so the routine takes at least the total ("lower"). A step that ends on a
+ * condition is timed as if it drove its whole path, so the routine takes at most the total
+ * ("upper"). When both kinds are present the total is only a lower bound on the known part, and
+ * "lower" is reported because it is the claim that stays true. The renderer, the editor and the
+ * pull-request body all read this one rule.
+ */
+export function totalBound(estimateResult) {
+    if (!estimateResult.hasUnknown)
+        return null;
+    const rows = Object.values(estimateResult.byStepId);
+    return rows.some((row) => row.unknown && row.nominalS === null) ? "lower" : "upper";
+}
+//# sourceMappingURL=estimate.js.map

package/dist/estimate.js.map

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package/dist/findingHelp.d.ts

@@ -0,0 +1,18 @@
+import type { FindingCode } from "./types.js";
+/** Plain-language help for one finding code: a short name, what it means, and how to fix it. */
+export interface FindingHelp {
+    /** A few words, for a chip or a heading. */
+    title: string;
+    /** What the finding is telling you, for someone new to FTC pathing. */
+    means: string;
+    /** What to change, in the editor's own words. */
+    fix: string;
+}
+/**
+ * What each finding code means and how to fix it, written for someone who has never planned an
+ * FTC autonomous before (site/docs/editor.md). The editor shows it behind the
+ * code chip, `zenith validate --explain` prints it under each finding, and the MCP server returns
+ * it with findings, so all three say the same thing.
+ */
+export declare const FINDING_HELP: Readonly<Record<FindingCode, FindingHelp>>;
+//# sourceMappingURL=findingHelp.d.ts.map

package/dist/findingHelp.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"findingHelp.d.ts","sourceRoot":"","sources":["../src/findingHelp.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,WAAW,EAAE,MAAM,YAAY,CAAC;AAE9C,gGAAgG;AAChG,MAAM,WAAW,WAAW;IAC1B,4CAA4C;IAC5C,KAAK,EAAE,MAAM,CAAC;IACd,uEAAuE;IACvE,KAAK,EAAE,MAAM,CAAC;IACd,iDAAiD;IACjD,GAAG,EAAE,MAAM,CAAC;CACb;AAED;;;;;GAKG;AACH,eAAO,MAAM,YAAY,EAAE,QAAQ,CAAC,MAAM,CAAC,WAAW,EAAE,WAAW,CAAC,CA0GnE,CAAC"}

package/dist/findingHelp.js

@@ -0,0 +1,114 @@
+/**
+ * What each finding code means and how to fix it, written for someone who has never planned an
+ * FTC autonomous before (site/docs/editor.md). The editor shows it behind the
+ * code chip, `zenith validate --explain` prints it under each finding, and the MCP server returns
+ * it with findings, so all three say the same thing.
+ */
+export const FINDING_HELP = {
+    SCHEMA: {
+        title: "File problem",
+        means: "Something in the file is not allowed, such as a misspelled command, a missing value or a waypoint name that does not exist. The robot would refuse to load this file.",
+        fix: "Read the message for the exact key that is wrong. Pick the name from the list the editor offers, or add the missing value.",
+    },
+    CONTINUITY: {
+        title: "Path jumps",
+        means: "A path starts somewhere other than where the robot is, so the robot would have to teleport. The gap is measured from where the previous step ended.",
+        fix: "Set the path's start to \"current\" so it begins wherever the robot is. Or drag its first point onto the end of the step before it.",
+    },
+    HEADING_MISSING: {
+        title: "No heading",
+        means: "A path does not say which way the robot should face while it drives. Pedro, the path follower, stops the auto with an error when this is missing.",
+        fix: "Choose a heading mode in the path's inspector. Tangent, which points the nose along the path, is the usual choice.",
+    },
+    HEADING: {
+        title: "Heading differs on the robot",
+        means: "The robot will not face the way this path asks: a turn of more than half a circle in one piece goes the short way round, and a face-point offset is not used yet.",
+        fix: "Split the path so no piece turns more than half a circle, or set the heading at a waypoint in between.",
+    },
+    HEADING_RANGES: {
+        title: "Heading ranges do not fit",
+        means: "A piecewise heading must split its path into ranges that run from start to end in order, with no gap and no overlap. Pedro stops the auto when they do not.",
+        fix: "Drag the range boundaries so each range starts where the one before it ends, the first at 0 and the last at 1.",
+    },
+    PERIMETER: {
+        title: "Leaves the field",
+        means: "Part of the robot, its body or an intake mouth, would go past the field wall. A real robot would hit the wall instead.",
+        fix: "Move the point away from the wall until the outline stays inside. Snapping to the wall places the robot flush against it.",
+    },
+    STRUCTURE: {
+        title: "Hits a field element",
+        means: "The robot's outline overlaps something solid on the field, such as the hive or a flower base. The robot would crash into it.",
+        fix: "Move the path around the element, or add a point to bend it clear. The finding marks where the overlap is deepest.",
+    },
+    KEEPOUT: {
+        title: "Enters a no-go zone",
+        means: "The robot drives into an area the game rules restrict during the autonomous period. That can cost a penalty.",
+        fix: "Reroute the path so the outline stays out of the shaded zone. The zone's rule is named in the message.",
+    },
+    START_ILLEGAL: {
+        title: "Start not allowed",
+        means: "The starting pose breaks a game rule, for example not touching a wall or starting in the wrong half. The referees would not let the match start like this.",
+        fix: "Drag the start pose to a legal spot, usually flush against your own alliance's wall. Wall snap helps.",
+    },
+    LEGAL_APPROACH: {
+        title: "Shot from an illegal spot",
+        means: "The robot shoots from a place the rules do not allow for the target it is aiming at. The scoring would not count or would draw a penalty.",
+        fix: "Move the shooting pose to the allowed side of the target. The one-click fix moves it to the nearest legal spot.",
+    },
+    TURRET_RANGE: {
+        title: "Turret cannot aim",
+        means: "At this shooting pose the target is outside the angle the turret can turn to. The robot would shoot in the wrong direction.",
+        fix: "Turn the robot so the target is closer to straight ahead, or move the shooting pose.",
+    },
+    CAPACITY: {
+        title: "Holds too many",
+        means: "The plan has the robot holding more game pieces than it can carry or the rules allow. Something would fall out or draw a penalty.",
+        fix: "Shoot or drop pieces before collecting more, or collect fewer. The ledger panel shows what the robot holds after each step.",
+    },
+    EMPTY_SHOT: {
+        title: "Shooting nothing",
+        means: "A shoot step runs when the plan says the robot holds no pieces. It wastes time in the autonomous period.",
+        fix: "Collect before shooting, or remove the shot. Check the ledger panel to see when the robot is empty.",
+    },
+    STRAFE_FRACTION: {
+        title: "Driving sideways",
+        means: "A lot of this path is driven sideways, which on mecanum wheels is slower and stops less sharply than driving forward. The message says how many seconds it costs.",
+        fix: "Use the fix that points the nose along the path, or turn during the previous stop. Keep sideways driving for short, deliberate moves.",
+    },
+    MOUTH_LEADING: {
+        title: "Intake not in front",
+        means: "The intake is running but its mouth is not facing the way the robot drives. The robot's body would push game pieces away instead of picking them up.",
+        fix: "Choose a heading that puts the running mouth in front, for example tangent for a front mouth or reversed tangent for a back one.",
+    },
+    SWEEP_SPEED: {
+        title: "Intaking too fast",
+        means: "The robot drives quickly while its intake runs. Pieces get knocked away rather than collected at that speed.",
+        fix: "Lower this path's speed to the sweep speed the robot file sets. The one-click fix does it for you.",
+    },
+    TIME_BUDGET: {
+        title: "Over the time limit",
+        means: "The whole routine may take longer than the autonomous period. Anything after the buzzer does not happen.",
+        fix: "Cut or shorten steps, drive faster where it is safe, or move slow steps later. The timeline shows which steps take the longest.",
+    },
+    TIMEOUT_TIGHT: {
+        title: "Timeout too short",
+        means: "This step's timeout is close to how long it is expected to take. A slightly slow run would be cut off before it finishes.",
+        fix: "Raise the step's timeout to at least a little more than its estimate. The estimate is shown beside the step.",
+    },
+    STATIONARY_MARKER: {
+        title: "Stop-only command while moving",
+        means: "A command that needs the robot to stand still is set to fire in the middle of a path. It would run while the robot is still driving.",
+        fix: "Make it its own step after the path instead of a marker on it.",
+    },
+    MOVES_ROBOT: {
+        title: "Start after a moving command",
+        means: "The step before this one moves the robot by itself, so nobody knows exactly where it ends. This path assumes a fixed starting point anyway.",
+        fix: "Set this path's start to \"current\" so it begins wherever the robot really is.",
+    },
+    PROVENANCE: {
+        title: "Where did this come from?",
+        means: "A pose has no note saying where its numbers came from, such as measured on the field or set in the editor. This is only a reminder, not an error.",
+        fix: "Nothing is required. Measure the pose on the field or save it as a named waypoint to record where it came from.",
+    },
+};
+//# sourceMappingURL=findingHelp.js.map

package/dist/findingHelp.js.map

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package/dist/fix.d.ts

@@ -0,0 +1,21 @@
+import { type Auto } from "@horizon36596/zenith-schema";
+import type { Fix } from "./types.js";
+/** de Casteljau subdivision: the control polygons of the two halves of a Bezier split at `u`. */
+export declare function splitControlPolygon(points: readonly {
+    xIn: number;
+    yIn: number;
+}[], u: number): {
+    left: {
+        xIn: number;
+        yIn: number;
+    }[];
+    right: {
+        xIn: number;
+        yIn: number;
+    }[];
+};
+/** Applies one structured fix to a document and hands back a new one. Pure. */
+export declare function applyFix(auto: Auto, fix: Fix): Auto;
+/** Applies several fixes in order. Each one sees the document the one before it produced. */
+export declare const applyFixes: (auto: Auto, fixes: readonly Fix[]) => Auto;
+//# sourceMappingURL=fix.d.ts.map

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