@horizon36596/zenith-schema 0.1.1

package/dist/auto.d.ts.map

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package/dist/auto.js

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+import { z } from "zod";
+import { poseSchema, poseSourceSchema } from "./common.js";
+import { formatVersionFor, schemaIdField } from "./ids.js";
+/**
+ * The highest number of Bezier control points a v1 auto file may carry, so the highest degree is
+ * four (start, three controls, end).
+ *
+ * Read off the pinned Pedro snapshot: `Paths.curve(Pose...)` is variadic,
+ * `BezierCurve(List<Vector2D>)` accepts any control polygon of three points or more, and the
+ * runtime hands every pose in `control[]` straight to `Paths.curve`. The owner's ruling was
+ * "whatever Pedro allows", so the file format allows one to three control points. Changing this
+ * number changes the file format, not just the code.
+ */
+export const MAX_BEZIER_CONTROL_POINTS = 3;
+export const lineSegmentSchema = z.object({
+    kind: z.literal("line"),
+    from: poseSourceSchema,
+    to: poseSourceSchema,
+});
+export const bezierSegmentSchema = z.object({
+    kind: z.literal("bezier"),
+    from: poseSourceSchema,
+    control: z.array(poseSchema).min(1).max(MAX_BEZIER_CONTROL_POINTS),
+    to: poseSourceSchema,
+});
+export const segmentSchema = z.discriminatedUnion("kind", [lineSegmentSchema, bezierSegmentSchema]);
+const tangentHeadingSchema = z.object({ mode: z.literal("tangent") });
+const tangentReversedHeadingSchema = z.object({ mode: z.literal("tangentReversed") });
+const constantHeadingSchema = z.object({ mode: z.literal("constant"), headingRad: z.number() });
+const linearHeadingSchema = z.object({ mode: z.literal("linear"), fromRad: z.number(), toRad: z.number() });
+const facePointHeadingSchema = z.object({
+    mode: z.literal("facePoint"),
+    xIn: z.number(),
+    yIn: z.number(),
+    offsetRad: z.number().optional(),
+});
+/**
+ * The heading one range of a `piecewise` heading carries: any mode but `piecewise` itself. Inside a
+ * range, `linear` turns from `fromRad` at the range's start to `toRad` at its end.
+ */
+export const rangeHeadingSchema = z.discriminatedUnion("mode", [
+    tangentHeadingSchema,
+    tangentReversedHeadingSchema,
+    constantHeadingSchema,
+    linearHeadingSchema,
+    facePointHeadingSchema,
+]);
+/**
+ * One stretch of a `piecewise` heading (format version 3): from `startT` to `endT` along the step,
+ * as fractions of its arc length (no unit), with its own heading. Pedro's
+ * `Interpolator.piecewise().until(t, ...)` needs the ranges to run from 0 to exactly 1, in order,
+ * with no gap and no overlap; the schema only bounds each number and `HEADING_RANGES` checks the
+ * rest, so a half-edited file still loads and says what is wrong with it.
+ */
+export const headingRangeSchema = z.object({
+    startT: z.number().min(0).max(1),
+    endT: z.number().min(0).max(1),
+    heading: rangeHeadingSchema,
+});
+/** The heading modes of site/docs/file-format.md, as h(t). */
+export const headingSchema = z.discriminatedUnion("mode", [
+    tangentHeadingSchema,
+    tangentReversedHeadingSchema,
+    constantHeadingSchema,
+    linearHeadingSchema,
+    facePointHeadingSchema,
+    z.object({ mode: z.literal("piecewise"), ranges: z.array(headingRangeSchema).min(1) }),
+]);
+export const markerAtSchema = z.union([
+    z.object({ t: z.number().min(0).max(1) }),
+    z.object({ distanceIn: z.number().nonnegative() }),
+    z.object({ distanceFromEndIn: z.number().nonnegative() }),
+]);
+export const commandCallSchema = z.object({
+    name: z.string().min(1),
+    args: z.record(z.string(), z.union([z.string(), z.number(), z.boolean()])).optional(),
+});
+export const markerSchema = z.object({
+    at: markerAtSchema,
+    command: commandCallSchema,
+});
+export const conditionRefSchema = z.object({
+    condition: z.string().min(1),
+});
+/** Planner-only annotations; the runtime ignores them (site/docs/file-format.md, `expect`). */
+export const expectSchema = z.object({
+    collectFrom: z.string().min(1).optional(),
+    count: z.number().optional(),
+    launchesInto: z.string().min(1).optional(),
+    tip: z.enum(["own", "opponent"]).optional(),
+});
+export const pathStepSchema = z.object({
+    id: z.string().min(1).optional(),
+    kind: z.literal("path"),
+    timeoutS: z.number().positive().optional(),
+    segments: z.array(segmentSchema).min(1),
+    heading: headingSchema.optional(),
+    speedFraction: z.number().positive().max(1).optional(),
+    markers: z.array(markerSchema).optional(),
+    endCondition: conditionRefSchema.optional(),
+    expect: expectSchema.optional(),
+    notes: z.string().optional(),
+});
+export const commandStepSchema = z.object({
+    id: z.string().min(1).optional(),
+    kind: z.literal("command"),
+    name: z.string().min(1),
+    args: z.record(z.string(), z.union([z.string(), z.number(), z.boolean()])).optional(),
+    timeoutS: z.number().positive().optional(),
+    expect: expectSchema.optional(),
+    notes: z.string().optional(),
+});
+/** How a wait step is named in a schema message, which is all the refinements can see of it. */
+const waitName = (step) => step.id === undefined ? "a wait step" : `the wait step ${JSON.stringify(step.id)}`;
+/**
+ * A wait ends one way or the other: after `seconds`, or when `until` reads true. Carrying both is
+ * refused rather than resolved, because the two readings disagree by the whole of `seconds` — the
+ * estimator would budget the number and the generated Java would emit a `WaitUntilCommand` and
+ * ignore it.
+ */
+export const waitStepSchema = z
+    .object({
+    id: z.string().min(1).optional(),
+    kind: z.literal("wait"),
+    seconds: z.number().nonnegative().optional(),
+    until: z.string().min(1).optional(),
+    timeoutS: z.number().positive().optional(),
+    notes: z.string().optional(),
+})
+    .refine((step) => step.seconds !== undefined || step.until !== undefined, (step) => ({
+    message: `${waitName(step)} needs either seconds or until`,
+}))
+    .refine((step) => step.seconds === undefined || step.until === undefined, (step) => ({
+    message: `${waitName(step)} has both seconds and until; a wait ends either after a time or on a condition, not both`,
+}));
+/** Every step kind, in the order the editor's insert menu lists them. */
+export const STEP_KINDS = ["path", "command", "wait", "sequence", "parallel", "branch"];
+/**
+ * The lists of steps a step holds, in document order: none for a leaf, one for a sequence or a
+ * parallel group, `then` and (when present) `else` for a branch. Every walk over the step tree
+ * goes through this and `withChildLists`, so a new group kind is one change here and not one in
+ * every walker.
+ */
+export function childLists(step) {
+    switch (step.kind) {
+        case "sequence":
+        case "parallel":
+            return [step.steps];
+        case "branch":
+            return step.else === undefined ? [step.then] : [step.then, step.else];
+        default:
+            return [];
+    }
+}
+/**
+ * The same step with its child lists replaced, in the order `childLists` returned them. The
+ * input is not mutated. A leaf is returned as it is.
+ */
+export function withChildLists(step, lists) {
+    switch (step.kind) {
+        case "sequence":
+        case "parallel":
+            return { ...step, steps: lists[0] ?? step.steps };
+        case "branch": {
+            const updated = { ...step, then: lists[0] ?? step.then };
+            if (step.else !== undefined)
+                updated.else = lists[1] ?? step.else;
+            return updated;
+        }
+        default:
+            return step;
+    }
+}
+/** True for the step kinds that hold other steps. */
+export const isGroupStep = (step) => step.kind === "sequence" || step.kind === "parallel" || step.kind === "branch";
+/**
+ * A `sequence` runs its steps one after another and ends when the last one does (format version
+ * 2). On its own at the top level it changes nothing; its point is inside a `parallel` group or a
+ * branch arm, where it lets several steps act as one member, such as intake on, wait, intake off
+ * running alongside a drive.
+ */
+export const sequenceStepSchema = z.object({
+    id: z.string().min(1).optional(),
+    kind: z.literal("sequence"),
+    // At least one member, for the same reason as a parallel group.
+    steps: z.array(z.lazy(() => stepSchema)).min(1),
+    notes: z.string().optional(),
+});
+export const parallelStepSchema = z.object({
+    id: z.string().min(1).optional(),
+    kind: z.literal("parallel"),
+    mode: z.enum(["all", "race", "deadline"]),
+    deadline: z.string().min(1).optional(),
+    // At least one member: an empty group has no meaning, and both the estimator and the generated
+    // Java reach for a first member that would not be there.
+    steps: z.array(z.lazy(() => stepSchema)).min(1),
+    notes: z.string().optional(),
+});
+export const branchStepSchema = z.object({
+    id: z.string().min(1).optional(),
+    kind: z.literal("branch"),
+    condition: z.string().min(1),
+    then: z.array(z.lazy(() => stepSchema)),
+    else: z.array(z.lazy(() => stepSchema)).optional(),
+    notes: z.string().optional(),
+});
+export const stepSchema = z.lazy(() => z.union([
+    pathStepSchema,
+    commandStepSchema,
+    waitStepSchema,
+    sequenceStepSchema,
+    parallelStepSchema,
+    branchStepSchema,
+]));
+/**
+ * `*.auto.json`: one routine. Steps run in sequence (site/docs/file-format.md).
+ * Key declaration order is the canonical file order.
+ */
+export const autoSchema = z.object({
+    $schema: schemaIdField("auto"),
+    formatVersion: formatVersionFor("auto"),
+    name: z.string().min(1),
+    title: z.string().optional(),
+    description: z.string().optional(),
+    robot: z.string().min(1).optional(),
+    field: z.string().min(1).optional(),
+    alliance: z.enum(["RED", "BLUE"]),
+    authors: z.array(z.string().min(1)).optional(),
+    created: z.string().optional(),
+    start: z.object({
+        pose: z.union([z.object({ ref: z.string().min(1) }), poseSchema]),
+        holds: z.record(z.string(), z.number()).optional(),
+    }),
+    steps: z.array(stepSchema).min(1),
+});
+//# sourceMappingURL=auto.js.map

package/dist/auto.js.map

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

@@ -0,0 +1,76 @@
+import { z } from "zod";
+/**
+ * Provenance is a plain string, using the biobuzz vocabulary (MEASURED, SET BY HAND, SPEC, NEEDS
+ * MEASUREMENT, CARRIED OVER, PLACEHOLDER, APPROX, SET FROM SIM, SET FROM EDITOR, CALIBRATED FROM
+ * SIM, CALIBRATED FROM ROBOT). It is not an enum: the label is followed by the reason, and the
+ * rule that matters (CLAUDE.md rule 4) is that a number carries one at all.
+ */
+export declare const provenanceSchema: z.ZodString;
+/** A number that came from somewhere, with the label saying where. */
+export declare const valuedNumberSchema: z.ZodObject<{
+    value: z.ZodNumber;
+    provenance: z.ZodOptional<z.ZodString>;
+}, "strip", z.ZodTypeAny, {
+    value: number;
+    provenance?: string | undefined;
+}, {
+    value: number;
+    provenance?: string | undefined;
+}>;
+/** A pose in the field frame. `headingRad` is optional where a heading mode supplies it. */
+export declare const poseSchema: z.ZodObject<{
+    xIn: z.ZodNumber;
+    yIn: z.ZodNumber;
+    headingRad: z.ZodOptional<z.ZodNumber>;
+    provenance: z.ZodOptional<z.ZodString>;
+}, "strip", z.ZodTypeAny, {
+    xIn: number;
+    yIn: number;
+    provenance?: string | undefined;
+    headingRad?: number | undefined;
+}, {
+    xIn: number;
+    yIn: number;
+    provenance?: string | undefined;
+    headingRad?: number | undefined;
+}>;
+/** A reference to a named pose in `waypoints.json`. */
+export declare const poseRefSchema: z.ZodObject<{
+    ref: z.ZodString;
+}, "strip", z.ZodTypeAny, {
+    ref: string;
+}, {
+    ref: string;
+}>;
+/**
+ * Where a segment starts or ends: an inline pose, a waypoint reference, or the string `"current"`,
+ * meaning the pose the previous step ended at.
+ */
+export declare const poseSourceSchema: z.ZodUnion<[z.ZodLiteral<"current">, z.ZodObject<{
+    ref: z.ZodString;
+}, "strip", z.ZodTypeAny, {
+    ref: string;
+}, {
+    ref: string;
+}>, z.ZodObject<{
+    xIn: z.ZodNumber;
+    yIn: z.ZodNumber;
+    headingRad: z.ZodOptional<z.ZodNumber>;
+    provenance: z.ZodOptional<z.ZodString>;
+}, "strip", z.ZodTypeAny, {
+    xIn: number;
+    yIn: number;
+    provenance?: string | undefined;
+    headingRad?: number | undefined;
+}, {
+    xIn: number;
+    yIn: number;
+    provenance?: string | undefined;
+    headingRad?: number | undefined;
+}>]>;
+export type Provenance = z.infer<typeof provenanceSchema>;
+export type ValuedNumber = z.infer<typeof valuedNumberSchema>;
+export type Pose = z.infer<typeof poseSchema>;
+export type PoseRef = z.infer<typeof poseRefSchema>;
+export type PoseSource = z.infer<typeof poseSourceSchema>;
+//# sourceMappingURL=common.d.ts.map

package/dist/common.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"common.d.ts","sourceRoot":"","sources":["../src/common.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,CAAC,EAAE,MAAM,KAAK,CAAC;AAExB;;;;;GAKG;AACH,eAAO,MAAM,gBAAgB,aAAoB,CAAC;AAElD,sEAAsE;AACtE,eAAO,MAAM,kBAAkB;;;;;;;;;EAG7B,CAAC;AAEH,4FAA4F;AAC5F,eAAO,MAAM,UAAU;;;;;;;;;;;;;;;EAKrB,CAAC;AAEH,uDAAuD;AACvD,eAAO,MAAM,aAAa;;;;;;EAExB,CAAC;AAEH;;;GAGG;AACH,eAAO,MAAM,gBAAgB;;;;;;;;;;;;;;;;;;;;;IAA6D,CAAC;AAE3F,MAAM,MAAM,UAAU,GAAG,CAAC,CAAC,KAAK,CAAC,OAAO,gBAAgB,CAAC,CAAC;AAC1D,MAAM,MAAM,YAAY,GAAG,CAAC,CAAC,KAAK,CAAC,OAAO,kBAAkB,CAAC,CAAC;AAC9D,MAAM,MAAM,IAAI,GAAG,CAAC,CAAC,KAAK,CAAC,OAAO,UAAU,CAAC,CAAC;AAC9C,MAAM,MAAM,OAAO,GAAG,CAAC,CAAC,KAAK,CAAC,OAAO,aAAa,CAAC,CAAC;AACpD,MAAM,MAAM,UAAU,GAAG,CAAC,CAAC,KAAK,CAAC,OAAO,gBAAgB,CAAC,CAAC"}

package/dist/common.js

@@ -0,0 +1,30 @@
+import { z } from "zod";
+/**
+ * Provenance is a plain string, using the biobuzz vocabulary (MEASURED, SET BY HAND, SPEC, NEEDS
+ * MEASUREMENT, CARRIED OVER, PLACEHOLDER, APPROX, SET FROM SIM, SET FROM EDITOR, CALIBRATED FROM
+ * SIM, CALIBRATED FROM ROBOT). It is not an enum: the label is followed by the reason, and the
+ * rule that matters (CLAUDE.md rule 4) is that a number carries one at all.
+ */
+export const provenanceSchema = z.string().min(1);
+/** A number that came from somewhere, with the label saying where. */
+export const valuedNumberSchema = z.object({
+    value: z.number(),
+    provenance: provenanceSchema.optional(),
+});
+/** A pose in the field frame. `headingRad` is optional where a heading mode supplies it. */
+export const poseSchema = z.object({
+    xIn: z.number(),
+    yIn: z.number(),
+    headingRad: z.number().optional(),
+    provenance: provenanceSchema.optional(),
+});
+/** A reference to a named pose in `waypoints.json`. */
+export const poseRefSchema = z.object({
+    ref: z.string().min(1),
+});
+/**
+ * Where a segment starts or ends: an inline pose, a waypoint reference, or the string `"current"`,
+ * meaning the pose the previous step ended at.
+ */
+export const poseSourceSchema = z.union([z.literal("current"), poseRefSchema, poseSchema]);
+//# sourceMappingURL=common.js.map

package/dist/common.js.map

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package/dist/expr.d.ts

@@ -0,0 +1,56 @@
+/**
+ * The `estimateS` expression grammar (site/docs/file-format.md, robot.json rules).
+ *
+ *   expr    := term (('+' | '-') term)*
+ *   term    := factor (('*' | '/') factor)*
+ *   factor  := '-'? primary
+ *   primary := number | name | 'max' '(' expr ',' expr ')' | 'min' '(' expr ',' expr ')'
+ *            | '(' expr ')'
+ *
+ * Or the whole string is the literal `"unknown"`, which means the timeline shows a hatched block
+ * and the total is a lower bound. Parsing and evaluation are pure: no clock, no randomness.
+ */
+/** The string that means "this command's duration cannot be predicted". */
+export declare const UNKNOWN_ESTIMATE = "unknown";
+export type EstimateExpr = {
+    kind: "unknown";
+} | {
+    kind: "number";
+    value: number;
+} | {
+    kind: "name";
+    name: string;
+} | {
+    kind: "unary";
+    op: "-";
+    operand: EstimateExpr;
+} | {
+    kind: "binary";
+    op: "+" | "-" | "*" | "/";
+    left: EstimateExpr;
+    right: EstimateExpr;
+} | {
+    kind: "call";
+    name: "max" | "min";
+    args: [EstimateExpr, EstimateExpr];
+};
+export declare class EstimateExprError extends Error {
+    readonly source: string;
+    readonly position: number;
+    constructor(message: string, source: string, position: number);
+}
+/** Parses an `estimateS` string. Throws EstimateExprError on anything outside the grammar. */
+export declare function parseEstimateExpression(source: string): EstimateExpr;
+/** True when the string is a legal `estimateS` value. Used by the robot schema. */
+export declare function isEstimateExpression(source: string): boolean;
+/** The parameter names an expression reads, so the caller can check them against the registry. */
+export declare function estimateExpressionNames(expr: EstimateExpr): string[];
+/**
+ * Evaluates an expression against a scope of parameter values. Returns null for `"unknown"`, for a
+ * name the scope does not define, and for division by zero: all three mean "no number here", which
+ * the timeline draws as a hatched block rather than a wrong answer.
+ */
+export declare function evaluateEstimateExpression(expr: EstimateExpr, scope?: Readonly<Record<string, number>>): number | null;
+/** Parse and evaluate in one call. Throws on a syntax error, returns null on an unknown value. */
+export declare function evaluateEstimate(source: string, scope?: Readonly<Record<string, number>>): number | null;
+//# sourceMappingURL=expr.d.ts.map

package/dist/expr.d.ts.map

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