tpmkms 9.8.0 → 9.9.0

package/common/drone.instance.json

@@ -32,7 +32,7 @@
     "points are nameable orderable countable and memorable",
     "drone modifies direction",
     {
-      "apply": "(args) => {\n      expectDirection(args)\n      expectDistanceForMove(args)\n\n      args.config.addSemantic({\n        match: ({context, isA}) => isA(context.marker, 'quantity') && isA(context.unit?.marker, 'unitPerUnit'),\n        apply: async ({context, objects, api, gr, fragments, e, say}) => {\n          // send a command to the drone\n          const instantiation = await fragments(\"quantity in meters per second\", { quantity: context })\n          const result = await e(instantiation)\n          const desired_speed = result.evalue.amount.evalue.evalue\n          objects.runCommand = true\n          objects.current.speed = desired_speed\n          objects.current.speedUnitsOfUser = context.unit\n        }\n      })\n\n      args.config.addSemantic({\n        match: ({context, objects, isA}) => objects.current.direction && context.marker == 'controlStart',\n        apply: ({context, objects, api}) => {\n          objects.runCommand = false  \n        }\n      })\n\n      args.config.addSemantic({\n        match: ({context, objects, isA}) => objects.current.direction && context.marker == 'controlEnd',\n        apply: async ({context, objects, api}) => {\n          // send a command to the drone\n          if (objects.runCommand) {\n            await api.sendCommand()\n          }\n        }\n      })\n    }"
+      "apply": "(args) => {\n      expectDirection(args)\n      expectDistanceForMove(args)\n\n      args.config.addSemantic({\n        match: ({context, isA}) => isA(context.marker, 'quantity') && isA(context.unit?.marker, 'unitPerUnit'),\n        apply: async ({context, objects, api, gr, fragments, e, say}) => {\n          // send a command to the drone\n          const instantiation = await fragments(\"quantity in meters per second\", { quantity: context })\n          const result = await e(instantiation, where())\n          const desired_speed = result.evalue.amount.evalue.evalue\n          objects.runCommand = true\n          objects.current.speed = desired_speed\n          objects.current.speedUnitsOfUser = context.unit\n        }\n      })\n\n      args.config.addSemantic({\n        match: ({context, objects, isA}) => objects.current.direction && context.marker == 'controlStart',\n        apply: ({context, objects, api}) => {\n          objects.runCommand = false  \n        }\n      })\n\n      args.config.addSemantic({\n        match: ({context, objects, isA}) => objects.current.direction && context.marker == 'controlEnd',\n        apply: async ({context, objects, api}) => {\n          // send a command to the drone\n          if (objects.runCommand) {\n            await api.sendCommand()\n          }\n        }\n      })\n    }"
     },
     {
       "priorities": [
@@ -164,6 +164,7 @@
         },
         {
           "id": "startPath",
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:942",
           "isA": [
             "verb"
           ],
@@ -263,6 +264,7 @@
         },
         {
           "id": "patrol",
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:983",
           "isA": [
             "verb",
             "repeatable",
@@ -284,10 +286,11 @@
             },
             "path"
           ],
-          "semantic": "async ({context, g, e, toArray, fragments, toEValue, toFinalValue, recall, objects, verbatim}) => {\n            const paths = toArray(context.path)\n            for (const context_path of paths) {\n              const evaluated = await(e(context_path))\n              const path = toEValue(evaluated)\n              if (path.marker == 'answerNotKnown') {\n                verbatim(`${await g(context_path)} is not a known path`)\n                continue\n              }\n           \n              objects.current.path.push({ message: await g(context) })\n\n              // TODO put this in a common place for use by do+patrol \n\n              // ordinal to pause time in seconds \n              const pauseTimeInSeconds = {}\n              if (context.pause) {\n                const timeAtPoints = toArray(context.pause.timeAtPoint)\n                for (const timeAtPoint of timeAtPoints) {\n                  const instantiation = await fragments(\"quantity in seconds\", { quantity: timeAtPoint.time })\n                  const result = await e(instantiation)\n                  const seconds = toFinalValue(toFinalValue(result).amount)\n\n                  const points = await recall({ context: timeAtPoint.point.point, frameOfReference: path })\n                  for (const point of toArray(points)) {\n                    pauseTimeInSeconds[point.ordinal] = seconds\n                  }\n                }\n              }\n\n              let skipPoints = []\n              if (context.skip) {\n                skipPoints = toArray(await recall({ context: context.skip.points, frameOfReference: path }))\n              }\n\n              // get to the start of the patrol  \n              objects.current.path.push(path.points[0])\n              objects.current.path.push({ aimOnly: true, ...path.points[1] })\n              objects.current.path.push({ repeatStart: true })\n              for (const point of path.points) {\n                if (skipPoints.find((skipPoint) => skipPoint.ordinal == point.ordinal)) {\n                  continue\n                }\n                objects.current.path.push(point)\n                if (pauseTimeInSeconds[point.ordinal]) {\n                  objects.current.path.push({ marker: 'pause', pauseSeconds: pauseTimeInSeconds[point.ordinal] })\n                }\n              }\n              if (context.repeats) {\n                objects.current.timeRepeats = toFinalValue(context.repeats.repeats)\n              }\n              // if the patrol does not start and end at the same spot then \n              // go back to the start along the same path\n\n\n              // if the start is not the end of the patrol then go backwards along the patrol\n              if (JSON.stringify(path.points[0].point) !== JSON.stringify(path.points[path.points.length-1].point)) {\n                for (const point of [...path.points].reverse().slice(1)) {\n                  if (skipPoints.find((skipPoint) => skipPoint.ordinal == point.ordinal)) {\n                    continue\n                  }\n                  objects.current.path.push(point)\n                  if (pauseTimeInSeconds[point.ordinal]) {\n                    objects.current.path.push({ marker: 'pause', pauseSeconds: pauseTimeInSeconds[point.ordinal] })\n                  }\n                }\n\n                const secondPoint = path.points[1]\n                objects.current.path.push({ ...secondPoint, aimOnly: true })\n              }\n            }\n            objects.runCommand = true\n          }"
+          "semantic": "async ({context, g, e, toArray, fragments, toEValue, toFinalValue, recall, objects, verbatim}) => {\n            const paths = toArray(context.path)\n            for (const context_path of paths) {\n              const evaluated = await(e(context_path))\n              const path = toEValue(evaluated)\n              if (path.marker === 'undefined') {\n                verbatim(`${await g(context_path)} is not a known path`)\n                continue\n              }\n           \n              objects.current.path.push({ message: await g(context) })\n\n              // TODO put this in a common place for use by do+patrol \n\n              // ordinal to pause time in seconds \n              const pauseTimeInSeconds = {}\n              if (context.pause) {\n                const timeAtPoints = toArray(context.pause.timeAtPoint)\n                for (const timeAtPoint of timeAtPoints) {\n                  const instantiation = await fragments(\"quantity in seconds\", { quantity: timeAtPoint.time })\n                  const result = await e(instantiation, where())\n                  const seconds = toFinalValue(toFinalValue(result).amount)\n\n                  const points = await recall({ context: timeAtPoint.point.point, frameOfReference: path })\n                  for (const point of toArray(points)) {\n                    pauseTimeInSeconds[point.ordinal] = seconds\n                  }\n                }\n              }\n\n              let skipPoints = []\n              if (context.skip) {\n                skipPoints = toArray(await recall({ context: context.skip.points, frameOfReference: path }))\n              }\n\n              // get to the start of the patrol  \n              objects.current.path.push(path.points[0])\n              objects.current.path.push({ aimOnly: true, ...path.points[1] })\n              objects.current.path.push({ repeatStart: true })\n              for (const point of path.points) {\n                if (skipPoints.find((skipPoint) => skipPoint.ordinal == point.ordinal)) {\n                  continue\n                }\n                objects.current.path.push(point)\n                if (pauseTimeInSeconds[point.ordinal]) {\n                  objects.current.path.push({ marker: 'pause', pauseSeconds: pauseTimeInSeconds[point.ordinal] })\n                }\n              }\n              if (context.repeats) {\n                objects.current.timeRepeats = toFinalValue(context.repeats.repeats)\n              }\n              // if the patrol does not start and end at the same spot then \n              // go back to the start along the same path\n\n\n              // if the start is not the end of the patrol then go backwards along the patrol\n              if (JSON.stringify(path.points[0].point) !== JSON.stringify(path.points[path.points.length-1].point)) {\n                for (const point of [...path.points].reverse().slice(1)) {\n                  if (skipPoints.find((skipPoint) => skipPoint.ordinal == point.ordinal)) {\n                    continue\n                  }\n                  objects.current.path.push(point)\n                  if (pauseTimeInSeconds[point.ordinal]) {\n                    objects.current.path.push({ marker: 'pause', pauseSeconds: pauseTimeInSeconds[point.ordinal] })\n                  }\n                }\n\n                const secondPoint = path.points[1]\n                objects.current.path.push({ ...secondPoint, aimOnly: true })\n              }\n            }\n            objects.runCommand = true\n          }"
         },
         {
           "id": "lift",
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1068",
           "isA": [
             "verb"
           ],
@@ -311,6 +314,7 @@
         },
         {
           "id": "lower",
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1080",
           "isA": [
             "verb"
           ],
@@ -334,6 +338,7 @@
         },
         {
           "id": "openDrone",
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1092",
           "isA": [
             "verb"
           ],
@@ -357,6 +362,7 @@
         },
         {
           "id": "close",
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1104",
           "isA": [
             "verb"
           ],
@@ -380,6 +386,7 @@
         },
         {
           "id": "back",
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1116",
           "isA": [
             "noun"
           ],
@@ -393,6 +400,7 @@
         },
         {
           "id": "toPoint",
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1128",
           "isA": [
             "preposition"
           ],
@@ -418,10 +426,11 @@
             },
             "point"
           ],
-          "semantic": "async ({objects, api, e, context}) => {\n            objects.runCommand = true\n            const point = await e(context.point)\n            objects.current.path.push(point.evalue)\n          }"
+          "semantic": "async ({objects, api, e, context}) => {\n            objects.runCommand = true\n            const point = await e(context.point, where())\n            objects.current.path.push(point.evalue)\n          }"
         },
         {
           "id": "go",
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1141",
           "level": 0,
           "isA": [
             "verb",
@@ -577,10 +586,11 @@
               "points": "(@<= 'point')"
             }
           },
-          "semantic": "async (args) => {\n            const {api, toFinalValue, context, objects, e, toArray, toEValue} = args\n            if (context.distance) {\n              await handleDistance(args, context.distance)\n            }\n            if (context.direction) {\n              const array = toArray(context.direction)\n              if (array.length == 2 && array[0].marker == 'back' && array[1].marker == 'forth') {\n                await args.api.backAndForth()\n              } else if (context.direction.marker == 'back') {\n                await args.api.back(context.points)\n              } else {\n                objects.current.direction = context.direction.marker\n              }\n            }\n            if (context.repeats) {\n              objects.current.timeRepeats = toFinalValue(context.repeats.repeats)\n            }\n            if (context.to) {\n              const evaluation = await e(context.to.point)\n              const point = toEValue(evaluation)\n              objects.current.path.push(point)\n            }\n            objects.runCommand = true\n            await api.sendCommand()\n          }"
+          "semantic": "async (args) => {\n            const {api, toFinalValue, context, objects, e, toArray, toEValue} = args\n            if (context.distance) {\n              await handleDistance(args, context.distance)\n            }\n            if (context.direction) {\n              const array = toArray(context.direction)\n              if (array.length == 2 && array[0].marker == 'back' && array[1].marker == 'forth') {\n                await args.api.backAndForth()\n              } else if (context.direction.marker == 'back') {\n                await args.api.back(context.points)\n              } else {\n                objects.current.direction = context.direction.marker\n              }\n            }\n            if (context.repeats) {\n              objects.current.timeRepeats = toFinalValue(context.repeats.repeats)\n            }\n            if (context.to) {\n              const evaluation = await e(context.to.point, where())\n              const point = toEValue(evaluation)\n              objects.current.path.push(point)\n            }\n            objects.runCommand = true\n            await api.sendCommand()\n          }"
         },
         {
           "id": "turn",
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1195",
           "isA": [
             "verb",
             "action",
@@ -616,10 +626,11 @@
               "angle": "(@<= 'quantity' && context.unit.dimension == 'angle')"
             }
           },
-          "semantic": "async ({context, fragments, objects, e, s, api, say, toFinalValue}) => {\n            const current = objects.current\n            current.direction = context.direction.marker\n            if (context.repeats) {\n              current.timeRepeats = toFinalValue(context.repeats.repeats)\n            }\n            async function toRadians(angle) {\n              const fi = await fragments(\"40 degrees in radians\")\n              return await fi.instantiate([\n                { \n                  match: ({path, pathEquals}) => pathEquals(path, ['0', 'from']),\n                  apply: ({context}) => {\n                    Object.assign(context, angle)\n                  }\n                }\n              ])\n            }\n            if (context.angle) {\n              const instantiation = await toRadians(context.angle)\n              try {\n                const result = await e(instantiation)\n                current.turnAngle = toFinalValue(result.evalue.amount)\n                objects.runCommand = true\n              } catch (e) {\n                say(`Don't know how to interpret ${await gp(context.angle)} in radians`)\n                return\n              }\n            }\n            if (context.repeats) {\n              objects.current.timeRepeats = toFinalValue(context.repeats.repeats)\n            }\n            current.justTurn = true\n            objects.runCommand = true\n            await api.sendCommand()\n          }"
+          "semantic": "async ({context, fragments, objects, e, s, api, say, toFinalValue}) => {\n            const current = objects.current\n            current.direction = context.direction.marker\n            if (context.repeats) {\n              current.timeRepeats = toFinalValue(context.repeats.repeats)\n            }\n            async function toRadians(angle) {\n              const fi = await fragments(\"40 degrees in radians\")\n              return await fi.instantiate([\n                { \n                  match: ({path, pathEquals}) => pathEquals(path, ['0', 'from']),\n                  apply: ({context}) => {\n                    Object.assign(context, angle)\n                  }\n                }\n              ])\n            }\n            if (context.angle) {\n              const instantiation = await toRadians(context.angle)\n              try {\n                const result = await e(instantiation, where())\n                current.turnAngle = toFinalValue(result.evalue.amount)\n                objects.runCommand = true\n              } catch (e) {\n                say(`Don't know how to interpret ${await gp(context.angle)} in radians`)\n                return\n              }\n            }\n            if (context.repeats) {\n              objects.current.timeRepeats = toFinalValue(context.repeats.repeats)\n            }\n            current.justTurn = true\n            objects.runCommand = true\n            await api.sendCommand()\n          }"
         },
         {
           "id": "pause",
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1254",
           "isA": [
             "verb"
           ],
@@ -769,7 +780,7 @@
               "timeAtPoint": "(@<= 'timeAtPoint')"
             }
           },
-          "semantic": "async ({context, remember, api, e, fragments, toFinalValue}) => {\n            let time = context.time \n            if (!time) {\n              return\n            }\n            if (time.marker == 'forQuantity') {\n              time = time.quantity\n            }\n            const instantiation = await fragments(\"quantity in seconds\", { quantity: time})\n            const result = await e(instantiation)\n            const seconds = toFinalValue(toFinalValue(result).amount)\n            context.pauseSeconds = seconds\n            remember(context)\n            api.pause(seconds)\n          }"
+          "semantic": "async ({context, remember, api, e, fragments, toFinalValue}) => {\n            let time = context.time \n            if (!time) {\n              return\n            }\n            if (time.marker == 'forQuantity') {\n              time = time.quantity\n            }\n            const instantiation = await fragments(\"quantity in seconds\", { quantity: time})\n            const result = await e(instantiation, where())\n            const seconds = toFinalValue(toFinalValue(result).amount)\n            context.pauseSeconds = seconds\n            remember(context)\n            api.pause(seconds)\n          }"
         },
         {
           "id": "pause",
@@ -800,6 +811,7 @@
         },
         {
           "id": "stop",
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1299",
           "isA": [
             "verb"
           ],
@@ -823,31 +835,31 @@
       "semantics": [
         {
           "match": "({context}) => context.marker == 'doAction'",
-          "apply": "async ({context, fragments, e, s, toEValue, toFinalValue, namespaced, objects}) => {\n            const updated = { ...context, marker: 'patrol', path: context.action }\n            namespaced.set('actions', updated, 'logged', true)\n            await s(updated)\n            // await s({ ...context, marker: 'patrol', path: context.action })\n          }"
+          "apply": "async ({context, fragments, e, toEValue, toFinalValue, namespaced, objects}) => {\n            const updated = { ...context, marker: 'patrol', path: context.action }\n            namespaced.set('actions', updated, 'logged', true)\n            await e(updated, where())\n          }"
         },
         {
-          "match": "({context, contextHierarchy}) => {\n            if (!context.pullFromContext || !context.evaluate || contextHierarchy.under(['doAction', 'evaluate', 'patrol']) || context.instance) {\n              return false\n            }\n            \n            if (context.marker == 'path' || context.marker == 'this' || context.marker == 'that') {\n              return true\n            }\n          }",
-          "apply": "async ({context, frameOfReference, toArray, fragments, objects, remember, recall, resolveEvaluate, _continue, contextHierarchy}) => {\n            const pathComponents = toArray(await recall({ \n                                      context: { marker: 'pathComponent' }, \n                                      all: true,\n                                      stopCondition: (context) => context.marker == 'startPath',\n                                   }))\n            const path = (await fragments('path')).contexts()[0]\n            delete path.value\n            path.instance = true\n            path.points = pathComponents.reverse()\n            frameOfReference(path, { mentioned: 'points', reversed: true })\n            await remember(path)\n\n            _continue() // let the call pick the object out from the stm\n          }"
+          "match": "({context, contextHierarchy}) => {\n            if (!context.pullFromContext || contextHierarchy.under(['doAction', 'evaluate', 'patrol']) || context.isInstance) {\n              return false\n            }\n            \n            if (context.marker == 'path' || context.marker == 'this' || context.marker == 'that') {\n              return true\n            }\n          }",
+          "apply": "async ({context, frameOfReference, toArray, fragments, objects, remember, recall, resolveEvaluate, _continue, contextHierarchy}) => {\n            const pathComponents = toArray(await recall({ \n                                      context: { marker: 'pathComponent' }, \n                                      all: true,\n                                      stopCondition: (context) => context.marker == 'startPath',\n                                   }))\n            const path = (await fragments('path')).contexts()[0]\n            delete path.value\n            path.isInstance = true\n            path.points = pathComponents.reverse()\n            frameOfReference(path, { mentioned: 'points', reversed: true })\n            await remember(path)\n\n            _continue() // let the call pick the object out from the stm\n          }"
         },
         {
-          "match": "({context, contextHierarchy}) => {\n            if (!context.pullFromContext || !context.evaluate || !contextHierarchy.under('call') || context.notUnderCall) {\n              return false\n            }\n            \n            if (context.marker == 'point' || context.marker == 'ordinal') {\n              return true\n            }\n          }",
-          "apply": "async ({frameOfReference, context, e, fragments, stm, toEValue, toArray, objects, remember, recall, resolveEvaluate, _continue, contextHierarchy}) => {\n            const evaluated = await e({...context, notUnderCall: true})\n            const pointsContext = toEValue(evaluated)\n            const pathComponents = toArray(pointsContext)\n\n            const path = (await fragments('path')).contexts()[0]\n            delete path.value\n            path.instance = true\n            path.points = [...pathComponents]\n            frameOfReference(path, { mentioned: 'points', reversed: true })\n            await remember(path)\n            resolveEvaluate(context, path)\n          }"
+          "match": "({context, contextHierarchy}) => {\n            if (!context.pullFromContext || !contextHierarchy.under('call') || context.notUnderCall) {\n              return false\n            }\n            \n            if (context.marker == 'point' || context.marker == 'ordinal') {\n              return true\n            }\n          }",
+          "apply": "async ({frameOfReference, context, e, fragments, stm, toEValue, toArray, objects, remember, recall, resolveEvaluate, _continue, contextHierarchy}) => {\n            const evaluated = await e({...context, notUnderCall: true}, where())\n            const pointsContext = toEValue(evaluated)\n            const pathComponents = toArray(pointsContext)\n\n            const path = (await fragments('path')).contexts()[0]\n            delete path.value\n            path.isInstance = true\n            path.points = [...pathComponents]\n            frameOfReference(path, { mentioned: 'points', reversed: true })\n            await remember(path)\n            resolveEvaluate(context, path)\n          }"
         },
         {
-          "match": "({context}) => context.evaluate && ['start', 'end'].includes(context.marker) && context.objects && context.objects[1].marker == 'path'",
+          "match": "({context}) => ['start', 'end'].includes(context.marker) && context.objects && context.objects[1].marker == 'path'",
           "apply": "async ({gp, s, context, objects, fragments, resolveEvaluate, api, recall}) => {\n            const path = await recall({ context: context.objects[1] })\n            if (!path?.points) {\n              return\n            }\n            if (context.marker == 'start') {\n              resolveEvaluate(context, path?.points[0])\n            } else if (context.marker == 'end') {\n              resolveEvaluate(context, path?.points[path?.points.length-1])\n            }\n          }"
         },
         {
-          "match": "({context, contextHierarchy}) => \n              context.evaluate && \n              ['start', 'end', 'point'].includes(context.marker) && \n              !context.propertyOf && \n              contextHierarchy.under('go') &&\n              !contextHierarchy.under('call')",
+          "match": "({context, contextHierarchy}) => \n              ['start', 'end', 'point'].includes(context.marker) && \n              !context.propertyOf && \n              contextHierarchy.under('go') &&\n              !contextHierarchy.under('call')",
           "apply": "async ({gp, s, toArray, context, objects, fragments, resolveEvaluate, api, recall}) => {\n            const path = await recall({ context: { marker: 'path' } })\n            if (!path?.points) {\n              return\n            }\n            \n            if (context.marker == 'start') {\n              resolveEvaluate(context, path?.points[0])\n            } else if (context.marker == 'end') {\n              resolveEvaluate(context, path?.points[path?.points.length-1])\n            } else {\n              const points = await recall({ context, frameOfReference: path })\n              resolveEvaluate(context, toArray(points)[0])\n            }\n          }"
         },
         {
-          "match": "({context}) => {\n            // from stm lookup\n            if (context.marker == 'mentions' && context.evaluate && context.args.context.marker == 'speed') {\n              return true\n            }\n            // from property directly\n            if (context.marker == 'speed' && context.evaluate) {\n              return true\n            }\n          }",
-          "apply": "async ({gp, s, context, objects, fragments, resolveEvaluate, api}) => {\n            let return_context = context\n            if (context.marker == 'speed') {\n              // okay\n            } else {\n              // stm lookup\n              return_context = context\n              context = context.args.context\n            }\n            let value = objects.current.speed\n            if (context.condition) {\n              if (['highest', 'maximum'].includes(context.condition.marker)) {\n                value = api.maximumSpeedDrone()\n              } else if (['lowest', 'minimum'].includes(context.condition.marker)) {\n                value = api.minimumSpeedDrone()\n              }\n            }\n            const speed = await fragments(\"number meters per second\", { number: { marker: 'integer', value, word: undefined} })\n            const preferred = await s({ marker: 'preferredUnits', quantity: speed }) \n            resolveEvaluate(return_context, preferred.response || speed)\n          }"
+          "match": "({context}) => {\n            // from stm lookup\n            if (context.marker == 'mentions' && context.args.context.marker == 'speed') {\n              return true\n            }\n            // from property directly\n            if (context.marker == 'speed') {\n              return true\n            }\n          }",
+          "apply": "async ({gp, e, context, objects, fragments, resolveEvaluate, api}) => {\n            let return_context = context\n            if (context.marker == 'speed') {\n              // okay\n            } else {\n              // stm lookup\n              return_context = context\n              context = context.args.context\n            }\n            let value = objects.current.speed\n            if (context.condition) {\n              if (['highest', 'maximum'].includes(context.condition.marker)) {\n                value = api.maximumSpeedDrone()\n              } else if (['lowest', 'minimum'].includes(context.condition.marker)) {\n                value = api.minimumSpeedDrone()\n              }\n            }\n            const speed = await fragments(\"number meters per second\", { number: { marker: 'integer', value, word: undefined} })\n            const preferred = await e({ marker: 'preferredUnits', quantity: speed }, where()) \n            resolveEvaluate(return_context, preferred.evalue || speed)\n          }"
         },
         {
-          "match": "({context}) => {\n            if (context.marker == 'mentions' && context.evaluate && ['direction', 'drone_direction'].includes(context.args.context.marker)) {\n              return true\n            }\n            if (['direction', 'drone_direction'].includes(context.marker) && context.evaluate) {\n              return true\n            }\n          }",
-          "apply": "async ({gp, s, context, objects, fragments, resolveEvaluate, api}) => {\n            const value = objects.current.angleInRadians\n            const fi = await fragments(\"number radians\")\n            const direction = await fi.instantiate([\n              { \n                match: ({path, pathEquals}) => pathEquals(path, ['0', 'amount']),\n                apply: ({context}) => {\n                  Object.assign(context, { marker: 'number', value: value, word: undefined })\n                }\n              }\n            ])\n            const preferred = await s({ marker: 'preferredUnits', quantity: direction }) \n            resolveEvaluate(context, preferred.response || direction)\n          }"
+          "match": "({context}) => {\n            if (context.marker == 'mentions' && ['direction', 'drone_direction'].includes(context.args.context.marker)) {\n              return true\n            }\n            if (['direction', 'drone_direction'].includes(context.marker)) {\n              return true\n            }\n          }",
+          "apply": "async ({gp, e, context, objects, fragments, resolveEvaluate, api}) => {\n            const value = objects.current.angleInRadians\n            const fi = await fragments(\"number radians\")\n            const direction = await fi.instantiate([\n              { \n                match: ({path, pathEquals}) => pathEquals(path, ['0', 'amount']),\n                apply: ({context}) => {\n                  Object.assign(context, { marker: 'number', value: value, word: undefined })\n                }\n              }\n            ])\n            const preferred = await e({ marker: 'preferredUnits', quantity: direction }, where()) \n            resolveEvaluate(context, preferred.evalue || direction)\n          }"
         },
         {
           "match": "({context}) => context.marker == 'timeRepeats'",
@@ -1197,7 +1209,6 @@
           "level": 2,
           "context_index": 1,
           "topLevel": true,
-          "context_id": 2,
           "touchedBy": [
             "drone#call2"
           ]
@@ -1763,6 +1774,9 @@
         }
       ],
       "learned_contextual_priorities": [],
+      "explain_associations_details": [
+        null
+      ],
       "query": "arm, claw and drone are concepts",
       "key": {
         "query": "arm, claw and drone are concepts"
@@ -2736,7 +2750,6 @@
           "level": 2,
           "context_index": 1,
           "topLevel": true,
-          "context_id": 2,
           "touchedBy": [
             "drone#call2"
           ]
@@ -5102,6 +5115,9 @@
         }
       ],
       "learned_contextual_priorities": [],
+      "explain_associations_details": [
+        null
+      ],
       "query": "around, forward, left, right, back, forth and backward are directions",
       "key": {
         "query": "around, forward, left, right, back, forth and backward are directions"
@@ -5290,7 +5306,6 @@
           "level": 2,
           "context_index": 1,
           "topLevel": true,
-          "context_id": 2,
           "touchedBy": [
             "drone#call2"
           ]
@@ -5546,6 +5561,9 @@
         }
       ],
       "learned_contextual_priorities": [],
+      "explain_associations_details": [
+        null
+      ],
       "query": "paths are nameable and memorable",
       "key": {
         "query": "paths are nameable and memorable"
@@ -5909,7 +5927,6 @@
           "level": 2,
           "context_index": 1,
           "topLevel": true,
-          "context_id": 2,
           "touchedBy": [
             "drone#call2"
           ]
@@ -6435,6 +6452,9 @@
         }
       ],
       "learned_contextual_priorities": [],
+      "explain_associations_details": [
+        null
+      ],
       "query": "start and end are properties of path",
       "key": {
         "query": "start and end are properties of path"
@@ -6638,7 +6658,6 @@
           "level": 2,
           "context_index": 1,
           "topLevel": true,
-          "context_id": 2,
           "touchedBy": [
             "drone#call2"
           ]
@@ -6894,6 +6913,9 @@
         }
       ],
       "learned_contextual_priorities": [],
+      "explain_associations_details": [
+        null
+      ],
       "query": "start and end are points",
       "key": {
         "query": "start and end are points"
@@ -7117,7 +7139,6 @@
           "level": 2,
           "context_index": 1,
           "topLevel": true,
-          "context_id": 2,
           "touchedBy": [
             "drone#call2"
           ]
@@ -7428,6 +7449,9 @@
         }
       ],
       "learned_contextual_priorities": [],
+      "explain_associations_details": [
+        null
+      ],
       "query": "rest and remaining are concepts",
       "key": {
         "query": "rest and remaining are concepts"
@@ -7668,7 +7692,6 @@
           "level": 2,
           "context_index": 1,
           "topLevel": true,
-          "context_id": 2,
           "touchedBy": [
             "drone#call2"
           ]
@@ -7959,6 +7982,9 @@
         }
       ],
       "learned_contextual_priorities": [],
+      "explain_associations_details": [
+        null
+      ],
       "query": "speed and power are properties",
       "key": {
         "query": "speed and power are properties"
@@ -8130,7 +8156,6 @@
           "level": 2,
           "context_index": 1,
           "topLevel": true,
-          "context_id": 2,
           "touchedBy": [
             "drone#call2"
           ]
@@ -8331,6 +8356,9 @@
         }
       ],
       "learned_contextual_priorities": [],
+      "explain_associations_details": [
+        null
+      ],
       "query": "speed and power are comparable",
       "key": {
         "query": "speed and power are comparable"
@@ -8470,7 +8498,6 @@
           "level": 2,
           "context_index": 1,
           "topLevel": true,
-          "context_id": 2,
           "touchedBy": [
             "drone#call2"
           ]
@@ -8651,6 +8678,9 @@
         }
       ],
       "learned_contextual_priorities": [],
+      "explain_associations_details": [
+        null
+      ],
       "query": "speed is a quantity",
       "key": {
         "query": "speed is a quantity"
@@ -8790,7 +8820,6 @@
           "level": 2,
           "context_index": 1,
           "topLevel": true,
-          "context_id": 2,
           "touchedBy": [
             "drone#call2"
           ]
@@ -8971,6 +9000,9 @@
         }
       ],
       "learned_contextual_priorities": [],
+      "explain_associations_details": [
+        null
+      ],
       "query": "point is a concept",
       "key": {
         "query": "point is a concept"
@@ -9264,7 +9296,6 @@
           "level": 2,
           "context_index": 1,
           "topLevel": true,
-          "context_id": 2,
           "touchedBy": [
             "drone#call2"
           ]
@@ -9715,6 +9746,9 @@
         }
       ],
       "learned_contextual_priorities": [],
+      "explain_associations_details": [
+        null
+      ],
       "query": "points are nameable orderable countable and memorable",
       "key": {
         "query": "points are nameable orderable countable and memorable"
@@ -9820,7 +9854,6 @@
           "level": 1,
           "context_index": 1,
           "topLevel": true,
-          "context_id": 2,
           "touchedBy": [
             "drone#call2"
           ]
@@ -9966,13 +9999,16 @@
         }
       ],
       "learned_contextual_priorities": [],
+      "explain_associations_details": [
+        null
+      ],
       "query": "drone modifies direction",
       "key": {
         "query": "drone modifies direction"
       }
     },
     {
-      "apply": "(args) => {\n      expectDirection(args)\n      expectDistanceForMove(args)\n\n      args.config.addSemantic({\n        match: ({context, isA}) => isA(context.marker, 'quantity') && isA(context.unit?.marker, 'unitPerUnit'),\n        apply: async ({context, objects, api, gr, fragments, e, say}) => {\n          // send a command to the drone\n          const instantiation = await fragments(\"quantity in meters per second\", { quantity: context })\n          const result = await e(instantiation)\n          const desired_speed = result.evalue.amount.evalue.evalue\n          objects.runCommand = true\n          objects.current.speed = desired_speed\n          objects.current.speedUnitsOfUser = context.unit\n        }\n      })\n\n      args.config.addSemantic({\n        match: ({context, objects, isA}) => objects.current.direction && context.marker == 'controlStart',\n        apply: ({context, objects, api}) => {\n          objects.runCommand = false  \n        }\n      })\n\n      args.config.addSemantic({\n        match: ({context, objects, isA}) => objects.current.direction && context.marker == 'controlEnd',\n        apply: async ({context, objects, api}) => {\n          // send a command to the drone\n          if (objects.runCommand) {\n            await api.sendCommand()\n          }\n        }\n      })\n    }"
+      "apply": "(args) => {\n      expectDirection(args)\n      expectDistanceForMove(args)\n\n      args.config.addSemantic({\n        match: ({context, isA}) => isA(context.marker, 'quantity') && isA(context.unit?.marker, 'unitPerUnit'),\n        apply: async ({context, objects, api, gr, fragments, e, say}) => {\n          // send a command to the drone\n          const instantiation = await fragments(\"quantity in meters per second\", { quantity: context })\n          const result = await e(instantiation, where())\n          const desired_speed = result.evalue.amount.evalue.evalue\n          objects.runCommand = true\n          objects.current.speed = desired_speed\n          objects.current.speedUnitsOfUser = context.unit\n        }\n      })\n\n      args.config.addSemantic({\n        match: ({context, objects, isA}) => objects.current.direction && context.marker == 'controlStart',\n        apply: ({context, objects, api}) => {\n          objects.runCommand = false  \n        }\n      })\n\n      args.config.addSemantic({\n        match: ({context, objects, isA}) => objects.current.direction && context.marker == 'controlEnd',\n        apply: async ({context, objects, api}) => {\n          // send a command to the drone\n          if (objects.runCommand) {\n            await api.sendCommand()\n          }\n        }\n      })\n    }"
     },
     {
       "extraConfig": true,
@@ -10105,6 +10141,7 @@
         },
         {
           "id": "startPath",
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:942",
           "isA": [
             "verb"
           ],
@@ -10203,6 +10240,7 @@
         },
         {
           "id": "patrol",
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:983",
           "isA": [
             "verb",
             "repeatable",
@@ -10227,6 +10265,7 @@
         },
         {
           "id": "lift",
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1068",
           "isA": [
             "verb"
           ],
@@ -10249,6 +10288,7 @@
         },
         {
           "id": "lower",
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1080",
           "isA": [
             "verb"
           ],
@@ -10271,6 +10311,7 @@
         },
         {
           "id": "openDrone",
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1092",
           "isA": [
             "verb"
           ],
@@ -10293,6 +10334,7 @@
         },
         {
           "id": "close",
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1104",
           "isA": [
             "verb"
           ],
@@ -10315,6 +10357,7 @@
         },
         {
           "id": "back",
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1116",
           "isA": [
             "noun"
           ]
@@ -10327,6 +10370,7 @@
         },
         {
           "id": "toPoint",
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1128",
           "isA": [
             "preposition"
           ],
@@ -10355,6 +10399,7 @@
         },
         {
           "id": "go",
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1141",
           "level": 0,
           "isA": [
             "verb",
@@ -10513,6 +10558,7 @@
         },
         {
           "id": "turn",
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1195",
           "isA": [
             "verb",
             "action",
@@ -10551,6 +10597,7 @@
         },
         {
           "id": "pause",
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1254",
           "isA": [
             "verb"
           ],
@@ -10730,6 +10777,7 @@
         },
         {
           "id": "stop",
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1299",
           "isA": [
             "verb"
           ],
@@ -10745,29 +10793,29 @@
       ],
       "semantics": [
         {
-          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1328"
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1323"
         },
         {
-          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1338"
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1332"
         },
         {
-          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1365"
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1359"
         },
         {
-          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1400"
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1394"
         },
         {},
         {
-          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1438"
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1431"
         },
         {
-          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1472"
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1465"
         },
         {
-          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1498"
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1491"
         },
         {
-          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1505"
+          "where": "/home/dev/code/theprogrammablemind/kms/common/drone.js:1498"
         }
       ]
     }
@@ -10855,8 +10903,7 @@
           },
           "level": 1,
           "context_index": 1,
-          "topLevel": true,
-          "context_id": 2
+          "topLevel": true
         }
       ],
       "generated": [
@@ -10964,6 +11011,9 @@
         }
       ],
       "learned_contextual_priorities": [],
+      "explain_associations_details": [
+        null
+      ],
       "query": "quantity in meters",
       "skipSemantics": true,
       "key": {
@@ -11052,8 +11102,7 @@
           },
           "level": 1,
           "context_index": 1,
-          "topLevel": true,
-          "context_id": 2
+          "topLevel": true
         }
       ],
       "generated": [
@@ -11161,6 +11210,9 @@
         }
       ],
       "learned_contextual_priorities": [],
+      "explain_associations_details": [
+        null
+      ],
       "query": "quantity in seconds",
       "skipSemantics": true,
       "key": {
@@ -11352,8 +11404,7 @@
           },
           "level": 1,
           "context_index": 1,
-          "topLevel": true,
-          "context_id": 2
+          "topLevel": true
         }
       ],
       "generated": [
@@ -11571,6 +11622,9 @@
         }
       ],
       "learned_contextual_priorities": [],
+      "explain_associations_details": [
+        null
+      ],
       "query": "quantity in meters per second",
       "skipSemantics": true,
       "key": {
@@ -11657,7 +11711,7 @@
           },
           {
             "op": [
-              "amountOfCoordinate",
+              "number",
               0
             ],
             "ops": [
@@ -11671,6 +11725,19 @@
               ]
             ],
             "counter": 4
+          },
+          {
+            "op": [
+              "amountOfCoordinate",
+              0
+            ],
+            "ops": [
+              [
+                "amountOfCoordinate",
+                0
+              ]
+            ],
+            "counter": 5
           }
         ]
       },
@@ -11679,6 +11746,7 @@
         {
           "marker": "quantity",
           "dead": true,
+          "instance": true,
           "unit": {
             "marker": "unitPerUnit",
             "default": true,
@@ -11746,6 +11814,7 @@
             "level": 0
           },
           "amount": {
+            "isInstance": false,
             "marker": "number",
             "value": "number",
             "default": true,
@@ -11755,10 +11824,11 @@
               "start": 0,
               "end": 5
             },
+            "dead": true,
             "types": [
               "number"
             ],
-            "level": 0
+            "level": 1
           },
           "interpolate": [
             {
@@ -11775,8 +11845,7 @@
           },
           "level": 1,
           "context_index": 1,
-          "topLevel": true,
-          "context_id": 2
+          "topLevel": true
         }
       ],
       "generated": [
@@ -11938,22 +12007,50 @@
               "operators": [
                 {
                   "marker": [
-                    "quantity",
+                    "number",
                     1
                   ],
                   "range": {
                     "start": 0,
+                    "end": 5
+                  }
+                },
+                {
+                  "marker": [
+                    "unitPerUnit",
+                    0
+                  ],
+                  "range": {
+                    "start": 7,
                     "end": 23
                   }
                 }
               ],
               "counter": 5
+            },
+            {
+              "operators": [
+                {
+                  "marker": [
+                    "quantity",
+                    1
+                  ],
+                  "range": {
+                    "start": 0,
+                    "end": 23
+                  }
+                }
+              ],
+              "counter": 6
             }
           ],
           "length": 1
         }
       ],
       "learned_contextual_priorities": [],
+      "explain_associations_details": [
+        null
+      ],
       "query": "number meters per second",
       "skipSemantics": true,
       "key": {
@@ -12041,8 +12138,7 @@
           },
           "level": 1,
           "context_index": 1,
-          "topLevel": true,
-          "context_id": 2
+          "topLevel": true
         }
       ],
       "generated": [
@@ -12150,6 +12246,9 @@
         }
       ],
       "learned_contextual_priorities": [],
+      "explain_associations_details": [
+        null
+      ],
       "query": "quantity in units",
       "skipSemantics": true,
       "key": {
@@ -12161,7 +12260,7 @@
         "opChoices": [
           {
             "op": [
-              "radian",
+              "number",
               0
             ],
             "ops": [
@@ -12182,7 +12281,7 @@
           },
           {
             "op": [
-              "amountOfCoordinate",
+              "radian",
               0
             ],
             "ops": [
@@ -12191,11 +12290,24 @@
                 0
               ],
               [
-                "number",
+                "radian",
                 0
               ]
             ],
             "counter": 2
+          },
+          {
+            "op": [
+              "amountOfCoordinate",
+              0
+            ],
+            "ops": [
+              [
+                "amountOfCoordinate",
+                0
+              ]
+            ],
+            "counter": 3
           }
         ]
       },
@@ -12204,6 +12316,7 @@
         {
           "marker": "quantity",
           "dead": true,
+          "instance": true,
           "unit": {
             "value": "radian",
             "number": "many",
@@ -12222,6 +12335,7 @@
             "level": 0
           },
           "amount": {
+            "isInstance": false,
             "marker": "number",
             "value": "number",
             "default": true,
@@ -12231,10 +12345,11 @@
               "start": 0,
               "end": 5
             },
+            "dead": true,
             "types": [
               "number"
             ],
-            "level": 0
+            "level": 1
           },
           "interpolate": [
             {
@@ -12251,8 +12366,7 @@
           },
           "level": 1,
           "context_index": 1,
-          "topLevel": true,
-          "context_id": 2
+          "topLevel": true
         }
       ],
       "generated": [
@@ -12300,7 +12414,7 @@
                 {
                   "marker": [
                     "number",
-                    0
+                    1
                   ],
                   "range": {
                     "start": 0,
@@ -12324,22 +12438,50 @@
               "operators": [
                 {
                   "marker": [
-                    "quantity",
+                    "number",
                     1
                   ],
                   "range": {
                     "start": 0,
+                    "end": 5
+                  }
+                },
+                {
+                  "marker": [
+                    "radian",
+                    0
+                  ],
+                  "range": {
+                    "start": 7,
                     "end": 13
                   }
                 }
               ],
               "counter": 3
+            },
+            {
+              "operators": [
+                {
+                  "marker": [
+                    "quantity",
+                    1
+                  ],
+                  "range": {
+                    "start": 0,
+                    "end": 13
+                  }
+                }
+              ],
+              "counter": 4
             }
           ],
           "length": 1
         }
       ],
       "learned_contextual_priorities": [],
+      "explain_associations_details": [
+        null
+      ],
       "query": "number radians",
       "skipSemantics": true,
       "key": {
@@ -12351,7 +12493,7 @@
         "opChoices": [
           {
             "op": [
-              "degree",
+              "integer",
               0
             ],
             "ops": [
@@ -12380,7 +12522,7 @@
           },
           {
             "op": [
-              "amountOfCoordinate",
+              "degree",
               0
             ],
             "ops": [
@@ -12389,11 +12531,11 @@
                 0
               ],
               [
-                "delayTime",
+                "degree",
                 0
               ],
               [
-                "integer",
+                "delayTime",
                 0
               ],
               [
@@ -12403,6 +12545,27 @@
             ],
             "counter": 2
           },
+          {
+            "op": [
+              "amountOfCoordinate",
+              0
+            ],
+            "ops": [
+              [
+                "amountOfCoordinate",
+                0
+              ],
+              [
+                "delayTime",
+                0
+              ],
+              [
+                "radian",
+                0
+              ]
+            ],
+            "counter": 3
+          },
           {
             "op": [
               "radian",
@@ -12418,7 +12581,7 @@
                 0
               ]
             ],
-            "counter": 3
+            "counter": 4
           },
           {
             "op": [
@@ -12431,7 +12594,7 @@
                 0
               ]
             ],
-            "counter": 4
+            "counter": 5
           }
         ]
       },
@@ -12450,6 +12613,7 @@
           "from": {
             "marker": "quantity",
             "dead": true,
+            "instance": true,
             "unit": {
               "value": "degree",
               "number": "many",
@@ -12468,8 +12632,8 @@
               "level": 0
             },
             "amount": {
+              "isInstance": true,
               "value": 40,
-              "instance": true,
               "text": "40",
               "marker": "integer",
               "word": "40",
@@ -12477,10 +12641,11 @@
                 "start": 0,
                 "end": 1
               },
+              "dead": true,
               "types": [
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-              "level": 0
+              "level": 1
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             "interpolate": [
               {
@@ -12519,8 +12684,7 @@
           },
           "level": 1,
           "context_index": 1,
-          "topLevel": true,
-          "context_id": 2
+          "topLevel": true
         }
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@@ -12588,7 +12752,7 @@
                 {
                   "marker": [
                     "integer",
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+                    1
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                   "range": {
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@@ -12632,17 +12796,27 @@
               "operators": [
                 {
                   "marker": [
-                    "quantity",
+                    "integer",
                     1
                   ],
                   "range": {
                     "start": 0,
+                    "end": 1
+                  }
+                },
+                {
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+                    "degree",
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+                  ],
+                  "range": {
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                     "end": 9
                   }
                 },
                 {
                   "marker": [
-                    "convertToUnits",
+                    "delayTime",
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                   "range": {
@@ -12702,22 +12876,60 @@
               "operators": [
                 {
                   "marker": [
-                    "convertToUnits",
+                    "quantity",
                     1
                   ],
                   "range": {
                     "start": 0,
+                    "end": 9
+                  }
+                },
+                {
+                  "marker": [
+                    "convertToUnits",
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+                  "range": {
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+                    "end": 12
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+                },
+                {
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+                    "radian",
+                    0
+                  ],
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                     "end": 20
                   }
                 }
               ],
               "counter": 5
+            },
+            {
+              "operators": [
+                {
+                  "marker": [
+                    "convertToUnits",
+                    1
+                  ],
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+                    "start": 0,
+                    "end": 20
+                  }
+                }
+              ],
+              "counter": 6
             }
           ],
           "length": 1
         }
       ],
       "learned_contextual_priorities": [],
+      "explain_associations_details": [
+        null
+      ],
       "query": "40 degrees in radians",
       "skipSemantics": true,
       "key": {
@@ -12757,8 +12969,7 @@
           "dead": true,
           "level": 0,
           "context_index": 1,
-          "topLevel": true,
-          "context_id": 2
+          "topLevel": true
         }
       ],
       "generated": [
@@ -12811,6 +13022,9 @@
         }
       ],
       "learned_contextual_priorities": [],
+      "explain_associations_details": [
+        null
+      ],
       "query": "path",
       "skipSemantics": true,
       "key": {
@@ -12850,8 +13064,7 @@
           "dead": true,
           "level": 0,
           "context_index": 1,
-          "topLevel": true,
-          "context_id": 2
+          "topLevel": true
         }
       ],
       "generated": [
@@ -12904,6 +13117,9 @@
         }
       ],
       "learned_contextual_priorities": [],
+      "explain_associations_details": [
+        null
+      ],
       "query": "forward",
       "skipSemantics": true,
       "key": {
@@ -18920,16 +19136,41 @@
           "operators": [
             {
               "marker": [
-                "quantity",
+                "number",
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               ],
               "range": {
                 "start": 0,
+                "end": 5
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+            },
+            {
+              "marker": [
+                "unitPerUnit",
+                0
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+              "range": {
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                 "end": 23
               }
             }
           ],
           "counter": 5
+        },
+        {
+          "operators": [
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+                "quantity",
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+                "end": 23
+              }
+            }
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+          "counter": 6
         }
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@@ -19056,7 +19297,7 @@
             {
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@@ -19080,16 +19321,41 @@
           "operators": [
             {
               "marker": [
-                "quantity",
+                "number",
                 1
               ],
               "range": {
                 "start": 0,
+                "end": 5
+              }
+            },
+            {
+              "marker": [
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               }
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           ],
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+        {
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+                "end": 13
+              }
+            }
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         }
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@@ -19146,7 +19412,7 @@
             {
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@@ -19190,17 +19456,27 @@
           "operators": [
             {
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-                "quantity",
+                "integer",
                 1
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+                "end": 1
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+            },
+            {
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+                "degree",
+                0
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+              "range": {
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                 "end": 9
               }
             },
             {
               "marker": [
-                "convertToUnits",
+                "delayTime",
                 0
               ],
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@@ -19260,16 +19536,51 @@
           "operators": [
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               "marker": [
-                "convertToUnits",
+                "quantity",
                 1
               ],
               "range": {
                 "start": 0,
+                "end": 9
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+            {
+              "marker": [
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+              "range": {
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+                "end": 12
+              }
+            },
+            {
+              "marker": [
+                "radian",
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+              "range": {
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                 "end": 20
               }
             }
           ],
           "counter": 5
+        },
+        {
+          "operators": [
+            {
+              "marker": [
+                "convertToUnits",
+                1
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+                "end": 20
+              }
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+          "counter": 6
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       ],
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