@tsplc/sim 0.0.0-stage → 0.1.0

package/README.md

@@ -1,3 +1,7 @@
-# Temporary Holding Version
+# @tsplc/sim
 
-This version is a temporary placeholder for this package. An operational version to replace this has been submitted for review and is awaiting a staged release.
+Part of [tsPLC](https://github.com/livingforjesus/tsplc).
+
+Plant simulation for tsPLC programs: hardware models (`@tsplc/sim/hardware/*`), line topology with conveyors, zones and stations, loads that move through it, and a live view. A simulation drives the program's IO, so a program runs against its line before the line exists.
+
+See [plant simulation](https://github.com/livingforjesus/tsplc/tree/main/docs/guides/plant-simulation.md). MIT licensed.

package/dist/hardware/cognex.js

@@ -0,0 +1,169 @@
+// packages/sim/src/paths.ts
+var pathKey = Symbol("tsplc.path");
+var pathName = (path) => {
+  const name = Reflect.get(path, pathKey);
+  if (typeof name !== "string" || !name)
+    throw new Error("Expected a path from plcPaths().");
+  return name;
+};
+
+// packages/sim/src/hardware.ts
+var pinIn = (type) => ({ direction: "in", type });
+var pinOut = (type) => ({ direction: "out", type });
+var defaultValue = (type) => type === "bool" ? false : type === "number" ? 0 : [];
+var isScaled = (wire) => ("toPin" in wire);
+var wirePath = (wire) => isScaled(wire) ? pathName(wire.path) : pathName(wire);
+var defineHardware = (model) => (options) => {
+  const state = model.setup(options.config);
+  const world = model.world();
+  const pins = Object.fromEntries(Object.entries(model.pins).map(([name, pin]) => [name, defaultValue(pin.type)]));
+  let dtMs = 0;
+  const context = () => ({
+    pins,
+    world,
+    config: options.config,
+    state,
+    dtMs
+  });
+  const wired = Object.entries(options.wiring).flatMap(([name, wire]) => {
+    const pin = model.pins[name];
+    if (!pin)
+      throw new Error(`${model.name} has no pin ${String(name)}.`);
+    const target = wire;
+    return target ? [{ name, pin, wire: target, path: wirePath(target) }] : [];
+  });
+  return {
+    model: model.name,
+    world,
+    reads: wired.filter(({ pin }) => pin.direction === "in").map(({ path }) => path),
+    update: (plc, elapsed) => {
+      dtMs = elapsed;
+      for (const { name, pin, wire, path } of wired) {
+        if (pin.direction !== "in" || !plc.has(path))
+          continue;
+        const value = plc.get(path);
+        Reflect.set(pins, name, isScaled(wire) ? wire.toPin(Number(value)) : value);
+      }
+      model.update(context());
+      const writes = new Map;
+      for (const { name, pin, wire, path } of wired) {
+        if (pin.direction !== "out")
+          continue;
+        const value = Reflect.get(pins, name);
+        writes.set(path, isScaled(wire) ? wire.toPlc(Number(value)) : value);
+      }
+      return writes;
+    },
+    view: () => model.view?.(context()) ?? { status: "idle" },
+    pins: () => ({ ...pins }),
+    actions: Object.keys(model.actions ?? {}),
+    act: (action, argument) => {
+      const handler = model.actions?.[action];
+      if (!handler)
+        throw new Error(`${model.name} has no action ${action}.`);
+      handler(context(), argument);
+    }
+  };
+};
+
+// packages/sim/src/hardware/cognex.ts
+var pins = {
+  TriggerEnable: pinIn("bool"),
+  Trigger: pinIn("bool"),
+  BufferResultsEnable: pinIn("bool"),
+  ResultsAck: pinIn("bool"),
+  SoftEvent: pinIn("number"),
+  TriggerReady: pinOut("bool"),
+  TriggerAck: pinOut("bool"),
+  Acquiring: pinOut("bool"),
+  MissedAcq: pinOut("bool"),
+  DecodeCompleteToggle: pinOut("bool"),
+  ResultsBufferOverrun: pinOut("bool"),
+  ResultsAvailable: pinOut("bool"),
+  GeneralFault: pinOut("bool"),
+  SoftEventAck: pinOut("number"),
+  TriggerID: pinOut("number"),
+  ResultID: pinOut("number"),
+  ResultCode: pinOut("number"),
+  ResultExtended: pinOut("number"),
+  ResultLength: pinOut("number"),
+  ResultData: pinOut("bytes")
+};
+var datamanWiring = (record) => Object.fromEntries(Object.entries(pins).map(([name, pin]) => [
+  name,
+  Reflect.get(pin.direction === "in" ? record.Output : record.Input, name)
+]));
+var dataman = defineHardware({
+  name: "Cognex DataMan",
+  pins,
+  world: () => ({
+    in: { read: null },
+    out: {}
+  }),
+  setup: (config) => ({
+    acquisition: null,
+    queue: [],
+    staged: false,
+    reads: 0,
+    bufferSize: config.bufferSize ?? 50
+  }),
+  update: ({ pins: io, world, config, state }) => {
+    if (io.ResultData.length !== config.resultSize)
+      io.ResultData = Array(config.resultSize).fill(0);
+    io.TriggerReady = false;
+    io.TriggerAck = false;
+    io.Acquiring = false;
+    if (!io.BufferResultsEnable)
+      state.queue = [];
+    if (io.ResultsAck)
+      io.ResultsAvailable = false;
+    if (state.staged) {
+      io.ResultsAvailable = !io.ResultsAck;
+      state.staged = false;
+    }
+    if (state.acquisition) {
+      io.DecodeCompleteToggle = !io.DecodeCompleteToggle;
+      const room = !io.BufferResultsEnable || state.queue.length + Number(io.ResultsAvailable) < state.bufferSize;
+      io.ResultsBufferOverrun = !room;
+      if (room)
+        state.queue.push(state.acquisition);
+    }
+    const canPublish = !io.BufferResultsEnable || !io.ResultsAvailable && !io.ResultsAck && !state.staged;
+    const result = canPublish ? state.queue.shift() : undefined;
+    if (result) {
+      io.ResultID = result.id;
+      io.ResultCode = result.data.length ? 1 : 0;
+      io.ResultExtended = 0;
+      io.ResultLength = result.data.length;
+      io.ResultData = Array.from({ length: config.resultSize }, (_, i) => result.data[i] ?? 0);
+      state.staged = true;
+    }
+    state.acquisition = world.in.read !== null ? { data: [...new TextEncoder().encode(world.in.read)], id: io.TriggerID } : null;
+    if (state.acquisition) {
+      state.reads++;
+      io.TriggerID = (io.TriggerID + 1) % 65536;
+      io.Acquiring = true;
+      io.MissedAcq = false;
+    }
+  },
+  view: ({ pins: io, state }) => ({
+    status: io.ResultsAvailable ? "busy" : "idle",
+    label: io.ResultsAvailable ? "result waiting" : `${state.reads} reads`,
+    details: {
+      lastResult: new TextDecoder().decode(Uint8Array.from(io.ResultData.slice(0, io.ResultLength))),
+      queued: state.queue.length
+    }
+  }),
+  actions: {
+    read: ({ world }, code) => {
+      world.in.read = code;
+    }
+  }
+});
+export {
+  dataman,
+  datamanWiring
+};
+
+//# debugId=586C948326CCF0C064756E2164756E21
+//# sourceMappingURL=cognex.js.map

package/dist/hardware/cognex.js.map

@@ -0,0 +1,12 @@
+{
+  "version": 3,
+  "sources": ["../src/paths.ts", "../src/hardware.ts", "../src/hardware/cognex.ts"],
+  "sourcesContent": [
+    "declare const valueType: unique symbol;\nconst pathKey = Symbol(\"tsplc.path\");\n\n/** One PLC variable of type `Value`, such as `LineIO.Conveyor_Inbound.Cards[3].Output.MotionAsserted`. */\nexport interface Path<Value> {\n  readonly [valueType]?: Value;\n}\n\n/**\n * Typed paths into a PLC's globals: records nest, `.at(index)` selects a record array's element, and\n * scalars and scalar arrays (read and written whole) are `Path`s.\n */\nexport type Paths<T> =\n  T extends ReadonlyArray<infer Item>\n    ? Item extends object\n      ? { readonly at: (index: number) => Paths<Item> }\n      : Path<T>\n    : T extends object\n      ? { readonly [Key in keyof T]: Paths<T[Key]> }\n      : Path<T>;\n\nconst join = (segments: readonly string[]) =>\n  segments.reduce(\n    (path, segment) =>\n      /^\\d+$/.test(segment) ? `${path}[${segment}]` : path ? `${path}.${segment}` : segment,\n    \"\",\n  );\n\n// A function target so that `.at` is callable, and still a path for a record field named `at`.\nconst proxy = (segments: readonly string[]): unknown =>\n  new Proxy(() => undefined, {\n    get: (_, key) => {\n      if (key === pathKey) return join(segments);\n      if (typeof key === \"symbol\") return undefined;\n      return proxy([...segments, key]);\n    },\n    apply: (_, __, [index]: [number]) => proxy([...segments.slice(0, -1), String(index)]),\n  });\n\n/**\n * Builds typed paths for a generated `PlcGlobals`:\n * `plcPaths<PlcGlobals>().LineIO.Conveyor_Inbound.Cards.at(3).Output.MotionAsserted`.\n */\nexport const plcPaths = <Globals>(): Paths<Globals> => proxy([]) as Paths<Globals>;\n\n/** The dotted variable path, e.g. `LineIO.Conveyor_Inbound.Cards[3].Output.MotionAsserted`. */\nexport const pathName = (path: Path<unknown>): string => {\n  const name: unknown = Reflect.get(path, pathKey);\n  if (typeof name !== \"string\" || !name) throw new Error(\"Expected a path from plcPaths().\");\n  return name;\n};\n",
+    "import { type Path, pathName } from \"./paths\";\n\ntype PinType = \"bool\" | \"number\" | \"bytes\";\ntype PinValue<Type extends PinType> = Type extends \"bool\"\n  ? boolean\n  : Type extends \"number\"\n    ? number\n    : number[];\n\n/** An electrical terminal, seen from the device: `in` is driven by the PLC, `out` drives a PLC input. */\nexport interface Pin {\n  readonly direction: \"in\" | \"out\";\n  readonly type: PinType;\n}\nexport const pinIn = <Type extends PinType>(type: Type) => ({ direction: \"in\", type }) as const;\nexport const pinOut = <Type extends PinType>(type: Type) => ({ direction: \"out\", type }) as const;\nexport type Pins = Record<string, Pin>;\n\n/** Converts between a PLC value and a pin value, such as raw analog counts and volts. */\nexport interface Scaled {\n  readonly path: Path<number>;\n  readonly toPin: (plc: number) => number;\n  readonly toPlc: (pin: number) => number;\n}\nexport type Wire<Value> = Path<Value> | (Value extends number ? Scaled : never);\n\n/**\n * A linear analog channel: `analog(path, { plc: [0, 32767], pin: [0, 10] })` wires a raw\n * 0..32767 output to a 0..10 V input.\n */\nexport const analog = (\n  path: Path<number>,\n  range: { plc: readonly [number, number]; pin: readonly [number, number] },\n): Scaled => {\n  const [plcLow, plcHigh] = range.plc,\n    [pinLow, pinHigh] = range.pin;\n  return {\n    path,\n    toPin: (plc) => pinLow + ((plc - plcLow) * (pinHigh - pinLow)) / (plcHigh - plcLow),\n    toPlc: (pin) => Math.round(plcLow + ((pin - pinLow) * (plcHigh - plcLow)) / (pinHigh - pinLow)),\n  };\n};\n\n/** Each pin may be wired to one PLC variable of its type; unwired inputs read as their default. */\nexport type Wiring<Spec extends Pins> = {\n  readonly [Name in keyof Spec]?: Wire<PinValue<Spec[Name][\"type\"]>>;\n};\ntype PinValues<Spec extends Pins> = { [Name in keyof Spec]: PinValue<Spec[Name][\"type\"]> };\n\nexport interface DeviceView {\n  status: \"running\" | \"stopped\" | \"idle\" | \"busy\" | \"warning\" | \"fault\";\n  label?: string;\n  details?: Record<string, string | number | boolean>;\n}\n\nexport interface HardwareContext<Spec extends Pins, World extends WorldPorts, Config, State> {\n  /** Input pins hold this tick's PLC values; set output pins to drive PLC inputs. */\n  readonly pins: PinValues<Spec>;\n  /** Physical ports the topology connects: `in` is sensed from the line, `out` acts on it. */\n  readonly world: World;\n  readonly config: Config;\n  readonly state: State;\n  readonly dtMs: number;\n}\n\ninterface WorldPorts {\n  in: Record<string, unknown>;\n  out: Record<string, unknown>;\n}\n\nexport interface HardwareModel<Spec extends Pins, World extends WorldPorts, Config, State> {\n  /** Product name, such as \"Intelligrated CS1001\". */\n  readonly name: string;\n  readonly pins: Spec;\n  /** Initial physical port values; they also fix each port's type. */\n  readonly world: () => World;\n  /** Validates the configuration (switch settings) and creates the device's private state. */\n  readonly setup: (config: Config) => State;\n  /** Runs once per tick: read input pins and `world.in`, then set output pins and `world.out`. */\n  readonly update: (context: HardwareContext<Spec, World, Config, State>) => void;\n  readonly view?: (context: HardwareContext<Spec, World, Config, State>) => DeviceView;\n  readonly actions?: Record<\n    string,\n    (context: HardwareContext<Spec, World, Config, State>, argument: string) => void\n  >;\n}\n\n/** One physical device on the line: a model, its configuration and its wiring. */\nexport interface Device<World extends WorldPorts = WorldPorts> {\n  readonly model: string;\n  readonly world: World;\n  /** PLC variables this device reads each tick. */\n  readonly reads: readonly string[];\n  /** Sets input pins from PLC values, runs the model and returns the PLC values it drives. */\n  readonly update: (plc: ReadonlyMap<string, unknown>, dtMs: number) => Map<string, unknown>;\n  readonly view: () => DeviceView;\n  readonly pins: () => Record<string, unknown>;\n  readonly actions: readonly string[];\n  readonly act: (action: string, argument: string) => void;\n}\n\nconst defaultValue = (type: PinType): PinValue<PinType> =>\n  type === \"bool\" ? false : type === \"number\" ? 0 : [];\n\nconst isScaled = (wire: Wire<never> | Scaled | Path<unknown>): wire is Scaled => \"toPin\" in wire;\n/** The PLC variable a wire connects to. */\nexport const wirePath = (wire: Path<unknown> | Scaled) =>\n  isScaled(wire) ? pathName(wire.path) : pathName(wire);\n\n/**\n * Defines a hardware model. The result is a factory that instantiates one device from its\n * configuration and wiring: `cs1001({ config: { switches }, wiring: { \"CN2-1\": path } })`.\n */\nexport const defineHardware =\n  <Spec extends Pins, World extends WorldPorts, Config, State>(\n    model: HardwareModel<Spec, World, Config, State>,\n  ) =>\n  (options: { config: Config; wiring: Wiring<Spec> }): Device<World> => {\n    const state = model.setup(options.config);\n    const world = model.world();\n    const pins = Object.fromEntries(\n      Object.entries(model.pins).map(([name, pin]) => [name, defaultValue(pin.type)]),\n    ) as PinValues<Spec>; // Each entry is the default of its declared pin type.\n    let dtMs = 0;\n    const context = (): HardwareContext<Spec, World, Config, State> => ({\n      pins,\n      world,\n      config: options.config,\n      state,\n      dtMs,\n    });\n    const wired = Object.entries(options.wiring).flatMap(([name, wire]) => {\n      const pin = model.pins[name];\n      if (!pin) throw new Error(`${model.name} has no pin ${String(name)}.`);\n      const target: Path<unknown> | Scaled | undefined = wire;\n      return target ? [{ name, pin, wire: target, path: wirePath(target) }] : [];\n    });\n    return {\n      model: model.name,\n      world,\n      reads: wired.filter(({ pin }) => pin.direction === \"in\").map(({ path }) => path),\n      update: (plc, elapsed) => {\n        dtMs = elapsed;\n        for (const { name, pin, wire, path } of wired) {\n          if (pin.direction !== \"in\" || !plc.has(path)) continue;\n          const value = plc.get(path);\n          Reflect.set(pins, name, isScaled(wire) ? wire.toPin(Number(value)) : value);\n        }\n        model.update(context());\n        const writes = new Map<string, unknown>();\n        for (const { name, pin, wire, path } of wired) {\n          if (pin.direction !== \"out\") continue;\n          const value: unknown = Reflect.get(pins, name);\n          writes.set(path, isScaled(wire) ? wire.toPlc(Number(value)) : value);\n        }\n        return writes;\n      },\n      view: () => model.view?.(context()) ?? { status: \"idle\" },\n      pins: () => ({ ...pins }),\n      actions: Object.keys(model.actions ?? {}),\n      act: (action, argument) => {\n        const handler = model.actions?.[action];\n        if (!handler) throw new Error(`${model.name} has no action ${action}.`);\n        handler(context(), argument);\n      },\n    };\n  };\n",
+    "import { defineHardware, pinIn, pinOut, type Wiring } from \"../hardware\";\nimport type { Paths } from \"../paths\";\n\n/** The DataMan EtherNet/IP input (reader → PLC) and output (PLC → reader) assembly fields. */\nexport interface DataManAssembly {\n  Input: {\n    TriggerReady: boolean;\n    TriggerAck: boolean;\n    Acquiring: boolean;\n    MissedAcq: boolean;\n    DecodeCompleteToggle: boolean;\n    ResultsBufferOverrun: boolean;\n    ResultsAvailable: boolean;\n    GeneralFault: boolean;\n    SoftEventAck: number;\n    TriggerID: number;\n    ResultID: number;\n    ResultCode: number;\n    ResultExtended: number;\n    ResultLength: number;\n    ResultData: number[];\n  };\n  Output: {\n    TriggerEnable: boolean;\n    Trigger: boolean;\n    BufferResultsEnable: boolean;\n    ResultsAck: boolean;\n    SoftEvent: number;\n  };\n}\n\nconst pins = {\n  TriggerEnable: pinIn(\"bool\"),\n  Trigger: pinIn(\"bool\"),\n  BufferResultsEnable: pinIn(\"bool\"),\n  ResultsAck: pinIn(\"bool\"),\n  SoftEvent: pinIn(\"number\"),\n  TriggerReady: pinOut(\"bool\"),\n  TriggerAck: pinOut(\"bool\"),\n  Acquiring: pinOut(\"bool\"),\n  MissedAcq: pinOut(\"bool\"),\n  DecodeCompleteToggle: pinOut(\"bool\"),\n  ResultsBufferOverrun: pinOut(\"bool\"),\n  ResultsAvailable: pinOut(\"bool\"),\n  GeneralFault: pinOut(\"bool\"),\n  SoftEventAck: pinOut(\"number\"),\n  TriggerID: pinOut(\"number\"),\n  ResultID: pinOut(\"number\"),\n  ResultCode: pinOut(\"number\"),\n  ResultExtended: pinOut(\"number\"),\n  ResultLength: pinOut(\"number\"),\n  ResultData: pinOut(\"bytes\"),\n};\n\n/** Wires every assembly field of a PLC record that uses the Cognex field names. */\nexport const datamanWiring = (record: Paths<DataManAssembly>): Wiring<typeof pins> =>\n  // Paths are proxies without enumerable keys, so name each field.\n  Object.fromEntries(\n    Object.entries(pins).map(([name, pin]) => [\n      name,\n      Reflect.get(pin.direction === \"in\" ? record.Output : record.Input, name),\n    ]),\n  );\n\nexport interface DataManConfig {\n  /** Self (presentation) mode: one acquisition per load passing the reader. */\n  trigger: \"self\";\n  /** Result data bytes in the input assembly. */\n  resultSize: number;\n  /** Results the reader buffers before reporting an overrun. */\n  bufferSize?: number;\n}\n\ninterface Result {\n  data: number[];\n  id: number;\n}\n\n/**\n * Cognex DataMan reader on EtherNet/IP, in Self trigger mode with result buffering and the\n * ResultsAvailable/ResultsAck handshake. A load passing the reader is one acquisition; an empty\n * code is a no-read.\n *\n * https://docs.cognex.com/dmst_2541/web/EN/Industrial_Protocols_Manual/Content/Topics/PDF/DIPM/eip-operation.htm\n */\nexport const dataman = defineHardware({\n  name: \"Cognex DataMan\",\n  pins,\n  world: (): { in: { read: string | null }; out: Record<string, never> } => ({\n    in: { read: null },\n    out: {},\n  }),\n  setup: (config: DataManConfig) => ({\n    acquisition: null as Result | null,\n    queue: [] as Result[],\n    staged: false,\n    reads: 0,\n    bufferSize: config.bufferSize ?? 50,\n  }),\n  update: ({ pins: io, world, config, state }) => {\n    // The assembly always carries `resultSize` bytes.\n    if (io.ResultData.length !== config.resultSize)\n      io.ResultData = Array(config.resultSize).fill(0);\n    io.TriggerReady = false;\n    io.TriggerAck = false;\n    io.Acquiring = false;\n    if (!io.BufferResultsEnable) state.queue = [];\n    if (io.ResultsAck) io.ResultsAvailable = false;\n    // The PLC can scan between separately written fields, so a result's fields go out one\n    // tick before ResultsAvailable announces them, as the reader's assembly would arrive whole.\n    if (state.staged) {\n      io.ResultsAvailable = !io.ResultsAck;\n      state.staged = false;\n    }\n\n    // Last tick's acquisition decodes now.\n    if (state.acquisition) {\n      io.DecodeCompleteToggle = !io.DecodeCompleteToggle;\n      const room =\n        !io.BufferResultsEnable ||\n        state.queue.length + Number(io.ResultsAvailable) < state.bufferSize;\n      io.ResultsBufferOverrun = !room;\n      if (room) state.queue.push(state.acquisition);\n    }\n\n    const canPublish =\n      !io.BufferResultsEnable || (!io.ResultsAvailable && !io.ResultsAck && !state.staged);\n    const result = canPublish ? state.queue.shift() : undefined;\n    if (result) {\n      io.ResultID = result.id;\n      io.ResultCode = result.data.length ? 1 : 0;\n      io.ResultExtended = 0;\n      io.ResultLength = result.data.length;\n      io.ResultData = Array.from({ length: config.resultSize }, (_, i) => result.data[i] ?? 0);\n      state.staged = true;\n    }\n\n    state.acquisition =\n      world.in.read !== null\n        ? { data: [...new TextEncoder().encode(world.in.read)], id: io.TriggerID }\n        : null;\n    if (state.acquisition) {\n      state.reads++;\n      io.TriggerID = (io.TriggerID + 1) % 65_536;\n      io.Acquiring = true;\n      io.MissedAcq = false;\n    }\n  },\n  view: ({ pins: io, state }) => ({\n    status: io.ResultsAvailable ? \"busy\" : \"idle\",\n    label: io.ResultsAvailable ? \"result waiting\" : `${state.reads} reads`,\n    details: {\n      lastResult: new TextDecoder().decode(\n        Uint8Array.from(io.ResultData.slice(0, io.ResultLength)),\n      ),\n      queued: state.queue.length,\n    },\n  }),\n  actions: {\n    /** Presents a code to the reader as if a load passed it; an empty code is a no-read. */\n    read: ({ world }, code) => {\n      world.in.read = code;\n    },\n  },\n});\n"
+  ],
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+  "debugId": "586C948326CCF0C064756E2164756E21",
+  "names": []
+}

package/dist/hardware/generic.js

@@ -0,0 +1,141 @@
+// packages/sim/src/paths.ts
+var pathKey = Symbol("tsplc.path");
+var pathName = (path) => {
+  const name = Reflect.get(path, pathKey);
+  if (typeof name !== "string" || !name)
+    throw new Error("Expected a path from plcPaths().");
+  return name;
+};
+
+// packages/sim/src/hardware.ts
+var pinIn = (type) => ({ direction: "in", type });
+var pinOut = (type) => ({ direction: "out", type });
+var defaultValue = (type) => type === "bool" ? false : type === "number" ? 0 : [];
+var isScaled = (wire) => ("toPin" in wire);
+var wirePath = (wire) => isScaled(wire) ? pathName(wire.path) : pathName(wire);
+var defineHardware = (model) => (options) => {
+  const state = model.setup(options.config);
+  const world = model.world();
+  const pins = Object.fromEntries(Object.entries(model.pins).map(([name, pin]) => [name, defaultValue(pin.type)]));
+  let dtMs = 0;
+  const context = () => ({
+    pins,
+    world,
+    config: options.config,
+    state,
+    dtMs
+  });
+  const wired = Object.entries(options.wiring).flatMap(([name, wire]) => {
+    const pin = model.pins[name];
+    if (!pin)
+      throw new Error(`${model.name} has no pin ${String(name)}.`);
+    const target = wire;
+    return target ? [{ name, pin, wire: target, path: wirePath(target) }] : [];
+  });
+  return {
+    model: model.name,
+    world,
+    reads: wired.filter(({ pin }) => pin.direction === "in").map(({ path }) => path),
+    update: (plc, elapsed) => {
+      dtMs = elapsed;
+      for (const { name, pin, wire, path } of wired) {
+        if (pin.direction !== "in" || !plc.has(path))
+          continue;
+        const value = plc.get(path);
+        Reflect.set(pins, name, isScaled(wire) ? wire.toPin(Number(value)) : value);
+      }
+      model.update(context());
+      const writes = new Map;
+      for (const { name, pin, wire, path } of wired) {
+        if (pin.direction !== "out")
+          continue;
+        const value = Reflect.get(pins, name);
+        writes.set(path, isScaled(wire) ? wire.toPlc(Number(value)) : value);
+      }
+      return writes;
+    },
+    view: () => model.view?.(context()) ?? { status: "idle" },
+    pins: () => ({ ...pins }),
+    actions: Object.keys(model.actions ?? {}),
+    act: (action, argument) => {
+      const handler = model.actions?.[action];
+      if (!handler)
+        throw new Error(`${model.name} has no action ${action}.`);
+      handler(context(), argument);
+    }
+  };
+};
+
+// packages/sim/src/hardware/generic.ts
+var noWorld = () => ({
+  in: {},
+  out: {}
+});
+var pushbutton = defineHardware({
+  name: "Pushbutton",
+  pins: { contact: pinOut("bool") },
+  world: noWorld,
+  setup: (config) => ({
+    pressed: false,
+    remainingMs: 0,
+    pressMs: config.pressMs ?? 300
+  }),
+  update: ({ pins, config, state, dtMs }) => {
+    if (config.kind === "momentary" && state.pressed) {
+      state.remainingMs -= dtMs;
+      if (state.remainingMs <= 0)
+        state.pressed = false;
+    }
+    pins.contact = state.pressed;
+  },
+  view: ({ state }) => ({
+    status: state.pressed ? "busy" : "idle",
+    label: state.pressed ? "pressed" : "released"
+  }),
+  actions: {
+    press: ({ state }) => {
+      state.pressed = true;
+      state.remainingMs = state.pressMs;
+    },
+    release: ({ state }) => {
+      state.pressed = false;
+    }
+  }
+});
+var selector = defineHardware({
+  name: "Selector switch",
+  pins: { contact: pinOut("bool") },
+  world: noWorld,
+  setup: (config) => ({ on: config.on }),
+  update: ({ pins, state }) => {
+    pins.contact = state.on;
+  },
+  view: ({ state }) => ({ status: state.on ? "running" : "idle", label: state.on ? "on" : "off" }),
+  actions: {
+    on: ({ state }) => {
+      state.on = true;
+    },
+    off: ({ state }) => {
+      state.on = false;
+    }
+  }
+});
+var lamp = defineHardware({
+  name: "Lamp",
+  pins: { power: pinIn("bool") },
+  world: noWorld,
+  setup: (config) => config,
+  update: () => {},
+  view: ({ pins, state }) => ({
+    status: pins.power ? "running" : "idle",
+    label: `${state.label ?? "lamp"} ${pins.power ? "on" : "off"}`
+  })
+});
+export {
+  lamp,
+  pushbutton,
+  selector
+};
+
+//# debugId=E69063BE2BEB4AC064756E2164756E21
+//# sourceMappingURL=generic.js.map

package/dist/hardware/generic.js.map

@@ -0,0 +1,12 @@
+{
+  "version": 3,
+  "sources": ["../src/paths.ts", "../src/hardware.ts", "../src/hardware/generic.ts"],
+  "sourcesContent": [
+    "declare const valueType: unique symbol;\nconst pathKey = Symbol(\"tsplc.path\");\n\n/** One PLC variable of type `Value`, such as `LineIO.Conveyor_Inbound.Cards[3].Output.MotionAsserted`. */\nexport interface Path<Value> {\n  readonly [valueType]?: Value;\n}\n\n/**\n * Typed paths into a PLC's globals: records nest, `.at(index)` selects a record array's element, and\n * scalars and scalar arrays (read and written whole) are `Path`s.\n */\nexport type Paths<T> =\n  T extends ReadonlyArray<infer Item>\n    ? Item extends object\n      ? { readonly at: (index: number) => Paths<Item> }\n      : Path<T>\n    : T extends object\n      ? { readonly [Key in keyof T]: Paths<T[Key]> }\n      : Path<T>;\n\nconst join = (segments: readonly string[]) =>\n  segments.reduce(\n    (path, segment) =>\n      /^\\d+$/.test(segment) ? `${path}[${segment}]` : path ? `${path}.${segment}` : segment,\n    \"\",\n  );\n\n// A function target so that `.at` is callable, and still a path for a record field named `at`.\nconst proxy = (segments: readonly string[]): unknown =>\n  new Proxy(() => undefined, {\n    get: (_, key) => {\n      if (key === pathKey) return join(segments);\n      if (typeof key === \"symbol\") return undefined;\n      return proxy([...segments, key]);\n    },\n    apply: (_, __, [index]: [number]) => proxy([...segments.slice(0, -1), String(index)]),\n  });\n\n/**\n * Builds typed paths for a generated `PlcGlobals`:\n * `plcPaths<PlcGlobals>().LineIO.Conveyor_Inbound.Cards.at(3).Output.MotionAsserted`.\n */\nexport const plcPaths = <Globals>(): Paths<Globals> => proxy([]) as Paths<Globals>;\n\n/** The dotted variable path, e.g. `LineIO.Conveyor_Inbound.Cards[3].Output.MotionAsserted`. */\nexport const pathName = (path: Path<unknown>): string => {\n  const name: unknown = Reflect.get(path, pathKey);\n  if (typeof name !== \"string\" || !name) throw new Error(\"Expected a path from plcPaths().\");\n  return name;\n};\n",
+    "import { type Path, pathName } from \"./paths\";\n\ntype PinType = \"bool\" | \"number\" | \"bytes\";\ntype PinValue<Type extends PinType> = Type extends \"bool\"\n  ? boolean\n  : Type extends \"number\"\n    ? number\n    : number[];\n\n/** An electrical terminal, seen from the device: `in` is driven by the PLC, `out` drives a PLC input. */\nexport interface Pin {\n  readonly direction: \"in\" | \"out\";\n  readonly type: PinType;\n}\nexport const pinIn = <Type extends PinType>(type: Type) => ({ direction: \"in\", type }) as const;\nexport const pinOut = <Type extends PinType>(type: Type) => ({ direction: \"out\", type }) as const;\nexport type Pins = Record<string, Pin>;\n\n/** Converts between a PLC value and a pin value, such as raw analog counts and volts. */\nexport interface Scaled {\n  readonly path: Path<number>;\n  readonly toPin: (plc: number) => number;\n  readonly toPlc: (pin: number) => number;\n}\nexport type Wire<Value> = Path<Value> | (Value extends number ? Scaled : never);\n\n/**\n * A linear analog channel: `analog(path, { plc: [0, 32767], pin: [0, 10] })` wires a raw\n * 0..32767 output to a 0..10 V input.\n */\nexport const analog = (\n  path: Path<number>,\n  range: { plc: readonly [number, number]; pin: readonly [number, number] },\n): Scaled => {\n  const [plcLow, plcHigh] = range.plc,\n    [pinLow, pinHigh] = range.pin;\n  return {\n    path,\n    toPin: (plc) => pinLow + ((plc - plcLow) * (pinHigh - pinLow)) / (plcHigh - plcLow),\n    toPlc: (pin) => Math.round(plcLow + ((pin - pinLow) * (plcHigh - plcLow)) / (pinHigh - pinLow)),\n  };\n};\n\n/** Each pin may be wired to one PLC variable of its type; unwired inputs read as their default. */\nexport type Wiring<Spec extends Pins> = {\n  readonly [Name in keyof Spec]?: Wire<PinValue<Spec[Name][\"type\"]>>;\n};\ntype PinValues<Spec extends Pins> = { [Name in keyof Spec]: PinValue<Spec[Name][\"type\"]> };\n\nexport interface DeviceView {\n  status: \"running\" | \"stopped\" | \"idle\" | \"busy\" | \"warning\" | \"fault\";\n  label?: string;\n  details?: Record<string, string | number | boolean>;\n}\n\nexport interface HardwareContext<Spec extends Pins, World extends WorldPorts, Config, State> {\n  /** Input pins hold this tick's PLC values; set output pins to drive PLC inputs. */\n  readonly pins: PinValues<Spec>;\n  /** Physical ports the topology connects: `in` is sensed from the line, `out` acts on it. */\n  readonly world: World;\n  readonly config: Config;\n  readonly state: State;\n  readonly dtMs: number;\n}\n\ninterface WorldPorts {\n  in: Record<string, unknown>;\n  out: Record<string, unknown>;\n}\n\nexport interface HardwareModel<Spec extends Pins, World extends WorldPorts, Config, State> {\n  /** Product name, such as \"Intelligrated CS1001\". */\n  readonly name: string;\n  readonly pins: Spec;\n  /** Initial physical port values; they also fix each port's type. */\n  readonly world: () => World;\n  /** Validates the configuration (switch settings) and creates the device's private state. */\n  readonly setup: (config: Config) => State;\n  /** Runs once per tick: read input pins and `world.in`, then set output pins and `world.out`. */\n  readonly update: (context: HardwareContext<Spec, World, Config, State>) => void;\n  readonly view?: (context: HardwareContext<Spec, World, Config, State>) => DeviceView;\n  readonly actions?: Record<\n    string,\n    (context: HardwareContext<Spec, World, Config, State>, argument: string) => void\n  >;\n}\n\n/** One physical device on the line: a model, its configuration and its wiring. */\nexport interface Device<World extends WorldPorts = WorldPorts> {\n  readonly model: string;\n  readonly world: World;\n  /** PLC variables this device reads each tick. */\n  readonly reads: readonly string[];\n  /** Sets input pins from PLC values, runs the model and returns the PLC values it drives. */\n  readonly update: (plc: ReadonlyMap<string, unknown>, dtMs: number) => Map<string, unknown>;\n  readonly view: () => DeviceView;\n  readonly pins: () => Record<string, unknown>;\n  readonly actions: readonly string[];\n  readonly act: (action: string, argument: string) => void;\n}\n\nconst defaultValue = (type: PinType): PinValue<PinType> =>\n  type === \"bool\" ? false : type === \"number\" ? 0 : [];\n\nconst isScaled = (wire: Wire<never> | Scaled | Path<unknown>): wire is Scaled => \"toPin\" in wire;\n/** The PLC variable a wire connects to. */\nexport const wirePath = (wire: Path<unknown> | Scaled) =>\n  isScaled(wire) ? pathName(wire.path) : pathName(wire);\n\n/**\n * Defines a hardware model. The result is a factory that instantiates one device from its\n * configuration and wiring: `cs1001({ config: { switches }, wiring: { \"CN2-1\": path } })`.\n */\nexport const defineHardware =\n  <Spec extends Pins, World extends WorldPorts, Config, State>(\n    model: HardwareModel<Spec, World, Config, State>,\n  ) =>\n  (options: { config: Config; wiring: Wiring<Spec> }): Device<World> => {\n    const state = model.setup(options.config);\n    const world = model.world();\n    const pins = Object.fromEntries(\n      Object.entries(model.pins).map(([name, pin]) => [name, defaultValue(pin.type)]),\n    ) as PinValues<Spec>; // Each entry is the default of its declared pin type.\n    let dtMs = 0;\n    const context = (): HardwareContext<Spec, World, Config, State> => ({\n      pins,\n      world,\n      config: options.config,\n      state,\n      dtMs,\n    });\n    const wired = Object.entries(options.wiring).flatMap(([name, wire]) => {\n      const pin = model.pins[name];\n      if (!pin) throw new Error(`${model.name} has no pin ${String(name)}.`);\n      const target: Path<unknown> | Scaled | undefined = wire;\n      return target ? [{ name, pin, wire: target, path: wirePath(target) }] : [];\n    });\n    return {\n      model: model.name,\n      world,\n      reads: wired.filter(({ pin }) => pin.direction === \"in\").map(({ path }) => path),\n      update: (plc, elapsed) => {\n        dtMs = elapsed;\n        for (const { name, pin, wire, path } of wired) {\n          if (pin.direction !== \"in\" || !plc.has(path)) continue;\n          const value = plc.get(path);\n          Reflect.set(pins, name, isScaled(wire) ? wire.toPin(Number(value)) : value);\n        }\n        model.update(context());\n        const writes = new Map<string, unknown>();\n        for (const { name, pin, wire, path } of wired) {\n          if (pin.direction !== \"out\") continue;\n          const value: unknown = Reflect.get(pins, name);\n          writes.set(path, isScaled(wire) ? wire.toPlc(Number(value)) : value);\n        }\n        return writes;\n      },\n      view: () => model.view?.(context()) ?? { status: \"idle\" },\n      pins: () => ({ ...pins }),\n      actions: Object.keys(model.actions ?? {}),\n      act: (action, argument) => {\n        const handler = model.actions?.[action];\n        if (!handler) throw new Error(`${model.name} has no action ${action}.`);\n        handler(context(), argument);\n      },\n    };\n  };\n",
+    "import { defineHardware, pinIn, pinOut } from \"../hardware\";\n\nconst noWorld = (): { in: Record<string, never>; out: Record<string, never> } => ({\n  in: {},\n  out: {},\n});\n\n/**\n * A pushbutton or switch contact wired to a PLC input. Momentary buttons stay pressed for\n * `pressMs` after `press`; maintained ones (such as an e-stop) stay until `release`.\n */\nexport const pushbutton = defineHardware({\n  name: \"Pushbutton\",\n  pins: { contact: pinOut(\"bool\") },\n  world: noWorld,\n  setup: (config: { kind: \"momentary\" | \"maintained\"; pressMs?: number }) => ({\n    pressed: false,\n    remainingMs: 0,\n    pressMs: config.pressMs ?? 300,\n  }),\n  update: ({ pins, config, state, dtMs }) => {\n    if (config.kind === \"momentary\" && state.pressed) {\n      state.remainingMs -= dtMs;\n      if (state.remainingMs <= 0) state.pressed = false;\n    }\n    pins.contact = state.pressed;\n  },\n  view: ({ state }) => ({\n    status: state.pressed ? \"busy\" : \"idle\",\n    label: state.pressed ? \"pressed\" : \"released\",\n  }),\n  actions: {\n    press: ({ state }) => {\n      state.pressed = true;\n      state.remainingMs = state.pressMs;\n    },\n    release: ({ state }) => {\n      state.pressed = false;\n    },\n  },\n});\n\n/** A two-position selector switch wired to a PLC input, such as a station's enable switch. */\nexport const selector = defineHardware({\n  name: \"Selector switch\",\n  pins: { contact: pinOut(\"bool\") },\n  world: noWorld,\n  setup: (config: { on: boolean }) => ({ on: config.on }),\n  update: ({ pins, state }) => {\n    pins.contact = state.on;\n  },\n  view: ({ state }) => ({ status: state.on ? \"running\" : \"idle\", label: state.on ? \"on\" : \"off\" }),\n  actions: {\n    on: ({ state }) => {\n      state.on = true;\n    },\n    off: ({ state }) => {\n      state.on = false;\n    },\n  },\n});\n\n/** A lamp, beacon or horn driven by a PLC output. */\nexport const lamp = defineHardware({\n  name: \"Lamp\",\n  pins: { power: pinIn(\"bool\") },\n  world: noWorld,\n  setup: (config: { label?: string }) => config,\n  update: () => {},\n  view: ({ pins, state }) => ({\n    status: pins.power ? \"running\" : \"idle\",\n    label: `${state.label ?? \"lamp\"} ${pins.power ? \"on\" : \"off\"}`,\n  }),\n});\n"
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+  "debugId": "E69063BE2BEB4AC064756E2164756E21",
+  "names": []
+}

package/dist/hardware/intelligrated.js

@@ -0,0 +1,158 @@
+// packages/sim/src/paths.ts
+var pathKey = Symbol("tsplc.path");
+var pathName = (path) => {
+  const name = Reflect.get(path, pathKey);
+  if (typeof name !== "string" || !name)
+    throw new Error("Expected a path from plcPaths().");
+  return name;
+};
+
+// packages/sim/src/hardware.ts
+var pinIn = (type) => ({ direction: "in", type });
+var pinOut = (type) => ({ direction: "out", type });
+var defaultValue = (type) => type === "bool" ? false : type === "number" ? 0 : [];
+var isScaled = (wire) => ("toPin" in wire);
+var wirePath = (wire) => isScaled(wire) ? pathName(wire.path) : pathName(wire);
+var defineHardware = (model) => (options) => {
+  const state = model.setup(options.config);
+  const world = model.world();
+  const pins = Object.fromEntries(Object.entries(model.pins).map(([name, pin]) => [name, defaultValue(pin.type)]));
+  let dtMs = 0;
+  const context = () => ({
+    pins,
+    world,
+    config: options.config,
+    state,
+    dtMs
+  });
+  const wired = Object.entries(options.wiring).flatMap(([name, wire]) => {
+    const pin = model.pins[name];
+    if (!pin)
+      throw new Error(`${model.name} has no pin ${String(name)}.`);
+    const target = wire;
+    return target ? [{ name, pin, wire: target, path: wirePath(target) }] : [];
+  });
+  return {
+    model: model.name,
+    world,
+    reads: wired.filter(({ pin }) => pin.direction === "in").map(({ path }) => path),
+    update: (plc, elapsed) => {
+      dtMs = elapsed;
+      for (const { name, pin, wire, path } of wired) {
+        if (pin.direction !== "in" || !plc.has(path))
+          continue;
+        const value = plc.get(path);
+        Reflect.set(pins, name, isScaled(wire) ? wire.toPin(Number(value)) : value);
+      }
+      model.update(context());
+      const writes = new Map;
+      for (const { name, pin, wire, path } of wired) {
+        if (pin.direction !== "out")
+          continue;
+        const value = Reflect.get(pins, name);
+        writes.set(path, isScaled(wire) ? wire.toPlc(Number(value)) : value);
+      }
+      return writes;
+    },
+    view: () => model.view?.(context()) ?? { status: "idle" },
+    pins: () => ({ ...pins }),
+    actions: Object.keys(model.actions ?? {}),
+    act: (action, argument) => {
+      const handler = model.actions?.[action];
+      if (!handler)
+        throw new Error(`${model.name} has no action ${action}.`);
+      handler(context(), argument);
+    }
+  };
+};
+
+// packages/sim/src/hardware/intelligrated.ts
+var rampMs = (on4, on5) => on4 ? on5 ? 200 : 240 : on5 ? 400 : 600;
+var minimumVolts = 2.55;
+var pins = {
+  "CN2-1": pinIn("bool"),
+  "CN2-2": pinIn("bool"),
+  "CN2-3": pinIn("number"),
+  "CN2-4": pinOut("bool"),
+  "CN2-5": pinOut("bool"),
+  "CN2-6": pinOut("bool"),
+  "CN2-7": pinOut("bool")
+};
+var cs1001 = defineHardware({
+  name: "Intelligrated CS1001",
+  pins,
+  world: () => ({ in: { photoeye: false }, out: { motor: 0 } }),
+  setup: (config) => {
+    const sw = config.switches;
+    const unsupported = (setting) => {
+      throw new Error(`CS1001: ${setting} is not modelled.`);
+    };
+    if (sw["SW1-4"] || sw["SW1-5"])
+      unsupported("Master/Slave mode (SW1-4/SW1-5)");
+    if (sw["SW3-6"])
+      unsupported("half-speed control (SW3-6 ON)");
+    if (!sw["SW3-3"])
+      unsupported("NPN CN2-4..7 outputs (SW3-3 OFF)");
+    if (!sw["SW1-1"] && config.internalSpeed === undefined)
+      throw new Error("CS1001: SW1-1 OFF (internal speed) needs internalSpeed.");
+    if (!sw["SW2-1"] && config.runHoldingMs === undefined)
+      throw new Error("CS1001: SW2-1 OFF (INT release) needs runHoldingMs.");
+    return { speed: 0, releasingMs: 0, error: false, warning: false };
+  },
+  update: ({ pins: io, world, config, state, dtMs }) => {
+    const sw = config.switches;
+    const control = sw["SW2-2"] ? io["CN2-1"] : true;
+    let run;
+    if (sw["SW2-6"] && control)
+      run = true;
+    else if (!sw["SW2-6"] && control)
+      run = false;
+    else if (sw["SW2-1"])
+      run = false;
+    else {
+      state.releasingMs = world.in.photoeye ? state.releasingMs + dtMs : 0;
+      run = world.in.photoeye && state.releasingMs < (config.runHoldingMs ?? 0);
+    }
+    if (state.error)
+      run = false;
+    const volts = io["CN2-3"];
+    const fraction = sw["SW1-1"] ? volts < minimumVolts ? 0 : Math.min(volts, 10) / 10 : config.internalSpeed ?? 0;
+    const reverse = sw["SW3-1"] ? io["CN2-2"] : !io["CN2-2"];
+    const base = sw["SW3-2"] ? "CCW" : "CW";
+    const rotation = reverse ? base === "CW" ? "CCW" : "CW" : base;
+    const target = run ? fraction * config.ratedSpeed * (rotation === config.forward ? 1 : -1) : 0;
+    const step = config.ratedSpeed * dtMs / rampMs(sw["SW3-4"], sw["SW3-5"]);
+    state.speed = Math.abs(target - state.speed) <= step ? target : state.speed + Math.sign(target - state.speed) * step;
+    world.out.motor = state.speed;
+    io["CN2-4"] = world.in.photoeye;
+    io["CN2-5"] = state.error;
+    io["CN2-6"] = state.warning;
+    io["CN2-7"] = state.speed !== 0;
+  },
+  view: ({ state, world, config }) => ({
+    status: state.error ? "fault" : state.warning || !config.switches["SW2-2"] ? "warning" : state.speed !== 0 ? "running" : "stopped",
+    label: state.speed !== 0 ? `${Math.round(Math.abs(state.speed))} mm/s` : "stopped",
+    details: {
+      photoeye: world.in.photoeye,
+      ...!config.switches["SW2-2"] && { note: "SW2-2 NPN: CN2-1 is ignored" }
+    }
+  }),
+  actions: {
+    fault: ({ state }) => {
+      state.error = true;
+    },
+    warn: ({ state }) => {
+      state.warning = true;
+    },
+    reset: ({ state }) => {
+      state.error = false;
+      state.warning = false;
+    }
+  }
+});
+export {
+  cs1001
+};
+
+//# debugId=A04F5F96DAE8100264756E2164756E21
+//# sourceMappingURL=intelligrated.js.map

package/dist/hardware/intelligrated.js.map

@@ -0,0 +1,12 @@
+{
+  "version": 3,
+  "sources": ["../src/paths.ts", "../src/hardware.ts", "../src/hardware/intelligrated.ts"],
+  "sourcesContent": [
+    "declare const valueType: unique symbol;\nconst pathKey = Symbol(\"tsplc.path\");\n\n/** One PLC variable of type `Value`, such as `LineIO.Conveyor_Inbound.Cards[3].Output.MotionAsserted`. */\nexport interface Path<Value> {\n  readonly [valueType]?: Value;\n}\n\n/**\n * Typed paths into a PLC's globals: records nest, `.at(index)` selects a record array's element, and\n * scalars and scalar arrays (read and written whole) are `Path`s.\n */\nexport type Paths<T> =\n  T extends ReadonlyArray<infer Item>\n    ? Item extends object\n      ? { readonly at: (index: number) => Paths<Item> }\n      : Path<T>\n    : T extends object\n      ? { readonly [Key in keyof T]: Paths<T[Key]> }\n      : Path<T>;\n\nconst join = (segments: readonly string[]) =>\n  segments.reduce(\n    (path, segment) =>\n      /^\\d+$/.test(segment) ? `${path}[${segment}]` : path ? `${path}.${segment}` : segment,\n    \"\",\n  );\n\n// A function target so that `.at` is callable, and still a path for a record field named `at`.\nconst proxy = (segments: readonly string[]): unknown =>\n  new Proxy(() => undefined, {\n    get: (_, key) => {\n      if (key === pathKey) return join(segments);\n      if (typeof key === \"symbol\") return undefined;\n      return proxy([...segments, key]);\n    },\n    apply: (_, __, [index]: [number]) => proxy([...segments.slice(0, -1), String(index)]),\n  });\n\n/**\n * Builds typed paths for a generated `PlcGlobals`:\n * `plcPaths<PlcGlobals>().LineIO.Conveyor_Inbound.Cards.at(3).Output.MotionAsserted`.\n */\nexport const plcPaths = <Globals>(): Paths<Globals> => proxy([]) as Paths<Globals>;\n\n/** The dotted variable path, e.g. `LineIO.Conveyor_Inbound.Cards[3].Output.MotionAsserted`. */\nexport const pathName = (path: Path<unknown>): string => {\n  const name: unknown = Reflect.get(path, pathKey);\n  if (typeof name !== \"string\" || !name) throw new Error(\"Expected a path from plcPaths().\");\n  return name;\n};\n",
+    "import { type Path, pathName } from \"./paths\";\n\ntype PinType = \"bool\" | \"number\" | \"bytes\";\ntype PinValue<Type extends PinType> = Type extends \"bool\"\n  ? boolean\n  : Type extends \"number\"\n    ? number\n    : number[];\n\n/** An electrical terminal, seen from the device: `in` is driven by the PLC, `out` drives a PLC input. */\nexport interface Pin {\n  readonly direction: \"in\" | \"out\";\n  readonly type: PinType;\n}\nexport const pinIn = <Type extends PinType>(type: Type) => ({ direction: \"in\", type }) as const;\nexport const pinOut = <Type extends PinType>(type: Type) => ({ direction: \"out\", type }) as const;\nexport type Pins = Record<string, Pin>;\n\n/** Converts between a PLC value and a pin value, such as raw analog counts and volts. */\nexport interface Scaled {\n  readonly path: Path<number>;\n  readonly toPin: (plc: number) => number;\n  readonly toPlc: (pin: number) => number;\n}\nexport type Wire<Value> = Path<Value> | (Value extends number ? Scaled : never);\n\n/**\n * A linear analog channel: `analog(path, { plc: [0, 32767], pin: [0, 10] })` wires a raw\n * 0..32767 output to a 0..10 V input.\n */\nexport const analog = (\n  path: Path<number>,\n  range: { plc: readonly [number, number]; pin: readonly [number, number] },\n): Scaled => {\n  const [plcLow, plcHigh] = range.plc,\n    [pinLow, pinHigh] = range.pin;\n  return {\n    path,\n    toPin: (plc) => pinLow + ((plc - plcLow) * (pinHigh - pinLow)) / (plcHigh - plcLow),\n    toPlc: (pin) => Math.round(plcLow + ((pin - pinLow) * (plcHigh - plcLow)) / (pinHigh - pinLow)),\n  };\n};\n\n/** Each pin may be wired to one PLC variable of its type; unwired inputs read as their default. */\nexport type Wiring<Spec extends Pins> = {\n  readonly [Name in keyof Spec]?: Wire<PinValue<Spec[Name][\"type\"]>>;\n};\ntype PinValues<Spec extends Pins> = { [Name in keyof Spec]: PinValue<Spec[Name][\"type\"]> };\n\nexport interface DeviceView {\n  status: \"running\" | \"stopped\" | \"idle\" | \"busy\" | \"warning\" | \"fault\";\n  label?: string;\n  details?: Record<string, string | number | boolean>;\n}\n\nexport interface HardwareContext<Spec extends Pins, World extends WorldPorts, Config, State> {\n  /** Input pins hold this tick's PLC values; set output pins to drive PLC inputs. */\n  readonly pins: PinValues<Spec>;\n  /** Physical ports the topology connects: `in` is sensed from the line, `out` acts on it. */\n  readonly world: World;\n  readonly config: Config;\n  readonly state: State;\n  readonly dtMs: number;\n}\n\ninterface WorldPorts {\n  in: Record<string, unknown>;\n  out: Record<string, unknown>;\n}\n\nexport interface HardwareModel<Spec extends Pins, World extends WorldPorts, Config, State> {\n  /** Product name, such as \"Intelligrated CS1001\". */\n  readonly name: string;\n  readonly pins: Spec;\n  /** Initial physical port values; they also fix each port's type. */\n  readonly world: () => World;\n  /** Validates the configuration (switch settings) and creates the device's private state. */\n  readonly setup: (config: Config) => State;\n  /** Runs once per tick: read input pins and `world.in`, then set output pins and `world.out`. */\n  readonly update: (context: HardwareContext<Spec, World, Config, State>) => void;\n  readonly view?: (context: HardwareContext<Spec, World, Config, State>) => DeviceView;\n  readonly actions?: Record<\n    string,\n    (context: HardwareContext<Spec, World, Config, State>, argument: string) => void\n  >;\n}\n\n/** One physical device on the line: a model, its configuration and its wiring. */\nexport interface Device<World extends WorldPorts = WorldPorts> {\n  readonly model: string;\n  readonly world: World;\n  /** PLC variables this device reads each tick. */\n  readonly reads: readonly string[];\n  /** Sets input pins from PLC values, runs the model and returns the PLC values it drives. */\n  readonly update: (plc: ReadonlyMap<string, unknown>, dtMs: number) => Map<string, unknown>;\n  readonly view: () => DeviceView;\n  readonly pins: () => Record<string, unknown>;\n  readonly actions: readonly string[];\n  readonly act: (action: string, argument: string) => void;\n}\n\nconst defaultValue = (type: PinType): PinValue<PinType> =>\n  type === \"bool\" ? false : type === \"number\" ? 0 : [];\n\nconst isScaled = (wire: Wire<never> | Scaled | Path<unknown>): wire is Scaled => \"toPin\" in wire;\n/** The PLC variable a wire connects to. */\nexport const wirePath = (wire: Path<unknown> | Scaled) =>\n  isScaled(wire) ? pathName(wire.path) : pathName(wire);\n\n/**\n * Defines a hardware model. The result is a factory that instantiates one device from its\n * configuration and wiring: `cs1001({ config: { switches }, wiring: { \"CN2-1\": path } })`.\n */\nexport const defineHardware =\n  <Spec extends Pins, World extends WorldPorts, Config, State>(\n    model: HardwareModel<Spec, World, Config, State>,\n  ) =>\n  (options: { config: Config; wiring: Wiring<Spec> }): Device<World> => {\n    const state = model.setup(options.config);\n    const world = model.world();\n    const pins = Object.fromEntries(\n      Object.entries(model.pins).map(([name, pin]) => [name, defaultValue(pin.type)]),\n    ) as PinValues<Spec>; // Each entry is the default of its declared pin type.\n    let dtMs = 0;\n    const context = (): HardwareContext<Spec, World, Config, State> => ({\n      pins,\n      world,\n      config: options.config,\n      state,\n      dtMs,\n    });\n    const wired = Object.entries(options.wiring).flatMap(([name, wire]) => {\n      const pin = model.pins[name];\n      if (!pin) throw new Error(`${model.name} has no pin ${String(name)}.`);\n      const target: Path<unknown> | Scaled | undefined = wire;\n      return target ? [{ name, pin, wire: target, path: wirePath(target) }] : [];\n    });\n    return {\n      model: model.name,\n      world,\n      reads: wired.filter(({ pin }) => pin.direction === \"in\").map(({ path }) => path),\n      update: (plc, elapsed) => {\n        dtMs = elapsed;\n        for (const { name, pin, wire, path } of wired) {\n          if (pin.direction !== \"in\" || !plc.has(path)) continue;\n          const value = plc.get(path);\n          Reflect.set(pins, name, isScaled(wire) ? wire.toPin(Number(value)) : value);\n        }\n        model.update(context());\n        const writes = new Map<string, unknown>();\n        for (const { name, pin, wire, path } of wired) {\n          if (pin.direction !== \"out\") continue;\n          const value: unknown = Reflect.get(pins, name);\n          writes.set(path, isScaled(wire) ? wire.toPlc(Number(value)) : value);\n        }\n        return writes;\n      },\n      view: () => model.view?.(context()) ?? { status: \"idle\" },\n      pins: () => ({ ...pins }),\n      actions: Object.keys(model.actions ?? {}),\n      act: (action, argument) => {\n        const handler = model.actions?.[action];\n        if (!handler) throw new Error(`${model.name} has no action ${action}.`);\n        handler(context(), argument);\n      },\n    };\n  };\n",
+    "import { defineHardware, pinIn, pinOut } from \"../hardware\";\n\ntype Switch =\n  | `SW1-${1 | 2 | 3 | 4 | 5 | 6}`\n  | `SW2-${1 | 2 | 3 | 4 | 5 | 6}`\n  | `SW3-${1 | 2 | 3 | 4 | 5 | 6}`\n  | `SW4-${1 | 2 | 3 | 4 | 5 | 6}`;\n/** Switches this model reads; ON is `true`. The rest are \"as fitted\" and may be recorded too. */\ntype ModelledSwitch =\n  | \"SW1-1\"\n  | \"SW1-4\"\n  | \"SW1-5\"\n  | \"SW2-1\"\n  | \"SW2-2\"\n  | \"SW2-6\"\n  | \"SW3-1\"\n  | \"SW3-2\"\n  | \"SW3-3\"\n  | \"SW3-4\"\n  | \"SW3-5\"\n  | \"SW3-6\";\n\nexport interface Cs1001Config {\n  /** DIP switches as set on the card (ON = `true`). */\n  switches: Record<ModelledSwitch, boolean> & Partial<Record<Switch, boolean>>;\n  /** Roller surface speed at full speed (10 V on CN2-3), in mm/s. */\n  ratedSpeed: number;\n  /** Rotation that moves a load forward (downstream, or right for a transfer belt). */\n  forward: \"CW\" | \"CCW\";\n  /** SW1-1 OFF only: the SW4-1..4 internal speed as a fraction of `ratedSpeed`. */\n  internalSpeed?: number;\n  /** SW2-1 OFF (INT) only: how long an unlinked zone runs to release a load by itself. */\n  runHoldingMs?: number;\n}\n\n/** SW3-4/SW3-5 acceleration/deceleration times from the WWL manual §3-5 (via docs/hardware.md). */\nconst rampMs = (on4: boolean, on5: boolean) => (on4 ? (on5 ? 200 : 240) : on5 ? 400 : 600);\n\n/** The manual's speed table stops the roller below its first band (2.55–2.95 V). */\nconst minimumVolts = 2.55;\n\nconst pins = {\n  /** Run/stop control: forces RUN (SW2-6 ON) or STOP (SW2-6 OFF) while active. */\n  \"CN2-1\": pinIn(\"bool\"),\n  /** Reverses rotation while active (ZPA mode); SW3-1 selects its polarity. */\n  \"CN2-2\": pinIn(\"bool\"),\n  /** Speed command, 0–10 V (SW1-1 EXT). Wire with `analog()` from the PLC's raw value. */\n  \"CN2-3\": pinIn(\"number\"),\n  /** Zone photoeye blocked. */\n  \"CN2-4\": pinOut(\"bool\"),\n  \"CN2-5\": pinOut(\"bool\"),\n  \"CN2-6\": pinOut(\"bool\"),\n  /** Motor running (sync), independent of the CN2-1 command. */\n  \"CN2-7\": pinOut(\"bool\"),\n};\n\n/**\n * Intelligrated CS1001 MDR control card (Hope/WWL \"DC Brushless Motor Power Roller Intelligent\n * Control Card\") driving one zone, configured by its DIP switches and wired through CN2.\n *\n * Modelled: ZPA mode without neighbour links (CN4/CN5 unwired), CN2-1 force run/stop (SW2-6),\n * EOZ/INT end-of-zone behaviour (SW2-1), CN2-2 direction (SW3-1/SW3-2), CN2-3 external speed\n * (SW1-1), acceleration (SW3-4/SW3-5), and the CN2-4/CN2-5/CN2-6/CN2-7 outputs. Linked ZPA,\n * Master/Slave modes, half-speed control and output polarities other than PNP are not modelled\n * and are rejected, because the source behaviour is not documented here.\n */\nexport const cs1001 = defineHardware({\n  name: \"Intelligrated CS1001\",\n  pins,\n  world: () => ({ in: { photoeye: false }, out: { motor: 0 } }),\n  setup: (config: Cs1001Config) => {\n    const sw = config.switches;\n    const unsupported = (setting: string) => {\n      throw new Error(`CS1001: ${setting} is not modelled.`);\n    };\n    if (sw[\"SW1-4\"] || sw[\"SW1-5\"]) unsupported(\"Master/Slave mode (SW1-4/SW1-5)\");\n    if (sw[\"SW3-6\"]) unsupported(\"half-speed control (SW3-6 ON)\");\n    if (!sw[\"SW3-3\"]) unsupported(\"NPN CN2-4..7 outputs (SW3-3 OFF)\");\n    if (!sw[\"SW1-1\"] && config.internalSpeed === undefined)\n      throw new Error(\"CS1001: SW1-1 OFF (internal speed) needs internalSpeed.\");\n    if (!sw[\"SW2-1\"] && config.runHoldingMs === undefined)\n      throw new Error(\"CS1001: SW2-1 OFF (INT release) needs runHoldingMs.\");\n    return { speed: 0, releasingMs: 0, error: false, warning: false };\n  },\n  update: ({ pins: io, world, config, state, dtMs }) => {\n    const sw = config.switches;\n    // FIELD-CONFIRMED 2026-10-24: with SW2-2 OFF (NPN) the B&R's sourcing output reads as\n    // active, so the card runs whatever the PLC writes.\n    const control = sw[\"SW2-2\"] ? io[\"CN2-1\"] : true;\n    let run: boolean;\n    if (sw[\"SW2-6\"] && control) run = true;\n    else if (!sw[\"SW2-6\"] && control) run = false;\n    else if (sw[\"SW2-1\"])\n      run = false; // EOZ holds its load until CN2-1 runs it.\n    else {\n      // INT: an unlinked zone with a blocked photoeye releases by itself until its run-holding timer expires.\n      state.releasingMs = world.in.photoeye ? state.releasingMs + dtMs : 0;\n      run = world.in.photoeye && state.releasingMs < (config.runHoldingMs ?? 0);\n    }\n    if (state.error) run = false;\n    const volts = io[\"CN2-3\"];\n    const fraction = sw[\"SW1-1\"]\n      ? volts < minimumVolts\n        ? 0\n        : Math.min(volts, 10) / 10\n      : (config.internalSpeed ?? 0);\n    // SW3-1 ON: CN2-2 active at 24 V (the PLC's TRUE); OFF (NPN): active at 0 V.\n    const reverse = sw[\"SW3-1\"] ? io[\"CN2-2\"] : !io[\"CN2-2\"];\n    const base = sw[\"SW3-2\"] ? \"CCW\" : \"CW\";\n    const rotation = reverse ? (base === \"CW\" ? \"CCW\" : \"CW\") : base;\n    const target = run ? fraction * config.ratedSpeed * (rotation === config.forward ? 1 : -1) : 0;\n    const step = (config.ratedSpeed * dtMs) / rampMs(sw[\"SW3-4\"], sw[\"SW3-5\"]);\n    state.speed =\n      Math.abs(target - state.speed) <= step\n        ? target\n        : state.speed + Math.sign(target - state.speed) * step;\n    world.out.motor = state.speed;\n    io[\"CN2-4\"] = world.in.photoeye;\n    io[\"CN2-5\"] = state.error;\n    io[\"CN2-6\"] = state.warning;\n    io[\"CN2-7\"] = state.speed !== 0;\n  },\n  view: ({ state, world, config }) => ({\n    status: state.error\n      ? \"fault\"\n      : state.warning || !config.switches[\"SW2-2\"]\n        ? \"warning\"\n        : state.speed !== 0\n          ? \"running\"\n          : \"stopped\",\n    label: state.speed !== 0 ? `${Math.round(Math.abs(state.speed))} mm/s` : \"stopped\",\n    details: {\n      photoeye: world.in.photoeye,\n      ...(!config.switches[\"SW2-2\"] && { note: \"SW2-2 NPN: CN2-1 is ignored\" }),\n    },\n  }),\n  actions: {\n    /** Raises CN2-5 and stops the motor, as a stall or jam would. */\n    fault: ({ state }) => {\n      state.error = true;\n    },\n    warn: ({ state }) => {\n      state.warning = true;\n    },\n    reset: ({ state }) => {\n      state.error = false;\n      state.warning = false;\n    },\n  },\n});\n"
+  ],
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+  "names": []
+}