linkage-blaze 0.1.10

#![cfg_attr(not(feature = "std"), no_std)]
#![forbid(unsafe_code)]
#![doc = include_str!(concat!(env!("OUT_DIR"), "/README.md"))]
#![doc = ""]
#![doc = "## Coordinate System"]
//!
//! Model-space axes:
//!
//! - +X = forward / along the link
//! - +Y = left
//! - +Z = up
//!
//! Rotations:
//!
//! - yaw = rotate about local +Z
//! - pitch = rotate about local +Y
//! - roll = rotate about local +X

// TODO "DOF" == params = parameters. Do these names make sense, and are they
// explained well? (may no longer apply)

#[cfg(test)]
extern crate std;

#[cfg(feature = "alloc")]
extern crate alloc;

pub mod bvh;
mod math;
pub mod render;

/// Platform-neutral example logic for the Linkage Blaze display examples.
///
/// The device boundary is provided by Device Envoy's CYD (Cheap Yellow Display)
/// traits. This module contains reusable example loops for Armatron, ballet,
/// clock, and skeleton-clock applications. Enable the corresponding
/// `examples-*` feature to include each example.
pub mod examples {
    #[cfg(feature = "examples-armatron")]
    #[path = "armatron/main.rs"]
    pub mod armatron;
    #[cfg(feature = "examples-ballet")]
    pub mod ballet;
    #[cfg(feature = "examples-clock")]
    pub mod clock;
    #[cfg(feature = "examples-skeleton-clock")]
    pub mod skeleton_clock;
    #[cfg(feature = "examples-armatron")]
    mod ui;
}

#[cfg(feature = "alloc")]
use alloc::{borrow::ToOwned, boxed::Box, format, string::String, vec::Vec};

use core::fmt;

/// RGB color used by pen and shape operations in a linkage.
///
/// Construct numeric colors with [`Rgb888::new`], inspect channels through
/// [`RgbColor`], or use a CSS name from [`WebColors`]. The same values are used
/// by rendered [`render::Item3d`] geometry:
///
/// # Color and rendering
///
/// ```rust
/// # use linkage_blaze::{LinkageFixed, Rgb888, RgbColor, WebColors};
/// # fn main() -> Result<(), linkage_blaze::Error> {
/// const LINKAGE: LinkageFixed<0, 0, 3> = LinkageFixed::start()
///     .pen_color(Rgb888::new(12, 34, 56))
///     .forward(1.0);
/// let numeric = Rgb888::new(12, 34, 56);
/// assert_eq!((numeric.r(), numeric.g(), numeric.b()), (12, 34, 56));
/// let named = Rgb888::CSS_BLUE;
/// assert_eq!(named.b(), 255);
/// let _item = LINKAGE.view().draw_items_3d(&[])?.next();
/// # Ok(())
/// # }
/// ```
pub use embedded_graphics::pixelcolor::Rgb888;
/// CSS named colors available as `Rgb888::CSS_*` constants in linkage assets.
/// See the [color and rendering example](Rgb888#color-and-rendering).
pub use embedded_graphics::pixelcolor::WebColors;
/// Channel access and basic color constants for [`Rgb888`].
/// See the [color and rendering example](Rgb888#color-and-rendering).
pub use embedded_graphics::prelude::RgbColor;
use math::degrees_to_radians;
pub use math::{Mat3, Vec3};

use render::{Disk, Item3d, Projection, Sphere, Stroke};

/// One movement, drawing, shape, mark, or restore operation in a linkage.
///
/// [`LinkageFixed`] and [`linkage!`] are the usual ways to create steps; direct
/// construction is useful when inspecting or implementing a linkage backend.
///
/// Model-space axes:
///
/// - +X = forward / along the link
/// - +Y = left
/// - +Z = up
///
/// Rotations are local-frame rotations: yaw about +Z, pitch about +Y,
/// and roll about +X.
#[derive(Clone, Copy, Debug)]
pub enum Step {
    /// Reset to the origin with the identity orientation.
    Start,
    /// Rotate around local +Z.
    Yaw(StepArg),
    /// Rotate around local +Y.
    Pitch(StepArg),
    /// Rotate around local +X.
    Roll(StepArg),
    /// Advance along local +X by the given distance.
    Forward(StepArg),
    /// Advance along local +Y by the given distance.
    Left(StepArg),
    /// Advance along local +Z by the given distance.
    Up(StepArg),
    /// Lift the pen so later moves do not draw.
    PenUp,
    /// Lower the pen so later moves draw.
    PenDown,
    /// Set the pen color.
    PenColor(Rgb888),
    /// Set the pen stroke width in linkage units.
    PenWidth(f32),
    /// Add a filled disk at the current pose, in the local +X/+Y plane.
    Disk(f32),
    /// Add a filled disk at the current pose with a parameter-driven radius.
    DiskParam(ParamArg),
    /// Add a sphere centered at the current pose.
    Sphere(f32),
    /// Add a sphere centered at the current pose with a parameter-driven radius.
    SphereParam(ParamArg),
    /// Save the current pose and pen state into a resolved mark slot.
    Mark {
        /// Resolved slot used to store the pose and pen state.
        index: usize,
    },
    /// Restore a previously marked pose and pen state (index resolved at build time).
    Restore {
        /// Resolved slot containing the pose and pen state to restore.
        index: usize,
    },
}

/// A fixed operation value or a value interpolated from a normalized linkage parameter.
///
/// Fluent `*_param` methods create the [`Variable`](Self::Variable) form and
/// map a normalized parameter to an operation range. See the
/// [canonical linkage example](LinkageFixed#canonical-construction-and-evaluation).
///
/// Rotation arguments are stored as radians. Translation arguments are stored as linkage distances.
#[derive(Clone, Copy, Debug)]
pub enum StepArg {
    /// A fixed rotation in radians or fixed translation in linkage units.
    Fixed(f32),
    /// A value interpolated from a normalized linkage parameter.
    Variable(ParamArg),
}

/// A linkage parameter reference and the operation-value range it controls.
///
/// The index refers to a named parameter in [`LinkageFixed`]; `low` and `high`
/// are the operation's endpoints, while evaluation still receives a normalized
/// `0.0..=1.0` value. See [`LinkageFixed::define_param`] and its fluent methods.
#[derive(Clone, Copy, Debug)]
pub struct ParamArg {
    index: usize,
    low: f32,
    span: f32,
}

/// A named linkage parameter with a normalized default value.
///
/// Parameters are declared with [`LinkageFixed::define_param`] and inspected
/// through [`LinkageView::param`].
#[derive(Clone, Copy, Debug)]
pub struct Param {
    name: &'static str,
    default: f32,
}

impl Param {
    const EMPTY: Self = Self {
        name: "",
        default: 0.0,
    };

    /// Return the parameter's display name.
    ///
    /// See the [canonical construction and evaluation example](LinkageFixed#canonical-construction-and-evaluation).
    #[must_use]
    pub const fn name(self) -> &'static str {
        self.name
    }

    /// Return the parameter's normalized default value.
    ///
    /// See the [canonical construction and evaluation example](LinkageFixed#canonical-construction-and-evaluation).
    #[must_use]
    pub const fn default(self) -> f32 {
        self.default
    }
}

impl StepArg {
    fn resolve<const DOF: usize>(&self, params: &[f32; DOF]) -> f32 {
        match self {
            Self::Fixed(value) => *value,
            Self::Variable(variable_arg) => variable_arg.resolve(params),
        }
    }

    const fn offset_param(self, offset: usize) -> Self {
        match self {
            Self::Fixed(_) => self,
            Self::Variable(v) => Self::Variable(v.offset(offset)),
        }
    }
}

impl ParamArg {
    const fn new(index: usize, low: f32, high: f32) -> Self {
        Self {
            index,
            low,
            span: high - low,
        }
    }

    const fn offset(self, offset: usize) -> Self {
        Self {
            index: self.index + offset,
            ..self
        }
    }

    const fn from_degrees(index: usize, low: f32, high: f32) -> Self {
        Self::new(index, degrees_to_radians(low), degrees_to_radians(high))
    }

    fn resolve<const DOF: usize>(&self, params: &[f32; DOF]) -> f32 {
        let param = params[self.index];
        self.low + param * self.span
    }

    /// Return the zero-based linkage parameter index.
    ///
    /// `ParamArg` values are produced by fluent `*_param` methods; see the
    /// [canonical construction and evaluation example](LinkageFixed#canonical-construction-and-evaluation).
    #[must_use]
    pub const fn index(self) -> usize {
        self.index
    }

    /// Return the low end of the parameter range.
    ///
    /// The range is in operation units, not normalized parameter units.
    #[must_use]
    pub const fn low(self) -> f32 {
        self.low
    }

    /// Return the high end of the parameter range.
    ///
    /// The range is in operation units, not normalized parameter units.
    #[must_use]
    pub const fn high(self) -> f32 {
        self.low + self.span
    }
}

/// Error returned by linkage evaluation and named-mark lookup.
///
/// Normal evaluation uses `Result` propagation. Handle [`Self::InvalidParameter`]
/// when user-controlled normalized values are invalid, and
/// [`Self::MarkNotFound`] or [`Self::MarkAmbiguous`] when looking up named marks.
/// Named-mark errors are returned by [`DrawItem3dIter::pose_by_mark_name`].
///
/// ```rust
/// # use linkage_blaze::{Error, LinkageFixed};
/// # fn main() {
/// let linkage: LinkageFixed<1, 0, 2> = LinkageFixed::start()
///     .define_param("distance", 0.5)
///     .forward_param("distance", 0.0, 1.0);
/// match linkage.view().final_pose(&[1.5]) {
///     Err(Error::InvalidParameter { index, value }) => {
///         assert_eq!(index, 0);
///         assert_eq!(value, 1.5);
///     }
///     _ => panic!("expected invalid parameter"),
/// }
/// # }
/// ```
#[derive(Clone, Copy, Debug, PartialEq)]
pub enum Error {
    /// A parameter was outside the normalized range `0.0..=1.0`.
    InvalidParameter {
        /// Zero-based index of the invalid parameter.
        index: usize,
        /// Supplied value, which was outside `0.0..=1.0`.
        value: f32,
    },
    /// The linkage did not produce its required implicit start pose.
    EmptyLinkage,
    /// No mark with the requested name exists.
    MarkNotFound,
    /// More than one mark has the requested name.
    MarkAmbiguous,
}

impl fmt::Display for Error {
    fn fmt(&self, formatter: &mut fmt::Formatter<'_>) -> fmt::Result {
        match self {
            Self::InvalidParameter { index, value } => {
                write!(formatter, "parameter {index} is out of range: {value}")
            }
            Self::EmptyLinkage => formatter.write_str("linkage produced no poses"),
            Self::MarkNotFound => formatter.write_str("mark was not found"),
            Self::MarkAmbiguous => formatter.write_str("mark name is ambiguous"),
        }
    }
}

#[cfg(test)]
impl std::error::Error for Error {}

/// A borrowed linkage used to evaluate, compose, and render a linkage.
///
/// It erases fixed step capacity while preserving the linkage-parameter and
/// mark dimensions. Obtain one with [`LinkageFixed::view`] or
/// [`LinkageBuf::view`].
///
/// # Examples
///
/// ```rust
/// # use linkage_blaze::{LinkageFixed, Vec3};
/// const LINKAGE: LinkageFixed<1, 0, 8> = LinkageFixed::start()
///     .define_param("distance", 0.5)
///     .forward_param("distance", 1.0, 5.0);
///
/// # fn main() -> Result<(), linkage_blaze::Error> {
/// # let view = LINKAGE.view();
/// let pose = view.final_pose(&[0.5])?;
/// assert!(pose.position().is_close_to(&Vec3::from([3.0, 0.0, 0.0]), 1e-5));
/// # Ok(())
/// # }
/// ```
/// The API keeps `LinkageFixed<DOF, MARKS, N>` as the owned const-generic representation and uses
/// this borrowed wrapper to erase `N`.
#[derive(Clone, Copy)]
pub struct LinkageView<'a, const DOF: usize, const MARKS: usize> {
    params: &'a [Param; DOF],
    steps: &'a [Step],
    mark_names: &'a [&'static str; MARKS],
    mark_len: usize,
}

impl<'a, const DOF: usize, const MARKS: usize> LinkageView<'a, DOF, MARKS> {
    /// The number of linkage parameters expected at evaluation time.
    pub const DOF: usize = DOF;

    /// The number of mark slots in this view.
    pub const MARKS: usize = MARKS;

    /// Create a new linkage view from parameter and step arrays.
    #[must_use]
    pub(crate) const fn new(
        params: &'a [Param; DOF],
        steps: &'a [Step],
        mark_names: &'a [&'static str; MARKS],
        mark_len: usize,
    ) -> Self {
        Self {
            params,
            steps,
            mark_names,
            mark_len,
        }
    }

    /// Return the number of linkage parameters expected at evaluation time.
    #[must_use]
    pub const fn dof(&self) -> usize {
        DOF
    }

    /// Return the number of linkage steps, including the implicit start step.
    #[must_use]
    pub const fn len(&self) -> usize {
        self.steps.len()
    }

    /// Return whether this linkage has no steps.
    #[must_use]
    pub const fn is_empty(&self) -> bool {
        self.steps.is_empty()
    }

    /// Return the active step count for const-evaluation helpers.
    #[doc(hidden)]
    pub const fn step_count(&self) -> usize {
        self.len()
    }

    /// Return a parameter definition by index.
    ///
    /// # Panics
    ///
    /// Panics if `index >= dof()`.
    ///
    /// # Examples
    ///
    /// ```rust
    /// # use linkage_blaze::{LinkageFixed, Vec3};
    /// const LINKAGE: LinkageFixed<2, 0, 8> = LinkageFixed::start()
    ///     .define_param("yaw", 0.5)
    ///     .define_param("distance", 0.75);
    ///
    /// let view = LINKAGE.view();
    /// let param = view.param(0);
    /// assert_eq!(param.name(), "yaw");
    /// assert_eq!(param.default(), 0.5);
    /// ```
    #[must_use]
    pub const fn param(&self, index: usize) -> Param {
        self.params[index]
    }

    /// Return a reference to the parameter array.
    ///
    /// # Examples
    ///
    /// ```rust
    /// # use linkage_blaze::LinkageFixed;
    /// const LINKAGE: LinkageFixed<2, 0, 8> = LinkageFixed::start()
    ///     .define_param("x", 0.0)
    ///     .define_param("y", 0.5);
    ///
    /// let view = LINKAGE.view();
    /// let params = view.params();
    /// assert_eq!(params.len(), 2);
    /// ```
    #[must_use]
    pub const fn params(&self) -> &'a [Param; DOF] {
        self.params
    }

    /// Return each parameter's normalized default value.
    ///
    /// # Examples
    ///
    /// ```rust
    /// # use linkage_blaze::LinkageFixed;
    /// const LINKAGE: LinkageFixed<2, 0, 8> = LinkageFixed::start()
    ///     .define_param("x", 0.25)
    ///     .define_param("y", 0.75);
    ///
    /// let defaults = LINKAGE.view().param_defaults();
    /// assert_eq!(defaults, [0.25, 0.75]);
    /// ```
    #[must_use]
    pub const fn param_defaults(&self) -> [f32; DOF] {
        let mut defaults = [0.0; DOF];
        let mut param_index = 0;
        while param_index < DOF {
            defaults[param_index] = self.params[param_index].default();
            param_index += 1;
        }
        defaults
    }

    /// Return a reference to the step slice.
    #[must_use]
    pub const fn steps(&self) -> &'a [Step] {
        self.steps
    }

    /// Scan the steps for the `(low, high)` legal range of the parameter at
    /// `index`, as driven by the first step that uses it. Rotation ranges are in
    /// radians (convert with [`f32::to_degrees`]); translation/disk/sphere ranges
    /// are in linkage units.
    ///
    /// This is an O(steps) linear scan, not a field read. The range is constant
    /// for a given linkage, so resolve it once — ideally in a `const` — and never
    /// per frame:
    ///
    /// ```rust
    /// # use linkage_blaze::LinkageFixed;
    /// # const LINKAGE: LinkageFixed<2, 0, 8> = LinkageFixed::start()
    /// #     .define_param("hour", 0.5)
    /// #     .define_param("minute", 0.5)
    /// #     .forward_param("minute", 0.0, 1.0);
    /// const HOURS_RANGE: (f32, f32) = LINKAGE.view().scan_param_range(1);
    /// ```
    ///
    /// # Panics
    ///
    /// Panics if no step drives the parameter at `index`.
    #[must_use]
    pub const fn scan_param_range(&self, index: usize) -> (f32, f32) {
        let mut i = 0;
        while i < self.steps.len() {
            let arg = match self.steps[i] {
                Step::Yaw(arg)
                | Step::Pitch(arg)
                | Step::Roll(arg)
                | Step::Forward(arg)
                | Step::Left(arg)
                | Step::Up(arg) => arg,
                Step::DiskParam(v) | Step::SphereParam(v) => StepArg::Variable(v),
                _ => {
                    i += 1;
                    continue;
                }
            };
            if let StepArg::Variable(v) = arg
                && v.index() == index
            {
                return (v.low(), v.high());
            }
            i += 1;
        }
        panic!("no step drives the parameter at this index")
    }

    /// Return the active mark-name slots.
    #[must_use]
    pub const fn mark_names(&self) -> &'a [&'static str; MARKS] {
        self.mark_names
    }

    /// Return the number of distinct mark slots used by this linkage.
    #[must_use]
    pub const fn mark_len(&self) -> usize {
        self.mark_len
    }

    /// Return the number of marks currently used by this view.
    #[must_use]
    pub const fn mark_count(&self) -> usize {
        self.mark_len()
    }

    /// Return the view's mark-slot capacity.
    #[must_use]
    pub const fn marks(&self) -> usize {
        MARKS
    }

    /// Copy this view into fixed backing storage.
    ///
    /// `N` must be large enough for the active steps.
    ///
    /// See the [fixed-storage example](LinkageBuf#converting-from-fixed-storage).
    pub const fn to_fixed<const N: usize>(self) -> LinkageFixed<DOF, MARKS, N> {
        assert!(
            self.steps.len() <= N,
            "fixed backing is too small for linkage view"
        );
        let mut steps = [const { Step::Start }; N];
        let mut step_index = 0;
        while step_index < self.steps.len() {
            steps[step_index] = self.steps[step_index];
            step_index += 1;
        }
        LinkageFixed {
            steps,
            len: self.steps.len(),
            params: *self.params,
            param_len: DOF,
            mark_names: *self.mark_names,
            mark_len: self.mark_len,
        }
    }

    const fn combine_fixed<
        const DOF2: usize,
        const MARKS2: usize,
        const DOF_OUT: usize,
        const MARKS_OUT: usize,
        const N_OUT: usize,
    >(
        self,
        other: LinkageView<'_, DOF2, MARKS2>,
    ) -> LinkageFixed<DOF_OUT, MARKS_OUT, N_OUT> {
        let needed_dof = DOF + DOF2;
        assert!(DOF_OUT == needed_dof, "DOF_OUT must equal the combined DOF");
        let needed_marks = self.mark_len + other.mark_len;
        assert!(MARKS_OUT >= needed_marks, "MARKS_OUT is too small");
        let needed_steps = self.steps.len() + other.steps.len() - 1;
        assert!(N_OUT >= needed_steps, "N_OUT is too small");

        let mut out = LinkageFixed {
            steps: [const { Step::Start }; N_OUT],
            len: self.steps.len(),
            params: [Param::EMPTY; DOF_OUT],
            param_len: DOF + DOF2,
            mark_names: [""; MARKS_OUT],
            mark_len: needed_marks,
        };

        let mut step_index = 0;
        while step_index < self.steps.len() {
            out.steps[step_index] = self.steps[step_index];
            step_index += 1;
        }
        let mut other_step_index = 1;
        while other_step_index < other.steps.len() {
            out.steps[out.len] = other.steps[other_step_index].offset_params(DOF, self.mark_len);
            out.len += 1;
            other_step_index += 1;
        }

        let mut param_index = 0;
        while param_index < DOF {
            out.params[param_index] = self.params[param_index];
            param_index += 1;
        }
        let mut other_param_index = 0;
        while other_param_index < DOF2 {
            out.params[DOF + other_param_index] = other.params[other_param_index];
            other_param_index += 1;
        }

        let mut mark_index = 0;
        while mark_index < self.mark_len {
            out.mark_names[mark_index] = self.mark_names[mark_index];
            mark_index += 1;
        }
        let mut other_mark_index = 0;
        while other_mark_index < other.mark_len {
            out.mark_names[self.mark_len + other_mark_index] = other.mark_names[other_mark_index];
            other_mark_index += 1;
        }
        out
    }

    /// Serialize this linkage view as `.lb.rs` source using the `linkage![ ... ]` format.
    ///
    /// The output is intended for editor interchange and generated linkage files.
    /// Color values are emitted as `Rgb888::new(r, g, b)` calls.
    ///
    /// See the [growable storage and serialization examples](LinkageBuf#building-linkage-expressions).
    #[cfg(feature = "alloc")]
    #[must_use]
    pub fn to_lb_rs(&self) -> String {
        let named_params = self.params.iter().filter(|p| !p.name().is_empty()).count();
        let mut source = format!(
            "// DOF={} MARKS={} STEPS={}\n",
            named_params,
            self.mark_len,
            self.len()
        );
        source.push_str("linkage![\n");
        for param in self.params {
            if !param.name().is_empty() {
                source.push_str("    .define_param(\"");
                source.push_str(param.name());
                source.push_str("\", ");
                push_f32(&mut source, param.default());
                source.push_str(")\n");
            }
        }

        for &step in self.steps {
            match step {
                Step::Start => {}
                Step::Yaw(arg) => push_arg_step(self, &mut source, "yaw", "yaw_param", arg, true),
                Step::Pitch(arg) => {
                    push_arg_step(self, &mut source, "pitch", "pitch_param", arg, true);
                }
                Step::Roll(arg) => {
                    push_arg_step(self, &mut source, "roll", "roll_param", arg, true);
                }
                Step::Forward(arg) => {
                    push_arg_step(self, &mut source, "forward", "forward_param", arg, false);
                }
                Step::Left(arg) => {
                    push_arg_step(self, &mut source, "left", "left_param", arg, false);
                }
                Step::Up(arg) => push_arg_step(self, &mut source, "up", "up_param", arg, false),
                Step::PenUp => source.push_str("    .pen_up()\n"),
                Step::PenDown => source.push_str("    .pen_down()\n"),
                Step::PenColor(color) => {
                    source.push_str("    .pen_color(Rgb888::new(");
                    source.push_str(&format!("{}, {}, {}", color.r(), color.g(), color.b()));
                    source.push_str("))\n");
                }
                Step::PenWidth(width) => {
                    source.push_str("    .pen_width(");
                    push_f32(&mut source, width);
                    source.push_str(")\n");
                }
                Step::Disk(radius) => push_fixed_step(&mut source, "disk", radius),
                Step::DiskParam(arg) => push_variable_step(self, &mut source, "disk_param", arg),
                Step::Sphere(radius) => push_fixed_step(&mut source, "sphere", radius),
                Step::SphereParam(arg) => {
                    push_variable_step(self, &mut source, "sphere_param", arg);
                }
                Step::Mark { index } => {
                    let name = self.mark_names[index];
                    source.push_str("    .mark(\"");
                    source.push_str(name);
                    source.push_str("\")\n");
                }
                Step::Restore { index } => {
                    let name = self.mark_names[index];
                    source.push_str("    .restore(\"");
                    source.push_str(name);
                    source.push_str("\")\n");
                }
            }
        }
        source.push_str("]\n");
        source
    }

    /// Return the index of the `n`th parameter (0-based) with the given name.
    ///
    /// # Panics
    ///
    /// Panics if the name is not found or if `n` exceeds the occurrence count.
    ///
    /// # Examples
    ///
    /// ```rust
    /// # use linkage_blaze::LinkageFixed;
    /// const LINKAGE: LinkageFixed<3, 0, 8> = LinkageFixed::start()
    ///     .define_param("x", 0.0)
    ///     .define_param("y", 0.5)
    ///     .define_param("x", 0.8);
    ///
    /// let view = LINKAGE.view();
    /// assert_eq!(view.param_index("x", 0), 0);  // first "x"
    /// assert_eq!(view.param_index("x", 1), 2);  // second "x"
    /// ```
    #[must_use]
    pub const fn param_index(&self, name: &str, n: usize) -> usize {
        let mut found = 0;
        let mut i = 0;
        while i < DOF {
            if str_eq(self.params[i].name, name) {
                if found == n {
                    return i;
                }
                found += 1;
            }
            i += 1;
        }
        panic!("parameter name not found or occurrence index out of range")
    }

    /// Return the final pose after evaluating all steps.
    ///
    /// This evaluates the linkage immediately. When rendering or looking up
    /// marked poses in the same pass, use the [`DrawItem3dIter`] returned by
    /// [`Self::draw_items_3d`] and inspect it after exhaustion instead.
    ///
    /// # Examples
    ///
    /// ```rust
    /// # use linkage_blaze::{LinkageFixed, Vec3};
    /// const LINKAGE: LinkageFixed<2, 0, 8> = LinkageFixed::start()
    ///     .define_param("yaw", 0.5)
    ///     .define_param("distance", 0.5)
    ///     .yaw_param("yaw", -90.0, 90.0)
    ///     .forward_param("distance", 1.0, 5.0);
    ///
    /// # fn main() -> Result<(), linkage_blaze::Error> {
    /// # let view = LINKAGE.view();
    /// let pose = view.final_pose(&[0.5, 0.6])?;
    /// assert!(pose.position().is_close_to(&Vec3::from([3.4, 0.0, 0.0]), 1e-5));
    /// # Ok(())
    /// # }
    /// ```
    pub fn final_pose(&self, params: &[f32; DOF]) -> Result<Pose, Error> {
        self.poses(params)?.last().ok_or(Error::EmptyLinkage)
    }

    /// Iterate over all intermediate poses produced by evaluating this linkage.
    ///
    /// # Examples
    ///
    /// ```rust
    /// # use linkage_blaze::{LinkageFixed, Vec3};
    /// const LINKAGE: LinkageFixed<1, 0, 8> = LinkageFixed::start()
    ///     .define_param("distance", 0.5)
    ///     .forward_param("distance", 1.0, 5.0);
    ///
    /// # fn main() -> Result<(), linkage_blaze::Error> {
    /// # let view = LINKAGE.view();
    /// let mut poses = view.poses(&[0.5])?;
    /// let start = poses.next().expect("linkage always has start pose");
    /// assert!(start.position().is_close_to(&Vec3::from([0.0, 0.0, 0.0]), 1e-5));
    /// let end = poses.next().expect("forward step exists");
    /// assert!(end.position().is_close_to(&Vec3::from([3.0, 0.0, 0.0]), 1e-5));
    /// # Ok(())
    /// # }
    /// ```
    pub fn poses<'b>(
        &'b self,
        params: &'b [f32; DOF],
    ) -> Result<impl Iterator<Item = Pose> + 'b, Error> {
        Ok(self.styled_poses(params)?.map(|sp| sp.pose()))
    }

    /// Iterate over all styled poses with their pen state.
    ///
    /// # Examples
    ///
    /// ```rust
    /// # use linkage_blaze::{LinkageFixed, Vec3, PenState};
    /// const LINKAGE: LinkageFixed<0, 0, 8> = LinkageFixed::start()
    ///     .forward(1.0)
    ///     .forward(2.0);
    ///
    /// # fn main() -> Result<(), linkage_blaze::Error> {
    /// # let view = LINKAGE.view();
    /// let mut styled = view.styled_poses(&[])?;
    /// let start = styled.next().expect("has start");
    /// assert!(start.pose().position().is_close_to(&Vec3::from([0.0, 0.0, 0.0]), 1e-5));
    /// assert_eq!(start.pen(), PenState::Down);
    /// styled.next().expect("has first forward");
    /// let end = styled.next().expect("has second forward");
    /// assert!(end.pose().position()[0] > 2.9);
    /// # Ok(())
    /// # }
    /// ```
    pub fn styled_poses<'b>(
        &'b self,
        params: &'b [f32; DOF],
    ) -> Result<impl Iterator<Item = StyledPose> + 'b, Error> {
        StyledPosesView::<DOF, MARKS>::new(self.steps, params)
    }

    /// Iterate over all draw items produced by this linkage.
    ///
    /// # Examples
    ///
    /// ```rust
    /// # use linkage_blaze::{LinkageFixed, render::Item3d};
    /// const LINKAGE: LinkageFixed<0, 0, 8> = LinkageFixed::start()
    ///     .forward(1.0)
    ///     .forward(2.0);
    ///
    /// # fn main() -> Result<(), linkage_blaze::Error> {
    /// # let view = LINKAGE.view();
    /// let has_stroke = view.draw_items_3d(&[])?
    ///     .any(|item| matches!(item, Item3d::Stroke(_)));
    /// assert!(has_stroke);
    /// # Ok(())
    /// # }
    /// ```
    pub fn draw_items_3d<'b>(
        &'b self,
        params: &'b [f32; DOF],
    ) -> Result<DrawItem3dIter<'b, DOF, MARKS>, Error> {
        DrawItem3dIter::<DOF, MARKS>::new(self.steps, self.mark_names, self.mark_len, params)
    }

    /// The number of [`Item3d`]s this linkage yields, evaluated at compile time.
    ///
    /// Which steps emit a draw item depends only on the linkage's steps and pen
    /// state (which moves draw, which shapes are emitted), never on the runtime
    /// parameter values, so the count is a `const` and can size a buffer.
    ///
    /// # Examples
    ///
    /// ```rust
    /// # use linkage_blaze::LinkageFixed;
    /// const LINKAGE: LinkageFixed<0, 0, 8> = LinkageFixed::start()
    ///     .forward(1.0)
    ///     .forward(2.0);
    ///
    /// const COUNT: usize = LINKAGE.view().draw_item_3d_count();
    /// assert_eq!(COUNT, 2);
    /// ```
    #[must_use]
    pub const fn draw_item_3d_count(&self) -> usize {
        let mut count = 0;
        let mut pen_down = true;
        let mut marked = [true; MARKS];
        let mut index = 0;
        while index < self.steps.len() {
            match &self.steps[index] {
                Step::Start => pen_down = true,
                Step::PenUp => pen_down = false,
                Step::PenDown => pen_down = true,
                Step::Mark { index: mark_index } => marked[*mark_index] = pen_down,
                Step::Restore { index: mark_index } => pen_down = marked[*mark_index],
                Step::Forward(_) | Step::Left(_) | Step::Up(_) => {
                    if pen_down {
                        count += 1;
                    }
                }
                Step::Disk(_) | Step::DiskParam(_) | Step::Sphere(_) | Step::SphereParam(_) => {
                    count += 1;
                }
                Step::Yaw(_)
                | Step::Pitch(_)
                | Step::Roll(_)
                | Step::PenColor(_)
                | Step::PenWidth(_) => {}
            }
            index += 1;
        }
        count
    }
}

impl<'a, const DOF: usize, const MARKS: usize, const N: usize> From<&'a LinkageFixed<DOF, MARKS, N>>
    for LinkageView<'a, DOF, MARKS>
{
    fn from(linkage: &'a LinkageFixed<DOF, MARKS, N>) -> Self {
        linkage.view()
    }
}

#[cfg(feature = "alloc")]
fn push_arg_step<const DOF: usize, const MARKS: usize>(
    linkage_view: &LinkageView<'_, DOF, MARKS>,
    source: &mut String,
    fixed_method: &str,
    variable_method: &str,
    arg: StepArg,
    degrees: bool,
) {
    match arg {
        StepArg::Fixed(value) => {
            let value = if degrees { value.to_degrees() } else { value };
            push_fixed_step(source, fixed_method, value);
        }
        StepArg::Variable(variable_arg) => {
            let low = if degrees {
                variable_arg.low().to_degrees()
            } else {
                variable_arg.low()
            };
            let high = if degrees {
                variable_arg.high().to_degrees()
            } else {
                variable_arg.high()
            };
            source.push_str("    .");
            source.push_str(variable_method);
            source.push_str("(\"");
            source.push_str(linkage_view.param(variable_arg.index()).name());
            source.push_str("\", ");
            push_f32(source, low);
            source.push_str(", ");
            push_f32(source, high);
            source.push_str(")\n");
        }
    }
}

#[cfg(feature = "alloc")]
fn push_fixed_step(source: &mut String, method: &str, value: f32) {
    source.push_str("    .");
    source.push_str(method);
    source.push('(');
    push_f32(source, value);
    source.push_str(")\n");
}

#[cfg(feature = "alloc")]
fn push_variable_step<const DOF: usize, const MARKS: usize>(
    linkage_view: &LinkageView<'_, DOF, MARKS>,
    source: &mut String,
    method: &str,
    variable_arg: ParamArg,
) {
    source.push_str("    .");
    source.push_str(method);
    source.push_str("(\"");
    source.push_str(linkage_view.param(variable_arg.index()).name());
    source.push_str("\", ");
    push_f32(source, variable_arg.low());
    source.push_str(", ");
    push_f32(source, variable_arg.high());
    source.push_str(")\n");
}

#[cfg(feature = "alloc")]
fn push_f32(source: &mut String, value: f32) {
    source.push_str(&format!("{value:?}"));
}

#[cfg(feature = "alloc")]
fn parse_lb_rs<const DOF: usize, const MARKS: usize>(
    source: &str,
) -> Result<LinkageBuf<DOF, MARKS>, String> {
    let mut linkage = LinkageBuf::start();

    for (line_index, line) in source.lines().enumerate() {
        let line_number = line_index + 1;
        let Some(method_call) = parse_method_call(line_number, line)? else {
            continue;
        };
        linkage = apply_parsed_method(line_number, linkage, &method_call)?;
    }

    Ok(linkage)
}

#[cfg(feature = "alloc")]
#[derive(Clone, Debug)]
struct ParsedMethodCall {
    name: String,
    args: Vec<String>,
}

#[cfg(feature = "alloc")]
fn parse_method_call(line_number: usize, line: &str) -> Result<Option<ParsedMethodCall>, String> {
    let line = strip_rust_comment(line).trim();
    if line.is_empty() || line == "LinkageFixed::start()" || is_linkage_macro_wrapper(line) {
        return Ok(None);
    }

    if line.contains("LinkageFixed::start()") {
        return Ok(None);
    }

    let line = line.trim_end_matches(';').trim_end_matches(',').trim();
    let line = line.strip_prefix('.').unwrap_or(line);

    let open = line
        .find('(')
        .ok_or_else(|| format!("line {line_number}: expected `(`"))?;
    let close = line
        .rfind(')')
        .ok_or_else(|| format!("line {line_number}: expected `)`"))?;
    if close < open {
        return Err(format!("line {line_number}: `)` appears before `(`"));
    }
    let trailing = line[close + 1..].trim();
    if !trailing.is_empty() {
        return Err(format!(
            "line {line_number}: unexpected text after method call `{trailing}`"
        ));
    }

    let name = line[..open].trim();
    if name.is_empty() {
        return Err(format!("line {line_number}: method name is empty"));
    }

    Ok(Some(ParsedMethodCall {
        name: name.to_owned(),
        args: split_args(line_number, &line[open + 1..close])?,
    }))
}

#[cfg(feature = "alloc")]
fn is_linkage_macro_wrapper(line: &str) -> bool {
    let line = line.trim_end_matches(';').trim();
    matches!(line, "linkage![" | "linkage! [" | "]")
}

#[cfg(feature = "alloc")]
fn split_args(line_number: usize, args: &str) -> Result<Vec<String>, String> {
    let mut split_args = Vec::new();
    let mut current_arg = String::new();
    let mut parenthesis_depth = 0;
    let mut in_string = false;

    for character in args.chars() {
        match character {
            '"' => {
                in_string = !in_string;
                current_arg.push(character);
            }
            '(' if !in_string => {
                parenthesis_depth += 1;
                current_arg.push(character);
            }
            ')' if !in_string => {
                if parenthesis_depth == 0 {
                    return Err(format!(
                        "line {line_number}: unexpected `)` in argument list"
                    ));
                }
                parenthesis_depth -= 1;
                current_arg.push(character);
            }
            ',' if !in_string && parenthesis_depth == 0 => {
                let trimmed_arg = current_arg.trim();
                if !trimmed_arg.is_empty() {
                    split_args.push(trimmed_arg.to_owned());
                }
                current_arg = String::new();
            }
            _ => current_arg.push(character),
        }
    }

    if in_string {
        return Err(format!("line {line_number}: unterminated string literal"));
    }
    if parenthesis_depth != 0 {
        return Err(format!("line {line_number}: unterminated nested argument"));
    }

    let current_arg = current_arg.trim();
    if !current_arg.is_empty() {
        split_args.push(current_arg.to_owned());
    }

    Ok(split_args)
}

#[cfg(feature = "alloc")]
fn apply_parsed_method<const DOF: usize, const MARKS: usize>(
    line_number: usize,
    linkage: LinkageBuf<DOF, MARKS>,
    method_call: &ParsedMethodCall,
) -> Result<LinkageBuf<DOF, MARKS>, String> {
    match method_call.name.as_str() {
        "define_param" => {
            expect_arg_count(line_number, method_call, 2)?;
            let name = parse_static_string_arg(line_number, method_call, 0)?;
            let default = parse_number_arg(line_number, method_call, 1)?;
            if !(0.0..=1.0).contains(&default) {
                return Err(format!(
                    "line {line_number}: define_param default must be between 0.0 and 1.0"
                ));
            }
            Ok(linkage.define_param(name, default))
        }
        "forward" => {
            expect_arg_count(line_number, method_call, 1)?;
            Ok(linkage.forward(parse_number_arg(line_number, method_call, 0)?))
        }
        "forward_param" => apply_translation_param(line_number, linkage, method_call, "forward"),
        "left" => {
            expect_arg_count(line_number, method_call, 1)?;
            Ok(linkage.left(parse_number_arg(line_number, method_call, 0)?))
        }
        "left_param" => apply_translation_param(line_number, linkage, method_call, "left"),
        "up" => {
            expect_arg_count(line_number, method_call, 1)?;
            Ok(linkage.up(parse_number_arg(line_number, method_call, 0)?))
        }
        "up_param" => apply_translation_param(line_number, linkage, method_call, "up"),
        "yaw" => {
            expect_arg_count(line_number, method_call, 1)?;
            Ok(linkage.yaw(parse_number_arg(line_number, method_call, 0)?))
        }
        "yaw_param" => apply_rotation_param(line_number, linkage, method_call, "yaw"),
        "pitch" => {
            expect_arg_count(line_number, method_call, 1)?;
            Ok(linkage.pitch(parse_number_arg(line_number, method_call, 0)?))
        }
        "pitch_param" => apply_rotation_param(line_number, linkage, method_call, "pitch"),
        "roll" => {
            expect_arg_count(line_number, method_call, 1)?;
            Ok(linkage.roll(parse_number_arg(line_number, method_call, 0)?))
        }
        "roll_param" => apply_rotation_param(line_number, linkage, method_call, "roll"),
        "pen_up" => {
            expect_arg_count(line_number, method_call, 0)?;
            Ok(linkage.pen_up())
        }
        "pen_down" => {
            expect_arg_count(line_number, method_call, 0)?;
            Ok(linkage.pen_down())
        }
        "pen_color" => {
            expect_arg_count(line_number, method_call, 1)?;
            Ok(linkage.pen_color(parse_color_arg(line_number, method_call)?))
        }
        "pen_width" => {
            expect_arg_count(line_number, method_call, 1)?;
            let width = parse_number_arg(line_number, method_call, 0)?;
            if width < 0.0 {
                return Err(format!(
                    "line {line_number}: pen_width must be non-negative"
                ));
            }
            Ok(linkage.pen_width(width))
        }
        "mark" => {
            expect_arg_count(line_number, method_call, 1)?;
            Ok(linkage.mark(parse_static_string_arg(line_number, method_call, 0)?))
        }
        "restore" => {
            expect_arg_count(line_number, method_call, 1)?;
            Ok(linkage.restore(parse_static_string_arg(line_number, method_call, 0)?))
        }
        "disk" => {
            expect_arg_count(line_number, method_call, 1)?;
            Ok(linkage.disk(parse_radius(line_number, method_call, 0)?))
        }
        "disk_param" => apply_radius_param(line_number, linkage, method_call, "disk"),
        "sphere" => {
            expect_arg_count(line_number, method_call, 1)?;
            Ok(linkage.sphere(parse_radius(line_number, method_call, 0)?))
        }
        "sphere_param" => apply_radius_param(line_number, linkage, method_call, "sphere"),
        _ => Err(format!(
            "line {line_number}: unknown method `{}`",
            method_call.name
        )),
    }
}

#[cfg(feature = "alloc")]
fn apply_translation_param<const DOF: usize, const MARKS: usize>(
    line_number: usize,
    linkage: LinkageBuf<DOF, MARKS>,
    method_call: &ParsedMethodCall,
    axis: &str,
) -> Result<LinkageBuf<DOF, MARKS>, String> {
    expect_arg_count(line_number, method_call, 3)?;
    let name = parse_string_arg(line_number, method_call, 0)?;
    let low = parse_number_arg(line_number, method_call, 1)?;
    let high = parse_number_arg(line_number, method_call, 2)?;
    match axis {
        "forward" => Ok(linkage.forward_param(name, low, high)),
        "left" => Ok(linkage.left_param(name, low, high)),
        "up" => Ok(linkage.up_param(name, low, high)),
        _ => unreachable!(),
    }
}

#[cfg(feature = "alloc")]
fn apply_rotation_param<const DOF: usize, const MARKS: usize>(
    line_number: usize,
    linkage: LinkageBuf<DOF, MARKS>,
    method_call: &ParsedMethodCall,
    axis: &str,
) -> Result<LinkageBuf<DOF, MARKS>, String> {
    expect_arg_count(line_number, method_call, 3)?;
    let name = parse_string_arg(line_number, method_call, 0)?;
    let low = parse_number_arg(line_number, method_call, 1)?;
    let high = parse_number_arg(line_number, method_call, 2)?;
    match axis {
        "yaw" => Ok(linkage.yaw_param(name, low, high)),
        "pitch" => Ok(linkage.pitch_param(name, low, high)),
        "roll" => Ok(linkage.roll_param(name, low, high)),
        _ => unreachable!(),
    }
}

#[cfg(feature = "alloc")]
fn apply_radius_param<const DOF: usize, const MARKS: usize>(
    line_number: usize,
    linkage: LinkageBuf<DOF, MARKS>,
    method_call: &ParsedMethodCall,
    shape: &str,
) -> Result<LinkageBuf<DOF, MARKS>, String> {
    expect_arg_count(line_number, method_call, 3)?;
    let name = parse_string_arg(line_number, method_call, 0)?;
    let low = parse_number_arg(line_number, method_call, 1)?;
    let high = parse_number_arg(line_number, method_call, 2)?;
    if low < 0.0 || high < 0.0 {
        return Err(format!(
            "line {line_number}: `{}` radius range must be non-negative",
            method_call.name
        ));
    }
    match shape {
        "disk" => Ok(linkage.disk_param(name, low, high)),
        "sphere" => Ok(linkage.sphere_param(name, low, high)),
        _ => unreachable!(),
    }
}

#[cfg(feature = "alloc")]
fn strip_rust_comment(line: &str) -> &str {
    line.split_once("//")
        .map_or(line, |(before_comment, _)| before_comment)
}

#[cfg(feature = "alloc")]
fn expect_arg_count(
    line_number: usize,
    method_call: &ParsedMethodCall,
    expected: usize,
) -> Result<(), String> {
    if method_call.args.len() == expected {
        Ok(())
    } else {
        Err(format!(
            "line {line_number}: `{}` expects {expected} argument(s), got {}",
            method_call.name,
            method_call.args.len()
        ))
    }
}

#[cfg(feature = "alloc")]
fn parse_number_arg(
    line_number: usize,
    method_call: &ParsedMethodCall,
    arg_index: usize,
) -> Result<f32, String> {
    let value = &method_call.args[arg_index];
    parse_number_or_constant(line_number, method_call.name.as_str(), value)
}

#[cfg(feature = "alloc")]
fn parse_static_string_arg(
    line_number: usize,
    method_call: &ParsedMethodCall,
    arg_index: usize,
) -> Result<&'static str, String> {
    let value = parse_string_arg(line_number, method_call, arg_index)?;
    Ok(Box::leak(value.to_owned().into_boxed_str()))
}

#[cfg(feature = "alloc")]
fn parse_string_arg(
    line_number: usize,
    method_call: &ParsedMethodCall,
    arg_index: usize,
) -> Result<&str, String> {
    let value = method_call.args[arg_index].as_str();
    value
        .strip_prefix('"')
        .and_then(|value| value.strip_suffix('"'))
        .ok_or_else(|| {
            format!(
                "line {line_number}: `{}` argument `{value}` must be a string literal",
                method_call.name
            )
        })
}

#[cfg(feature = "alloc")]
fn parse_number_or_constant(
    line_number: usize,
    method_name: &str,
    value: &str,
) -> Result<f32, String> {
    let numeric_value: String = value
        .chars()
        .filter(|character| *character != '_')
        .collect();

    if let Ok(parsed) = numeric_value.parse::<f32>() {
        if looks_like_integer(&numeric_value) {
            return Err(format!(
                "line {line_number}: `{method_name}` argument `{value}` is an integer; use `{value}.0`"
            ));
        }
        return Ok(parsed);
    }

    number_constant(value).ok_or_else(|| {
        format!(
            "line {line_number}: `{method_name}` argument `{value}` is not a number or known constant"
        )
    })
}

#[cfg(feature = "alloc")]
fn looks_like_integer(s: &str) -> bool {
    let digits = s
        .strip_prefix('-')
        .or_else(|| s.strip_prefix('+'))
        .unwrap_or(s);
    !digits.is_empty() && digits.chars().all(|c| c.is_ascii_digit())
}

#[cfg(feature = "alloc")]
fn parse_radius(
    line_number: usize,
    method_call: &ParsedMethodCall,
    arg_index: usize,
) -> Result<f32, String> {
    let radius = parse_number_arg(line_number, method_call, arg_index)?;
    if radius < 0.0 {
        Err(format!(
            "line {line_number}: `{}` radius must be non-negative",
            method_call.name
        ))
    } else {
        Ok(radius)
    }
}

#[cfg(feature = "alloc")]
fn number_constant(name: &str) -> Option<f32> {
    match name {
        "ARM_WIDTH" => Some(3.0),
        "AXIS_WIDTH" => Some(1.0),
        _ => None,
    }
}

#[cfg(feature = "alloc")]
fn parse_color_arg(line_number: usize, method_call: &ParsedMethodCall) -> Result<Rgb888, String> {
    let value = method_call.args[0].as_str();

    if let Some(color_args) = value
        .strip_prefix("Rgb888::new(")
        .and_then(|value| value.strip_suffix(')'))
    {
        return parse_rgb888_new_color(line_number, color_args);
    }

    match value {
        "Rgb888::CSS_BLACK" => Ok(Rgb888::CSS_BLACK),
        "Rgb888::CSS_BLUE" => Ok(Rgb888::CSS_BLUE),
        "Rgb888::CSS_CRIMSON" => Ok(Rgb888::CSS_CRIMSON),
        "Rgb888::CSS_DARK_SLATE_GRAY" => Ok(Rgb888::CSS_DARK_SLATE_GRAY),
        "Rgb888::CSS_DIM_GRAY" => Ok(Rgb888::CSS_DIM_GRAY),
        "Rgb888::CSS_GRAY" => Ok(Rgb888::CSS_GRAY),
        "Rgb888::CSS_LIGHT_GRAY" => Ok(Rgb888::CSS_LIGHT_GRAY),
        "Rgb888::CSS_LIGHT_SLATE_GRAY" => Ok(Rgb888::CSS_LIGHT_SLATE_GRAY),
        "Rgb888::CSS_RED" => Ok(Rgb888::CSS_RED),
        "Rgb888::CSS_SLATE_GRAY" => Ok(Rgb888::CSS_SLATE_GRAY),
        "Rgb888::CSS_STEEL_BLUE" => Ok(Rgb888::CSS_STEEL_BLUE),
        "Rgb888::CSS_WHITE" => Ok(Rgb888::CSS_WHITE),
        _ => Err(format!(
            "line {line_number}: unknown color `{value}`; use `Rgb888::CSS_*` or `Rgb888::new(r, g, b)`"
        )),
    }
}

#[cfg(feature = "alloc")]
fn parse_rgb888_new_color(line_number: usize, args: &str) -> Result<Rgb888, String> {
    let args = split_args(line_number, args)?;
    if args.len() != 3 {
        return Err(format!(
            "line {line_number}: `Rgb888::new` expects 3 argument(s), got {}",
            args.len()
        ));
    }

    Ok(Rgb888::new(
        parse_u8_arg(line_number, "Rgb888::new", &args[0])?,
        parse_u8_arg(line_number, "Rgb888::new", &args[1])?,
        parse_u8_arg(line_number, "Rgb888::new", &args[2])?,
    ))
}

#[cfg(feature = "alloc")]
fn parse_u8_arg(line_number: usize, method_name: &str, value: &str) -> Result<u8, String> {
    let numeric_value: String = value
        .chars()
        .filter(|character| *character != '_')
        .collect();
    numeric_value
        .parse::<u8>()
        .map_err(|_| format!("line {line_number}: `{method_name}` argument `{value}` is not a u8"))
}

/// Emit const fn fluent DSL methods for LinkageFixed.
/// These are the simple one-step methods that work the same way for both storage types.
macro_rules! emit_fixed_step_methods {
    () => {
        // Fixed-argument methods (yaw, pitch, roll, forward, etc.)
        /// Rotate about local +Z by a fixed number of degrees.
        ///
        /// See the [canonical construction and evaluation example](LinkageFixed#fluent-operations).
        pub const fn yaw(self, degrees: f32) -> Self {
            self.push(Step::Yaw(StepArg::Fixed(degrees_to_radians(degrees))))
        }
        /// Rotate about local +Y by a fixed number of degrees.
        /// See the [canonical construction example](LinkageFixed#fluent-operations).
        pub const fn pitch(self, degrees: f32) -> Self {
            self.push(Step::Pitch(StepArg::Fixed(degrees_to_radians(degrees))))
        }
        /// Rotate about local +X by a fixed number of degrees.
        /// See the [canonical construction example](LinkageFixed#fluent-operations).
        pub const fn roll(self, degrees: f32) -> Self {
            self.push(Step::Roll(StepArg::Fixed(degrees_to_radians(degrees))))
        }
        /// Move along local +X by a fixed linkage distance.
        ///
        /// See the [canonical construction and evaluation example](LinkageFixed#fluent-operations).
        pub const fn forward(self, distance: f32) -> Self {
            self.push(Step::Forward(StepArg::Fixed(distance)))
        }
        /// Move along local +Y by a fixed linkage distance.
        /// See the [canonical construction example](LinkageFixed#fluent-operations).
        pub const fn left(self, distance: f32) -> Self {
            self.push(Step::Left(StepArg::Fixed(distance)))
        }
        /// Move along local +Z by a fixed linkage distance.
        /// See the [canonical construction example](LinkageFixed#fluent-operations).
        pub const fn up(self, distance: f32) -> Self {
            self.push(Step::Up(StepArg::Fixed(distance)))
        }
        /// Stop emitting strokes for subsequent movement.
        /// See the [canonical construction example](LinkageFixed#fluent-operations).
        pub const fn pen_up(self) -> Self {
            self.push(Step::PenUp)
        }
        /// Emit strokes for subsequent movement.
        /// See the [canonical construction example](LinkageFixed#fluent-operations).
        pub const fn pen_down(self) -> Self {
            self.push(Step::PenDown)
        }
        /// Set the color used by subsequent emitted geometry.
        /// See the [canonical construction example](LinkageFixed#fluent-operations).
        pub const fn pen_color(self, color: Rgb888) -> Self {
            self.push(Step::PenColor(color))
        }
        /// Set the stroke width in linkage units.
        /// See the [canonical construction example](LinkageFixed#fluent-operations).
        pub const fn pen_width(self, width: f32) -> Self {
            assert!(width >= 0.0, "pen width must be non-negative");
            self.push(Step::PenWidth(width))
        }
        /// Emit a filled disk with a fixed radius at the current pose.
        /// See the [canonical construction example](LinkageFixed#fluent-operations).
        pub const fn disk(self, radius: f32) -> Self {
            self.push(Step::Disk(radius))
        }
        /// Emit a sphere with a fixed radius at the current pose.
        /// See the [canonical construction example](LinkageFixed#fluent-operations).
        pub const fn sphere(self, radius: f32) -> Self {
            self.push(Step::Sphere(radius))
        }

        // Parameterized methods (yaw_param, pitch_param, etc.)
        /// Rotate about local +Z using a named parameter mapped to degrees.
        ///
        /// See the [canonical construction and evaluation example](LinkageFixed#fluent-operations).
        pub const fn yaw_param(self, name: &str, low: f32, high: f32) -> Self {
            let index = self.expect_param_index(name);
            self.push(Step::Yaw(StepArg::Variable(ParamArg::from_degrees(
                index, low, high,
            ))))
        }
        /// Rotate about local +Y using a named parameter mapped to degrees.
        /// See the [canonical construction example](LinkageFixed#fluent-operations).
        pub const fn pitch_param(self, name: &str, low: f32, high: f32) -> Self {
            let index = self.expect_param_index(name);
            self.push(Step::Pitch(StepArg::Variable(ParamArg::from_degrees(
                index, low, high,
            ))))
        }
        /// Rotate about local +X using a named parameter mapped to degrees.
        /// See the [canonical construction example](LinkageFixed#fluent-operations).
        pub const fn roll_param(self, name: &str, low: f32, high: f32) -> Self {
            let index = self.expect_param_index(name);
            self.push(Step::Roll(StepArg::Variable(ParamArg::from_degrees(
                index, low, high,
            ))))
        }
        /// Move along local +X using a named parameter mapped to distances.
        ///
        /// See the [canonical construction and evaluation example](LinkageFixed#fluent-operations).
        pub const fn forward_param(self, name: &str, low: f32, high: f32) -> Self {
            let index = self.expect_param_index(name);
            self.push(Step::Forward(StepArg::Variable(ParamArg::new(
                index, low, high,
            ))))
        }
        /// Move along local +Y using a named parameter mapped to distances.
        /// See the [canonical construction example](LinkageFixed#fluent-operations).
        pub const fn left_param(self, name: &str, low: f32, high: f32) -> Self {
            let index = self.expect_param_index(name);
            self.push(Step::Left(StepArg::Variable(ParamArg::new(
                index, low, high,
            ))))
        }
        /// Move along local +Z using a named parameter mapped to distances.
        /// See the [canonical construction example](LinkageFixed#fluent-operations).
        pub const fn up_param(self, name: &str, low: f32, high: f32) -> Self {
            let index = self.expect_param_index(name);
            self.push(Step::Up(StepArg::Variable(ParamArg::new(index, low, high))))
        }
        /// Emit a disk whose radius comes from a named parameter.
        /// See the [canonical construction example](LinkageFixed#fluent-operations).
        pub const fn disk_param(self, name: &str, low: f32, high: f32) -> Self {
            let index = self.expect_param_index(name);
            self.push(Step::DiskParam(ParamArg::new(index, low, high)))
        }
        /// Emit a sphere whose radius comes from a named parameter.
        /// See the [canonical construction example](LinkageFixed#fluent-operations).
        pub const fn sphere_param(self, name: &str, low: f32, high: f32) -> Self {
            let index = self.expect_param_index(name);
            self.push(Step::SphereParam(ParamArg::new(index, low, high)))
        }

        // Restore is an ordinary fluent DSL method. Structural extension macros
        // resize the backing array before replaying it.
        /// Restore the pose and pen state saved by an earlier named mark.
        /// See the [canonical construction example](LinkageFixed#fluent-operations).
        pub const fn restore(self, name: &'static str) -> Self {
            let index = match self.mark_index(name) {
                Some(i) => i,
                None => {
                    panic!("restore: no mark found with name (mark must be defined before restore)")
                }
            };
            self.push(Step::Restore { index })
        }
    };
}

/// Emit ordinary fn fluent DSL methods for LinkageBuf.
/// These are the simple one-step methods that work the same way for both storage types.
#[cfg(feature = "alloc")]
macro_rules! emit_buf_step_methods {
    () => {
        // Fixed-argument methods (yaw, pitch, roll, forward, etc.)
        /// Rotate about local +Z by a fixed number of degrees.
        pub fn yaw(self, degrees: f32) -> Self {
            self.push_step(Step::Yaw(StepArg::Fixed(degrees_to_radians(degrees))))
        }
        /// Rotate about local +Y by a fixed number of degrees.
        pub fn pitch(self, degrees: f32) -> Self {
            self.push_step(Step::Pitch(StepArg::Fixed(degrees_to_radians(degrees))))
        }
        /// Rotate about local +X by a fixed number of degrees.
        pub fn roll(self, degrees: f32) -> Self {
            self.push_step(Step::Roll(StepArg::Fixed(degrees_to_radians(degrees))))
        }
        /// Move along local +X by a fixed linkage distance.
        pub fn forward(self, distance: f32) -> Self {
            self.push_step(Step::Forward(StepArg::Fixed(distance)))
        }
        /// Move along local +Y by a fixed linkage distance.
        pub fn left(self, distance: f32) -> Self {
            self.push_step(Step::Left(StepArg::Fixed(distance)))
        }
        /// Move along local +Z by a fixed linkage distance.
        pub fn up(self, distance: f32) -> Self {
            self.push_step(Step::Up(StepArg::Fixed(distance)))
        }
        /// Stop emitting strokes for subsequent movement.
        pub fn pen_up(self) -> Self {
            self.push_step(Step::PenUp)
        }
        /// Emit strokes for subsequent movement.
        pub fn pen_down(self) -> Self {
            self.push_step(Step::PenDown)
        }
        /// Set the color used by subsequent emitted geometry.
        pub fn pen_color(self, color: Rgb888) -> Self {
            self.push_step(Step::PenColor(color))
        }
        /// Set the stroke width in linkage units.
        pub fn pen_width(self, width: f32) -> Self {
            assert!(width >= 0.0, "pen width must be non-negative");
            self.push_step(Step::PenWidth(width))
        }
        /// Emit a filled disk with a fixed radius at the current pose.
        pub fn disk(self, radius: f32) -> Self {
            self.push_step(Step::Disk(radius))
        }
        /// Emit a sphere with a fixed radius at the current pose.
        pub fn sphere(self, radius: f32) -> Self {
            self.push_step(Step::Sphere(radius))
        }

        // Parameterized methods (yaw_param, pitch_param, etc.)
        /// Rotate about local +Z using a named parameter mapped to degrees.
        pub fn yaw_param(self, name: &str, low: f32, high: f32) -> Self {
            let index = self.expect_param_index(name);
            self.push_step(Step::Yaw(StepArg::Variable(ParamArg::from_degrees(
                index, low, high,
            ))))
        }
        /// Rotate about local +Y using a named parameter mapped to degrees.
        pub fn pitch_param(self, name: &str, low: f32, high: f32) -> Self {
            let index = self.expect_param_index(name);
            self.push_step(Step::Pitch(StepArg::Variable(ParamArg::from_degrees(
                index, low, high,
            ))))
        }
        /// Rotate about local +X using a named parameter mapped to degrees.
        pub fn roll_param(self, name: &str, low: f32, high: f32) -> Self {
            let index = self.expect_param_index(name);
            self.push_step(Step::Roll(StepArg::Variable(ParamArg::from_degrees(
                index, low, high,
            ))))
        }
        /// Move along local +X using a named parameter mapped to distances.
        pub fn forward_param(self, name: &str, low: f32, high: f32) -> Self {
            let index = self.expect_param_index(name);
            self.push_step(Step::Forward(StepArg::Variable(ParamArg::new(
                index, low, high,
            ))))
        }
        /// Move along local +Y using a named parameter mapped to distances.
        pub fn left_param(self, name: &str, low: f32, high: f32) -> Self {
            let index = self.expect_param_index(name);
            self.push_step(Step::Left(StepArg::Variable(ParamArg::new(
                index, low, high,
            ))))
        }
        /// Move along local +Z using a named parameter mapped to distances.
        pub fn up_param(self, name: &str, low: f32, high: f32) -> Self {
            let index = self.expect_param_index(name);
            self.push_step(Step::Up(StepArg::Variable(ParamArg::new(index, low, high))))
        }
        /// Emit a disk whose radius comes from a named parameter.
        pub fn disk_param(self, name: &str, low: f32, high: f32) -> Self {
            let index = self.expect_param_index(name);
            self.push_step(Step::DiskParam(ParamArg::new(index, low, high)))
        }
        /// Emit a sphere whose radius comes from a named parameter.
        pub fn sphere_param(self, name: &str, low: f32, high: f32) -> Self {
            let index = self.expect_param_index(name);
            self.push_step(Step::SphereParam(ParamArg::new(index, low, high)))
        }

        // Restore methods - handled specially for LinkageBuf
    };
}

/// Const-only builder used by the linkage include macros to measure a linkage
/// before allocating its exact fixed storage.
#[doc(hidden)]
pub struct LinkageStepCount {
    step_count: usize,
    param_count: usize,
    mark_count: usize,
}

impl LinkageStepCount {
    /// Start a measured linkage with its implicit origin step.
    pub const fn start() -> Self {
        Self {
            step_count: 1,
            param_count: 0,
            mark_count: 0,
        }
    }

    /// Return the number of steps emitted by the linkage DSL.
    pub const fn step_count(self) -> usize {
        self.step_count
    }

    /// Number of parameter definitions encountered during measurement.
    pub const fn param_count(self) -> usize {
        self.param_count
    }

    /// Number of mark calls encountered during measurement.
    pub const fn mark_count(self) -> usize {
        self.mark_count
    }

    const fn push(mut self) -> Self {
        self.step_count += 1;
        self
    }

    pub const fn define_param(mut self, _name: &'static str, _default: f32) -> Self {
        self.param_count += 1;
        self
    }

    pub const fn mark(mut self, _name: &'static str) -> Self {
        self.mark_count += 1;
        self.push()
    }

    pub const fn restore(self, _name: &'static str) -> Self {
        self.push()
    }

    pub const fn yaw(self, _degrees: f32) -> Self {
        self.push()
    }
    pub const fn pitch(self, _degrees: f32) -> Self {
        self.push()
    }
    pub const fn roll(self, _degrees: f32) -> Self {
        self.push()
    }
    pub const fn forward(self, _distance: f32) -> Self {
        self.push()
    }
    pub const fn left(self, _distance: f32) -> Self {
        self.push()
    }
    pub const fn up(self, _distance: f32) -> Self {
        self.push()
    }
    pub const fn pen_up(self) -> Self {
        self.push()
    }
    pub const fn pen_down(self) -> Self {
        self.push()
    }
    pub const fn pen_color(self, _color: Rgb888) -> Self {
        self.push()
    }
    pub const fn pen_width(self, _width: f32) -> Self {
        self.push()
    }
    pub const fn disk(self, _radius: f32) -> Self {
        self.push()
    }
    pub const fn sphere(self, _radius: f32) -> Self {
        self.push()
    }
    pub const fn yaw_param(self, _name: &str, _low: f32, _high: f32) -> Self {
        self.push()
    }
    pub const fn pitch_param(self, _name: &str, _low: f32, _high: f32) -> Self {
        self.push()
    }
    pub const fn roll_param(self, _name: &str, _low: f32, _high: f32) -> Self {
        self.push()
    }
    pub const fn forward_param(self, _name: &str, _low: f32, _high: f32) -> Self {
        self.push()
    }
    pub const fn left_param(self, _name: &str, _low: f32, _high: f32) -> Self {
        self.push()
    }
    pub const fn up_param(self, _name: &str, _low: f32, _high: f32) -> Self {
        self.push()
    }
    pub const fn disk_param(self, _name: &str, _low: f32, _high: f32) -> Self {
        self.push()
    }
    pub const fn sphere_param(self, _name: &str, _low: f32, _high: f32) -> Self {
        self.push()
    }
}

/// An allocation-free linkage with compile-time-fixed capacities.
///
/// `LinkageFixed` stores linkage steps and parameters in fixed-size arrays,
/// enabling `const` construction and evaluation without allocation. Use the
/// fluent DSL methods to define a linkage in firmware or other `no_std` code.
///
/// The three const capacities are independent: `DOF` is the number of runtime
/// parameters, `MARKS` is the number of named pose slots, and `N` is the step
/// storage capacity. `N` includes the implicit [`Step::Start`] step; the active
/// count is [`step_count`](Self::step_count). There is no built-in 256-step
/// limit: choose `N` for the asset, or let [`linkage_file!`] measure an external
/// `.lb.rs` asset and generate the fixed storage.
///
/// Use [`LinkageFixed`] directly for small source-defined linkages. Use
/// [`linkage_file!`] for a saved linkage asset, then obtain its
/// [`LinkageView`] for evaluation and rendering. The canonical example below
/// shows construction, parameter evaluation, marks, and visible geometry.
///
/// # Fluent operations
///
/// This compact example exercises the fixed and parameterized construction methods.
///
/// ```rust
/// # use linkage_blaze::{LinkageFixed, Rgb888};
/// const LINKAGE: LinkageFixed<1, 1, 32> = LinkageFixed::start()
///     .define_param("value", 0.5)
///     .yaw(15.0)
///     .pitch(5.0)
///     .roll(2.0)
///     .forward(1.0)
///     .left(1.0)
///     .up(1.0)
///     .pen_up()
///     .pen_down()
///     .pen_color(Rgb888::new(0, 0, 255))
///     .pen_width(0.25)
///     .disk(0.25)
///     .sphere(0.5)
///     .yaw_param("value", -15.0, 15.0)
///     .pitch_param("value", -5.0, 5.0)
///     .roll_param("value", -2.0, 2.0)
///     .forward_param("value", 0.0, 1.0)
///     .left_param("value", 0.0, 1.0)
///     .up_param("value", 0.0, 1.0)
///     .disk_param("value", 0.1, 0.5)
///     .sphere_param("value", 0.1, 0.5)
///     .mark("saved")
///     .restore("saved");
/// assert!(LINKAGE.step_count() > 1);
/// ```
///
/// # Canonical construction and evaluation
///
/// ```rust
/// # use linkage_blaze::{LinkageFixed, Rgb888, Vec3};
/// const LINKAGE: LinkageFixed<1, 1, 8> = LinkageFixed::start()
///     .define_param("reach", 0.5)
///     .forward_param("reach", 1.0, 3.0)
///     .mark("tip")
///     .pen_color(Rgb888::new(0, 0, 255))
///     .disk(0.25);
/// const ACTIVE_STEPS: usize = LINKAGE.step_count();
/// const _: () = assert!(ACTIVE_STEPS < LinkageFixed::<1, 1, 8>::N);
/// const _: () = assert!(LinkageFixed::<1, 1, 8>::DOF == 1);
/// const _: () = assert!(LinkageFixed::<1, 1, 8>::MARKS == 1);
///
/// # fn main() -> Result<(), linkage_blaze::Error> {
/// let view = LINKAGE.view();
/// let params = [0.5];
/// let mut items = view.draw_items_3d(&params)?;
/// while items.next().is_some() {}
/// let final_pose = items.final_pose();
/// assert!(final_pose.position().is_close_to(&Vec3::from([2.0, 0.0, 0.0]), 1e-5));
/// let marked_pose = items.pose_by_mark_name("tip")?;
/// assert!(marked_pose.position().is_close_to(&Vec3::from([2.0, 0.0, 0.0]), 1e-5));
/// assert_eq!(view.draw_item_3d_count(), 2);
/// # Ok(())
/// # }
/// ```
///
/// Parameter indexes are identities. Parameter names are labels/selectors and may
/// be duplicated. Use `freeze_param_index` and `retain_param_indexes` for precise
/// specialization. Name-based freezing requires exactly one matching parameter,
/// while name-based retaining keeps all slots matching each requested name. Freeze
/// raw values are operation values, not normalized slider values: rotations use
/// degrees, and distances/radii use linkage units.
pub struct LinkageFixed<const DOF: usize, const MARKS: usize, const N: usize> {
    steps: [Step; N],
    len: usize,
    params: [Param; DOF],
    param_len: usize,
    mark_names: [&'static str; MARKS],
    mark_len: usize,
}

impl<const DOF: usize, const MARKS: usize, const N: usize> LinkageFixed<DOF, MARKS, N> {
    /// Start a fixed-size linkage with an implicit origin row.
    ///
    /// See the [canonical construction and evaluation example](#canonical-construction-and-evaluation).
    pub const fn start() -> Self {
        assert!(N > 0, "linkage must have room for the implicit start step");
        Self {
            steps: [const { Step::Start }; N],
            len: 1,
            params: [Param::EMPTY; DOF],
            param_len: 0,
            mark_names: [""; MARKS],
            mark_len: 0,
        }
    }

    /// Number of runtime parameters this linkage expects (`DOF`).
    ///
    /// See the [canonical construction and evaluation example](#canonical-construction-and-evaluation).
    pub const DOF: usize = DOF;

    /// Step-slot capacity of this linkage (`N`), including the implicit start step.
    ///
    /// See the [capacity example](#canonical-construction-and-evaluation).
    pub const N: usize = N;

    /// Mark-slot capacity of this linkage (`MARKS`).
    ///
    /// See the [capacity example](#canonical-construction-and-evaluation).
    pub const MARKS: usize = MARKS;

    /// Create a borrowed view for evaluation and rendering.
    ///
    /// The view erases step capacity `N` while preserving linkage-parameter
    /// count `DOF`.
    /// All evaluation methods (poses, draw_items_3d, etc.) operate on the view.
    ///
    /// See the [canonical construction and evaluation example](#canonical-construction-and-evaluation).
    #[must_use]
    #[inline]
    pub const fn view(&self) -> LinkageView<'_, DOF, MARKS> {
        LinkageView::new(
            &self.params,
            self.steps.split_at(self.len).0,
            &self.mark_names,
            self.mark_len,
        )
    }

    /// Return the number of runtime parameters this linkage expects.
    ///
    /// See the [canonical construction and evaluation example](#canonical-construction-and-evaluation).
    #[must_use]
    pub const fn dof(&self) -> usize {
        DOF
    }

    /// Return the number of steps actually used (including the implicit start step).
    ///
    /// Use this to discover the correct `N` after building with an oversized capacity.
    ///
    /// See the [capacity example](#canonical-construction-and-evaluation).
    #[must_use]
    pub const fn step_count(&self) -> usize {
        self.len
    }

    /// Return the active step count.
    #[doc(hidden)]
    pub const fn len(&self) -> usize {
        self.len
    }

    /// Return whether this linkage has no active steps.
    #[doc(hidden)]
    #[must_use]
    pub const fn is_empty(&self) -> bool {
        self.len == 0
    }

    /// Return the number of parameters actually defined.
    ///
    /// This is useful when discovering capacities from an intentionally oversized
    /// declaration; `linkage_file!` performs the same measurement for assets.
    ///
    /// Use this to discover the correct `DOF` after building with an oversized capacity.
    ///
    /// See the [capacity example](#canonical-construction-and-evaluation).
    #[must_use]
    pub const fn param_count(&self) -> usize {
        self.param_len
    }

    /// Return the number of distinct mark names actually used.
    ///
    /// Use this to discover the correct `MARKS` after building with an oversized capacity.
    ///
    /// See the [capacity example](#canonical-construction-and-evaluation).
    #[must_use]
    pub const fn mark_count(&self) -> usize {
        self.mark_len
    }

    /// Define a named runtime parameter.
    ///
    /// Duplicate names are allowed; later definitions shadow earlier ones when
    /// a DSL method like `yaw_param` looks up the name.
    ///
    /// See the [canonical construction and evaluation example](LinkageFixed#canonical-construction-and-evaluation).
    pub const fn define_param(mut self, name: &'static str, default: f32) -> Self {
        assert!(
            self.param_len < DOF,
            "DOF is too small; use a large DOF then call .param_count() to find the exact value"
        );
        assert!(default >= 0.0, "parameter default must be at least 0.0");
        assert!(default <= 1.0, "parameter default must be at most 1.0");
        self.params[self.param_len] = Param { name, default };
        self.param_len += 1;
        self
    }

    // ── Fluent DSL methods (generated from emit_fixed_step_methods macro) ──
    // To add a new simple step method, edit the macro, not this impl block.
    emit_fixed_step_methods!();

    /// Save the current pose and pen state under a name for later recall.
    ///
    /// See the [canonical construction and evaluation example](LinkageFixed#canonical-construction-and-evaluation).
    pub const fn mark(mut self, name: &'static str) -> Self {
        let index = match self.mark_index(name) {
            Some(index) => index,
            None => {
                assert!(
                    self.mark_len < MARKS,
                    "MARKS is too small; use a large MARKS then call .mark_count() to find the exact value"
                );
                let index = self.mark_len;
                self.mark_names[index] = name;
                self.mark_len += 1;
                index
            }
        };
        self.push(Step::Mark { index })
    }

    const fn mark_index(&self, name: &str) -> Option<usize> {
        let mut mark_index = 0;
        while mark_index < self.mark_len {
            if str_eq(self.mark_names[mark_index], name) {
                return Some(mark_index);
            }
            mark_index += 1;
        }
        None
    }

    const fn push(mut self, step: Step) -> Self {
        assert!(
            self.len < N,
            "N is too small; use a large N then call .step_count() to find the exact value"
        );
        self.steps[self.len] = step;
        self.len += 1;
        self
    }

    /// Return the index of the most recently defined parameter with the given name.
    ///
    /// Scans backwards so the most recently defined definition wins (shadowing).
    const fn last_param_index(&self, name: &str) -> Option<usize> {
        let mut i = self.param_len;
        while i > 0 {
            i -= 1;
            if str_eq(self.params[i].name, name) {
                return Some(i);
            }
        }
        None
    }

    const fn expect_param_index(&self, name: &str) -> usize {
        match self.last_param_index(name) {
            Some(index) => index,
            None => panic!("unknown parameter name"),
        }
    }

    /// Freeze exactly one parameter slot by index at a raw operation value.
    ///
    /// Parameter indexes are identities. Parameter names are labels and may be
    /// duplicated. `raw_value` is the fixed operation value, not a normalized
    /// slider value: rotations use degrees, while translations, radii, and widths
    /// use linkage units. The raw value must be inside every referenced step range
    /// for this slot; out-of-range values panic, including during const evaluation.
    ///
    /// # Examples
    ///
    /// ```rust
    /// # use linkage_blaze::LinkageFixed;
    /// const LINKAGE: LinkageFixed<2, 0, 6> = LinkageFixed::start()
    ///     .define_param("angle", 0.5)
    ///     .define_param("distance", 0.5)
    ///     .yaw_param("angle", -180.0, 180.0)
    ///     .forward_param("distance", 0.0, 10.0);
    ///
    /// const FROZEN: LinkageFixed<1, 0, 6> = LINKAGE.freeze_param_index(0, 90.0);
    /// ```
    pub const fn freeze_param_index<const OUT_DOF: usize>(
        self,
        param_index: usize,
        raw_value: f32,
    ) -> LinkageFixed<OUT_DOF, MARKS, N> {
        let mut is_frozen = [false; DOF];
        let frozen_at_default = [false; DOF];
        let mut frozen_raw = [0.0f32; DOF];

        assert!(
            param_index < self.param_len,
            "freeze param index out of bounds"
        );
        is_frozen[param_index] = true;
        frozen_raw[param_index] = raw_value;

        self.freeze_with_map(is_frozen, frozen_at_default, frozen_raw)
    }

    /// Freeze the uniquely named parameter slot at a raw operation value.
    ///
    /// This is a convenience selector over [`freeze_param_index`](Self::freeze_param_index).
    /// It panics if no parameter has `name`, or if more than one parameter has
    /// that name. Use index-based freezing when names are duplicated.
    ///
    /// # Examples
    ///
    /// ```rust
    /// # use linkage_blaze::LinkageFixed;
    /// const LINKAGE: LinkageFixed<2, 0, 6> = LinkageFixed::start()
    ///     .define_param("angle", 0.5)
    ///     .define_param("distance", 0.5)
    ///     .yaw_param("angle", -180.0, 180.0)
    ///     .forward_param("distance", 0.0, 10.0);
    ///
    /// const FROZEN: LinkageFixed<1, 0, 6> = LINKAGE.freeze_param_name("angle", 90.0);
    /// ```
    pub const fn freeze_param_name<const OUT_DOF: usize>(
        self,
        name: &'static str,
        raw_value: f32,
    ) -> LinkageFixed<OUT_DOF, MARKS, N> {
        let mut found_index = 0usize;
        let mut found_count = 0usize;
        let mut param_index = 0;
        while param_index < self.param_len {
            if str_eq(self.params[param_index].name, name) {
                found_index = param_index;
                found_count += 1;
            }
            param_index += 1;
        }
        assert!(found_count > 0, "freeze name not found in params");
        assert!(found_count == 1, "freeze name is ambiguous");

        self.freeze_param_index(found_index, raw_value)
    }

    /// Freeze exactly one parameter slot by index at its normalized default.
    ///
    /// This is useful for specialization from declared defaults. Unlike
    /// [`freeze_param_index`](Self::freeze_param_index), one default-normalized
    /// parameter can legally feed steps with different raw ranges.
    ///
    /// See the [parameter specialization example](Self::freeze_param_index).
    pub const fn freeze_param_index_at_default<const OUT_DOF: usize>(
        self,
        param_index: usize,
    ) -> LinkageFixed<OUT_DOF, MARKS, N> {
        let mut is_frozen = [false; DOF];
        let mut frozen_at_default = [false; DOF];
        let frozen_raw = [0.0f32; DOF];

        assert!(
            param_index < self.param_len,
            "freeze param index out of bounds"
        );
        is_frozen[param_index] = true;
        frozen_at_default[param_index] = true;

        self.freeze_with_map(is_frozen, frozen_at_default, frozen_raw)
    }

    /// Retain exactly the listed parameter slots and freeze all others at their defaults.
    ///
    /// Retained slots are reindexed densely in original parameter-slot order, not
    /// caller-list order. Duplicate indexes and out-of-bounds indexes panic.
    ///
    /// See the [parameter specialization example](Self::retain_param_indexes).
    ///
    /// # Examples
    ///
    /// ```rust
    /// # use linkage_blaze::LinkageFixed;
    /// const LINKAGE: LinkageFixed<3, 0, 8> = LinkageFixed::start()
    ///     .define_param("angle", 0.5)
    ///     .define_param("pitch", 0.5)
    ///     .define_param("distance", 0.5)
    ///     .yaw_param("angle", -180.0, 180.0)
    ///     .pitch_param("pitch", -90.0, 90.0)
    ///     .forward_param("distance", 0.0, 10.0);
    ///
    /// const RETAINED: LinkageFixed<1, 0, 8> = LINKAGE.retain_param_indexes(&[2]);
    /// ```
    pub const fn retain_param_indexes<const OUT_DOF: usize>(
        self,
        indexes: &[usize],
    ) -> LinkageFixed<OUT_DOF, MARKS, N> {
        let mut index_index = 0;
        while index_index < indexes.len() {
            let retain_index = indexes[index_index];
            assert!(
                retain_index < self.param_len,
                "retain param index out of bounds"
            );
            let mut previous_index = 0;
            while previous_index < index_index {
                assert!(
                    indexes[previous_index] != retain_index,
                    "duplicate index in retain list"
                );
                previous_index += 1;
            }
            index_index += 1;
        }

        let mut is_frozen = [false; DOF];
        let mut frozen_at_default = [false; DOF];
        let frozen_raw = [0.0f32; DOF];

        let mut param_index = 0;
        while param_index < self.param_len {
            let mut found = false;
            let mut index_index = 0;
            while index_index < indexes.len() {
                if param_index == indexes[index_index] {
                    found = true;
                    break;
                }
                index_index += 1;
            }
            if !found {
                is_frozen[param_index] = true;
                frozen_at_default[param_index] = true;
            }
            param_index += 1;
        }

        self.freeze_with_map(is_frozen, frozen_at_default, frozen_raw)
    }

    /// Retain parameters selected by name and freeze all others at their defaults.
    ///
    /// Each requested name must exist. If a requested name matches multiple
    /// parameter slots, all matching slots are retained. Duplicate names in the
    /// requested name list panic.
    ///
    /// See the [parameter specialization example](Self::retain_param_indexes).
    pub const fn retain_param_names<const OUT_DOF: usize>(
        self,
        names: &[&'static str],
    ) -> LinkageFixed<OUT_DOF, MARKS, N> {
        let mut name_index = 0;
        while name_index < names.len() {
            let retain_name = names[name_index];
            let mut previous_name_index = 0;
            while previous_name_index < name_index {
                assert!(
                    !str_eq(names[previous_name_index], retain_name),
                    "duplicate name in retain list"
                );
                previous_name_index += 1;
            }

            let mut found = false;
            let mut param_index = 0;
            while param_index < self.param_len {
                if str_eq(self.params[param_index].name, retain_name) {
                    found = true;
                    break;
                }
                param_index += 1;
            }
            assert!(found, "retain name not found in params");
            name_index += 1;
        }

        let mut is_frozen = [false; DOF];
        let mut frozen_at_default = [false; DOF];
        let frozen_raw = [0.0f32; DOF];

        let mut param_index = 0;
        while param_index < self.param_len {
            let mut found = false;
            let mut name_index = 0;
            while name_index < names.len() {
                if str_eq(self.params[param_index].name, names[name_index]) {
                    found = true;
                    break;
                }
                name_index += 1;
            }
            if !found {
                is_frozen[param_index] = true;
                frozen_at_default[param_index] = true;
            }
            param_index += 1;
        }

        self.freeze_with_map(is_frozen, frozen_at_default, frozen_raw)
    }

    const fn freeze_with_map<const OUT_DOF: usize>(
        self,
        is_frozen: [bool; DOF],
        frozen_at_default: [bool; DOF],
        frozen_raw: [f32; DOF],
    ) -> LinkageFixed<OUT_DOF, MARKS, N> {
        let mut new_param_index = [0usize; DOF];
        let mut new_param_len = 0usize;

        let mut param_index = 0;
        while param_index < self.param_len {
            if !is_frozen[param_index] {
                new_param_index[param_index] = new_param_len;
                new_param_len += 1;
            }
            param_index += 1;
        }

        assert!(
            new_param_len == OUT_DOF,
            "OUT_DOF must equal DOF minus the number of frozen parameters"
        );

        let mut out = LinkageFixed {
            steps: [const { Step::Start }; N],
            len: 0,
            params: [Param::EMPTY; OUT_DOF],
            param_len: 0,
            mark_names: [""; MARKS],
            mark_len: self.mark_len,
        };

        let mut mark_index = 0;
        while mark_index < self.mark_len {
            out.mark_names[mark_index] = self.mark_names[mark_index];
            mark_index += 1;
        }

        let mut param_index = 0;
        while param_index < self.param_len {
            if !is_frozen[param_index] {
                out.params[new_param_index[param_index]] = self.params[param_index];
                out.param_len += 1;
            }
            param_index += 1;
        }

        let mut step_index = 0;
        while step_index < self.len {
            out.steps[step_index] = rewrite_step_for_freeze(
                self.steps[step_index],
                &is_frozen,
                &frozen_at_default,
                &frozen_raw,
                &self.params,
                &new_param_index,
            );
            step_index += 1;
        }
        out.len = self.len;

        out.strip_fixed_noops_same_capacity()
            .merge_adjacent_fixed_same_capacity()
            .strip_fixed_noops_same_capacity()
    }

    /// Resize backing storage to the active step count.
    //
    // This is public only because exported declarative macros expand in downstream crates.
    #[doc(hidden)]
    /// Materialize fixed storage for macros that accept either a view or fixed input.
    #[doc(hidden)]
    const fn strip_fixed_noops_same_capacity(self) -> Self {
        let mut out_steps = [const { Step::Start }; N];
        let mut out_len = 0usize;
        let mut step_index = 0;
        while step_index < self.len {
            let step = self.steps[step_index];
            if !is_fixed_noop(step) {
                out_steps[out_len] = step;
                out_len += 1;
            }
            step_index += 1;
        }
        Self {
            steps: out_steps,
            len: out_len,
            params: self.params,
            param_len: self.param_len,
            mark_names: self.mark_names,
            mark_len: self.mark_len,
        }
    }

    const fn merge_adjacent_fixed_same_capacity(self) -> Self {
        let mut out_steps = [const { Step::Start }; N];
        let mut out_len = 0usize;
        let mut i = 0;
        while i < self.len {
            let step = self.steps[i];
            i += 1;
            let merged = match step {
                Step::Yaw(StepArg::Fixed(v)) => {
                    let mut total = v;
                    while i < self.len {
                        if let Step::Yaw(StepArg::Fixed(v2)) = self.steps[i] {
                            total += v2;
                            i += 1;
                        } else {
                            break;
                        }
                    }
                    Step::Yaw(StepArg::Fixed(total))
                }
                Step::Pitch(StepArg::Fixed(v)) => {
                    let mut total = v;
                    while i < self.len {
                        if let Step::Pitch(StepArg::Fixed(v2)) = self.steps[i] {
                            total += v2;
                            i += 1;
                        } else {
                            break;
                        }
                    }
                    Step::Pitch(StepArg::Fixed(total))
                }
                Step::Roll(StepArg::Fixed(v)) => {
                    let mut total = v;
                    while i < self.len {
                        if let Step::Roll(StepArg::Fixed(v2)) = self.steps[i] {
                            total += v2;
                            i += 1;
                        } else {
                            break;
                        }
                    }
                    Step::Roll(StepArg::Fixed(total))
                }
                Step::Forward(StepArg::Fixed(v)) => {
                    let mut total = v;
                    while i < self.len {
                        if let Step::Forward(StepArg::Fixed(v2)) = self.steps[i] {
                            total += v2;
                            i += 1;
                        } else {
                            break;
                        }
                    }
                    Step::Forward(StepArg::Fixed(total))
                }
                Step::Left(StepArg::Fixed(v)) => {
                    let mut total = v;
                    while i < self.len {
                        if let Step::Left(StepArg::Fixed(v2)) = self.steps[i] {
                            total += v2;
                            i += 1;
                        } else {
                            break;
                        }
                    }
                    Step::Left(StepArg::Fixed(total))
                }
                Step::Up(StepArg::Fixed(v)) => {
                    let mut total = v;
                    while i < self.len {
                        if let Step::Up(StepArg::Fixed(v2)) = self.steps[i] {
                            total += v2;
                            i += 1;
                        } else {
                            break;
                        }
                    }
                    Step::Up(StepArg::Fixed(total))
                }
                other => other,
            };
            out_steps[out_len] = merged;
            out_len += 1;
        }
        Self {
            steps: out_steps,
            len: out_len,
            params: self.params,
            param_len: self.param_len,
            mark_names: self.mark_names,
            mark_len: self.mark_len,
        }
    }

    /// Append another linkage's steps after this one's, merging their parameters.
    ///
    /// The caller must supply the output sizes as const generics since Rust cannot
    /// compute `DOF + DOF2` as a const expression yet — follow the same pattern as
    /// `LedLayout::combine_h`. A compile-time assertion verifies the sizes are correct.
    ///
    /// The `other` linkage's implicit `Start` step is skipped so evaluation continues
    /// from wherever `self` ends rather than resetting to the origin.
    ///
    /// For a complete construction and evaluation route, see the
    /// [canonical example](LinkageFixed#canonical-construction-and-evaluation).
    ///
    /// # Examples
    ///
    /// ```rust
    /// # use linkage_blaze::{LinkageFixed, Vec3};
    /// const FIRST: LinkageFixed<0, 0, 4> = LinkageFixed::start().forward(1.0);
    /// const SECOND: LinkageFixed<0, 0, 4> = LinkageFixed::start().left(2.0);
    /// const COMBINED: LinkageFixed<0, 0, 8> = FIRST.combine(SECOND.view());
    /// # fn main() -> Result<(), linkage_blaze::Error> {
    /// let pose = COMBINED.view().final_pose(&[])?;
    /// assert!(pose.position().is_close_to(&Vec3::from([1.0, 2.0, 0.0]), 1e-5));
    /// # Ok(())
    /// # }
    /// ```
    pub const fn combine<
        const DOF2: usize,
        const MARKS2: usize,
        const DOF_OUT: usize,
        const MARKS_OUT: usize,
        const N_OUT: usize,
    >(
        self,
        other: LinkageView<'_, DOF2, MARKS2>,
    ) -> LinkageFixed<DOF_OUT, MARKS_OUT, N_OUT> {
        self.view().combine_fixed(other)
    }
}

#[cfg(feature = "alloc")]
/// An allocator-backed, growable linkage buffer for runtime construction or parsing.
///
/// `LinkageBuf` stores linkage steps in a [`Vec`] and parameters in an array,
/// allowing dynamic growth at runtime. Unlike [`LinkageFixed`], construction is not `const`,
/// but the fluent DSL methods and evaluation interface are identical.
///
/// **Note:** `LinkageBuf` requires the `alloc` feature. Enable it in `Cargo.toml`:
/// ```toml
/// linkage-blaze = { features = ["alloc"] }
/// ```
///
/// Use [`LinkageBuf::start()`] to begin a linkage expression, then chain fluent DSL methods to extend
/// it. Call [`view()`](LinkageBuf::view) to create a borrowed view for evaluation and rendering.
///
/// # Building linkage expressions
///
/// ```rust
/// # use linkage_blaze::{LinkageBuf, Vec3};
/// # fn main() -> Result<(), linkage_blaze::Error> {
/// let linkage: LinkageBuf<1, 0> = LinkageBuf::start()
///     .define_param("distance", 0.5)
///     .forward_param("distance", 1.0, 5.0);
///
/// let pose = linkage.view().final_pose(&[0.5])?;
/// assert!(pose.position().is_close_to(&Vec3::from([3.0, 0.0, 0.0]), 1e-5));
/// # Ok(())
/// # }
/// ```
///
/// # Converting from fixed storage
///
/// ```rust
/// # use linkage_blaze::{LinkageFixed, LinkageBuf, Vec3};
/// # fn main() -> Result<(), linkage_blaze::Error> {
/// const FIXED: LinkageFixed<1, 0, 8> = LinkageFixed::start()
///     .define_param("distance", 0.5)
///     .forward_param("distance", 1.0, 5.0);
///
/// let buf = LinkageBuf::from(&FIXED);
/// let pose = buf.view().final_pose(&[0.5])?;
/// assert!(pose.position().is_close_to(&Vec3::from([3.0, 0.0, 0.0]), 1e-5));
/// # Ok(())
/// # }
/// ```
#[derive(Clone)]
pub struct LinkageBuf<const DOF: usize, const MARKS: usize> {
    params: [Param; DOF],
    param_len: usize,
    steps: alloc::vec::Vec<Step>,
    mark_names: [&'static str; MARKS],
    mark_len: usize,
}

#[cfg(feature = "alloc")]
impl<const DOF: usize, const MARKS: usize> LinkageBuf<DOF, MARKS> {
    /// Start a growable linkage with an implicit origin.
    ///
    /// See the [building linkage expressions example](LinkageBuf#building-linkage-expressions).
    pub fn start() -> Self {
        Self {
            params: [Param::EMPTY; DOF],
            param_len: 0,
            steps: alloc::vec![Step::Start],
            mark_names: [""; MARKS],
            mark_len: 0,
        }
    }

    /// Parse `.lb.rs` source into a growable linkage.
    ///
    /// Accepts the editor format with a leading `linkage![` or `linkage! [` wrapper
    /// and a trailing `]`, plus the fluent leading-dot method calls used by the
    /// linkage DSL.
    ///
    /// For a saved external asset, prefer [`linkage_file!`].
    pub fn from_lb_rs(source: &str) -> Result<Self, String> {
        parse_lb_rs(source)
    }

    /// Number of runtime parameters this linkage expects.
    pub const DOF: usize = DOF;

    /// Mark-slot capacity of this linkage.
    pub const MARKS: usize = MARKS;

    /// Create a borrowed view for evaluation and rendering.
    ///
    /// The view erases step capacity while preserving linkage-parameter count
    /// `DOF`.
    /// All evaluation methods (poses, draw_items_3d, etc.) operate on the view.
    ///
    /// See the [building linkage expressions example](LinkageBuf#building-linkage-expressions).
    #[must_use]
    #[inline]
    pub fn view(&self) -> LinkageView<'_, DOF, MARKS> {
        LinkageView::new(&self.params, &self.steps, &self.mark_names, self.mark_len)
    }

    /// Define a named runtime parameter, extending the linkage expression.
    ///
    /// Duplicate names are allowed; later definitions shadow earlier ones when
    /// a DSL method like `yaw_param` looks up the name.
    pub fn define_param(mut self, name: &'static str, default: f32) -> Self {
        assert!(self.param_len < DOF, "linkage has more params than DOF");
        assert!(default >= 0.0, "parameter default must be at least 0.0");
        assert!(default <= 1.0, "parameter default must be at most 1.0");
        self.params[self.param_len] = Param { name, default };
        self.param_len += 1;
        self
    }

    // ── Fluent DSL methods (generated from emit_buf_step_methods macro) ──
    // To add a new simple step method, edit the macro, not this impl block.
    emit_buf_step_methods!();

    /// Save the current pose and pen state under a name for later recall.
    pub fn mark(mut self, name: &'static str) -> Self {
        let index = match self.mark_index(name) {
            Some(index) => index,
            None => {
                assert!(self.mark_len < MARKS, "linkage has more marks than MARKS");
                let index = self.mark_len;
                self.mark_names[index] = name;
                self.mark_len += 1;
                index
            }
        };
        self.push_step_internal(Step::Mark { index });
        self
    }

    /// Restore a previously marked pose and pen state.
    /// Resolves `name` at build time using last-definition-wins (shadowing) semantics.
    pub fn restore(self, name: &'static str) -> Self {
        let index = match self.mark_index(name) {
            Some(i) => i,
            None => {
                panic!("restore: no mark found with name (mark must be defined before restore)")
            }
        };
        self.push_step(Step::Restore { index })
    }

    fn push_step(mut self, step: Step) -> Self {
        self.steps.push(step);
        self
    }

    fn push_step_internal(&mut self, step: Step) {
        self.steps.push(step);
    }

    fn mark_index(&self, name: &str) -> Option<usize> {
        let mut mark_index = 0;
        while mark_index < self.mark_len {
            if str_eq(self.mark_names[mark_index], name) {
                return Some(mark_index);
            }
            mark_index += 1;
        }
        None
    }

    fn last_param_index(&self, name: &str) -> Option<usize> {
        let mut i = self.param_len;
        while i > 0 {
            i -= 1;
            if str_eq(self.params[i].name, name) {
                return Some(i);
            }
        }
        None
    }

    fn expect_param_index(&self, name: &str) -> usize {
        match self.last_param_index(name) {
            Some(index) => index,
            None => panic!("unknown parameter name"),
        }
    }

    /// Combine a borrowed linkage view into this buffer.
    ///
    /// The receiver is consumed, while the right input is copied. The output
    /// annotation supplies the combined parameter and mark capacities.
    ///
    /// # Panics
    ///
    /// Panics if `DOF_OUT != DOF + DOF2`.
    ///
    /// # Examples
    ///
    /// ```rust
    /// # use linkage_blaze::{LinkageBuf, Vec3};
    /// # fn main() -> Result<(), linkage_blaze::Error> {
    /// let a = LinkageBuf::<1, 0>::start()
    ///     .define_param("x", 0.5)
    ///     .forward_param("x", 0.0, 10.0);
    ///
    /// let b = LinkageBuf::<1, 0>::start()
    ///     .define_param("y", 0.5)
    ///     .left_param("y", 0.0, 5.0);
    ///
    /// // The output annotation supplies the combined DOF and mark capacities.
    /// let c: LinkageBuf<2, 0> = a.combine(b.view());
    /// let params = [0.5, 0.5];
    /// let pose = c.view().final_pose(&params)?;
    /// # Ok(())
    /// # }
    /// ```
    pub fn combine<
        const DOF2: usize,
        const MARKS2: usize,
        const DOF_OUT: usize,
        const MARKS_OUT: usize,
    >(
        self,
        other: LinkageView<'_, DOF2, MARKS2>,
    ) -> LinkageBuf<DOF_OUT, MARKS_OUT> {
        assert!(DOF_OUT == DOF + DOF2, "DOF_OUT must equal DOF + DOF2");
        assert!(
            MARKS_OUT >= self.mark_len + other.mark_len,
            "MARKS_OUT must fit all marks from both linkages"
        );

        let mut out = LinkageBuf {
            params: [Param::EMPTY; DOF_OUT],
            param_len: 0,
            steps: alloc::vec::Vec::new(),
            mark_names: [""; MARKS_OUT],
            mark_len: 0,
        };

        // Copy self's steps (including Start)
        out.steps.extend_from_slice(&self.steps);

        // Append other's steps (skip Start), offsetting param and mark indices
        let mark_offset = self.mark_len;
        for i in 1..other.steps.len() {
            let step = other.steps[i].offset_params(DOF, mark_offset);
            out.steps.push(step);
        }

        // Copy self's params
        let mut i = 0;
        while i < self.param_len {
            out.params[i] = self.params[i];
            i += 1;
        }

        // Copy other's params
        let mut i = 0;
        while i < DOF2 {
            out.params[DOF + i] = other.params[i];
            i += 1;
        }
        out.param_len = self.param_len + DOF2;

        let mut i = 0;
        while i < self.mark_len {
            out.mark_names[i] = self.mark_names[i];
            i += 1;
        }
        let mut i = 0;
        while i < other.mark_len {
            out.mark_names[self.mark_len + i] = other.mark_names[i];
            i += 1;
        }
        out.mark_len = self.mark_len + other.mark_len;

        out
    }
}

#[cfg(feature = "alloc")]
impl<const DOF: usize, const MARKS: usize> LinkageBuf<DOF, MARKS> {
    /// Freeze exactly one parameter slot by index at a raw operation value.
    ///
    /// Parameter indexes are identities. Parameter names are labels and may be
    /// duplicated. `raw_value` is the fixed operation value, not a normalized
    /// slider value: rotations use degrees, while translations, radii, and widths
    /// use linkage units. The raw value must be inside every referenced step range
    /// for this slot.
    ///
    /// See the [growable storage example](LinkageBuf#building-linkage-expressions).
    pub fn freeze_param_index<const OUT_DOF: usize>(
        self,
        param_index: usize,
        raw_value: f32,
    ) -> LinkageBuf<OUT_DOF, MARKS> {
        let mut is_frozen = [false; DOF];
        let frozen_at_default = [false; DOF];
        let mut frozen_raw = [0.0f32; DOF];

        assert!(
            param_index < self.param_len,
            "freeze param index out of bounds"
        );
        is_frozen[param_index] = true;
        frozen_raw[param_index] = raw_value;

        self.freeze_with_map(is_frozen, frozen_at_default, frozen_raw)
    }

    /// Freeze the uniquely named parameter slot at a raw operation value.
    ///
    /// Panics if no parameter has `name`, or if more than one parameter has that
    /// name. Use [`freeze_param_index`](Self::freeze_param_index) when names are
    /// duplicated.
    pub fn freeze_param_name<const OUT_DOF: usize>(
        self,
        name: &'static str,
        raw_value: f32,
    ) -> LinkageBuf<OUT_DOF, MARKS> {
        let mut found_index = 0usize;
        let mut found_count = 0usize;
        let mut param_index = 0;
        while param_index < self.param_len {
            if str_eq(self.params[param_index].name, name) {
                found_index = param_index;
                found_count += 1;
            }
            param_index += 1;
        }
        assert!(found_count > 0, "freeze name not found in params");
        assert!(found_count == 1, "freeze name is ambiguous");

        self.freeze_param_index(found_index, raw_value)
    }

    /// Freeze exactly one parameter slot by index at its normalized default.
    pub fn freeze_param_index_at_default<const OUT_DOF: usize>(
        self,
        param_index: usize,
    ) -> LinkageBuf<OUT_DOF, MARKS> {
        let mut is_frozen = [false; DOF];
        let mut frozen_at_default = [false; DOF];
        let frozen_raw = [0.0f32; DOF];

        assert!(
            param_index < self.param_len,
            "freeze param index out of bounds"
        );
        is_frozen[param_index] = true;
        frozen_at_default[param_index] = true;

        self.freeze_with_map(is_frozen, frozen_at_default, frozen_raw)
    }

    /// Retain exactly the listed parameter slots and freeze all others at their defaults.
    ///
    /// See the [growable storage example](LinkageBuf#building-linkage-expressions).
    pub fn retain_param_indexes<const OUT_DOF: usize>(
        self,
        indexes: &[usize],
    ) -> LinkageBuf<OUT_DOF, MARKS> {
        let mut index_index = 0;
        while index_index < indexes.len() {
            let retain_index = indexes[index_index];
            assert!(
                retain_index < self.param_len,
                "retain param index out of bounds"
            );
            let mut previous_index = 0;
            while previous_index < index_index {
                assert!(
                    indexes[previous_index] != retain_index,
                    "duplicate index in retain list"
                );
                previous_index += 1;
            }
            index_index += 1;
        }

        let mut is_frozen = [false; DOF];
        let mut frozen_at_default = [false; DOF];
        let frozen_raw = [0.0f32; DOF];

        let mut param_index = 0;
        while param_index < self.param_len {
            let mut found = false;
            let mut index_index = 0;
            while index_index < indexes.len() {
                if param_index == indexes[index_index] {
                    found = true;
                    break;
                }
                index_index += 1;
            }
            if !found {
                is_frozen[param_index] = true;
                frozen_at_default[param_index] = true;
            }
            param_index += 1;
        }

        self.freeze_with_map(is_frozen, frozen_at_default, frozen_raw)
    }

    /// Retain parameters selected by name and freeze all others at their defaults.
    ///
    /// Each requested name must exist. If a requested name matches multiple
    /// parameter slots, all matching slots are retained. Duplicate names in the
    /// requested name list panic.
    pub fn retain_param_names<const OUT_DOF: usize>(
        self,
        names: &[&'static str],
    ) -> LinkageBuf<OUT_DOF, MARKS> {
        let mut ni = 0;
        while ni < names.len() {
            let retain_name = names[ni];
            let mut ni2 = 0;
            while ni2 < ni {
                assert!(
                    !str_eq(names[ni2], retain_name),
                    "duplicate name in retain list"
                );
                ni2 += 1;
            }
            let mut found = false;
            let mut pi = 0;
            while pi < self.param_len {
                if str_eq(self.params[pi].name, retain_name) {
                    found = true;
                    break;
                }
                pi += 1;
            }
            assert!(found, "retain name not found in params");
            ni += 1;
        }

        let mut is_frozen = [false; DOF];
        let mut frozen_at_default = [false; DOF];
        let frozen_raw = [0.0f32; DOF];

        let mut param_index = 0;
        while param_index < self.param_len {
            let mut found = false;
            let mut name_index = 0;
            while name_index < names.len() {
                if str_eq(self.params[param_index].name, names[name_index]) {
                    found = true;
                    break;
                }
                name_index += 1;
            }
            if !found {
                is_frozen[param_index] = true;
                frozen_at_default[param_index] = true;
            }
            param_index += 1;
        }

        self.freeze_with_map(is_frozen, frozen_at_default, frozen_raw)
    }

    fn freeze_with_map<const OUT_DOF: usize>(
        self,
        is_frozen: [bool; DOF],
        frozen_at_default: [bool; DOF],
        frozen_raw: [f32; DOF],
    ) -> LinkageBuf<OUT_DOF, MARKS> {
        let mut new_param_index = [0usize; DOF];
        let mut new_param_len = 0usize;
        let mut param_index = 0;
        while param_index < self.param_len {
            if !is_frozen[param_index] {
                new_param_index[param_index] = new_param_len;
                new_param_len += 1;
            }
            param_index += 1;
        }

        assert!(
            new_param_len == OUT_DOF,
            "OUT_DOF must equal DOF minus the number of frozen parameters"
        );

        let mut out = LinkageBuf {
            params: [Param::EMPTY; OUT_DOF],
            param_len: 0,
            steps: Vec::new(),
            mark_names: [""; MARKS],
            mark_len: self.mark_len,
        };

        let mut mark_index = 0;
        while mark_index < self.mark_len {
            out.mark_names[mark_index] = self.mark_names[mark_index];
            mark_index += 1;
        }

        let mut param_index = 0;
        while param_index < self.param_len {
            if !is_frozen[param_index] {
                out.params[new_param_index[param_index]] = self.params[param_index];
                out.param_len += 1;
            }
            param_index += 1;
        }

        out.steps = self
            .steps
            .into_iter()
            .map(|step| {
                rewrite_step_for_freeze(
                    step,
                    &is_frozen,
                    &frozen_at_default,
                    &frozen_raw,
                    &self.params,
                    &new_param_index,
                )
            })
            .collect();

        out.strip_fixed_noops()
            .merge_adjacent_fixed()
            .strip_fixed_noops()
    }

    /// Remove steps that are provably identity operations under any input.
    ///
    /// A fixed-value rotation or translation of exactly `0.0` has no effect on
    /// the pose. These accumulate after parameter specialization freezes
    /// channels whose physical value is zero. Stripping them makes the output of
    /// [`to_lb_rs`](crate::LinkageView::to_lb_rs) more readable.
    ///
    /// Only unconditionally-zero fixed steps are removed; variable-arg steps and
    /// non-motion steps (`Mark`, `Restore`, `PenUp`, `PenDown`, `Disk`, etc.)
    /// are left untouched.
    pub(crate) fn strip_fixed_noops(mut self) -> Self {
        self.steps.retain(|&step| !is_fixed_noop(step));
        self
    }

    /// Merge runs of consecutive fixed-value steps of the same motion type.
    ///
    /// For example, `.yaw(57.6).yaw(-171.87)` becomes `.yaw(-114.27)`. Any
    /// number of consecutive same-type fixed steps are folded into one. The
    /// merged value is the arithmetic sum of their arguments.
    ///
    /// Only `Yaw`, `Pitch`, `Roll`, `Forward`, `Left`, and `Up` steps with
    /// `Fixed` arguments are merged. Variable-arg steps and non-motion steps
    /// break a run.
    ///
    /// followed by no-op stripping to remove any merged steps whose sum is zero.
    pub(crate) fn merge_adjacent_fixed(self) -> Self {
        let mut out = Vec::with_capacity(self.steps.len());
        let mut i = 0;
        while i < self.steps.len() {
            let step = self.steps[i];
            i += 1;
            let merged = match step {
                Step::Yaw(StepArg::Fixed(v)) => {
                    let mut total = v;
                    while i < self.steps.len() {
                        if let Step::Yaw(StepArg::Fixed(v2)) = self.steps[i] {
                            total += v2;
                            i += 1;
                        } else {
                            break;
                        }
                    }
                    Step::Yaw(StepArg::Fixed(total))
                }
                Step::Pitch(StepArg::Fixed(v)) => {
                    let mut total = v;
                    while i < self.steps.len() {
                        if let Step::Pitch(StepArg::Fixed(v2)) = self.steps[i] {
                            total += v2;
                            i += 1;
                        } else {
                            break;
                        }
                    }
                    Step::Pitch(StepArg::Fixed(total))
                }
                Step::Roll(StepArg::Fixed(v)) => {
                    let mut total = v;
                    while i < self.steps.len() {
                        if let Step::Roll(StepArg::Fixed(v2)) = self.steps[i] {
                            total += v2;
                            i += 1;
                        } else {
                            break;
                        }
                    }
                    Step::Roll(StepArg::Fixed(total))
                }
                Step::Forward(StepArg::Fixed(v)) => {
                    let mut total = v;
                    while i < self.steps.len() {
                        if let Step::Forward(StepArg::Fixed(v2)) = self.steps[i] {
                            total += v2;
                            i += 1;
                        } else {
                            break;
                        }
                    }
                    Step::Forward(StepArg::Fixed(total))
                }
                Step::Left(StepArg::Fixed(v)) => {
                    let mut total = v;
                    while i < self.steps.len() {
                        if let Step::Left(StepArg::Fixed(v2)) = self.steps[i] {
                            total += v2;
                            i += 1;
                        } else {
                            break;
                        }
                    }
                    Step::Left(StepArg::Fixed(total))
                }
                Step::Up(StepArg::Fixed(v)) => {
                    let mut total = v;
                    while i < self.steps.len() {
                        if let Step::Up(StepArg::Fixed(v2)) = self.steps[i] {
                            total += v2;
                            i += 1;
                        } else {
                            break;
                        }
                    }
                    Step::Up(StepArg::Fixed(total))
                }
                other => other,
            };
            out.push(merged);
        }
        Self {
            steps: out,
            params: self.params,
            param_len: self.param_len,
            mark_names: self.mark_names,
            mark_len: self.mark_len,
        }
    }
}

#[cfg(feature = "alloc")]
impl<const DOF: usize, const MARKS: usize, const N: usize> From<&LinkageFixed<DOF, MARKS, N>>
    for LinkageBuf<DOF, MARKS>
{
    fn from(linkage: &LinkageFixed<DOF, MARKS, N>) -> Self {
        Self {
            params: linkage.params,
            param_len: linkage.param_len,
            steps: linkage.steps[..linkage.len].to_vec(),
            mark_names: linkage.mark_names,
            mark_len: linkage.mark_len,
        }
    }
}

#[cfg(feature = "alloc")]
impl<'a, const DOF: usize, const MARKS: usize> From<&'a LinkageBuf<DOF, MARKS>>
    for LinkageView<'a, DOF, MARKS>
{
    fn from(linkage: &'a LinkageBuf<DOF, MARKS>) -> Self {
        linkage.view()
    }
}

impl Step {
    const fn offset_params(self, param_offset: usize, remember_offset: usize) -> Self {
        match self {
            Self::Yaw(arg) => Self::Yaw(arg.offset_param(param_offset)),
            Self::Pitch(arg) => Self::Pitch(arg.offset_param(param_offset)),
            Self::Roll(arg) => Self::Roll(arg.offset_param(param_offset)),
            Self::Forward(arg) => Self::Forward(arg.offset_param(param_offset)),
            Self::Left(arg) => Self::Left(arg.offset_param(param_offset)),
            Self::Up(arg) => Self::Up(arg.offset_param(param_offset)),
            Self::DiskParam(v) => Self::DiskParam(v.offset(param_offset)),
            Self::SphereParam(v) => Self::SphereParam(v.offset(param_offset)),
            Self::Mark { index } => Self::Mark {
                index: index + remember_offset,
            },
            Self::Restore { index } => Self::Restore {
                index: index + remember_offset,
            },
            other => other,
        }
    }
}

const fn str_eq(left: &str, right: &str) -> bool {
    let left = left.as_bytes();
    let right = right.as_bytes();

    if left.len() != right.len() {
        return false;
    }

    let mut byte_index = 0;
    while byte_index < left.len() {
        if left[byte_index] != right[byte_index] {
            return false;
        }
        byte_index += 1;
    }

    true
}

const fn is_fixed_noop(step: Step) -> bool {
    matches!(
        step,
        Step::Yaw(StepArg::Fixed(v))
        | Step::Pitch(StepArg::Fixed(v))
        | Step::Roll(StepArg::Fixed(v))
        | Step::Forward(StepArg::Fixed(v))
        | Step::Left(StepArg::Fixed(v))
        | Step::Up(StepArg::Fixed(v))
        if v == 0.0
    )
}

const fn rewrite_arg_for_freeze(
    arg: StepArg,
    is_frozen: &[bool],
    frozen_at_default: &[bool],
    frozen_raw: &[f32],
    params: &[Param],
    new_param_index: &[usize],
    is_rotation: bool,
) -> StepArg {
    match arg {
        StepArg::Fixed(_) => arg,
        StepArg::Variable(variable_arg) => {
            if is_frozen[variable_arg.index] {
                let physical = frozen_physical_value(
                    variable_arg,
                    frozen_at_default,
                    frozen_raw,
                    params,
                    is_rotation,
                );
                StepArg::Fixed(physical)
            } else {
                StepArg::Variable(ParamArg {
                    index: new_param_index[variable_arg.index],
                    low: variable_arg.low,
                    span: variable_arg.span,
                })
            }
        }
    }
}

const fn rewrite_step_for_freeze(
    step: Step,
    is_frozen: &[bool],
    frozen_at_default: &[bool],
    frozen_raw: &[f32],
    params: &[Param],
    new_param_index: &[usize],
) -> Step {
    match step {
        Step::Yaw(arg) => Step::Yaw(rewrite_arg_for_freeze(
            arg,
            is_frozen,
            frozen_at_default,
            frozen_raw,
            params,
            new_param_index,
            true,
        )),
        Step::Pitch(arg) => Step::Pitch(rewrite_arg_for_freeze(
            arg,
            is_frozen,
            frozen_at_default,
            frozen_raw,
            params,
            new_param_index,
            true,
        )),
        Step::Roll(arg) => Step::Roll(rewrite_arg_for_freeze(
            arg,
            is_frozen,
            frozen_at_default,
            frozen_raw,
            params,
            new_param_index,
            true,
        )),
        Step::Forward(arg) => Step::Forward(rewrite_arg_for_freeze(
            arg,
            is_frozen,
            frozen_at_default,
            frozen_raw,
            params,
            new_param_index,
            false,
        )),
        Step::Left(arg) => Step::Left(rewrite_arg_for_freeze(
            arg,
            is_frozen,
            frozen_at_default,
            frozen_raw,
            params,
            new_param_index,
            false,
        )),
        Step::Up(arg) => Step::Up(rewrite_arg_for_freeze(
            arg,
            is_frozen,
            frozen_at_default,
            frozen_raw,
            params,
            new_param_index,
            false,
        )),
        Step::DiskParam(variable_arg) => {
            if is_frozen[variable_arg.index] {
                let physical = frozen_physical_value(
                    variable_arg,
                    frozen_at_default,
                    frozen_raw,
                    params,
                    false,
                );
                Step::Disk(physical)
            } else {
                Step::DiskParam(ParamArg {
                    index: new_param_index[variable_arg.index],
                    low: variable_arg.low,
                    span: variable_arg.span,
                })
            }
        }
        Step::SphereParam(variable_arg) => {
            if is_frozen[variable_arg.index] {
                let physical = frozen_physical_value(
                    variable_arg,
                    frozen_at_default,
                    frozen_raw,
                    params,
                    false,
                );
                Step::Sphere(physical)
            } else {
                Step::SphereParam(ParamArg {
                    index: new_param_index[variable_arg.index],
                    low: variable_arg.low,
                    span: variable_arg.span,
                })
            }
        }
        other => other,
    }
}

const fn frozen_physical_value(
    variable_arg: ParamArg,
    frozen_at_default: &[bool],
    frozen_raw: &[f32],
    params: &[Param],
    is_rotation: bool,
) -> f32 {
    if frozen_at_default[variable_arg.index] {
        variable_arg.low + params[variable_arg.index].default * variable_arg.span
    } else {
        let raw_value = frozen_raw[variable_arg.index];
        let physical = if is_rotation {
            degrees_to_radians(raw_value)
        } else {
            raw_value
        };
        assert_raw_value_in_range(variable_arg, physical);
        physical
    }
}

const fn assert_raw_value_in_range(variable_arg: ParamArg, physical: f32) {
    let high = variable_arg.low + variable_arg.span;
    let (min, max) = if variable_arg.low <= high {
        (variable_arg.low, high)
    } else {
        (high, variable_arg.low)
    };
    assert!(
        physical >= min && physical <= max,
        "raw freeze value out of range"
    );
}

fn validate_params<const DOF: usize>(params: &[f32; DOF]) -> Result<(), Error> {
    for (index, &value) in params.iter().enumerate() {
        if !(0.0..=1.0).contains(&value) {
            return Err(Error::InvalidParameter { index, value });
        }
    }

    Ok(())
}

fn rotation_matrix<const DOF: usize>(step: &Step, params: &[f32; DOF]) -> Mat3 {
    let radians = match step {
        Step::Yaw(arg) | Step::Pitch(arg) | Step::Roll(arg) => arg.resolve(params),
        Step::Start
        | Step::Forward(_)
        | Step::Left(_)
        | Step::Up(_)
        | Step::PenUp
        | Step::PenDown
        | Step::PenColor(_)
        | Step::PenWidth(_)
        | Step::Disk(_)
        | Step::DiskParam(_)
        | Step::Sphere(_)
        | Step::SphereParam(_)
        | Step::Mark { .. }
        | Step::Restore { .. } => return Mat3::IDENTITY,
    };
    match step {
        Step::Yaw(_) => Mat3::yaw(radians),
        Step::Pitch(_) => Mat3::pitch(radians),
        Step::Roll(_) => Mat3::roll(radians),
        Step::Start
        | Step::Forward(_)
        | Step::Left(_)
        | Step::Up(_)
        | Step::PenUp
        | Step::PenDown
        | Step::PenColor(_)
        | Step::PenWidth(_)
        | Step::Disk(_)
        | Step::DiskParam(_)
        | Step::Sphere(_)
        | Step::SphereParam(_)
        | Step::Mark { .. }
        | Step::Restore { .. } => Mat3::IDENTITY,
    }
}

/// Whether movement currently emits strokes.
///
/// [`PenState::Up`] suppresses movement strokes; [`PenState::Down`] emits them.
/// The state is visible on [`StyledPose`] and is also reflected by
/// [`LinkageView::draw_items_3d`].
#[derive(Clone, Copy, Debug, Eq, PartialEq)]
pub enum PenState {
    /// Movement does not emit strokes.
    Up,
    /// Movement emits strokes.
    Down,
}

/// Drawing state carried while evaluating a linkage.
#[derive(Clone, Copy, Debug)]
struct PenStyle {
    pen: PenState,
    color: Rgb888,
    width: f32,
}

impl PenStyle {
    /// Return the default down pen with white color and width 0.1.
    #[must_use]
    pub const fn new() -> Self {
        Self {
            pen: PenState::Down,
            color: Rgb888::new(255, 255, 255),
            width: 0.1,
        }
    }

    fn reset(&mut self) {
        *self = Self::new();
    }

    /// Return the current pen state.
    #[must_use]
    pub const fn pen(self) -> PenState {
        self.pen
    }

    /// Return the current pen color.
    #[must_use]
    pub const fn color(self) -> Rgb888 {
        self.color
    }

    /// Return the current pen width.
    #[must_use]
    pub const fn width(self) -> f32 {
        self.width
    }

    fn apply(&mut self, step: &Step) {
        match step {
            Step::Start => self.reset(),
            Step::PenUp => self.pen = PenState::Up,
            Step::PenDown => self.pen = PenState::Down,
            Step::PenColor(color) => self.color = *color,
            Step::PenWidth(width) => self.width = *width,
            Step::Yaw(_)
            | Step::Pitch(_)
            | Step::Roll(_)
            | Step::Forward(_)
            | Step::Left(_)
            | Step::Up(_)
            | Step::Disk(_)
            | Step::DiskParam(_)
            | Step::Sphere(_)
            | Step::SphereParam(_)
            | Step::Mark { .. }
            | Step::Restore { .. } => {}
        }
    }
}

impl Default for PenStyle {
    fn default() -> Self {
        Self::new()
    }
}

/// A 3D position and local-frame orientation after evaluating a linkage step.
///
/// # Pose and coordinate values
///
/// ```rust
/// # use core::f32::consts::FRAC_PI_2;
/// # use embedded_graphics::prelude::Point;
/// # use linkage_blaze::{Mat3, Pose, Vec3};
/// # use linkage_blaze::render::Projection;
/// let rotation = Mat3::yaw(FRAC_PI_2) * Mat3::IDENTITY;
/// let forward = rotation.forward();
/// let left = rotation.left();
/// let up = rotation.up();
/// assert!(forward.is_close_to(&Vec3::from([0.0, 1.0, 0.0]), 1e-5));
/// assert!(left[0] < 0.0);
/// assert_eq!(up.into_array(), [0.0, 0.0, 1.0]);
/// assert!((rotation.as_array()[0][0]).abs() < 1e-5);
/// let position = Vec3::from([1.0, 2.0, 3.0]);
/// let offset = (position + Vec3::from([1.0, 0.0, 0.0])) * 2.0;
/// assert_eq!(offset[0], 4.0);
/// assert!(offset.distance_to(position) > 0.0);
/// assert!(offset.is_close_to(&Vec3::from([4.0, 4.0, 6.0]), 1e-5));
/// let pose = Pose::new(rotation, position);
/// let start = Pose::start();
/// let _orientation = pose.orientation();
/// let _position = pose.position();
/// let _screen = pose.project(&Projection::front_orthographic(Point::new(0, 0), 10.0));
/// assert!(!pose.is_close_to(&start, 1e-5));
/// ```
#[derive(Clone, Copy, Debug)]
pub struct Pose {
    orientation: Mat3,
    position: Vec3,
}

impl Pose {
    /// Create a pose from an orientation and position.
    ///
    /// See the [pose and coordinate example](#pose-and-coordinate-values).
    #[must_use]
    pub const fn new(orientation: Mat3, position: Vec3) -> Self {
        Self {
            orientation,
            position,
        }
    }

    /// Project this pose's position through `projection` into screen-space `(x, y)`.
    ///
    /// See the [pose and coordinate example](#pose-and-coordinate-values).
    #[must_use]
    pub fn project(self, projection: &Projection) -> (f32, f32) {
        let c = projection.world_to_camera(self.position());
        let k = projection.scale * projection.depth_factor(c[0]);
        (
            projection.target_origin.x as f32 - c[1] * k,
            projection.target_origin.y as f32 - c[2] * k,
        )
    }

    /// Return the origin pose with identity orientation.
    ///
    /// See the [pose and coordinate example](#pose-and-coordinate-values).
    #[must_use]
    pub const fn start() -> Self {
        Self {
            orientation: Mat3::IDENTITY,
            position: Vec3::ZERO,
        }
    }

    /// Return this pose's orientation matrix.
    #[must_use]
    pub const fn orientation(self) -> Mat3 {
        self.orientation
    }

    /// Return this pose's position.
    #[must_use]
    pub const fn position(self) -> Vec3 {
        self.position
    }

    /// Return true when all orientation and position components are within `tolerance`.
    #[must_use]
    pub fn is_close_to(&self, other: &Self, tolerance: f32) -> bool {
        self.orientation.is_close_to(&other.orientation, tolerance)
            && self.position.is_close_to(&other.position, tolerance)
    }

    fn apply<const DOF: usize>(&mut self, step: &Step, params: &[f32; DOF]) {
        match step {
            Step::Start => {
                *self = Self::start();
            }
            Step::Forward(arg) => {
                self.position += self.orientation.forward() * arg.resolve(params);
            }
            Step::Left(arg) => {
                self.position += self.orientation.left() * arg.resolve(params);
            }
            Step::Up(arg) => {
                self.position += self.orientation.up() * arg.resolve(params);
            }
            Step::Yaw(_) | Step::Pitch(_) | Step::Roll(_) => {
                self.orientation = self.orientation * rotation_matrix(step, params);
            }
            Step::PenUp
            | Step::PenDown
            | Step::PenColor(_)
            | Step::PenWidth(_)
            | Step::Disk(_)
            | Step::DiskParam(_)
            | Step::Sphere(_)
            | Step::SphereParam(_)
            | Step::Mark { .. }
            | Step::Restore { .. } => {}
        }
    }
}

/// A [`Pose`] plus the pen state, color, and width active after a linkage step.
///
/// Use [`LinkageView::styled_poses`] when the rendering state matters in
/// addition to geometry:
///
/// # Styled evaluation
///
/// ```rust
/// # use linkage_blaze::{LinkageFixed, PenState, Rgb888};
/// # fn main() -> Result<(), linkage_blaze::Error> {
/// const LINKAGE: LinkageFixed<0, 0, 4> = LinkageFixed::start()
///     .pen_color(Rgb888::new(255, 0, 0))
///     .pen_width(0.25)
///     .forward(1.0);
/// let view = LINKAGE.view();
/// let mut poses = view.styled_poses(&[])?;
/// let start = poses.next().ok_or(linkage_blaze::Error::EmptyLinkage)?;
/// assert_eq!(start.pen(), PenState::Down);
/// assert_eq!(start.color(), Rgb888::new(255, 255, 255));
/// assert_eq!(start.width(), 0.1);
/// let end = poses.next().ok_or(linkage_blaze::Error::EmptyLinkage)?;
/// assert_eq!(end.color(), Rgb888::new(255, 0, 0));
/// # Ok(())
/// # }
/// ```
#[derive(Clone, Copy, Debug)]
pub struct StyledPose {
    pose: Pose,
    pen_style: PenStyle,
}

impl StyledPose {
    /// Return this styled pose's geometry.
    ///
    /// See the [styled evaluation example](#styled-evaluation).
    #[must_use]
    pub const fn pose(self) -> Pose {
        self.pose
    }

    /// Return this styled pose's pen state.
    ///
    /// See the [styled evaluation example](#styled-evaluation).
    #[must_use]
    pub const fn pen(self) -> PenState {
        self.pen_style.pen()
    }

    /// Return this styled pose's pen color.
    #[must_use]
    pub const fn color(self) -> Rgb888 {
        self.pen_style.color()
    }

    /// Return this styled pose's pen width.
    #[must_use]
    pub const fn width(self) -> f32 {
        self.pen_style.width()
    }
}

/// Iterator over styled poses produced by evaluating a linkage.
///
/// Yields after every linkage step, including non-forward steps and the implicit
/// [`Step::Start`].
#[derive(Clone, Copy)]
struct MarkedState {
    pose: Pose,
    pen_style: PenStyle,
}

/// Iterator over styled poses from a LinkageView (does not require const N).
struct StyledPosesView<'a, const DOF: usize, const MARKS: usize> {
    steps: &'a [Step],
    params: &'a [f32; DOF],
    index: usize,
    pose: Pose,
    pen_style: PenStyle,
    marked: [MarkedState; MARKS],
}

impl<'a, const DOF: usize, const MARKS: usize> StyledPosesView<'a, DOF, MARKS> {
    fn new(steps: &'a [Step], params_values: &'a [f32; DOF]) -> Result<Self, Error> {
        validate_params(params_values)?;
        Ok(Self {
            steps,
            params: params_values,
            index: 0,
            pose: Pose::start(),
            pen_style: PenStyle::new(),
            marked: [MarkedState {
                pose: Pose::start(),
                pen_style: PenStyle::new(),
            }; MARKS],
        })
    }
}

impl<const DOF: usize, const MARKS: usize> Iterator for StyledPosesView<'_, DOF, MARKS> {
    type Item = StyledPose;

    fn next(&mut self) -> Option<Self::Item> {
        loop {
            if self.index >= self.steps.len() {
                return None;
            }
            let step = &self.steps[self.index];
            self.index += 1;

            match step {
                Step::Mark { index } => {
                    self.marked[*index] = MarkedState {
                        pose: self.pose,
                        pen_style: self.pen_style,
                    };
                    continue;
                }
                Step::Restore { index } => {
                    let marked_state = self.marked[*index];
                    self.pose = marked_state.pose;
                    self.pen_style = marked_state.pen_style;
                    continue;
                }
                _ => {}
            }

            self.pose.apply(step, self.params);
            self.pen_style.apply(step);
            return Some(StyledPose {
                pose: self.pose,
                pen_style: self.pen_style,
            });
        }
    }
}

/// Iterator over [`Item3d`]s produced by evaluating a linkage.
///
/// Exhaust the iterator before calling [`Self::pose_by_mark_name`] so the
/// iterator has evaluated every mark and restore step. Keeping this iterator
/// allows rendering and named-pose lookup to share one evaluation.
///
/// # One-pass evaluation
///
/// ```rust,no_run
/// # use linkage_blaze::LinkageFixed;
/// const LINKAGE: LinkageFixed<0, 1, 6> = LinkageFixed::start()
///     .forward(1.0)
///     .mark("tip")
///     .forward(2.0);
///
/// # fn main() -> Result<(), linkage_blaze::Error> {
/// let view = LINKAGE.view();
/// let mut items = view.draw_items_3d(&[])?;
/// while let Some(item) = items.next() {
///     // Render or otherwise consume `item` here.
///     drop(item);
/// }
/// let tip = items.pose_by_mark_name("tip")?;
/// let final_pose = items.final_pose();
/// assert_eq!(tip.position()[0], 1.0);
/// assert_eq!(final_pose.position()[0], 3.0);
/// # Ok(())
/// # }
/// ```
pub struct DrawItem3dIter<'a, const DOF: usize, const MARKS: usize> {
    steps: &'a [Step],
    mark_names: &'a [&'static str; MARKS],
    mark_len: usize,
    params: &'a [f32; DOF],
    index: usize,
    pose: Pose,
    pen_style: PenStyle,
    marked: [MarkedState; MARKS],
}

impl<'a, const DOF: usize, const MARKS: usize> DrawItem3dIter<'a, DOF, MARKS> {
    fn new(
        steps: &'a [Step],
        mark_names: &'a [&'static str; MARKS],
        mark_len: usize,
        params_values: &'a [f32; DOF],
    ) -> Result<Self, Error> {
        validate_params(params_values)?;
        Ok(Self {
            steps,
            mark_names,
            mark_len,
            params: params_values,
            index: 0,
            pose: Pose::start(),
            pen_style: PenStyle::new(),
            marked: [MarkedState {
                pose: Pose::start(),
                pen_style: PenStyle::new(),
            }; MARKS],
        })
    }

    /// Return the pose recorded at the named mark at the current point in iteration.
    ///
    /// Call this after the iterator is exhausted to inspect the recorded mark pose.
    ///
    /// # Errors
    ///
    /// Returns an [`Error`] if no mark has the given name or if more than one
    /// mark shares the name.
    pub fn pose_by_mark_name(&self, name: &str) -> Result<Pose, Error> {
        let mut found = None;
        for (index, &n) in self.mark_names[..].iter().enumerate().take(self.mark_len) {
            if n == name {
                if found.is_some() {
                    return Err(Error::MarkAmbiguous);
                }
                found = Some(index);
            }
        }
        found
            .map(|index| self.marked[index].pose)
            .ok_or(Error::MarkNotFound)
    }

    /// Return the current pose, which is the final pose after exhaustion.
    ///
    /// Call this after the iterator is exhausted to obtain the final pose
    /// without evaluating the linkage a second time.
    #[must_use]
    pub fn final_pose(&self) -> Pose {
        self.pose
    }
}

impl<const DOF: usize, const MARKS: usize> Iterator for DrawItem3dIter<'_, DOF, MARKS> {
    type Item = Item3d;

    fn next(&mut self) -> Option<Self::Item> {
        while self.index < self.steps.len() {
            let step = &self.steps[self.index];
            self.index += 1;

            match step {
                Step::Mark { index } => {
                    self.marked[*index] = MarkedState {
                        pose: self.pose,
                        pen_style: self.pen_style,
                    };
                    continue;
                }
                Step::Restore { index } => {
                    let marked_state = self.marked[*index];
                    self.pose = marked_state.pose;
                    self.pen_style = marked_state.pen_style;
                    continue;
                }
                _ => {}
            }

            let start_pose = self.pose;
            let pen_style = self.pen_style;
            self.pose.apply(step, self.params);
            self.pen_style.apply(step);

            match step {
                Step::Forward(_) | Step::Left(_) | Step::Up(_)
                    if matches!(pen_style.pen(), PenState::Down) =>
                {
                    return Some(Item3d::Stroke(Stroke {
                        start: start_pose,
                        end: self.pose,
                        color: pen_style.color(),
                        width: pen_style.width(),
                    }));
                }
                Step::Disk(radius) => {
                    return Some(Item3d::Disk(Disk {
                        pose: start_pose,
                        radius: *radius,
                        color: pen_style.color(),
                    }));
                }
                Step::DiskParam(var_arg) => {
                    return Some(Item3d::Disk(Disk {
                        pose: start_pose,
                        radius: var_arg.resolve(self.params),
                        color: pen_style.color(),
                    }));
                }
                Step::Sphere(radius) => {
                    return Some(Item3d::Sphere(Sphere {
                        pose: start_pose,
                        radius: *radius,
                        color: pen_style.color(),
                    }));
                }
                Step::SphereParam(var_arg) => {
                    return Some(Item3d::Sphere(Sphere {
                        pose: start_pose,
                        radius: var_arg.resolve(self.params),
                        color: pen_style.color(),
                    }));
                }
                _ => continue,
            }
        }

        None
    }
}

// ── .lb.rs include macros ────────────────────────────────────────────────────
//
// A `.lb.rs` file is a complete Rust expression.
// It contains one `linkage![ ... ]` invocation.
// The body is a fluent DSL chain of leading-dot method calls.
// The including macro defines the local `__linkage_blaze_start!` macro that
// selects the storage type.
// The file must not call `start!()` and must not define `macro_rules! linkage`.

/// Define a linkage expression inside a `.lb.rs` asset file.
///
/// Applications load the file through [`linkage_file!`]; this macro is the
/// asset-file expression itself.
///
/// ## `.lb.rs` convention
///
/// - The file contains one `linkage![ ... ]` invocation and nothing else.
/// - The body begins with leading-dot methods (no explicit `start()` call).
/// - The file must **not** call `start!()`.
/// - The file must **not** define `macro_rules! linkage`.
/// - Use [`linkage_file!`] to include the file and choose its storage accessors.
///
/// ## Example `.lb.rs` file
///
/// ```rust
/// # use linkage_blaze::{linkage, LinkageFixed, Rgb888};
/// # macro_rules! __linkage_blaze_start {
/// #     () => { LinkageFixed::<2, 1, 8>::start() };
/// # }
/// # let _linkage: LinkageFixed<2, 1, 8> =
/// linkage![
///     .define_param("hour", 0.0)
///     .define_param("face spin", 0.5)
///     .roll_param("face spin", -90.0, 90.0)
///     .mark("face")
///     .pen_color(Rgb888::new(33, 79, 155)) // medium blue
///     .disk(66.0)
/// ];
/// ```
#[macro_export]
macro_rules! linkage {
    ($($chain:tt)*) => {
        (__linkage_blaze_start!()) $($chain)*
    };
}

/// Declare access to one external `.lb.rs` linkage file as a Rust module.
///
/// The file is measured during const evaluation. The generated module exposes
/// inferred `DOF`, `MARKS`, and `STEP_COUNT` constants, `Fixed` and `View` type
/// aliases, and `fixed()` and `view()` accessors. With `alloc`, it also exposes
/// a `Buf` alias and `buf()` accessor for growable storage.
///
/// The declaration itself needs a real call-site-relative asset, so the
/// complete invocation is shown as an external-file excerpt. The repository's
/// `linkage_file` integration test compile-checks the same declaration and
/// accessors.
///
/// ```text
/// use linkage_blaze::linkage_file;
///
/// linkage_file! {
///     clock_linkage {
///         file: "assets/examples/clock.lb.rs",
///     }
/// }
///
/// const CLOCK_DOF: usize = clock_linkage::DOF;
/// const CLOCK_STEPS: usize = clock_linkage::STEP_COUNT;
/// type ClockFixed = clock_linkage::Fixed;
/// type ClockView = clock_linkage::View;
///
/// const CLOCK: ClockFixed = clock_linkage::fixed();
/// const CLOCK_VIEW: ClockView = clock_linkage::view();
/// # let _ = (CLOCK_DOF, CLOCK_STEPS, CLOCK, CLOCK_VIEW);
/// ```
///
/// ## `alloc`
///
/// With `alloc`, use `buf()` when the linkage must be growable at runtime:
///
/// ```text
/// #[cfg(feature = "alloc")]
/// let clock: clock_linkage::Buf = clock_linkage::buf();
/// ```
// The helper is public because `linkage_file!` expands in a downstream crate;
// the feature-selected definition must be chosen while this crate is built,
// not by a downstream crate's unrelated feature set.
#[cfg(feature = "alloc")]
#[doc(hidden)]
#[macro_export]
macro_rules! __linkage_file_buf_items {
    ($path:literal) => {
        pub type Buf = $crate::LinkageBuf<DOF, MARKS>;

        pub fn buf() -> Buf {
            macro_rules! __linkage_blaze_start {
                () => {
                    $crate::LinkageBuf::<DOF, MARKS>::start()
                };
            }
            include!($path)
        }

        const _: fn() -> Buf = buf;
    };
}

#[cfg(not(feature = "alloc"))]
#[doc(hidden)]
#[macro_export]
macro_rules! __linkage_file_buf_items {
    ($path:literal) => {};
}

#[macro_export]
macro_rules! linkage_file {
    ($(#[$attribute:meta])* $visibility:vis $name:ident {
        file: $path:literal $(,)?
    }) => {
        $(#[$attribute])*
        $visibility mod $name {
            use $crate::{linkage, Rgb888, WebColors};

            const _: Rgb888 = Rgb888::CSS_BLACK;

            const __CANDIDATE: $crate::LinkageFixed<
                { __METADATA.param_count() },
                { __METADATA.mark_count() },
                { __METADATA.step_count() },
            > = {
                macro_rules! __linkage_blaze_start {
                    () => {
                        $crate::LinkageFixed::<
                            { __METADATA.param_count() },
                            { __METADATA.mark_count() },
                            { __METADATA.step_count() },
                        >::start()
                    };
                }
                include!($path)
            };

            pub const DOF: usize = __CANDIDATE.param_count();
            pub const MARKS: usize = __CANDIDATE.mark_count();
            pub const STEP_COUNT: usize = __METADATA.step_count();

            pub type Fixed = $crate::LinkageFixed<DOF, MARKS, STEP_COUNT>;
            pub type View = $crate::LinkageView<'static, DOF, MARKS>;

            const __METADATA: $crate::LinkageStepCount = {
                macro_rules! __linkage_blaze_start {
                    () => { $crate::LinkageStepCount::start() };
                }
                include!($path)
            };

            const __FIXED: Fixed = {
                macro_rules! __linkage_blaze_start {
                    () => {
                        $crate::LinkageFixed::<DOF, MARKS, STEP_COUNT>::start()
                    };
                }
                let linkage = include!($path);
                assert!(
                    linkage.param_count() == DOF,
                    "DOF must equal the number of defined parameters"
                );
                assert!(
                    linkage.mark_count() == MARKS,
                    "MARKS must equal the number of defined marks"
                );
                linkage
            };

            pub const fn fixed() -> Fixed {
                __FIXED
            }

            const __VIEW: View = fixed().view();

            pub const fn view() -> View {
                __VIEW
            }

            const _: View = view();

            $crate::__linkage_file_buf_items!($path);
        }
    };
    ($($tokens:tt)*) => {
        compile_error!("linkage_file! accepts exactly one file declaration per invocation");
    };
}

#[cfg(test)]
mod test_helpers;

#[cfg(test)]
mod tests {
    #[cfg(feature = "alloc")]
    use super::LinkageBuf;
    use super::{Error, LinkageFixed, LinkageView, Mat3, Pose, Rgb888, Step, StepArg, Vec3};
    use crate::render::{Item3d, Projection};
    use crate::test_helpers::{
        assert_png_matches_expected, assert_pose_approx_eq, assert_pose_trace_matches_expected,
        draw_linkage_xy_canvas,
    };
    use device_envoy_core::pixel_target::{
        rgb565_from_rgb888, rgb565_from_rgb888_components, rgb888_from_rgb565,
    };
    use embedded_graphics::{pixelcolor::Rgb565, prelude::Point};
    use std::{boxed::Box, error::Error as StdError};

    const LINKAGE0: LinkageFixed<6, 0, 24> = LinkageFixed::start()
        .define_param("raise hand", 0.5)
        .define_param("bend elbow", 0.5)
        .define_param("close hand", 0.5)
        .define_param("lower arm", 0.5)
        .define_param("spin whole arm", 0.5)
        .define_param("spin hand", 0.5)
        .yaw(90.0)
        .yaw_param("spin whole arm", 180.0, -180.0)
        .pitch(90.0)
        .forward(2.5)
        .pitch(-90.0)
        .pitch_param("lower arm", 30.0, 0.0)
        .forward(3.0)
        .yaw_param("bend elbow", 90.0, -90.0)
        .forward(3.0)
        .pitch_param("raise hand", 90.0, -90.0)
        .forward(1.0)
        .roll_param("spin hand", -180.0, 180.0)
        .forward(0.5)
        .yaw(90.0)
        .forward_param("close hand", 0.0, 0.5)
        .yaw(-90.0)
        .forward(1.0)
        .yaw(180.0)
        .forward(1.0)
        .yaw(90.0)
        .forward_param("close hand", 0.0, 1.0)
        .yaw(90.0)
        .forward(1.0);

    const LINKAGE1: LinkageFixed<3, 0, 16> = LinkageFixed::start()
        .define_param("spin whole arm", 0.5)
        .define_param("bend elbow", 0.5)
        .define_param("close hand", 0.5)
        .yaw(90.0)
        .yaw_param("spin whole arm", 180.0, -180.0)
        .forward(3.0)
        .yaw_param("bend elbow", 90.0, -90.0)
        .forward(3.0)
        .yaw(90.0)
        .forward_param("close hand", 0.5, 0.0)
        .yaw(-90.0)
        .forward(1.0)
        .yaw(-180.0)
        .forward(1.0)
        .yaw(90.0)
        .forward_param("close hand", 1.0, 0.0)
        .yaw(90.0)
        .forward(1.0);

    fn assert_float_close(actual: f32, expected: f32, tolerance: f32) {
        assert!(
            (actual - expected).abs() <= tolerance,
            "actual {actual} was not within {tolerance} of expected {expected}",
        );
    }

    #[test]
    fn rgb888_from_rgb565_is_const() {
        const BLACK: Rgb888 = rgb888_from_rgb565(0x0000); // black
        const WHITE: Rgb888 = rgb888_from_rgb565(0xffff); // white
        const RED: Rgb888 = rgb888_from_rgb565(0xf800); // red
        const GREEN: Rgb888 = rgb888_from_rgb565(0x07e0); // green
        const BLUE: Rgb888 = rgb888_from_rgb565(0x001f); // blue

        assert_eq!(BLACK, Rgb888::new(0, 0, 0));
        assert_eq!(WHITE, Rgb888::new(255, 255, 255));
        assert_eq!(RED, Rgb888::new(255, 0, 0));
        assert_eq!(GREEN, Rgb888::new(0, 255, 0));
        assert_eq!(BLUE, Rgb888::new(0, 0, 255));
    }

    #[test]
    fn rgb565_from_rgb888_components_is_const() {
        const BLACK: Rgb565 = rgb565_from_rgb888_components(0, 0, 0); // black
        const WHITE: Rgb565 = rgb565_from_rgb888_components(255, 255, 255); // white
        const RED: Rgb565 = rgb565_from_rgb888_components(255, 0, 0); // red
        const GREEN: Rgb565 = rgb565_from_rgb888_components(0, 255, 0); // green
        const BLUE: Rgb565 = rgb565_from_rgb888_components(0, 0, 255); // blue

        assert_eq!(BLACK, rgb565_from_rgb888(Rgb888::new(0, 0, 0)));
        assert_eq!(WHITE, rgb565_from_rgb888(Rgb888::new(255, 255, 255)));
        assert_eq!(RED, rgb565_from_rgb888(Rgb888::new(255, 0, 0)));
        assert_eq!(GREEN, rgb565_from_rgb888(Rgb888::new(0, 255, 0)));
        assert_eq!(BLUE, rgb565_from_rgb888(Rgb888::new(0, 0, 255)));
    }

    #[test]
    fn top_orthographic_projects_xy_plane() {
        let projection = Projection::top_orthographic(Point::new(100, 100), 2.0);

        let forward_pose = Pose::new(Mat3::IDENTITY, Vec3::from([3.0, 0.0, 0.0]));
        let left_pose = Pose::new(Mat3::IDENTITY, Vec3::from([0.0, 4.0, 0.0]));
        let forward_projected = forward_pose.project(&projection);
        let left_projected = left_pose.project(&projection);

        assert_float_close(forward_projected.0, 100.0, 1e-5);
        assert_float_close(forward_projected.1, 94.0, 1e-5);
        assert_float_close(left_projected.0, 92.0, 1e-5);
        assert_float_close(left_projected.1, 100.0, 1e-5);

        let forward_axis = projection.project_dir(Pose::start(), Vec3::from([1.0, 0.0, 0.0]), 5.0);
        let left_axis = projection.project_dir(Pose::start(), Vec3::from([0.0, 1.0, 0.0]), 5.0);

        assert_float_close(forward_axis.0, 0.0, 1e-5);
        assert_float_close(forward_axis.1, -10.0, 1e-5);
        assert_float_close(left_axis.0, -10.0, 1e-5);
        assert_float_close(left_axis.1, 0.0, 1e-5);
    }

    #[test]
    fn zero_pen_width_still_draws() -> Result<(), Box<dyn StdError>> {
        const LINKAGE: LinkageFixed<0, 0, 4> = LinkageFixed::start().pen_width(0.0).forward(1.0);

        let params = [];
        let draw_item_3d = LINKAGE
            .view()
            .draw_items_3d(&params)?
            .next()
            .expect("zero-width pen should still produce a stroke");

        match draw_item_3d {
            Item3d::Stroke(stroke_segment) => {
                assert_eq!(stroke_segment.width(), 0.0);
            }
            _ => panic!("expected stroke from zero-width pen"),
        }
        Ok(())
    }

    #[cfg(feature = "alloc")]
    #[test]
    fn serializes_linkage_view_to_lb_rs() {
        const LINKAGE: LinkageFixed<1, 1, 10> = LinkageFixed::start()
            .define_param("distance", 0.5)
            .pen_up()
            .mark("origin")
            .pen_color(Rgb888::new(10, 20, 30))
            .pen_width(2.0)
            .pen_down()
            .forward_param("distance", 1.0, 5.0)
            .restore("origin");

        let source = LINKAGE.view().to_lb_rs();

        assert!(source.starts_with("// DOF="));
        assert!(source.contains("linkage![\n"));
        assert!(source.trim_end().ends_with(']'));
        assert!(source.contains(".define_param(\"distance\", 0.5)"));
        assert!(source.contains(".pen_color(Rgb888::new(10, 20, 30))"));
        assert!(source.contains(".forward_param(\"distance\", 1.0, 5.0)"));
        assert!(source.contains(".restore(\"origin\")"));
    }

    #[cfg(feature = "alloc")]
    #[test]
    fn parses_lb_rs_into_linkage_buf() -> Result<(), Box<dyn StdError>> {
        let source = r#"linkage![
    .define_param("distance", 0.5)
    .pen_color(Rgb888::new(10, 20, 30))
    .forward_param("distance", 1.0, 5.0)
]"#;

        let linkage = LinkageBuf::<1, 0>::from_lb_rs(source).expect("source should parse");
        let pose = linkage.view().final_pose(&[0.5])?;

        assert!(
            pose.position()
                .is_close_to(&Vec3::from([3.0, 0.0, 0.0]), 1e-5)
        );
        Ok(())
    }

    #[cfg(feature = "alloc")]
    #[test]
    fn lb_rs_parser_rejects_integer_arguments() {
        let error = match LinkageBuf::<0, 0>::from_lb_rs("linkage![\n.forward(1)\n]") {
            Ok(_) => panic!("integer argument should fail"),
            Err(error) => error,
        };

        assert!(error.contains("is an integer"));
    }

    #[test]
    fn forward_moves_along_positive_x() -> Result<(), Box<dyn StdError>> {
        const LINKAGE: LinkageFixed<0, 0, 2> = LinkageFixed::start().forward(10.0);

        let params = [];
        let actual = LINKAGE.view().final_pose(&params)?.position();

        assert!(actual.is_close_to(&Vec3::from([10.0, 0.0, 0.0]), 1e-6));
        Ok(())
    }

    #[test]
    fn link_view_finds_named_mark_pose() -> Result<(), Box<dyn StdError>> {
        const LINKAGE: LinkageFixed<0, 1, 4> = LinkageFixed::start().mark("tip").forward(2.0);

        let view = LINKAGE.view();
        let mut items = view.draw_items_3d(&[])?;
        while items.next().is_some() {}
        let pose = items.pose_by_mark_name("tip")?;
        assert_eq!(pose.position(), Vec3::from([0.0, 0.0, 0.0]));
        Ok(())
    }

    #[test]
    fn link_view_reports_missing_mark() {
        const LINKAGE: LinkageFixed<0, 1, 2> = LinkageFixed::start().mark("tip");

        let view = LINKAGE.view();
        let mut items = view.draw_items_3d(&[]).expect("valid parameters");
        while items.next().is_some() {}
        assert!(matches!(
            items.pose_by_mark_name("missing"),
            Err(Error::MarkNotFound)
        ));
    }

    #[cfg(feature = "alloc")]
    #[test]
    fn link_view_reports_ambiguous_mark() {
        let first = LinkageBuf::<0, 1>::start().mark("tip");
        let second = LinkageBuf::<0, 1>::start().mark("tip");
        let linkage: LinkageBuf<0, 2> = first.combine(second.view());

        let view = linkage.view();
        let mut items = view.draw_items_3d(&[]).expect("valid parameters");
        while items.next().is_some() {}
        assert!(matches!(
            items.pose_by_mark_name("tip"),
            Err(Error::MarkAmbiguous)
        ));
    }

    #[test]
    fn yaw_then_forward_moves_along_positive_y() -> Result<(), Box<dyn StdError>> {
        const LINKAGE: LinkageFixed<0, 0, 3> = LinkageFixed::start().yaw(90.0).forward(10.0);

        let params = [];
        let actual = LINKAGE.view().final_pose(&params)?.position();

        assert!(actual.is_close_to(&Vec3::from([0.0, 10.0, 0.0]), 1e-5));
        Ok(())
    }

    #[test]
    fn left_moves_along_positive_y() -> Result<(), Box<dyn StdError>> {
        const LINKAGE: LinkageFixed<0, 0, 2> = LinkageFixed::start().left(10.0);

        let params = [];
        let actual = LINKAGE.view().final_pose(&params)?.position();

        assert!(actual.is_close_to(&Vec3::from([0.0, 10.0, 0.0]), 1e-6));
        Ok(())
    }

    #[test]
    fn up_moves_along_positive_z() -> Result<(), Box<dyn StdError>> {
        const LINKAGE: LinkageFixed<0, 0, 2> = LinkageFixed::start().up(10.0);

        let params = [];
        let actual = LINKAGE.view().final_pose(&params)?.position();

        assert!(actual.is_close_to(&Vec3::from([0.0, 0.0, 10.0]), 1e-6));
        Ok(())
    }

    #[test]
    fn translation_params_move_along_named_axes() -> Result<(), Box<dyn StdError>> {
        const LINKAGE: LinkageFixed<3, 0, 7> = LinkageFixed::start()
            .define_param("forward", 0.5)
            .define_param("left", 0.5)
            .define_param("up", 0.5)
            .forward_param("forward", 0.0, 10.0)
            .left_param("left", 0.0, 20.0)
            .up_param("up", 0.0, 30.0);

        let params = [0.2, 0.3, 0.4];
        let actual = LINKAGE.view().final_pose(&params)?.position();

        assert!(actual.is_close_to(&Vec3::from([2.0, 6.0, 12.0]), 1e-6));
        Ok(())
    }

    #[test]
    fn planar_two_link_arm_uses_yaw_then_forward() -> Result<(), Box<dyn StdError>> {
        const LINKAGE: LinkageFixed<0, 0, 5> = LinkageFixed::start()
            .yaw(0.0)
            .forward(10.0)
            .yaw(90.0)
            .forward(5.0);

        let params = [];
        let actual = LINKAGE.view().final_pose(&params)?.position();

        assert!(actual.is_close_to(&Vec3::from([10.0, 5.0, 0.0]), 1e-5));
        Ok(())
    }

    #[test]
    fn test_excel_pose_trace0_matches_expected() -> Result<(), Box<dyn StdError>> {
        // Fractions for [raise hand, bend elbow, close hand,
        //  lower arm, spin whole arm, spin hand].
        let params = [0.751_450_1, 0.500_200_4, 0.5, 1.0, 0.625_438_7, 0.0];
        assert_pose_trace_matches_expected("excel_pose_trace0.csv", LINKAGE0.view().poses(&params)?)
    }

    #[test]
    fn test_excel_pose_trace1_matches_expected() -> Result<(), Box<dyn StdError>> {
        // [spin whole arm, bend elbow, close hand]
        let params = [0.30, 0.02, 0.10];
        assert_pose_trace_matches_expected("excel_pose_trace1.csv", LINKAGE1.view().poses(&params)?)
    }

    #[test]
    fn test_setting0_matches_excel_final_pose() -> Result<(), Box<dyn StdError>> {
        let params = [
            0.751_450_1, // raise hand
            0.49,        // bend elbow
            0.50011957,  // close hand
            1.0,         // lower arm
            0.625_438_7, // spin whole arm
            1.0,         // spin hand
        ];
        let pose = LINKAGE0.view().final_pose(&params)?;
        let expected = Pose::new(
            [
                [0.48325038, 0.7270788, 0.48767346],
                [0.5117748, -0.68655396, 0.51645917],
                [0.7103207, 0.0, -0.70387816],
            ]
            .into(),
            [5.213134, 5.747819, -0.7241982].into(),
        );

        assert_pose_approx_eq(pose, expected);
        Ok(())
    }

    #[test]
    fn test_setting1_matches_excel_final_pose() -> Result<(), Box<dyn StdError>> {
        let params = [
            0.30, // spin whole arm
            0.02, // bend elbow
            0.10, // close hand
        ];
        let pose = LINKAGE1.view().final_pose(&params)?;
        let expected = Pose::new(
            [
                [-0.368_124_5, 0.929_776_43, 0.0],
                [-0.929_776_43, -0.368_124_5, 0.0],
                [0.0, 0.0, 1.0],
            ]
            .into(),
            [-4.744_067, -2.626_399, 0.0].into(),
        );

        assert_pose_approx_eq(pose, expected);
        Ok(())
    }

    #[test]
    fn test_mid_setting0_matches_excel_final_pose_and_png() -> Result<(), Box<dyn StdError>> {
        let params = [
            0.5, // raise hand
            0.3, // bend elbow
            1.0, // close hand
            0.5, // lower arm
            0.5, // spin whole arm
            0.5, // spin hand
        ];
        let pose = LINKAGE0.view().final_pose(&params)?;
        let expected = Pose::new(
            [
                [-0.5877855, -0.80901694, 0.0],
                [0.78145033, -0.5677572, 0.25881904],
                [-0.20938899, 0.15213005, 0.9659258],
            ]
            .into(),
            [-2.828311, 7.4796333, -4.504162].into(),
        );

        assert_pose_approx_eq(pose, expected);

        let canvas = draw_linkage_xy_canvas(&LINKAGE0, &params)?;
        assert_png_matches_expected("linkage0_xy_mid_fraction.png", &canvas)
    }

    #[test]
    fn test_linkage0_png_matches_expected() -> Result<(), Box<dyn StdError>> {
        // Fractions for [raise hand, bend elbow, close hand,
        //  lower arm, spin whole arm, spin hand].
        let params = [0.751_450_1, 0.500_200_4, 0.5, 1.0, 0.625_438_7, 0.0];

        let canvas = draw_linkage_xy_canvas(&LINKAGE0, &params)?;
        assert_png_matches_expected("linkage0_xy.png", &canvas)
    }

    #[test]
    fn test_linkage1_png_matches_expected() -> Result<(), Box<dyn StdError>> {
        // [spin whole arm, bend elbow, close hand]
        let params = [0.30, 0.02, 0.10];

        let canvas = draw_linkage_xy_canvas(&LINKAGE1, &params)?;
        assert_png_matches_expected("linkage1_xy.png", &canvas)
    }

    #[test]
    fn test_params_are_range_checked() {
        let params = [
            0.0, // raise hand
            0.5, // bend elbow
            1.1, // close hand, invalid param
            1.0, // lower arm
            0.0, // spin whole arm
            0.5, // spin hand
        ];

        assert!(matches!(
            LINKAGE0.view().final_pose(&params),
            Err(Error::InvalidParameter { index: 2, .. })
        ));
    }

    // ── Shadowing semantics ───────────────────────────────────────────────────
    //
    // A param name may appear more than once in a linkage.  DSL methods like
    // `yaw_param` bind to the *most recently defined* param with that name —
    // this is "shadowing".  The earlier definition is not removed; it still
    // occupies its slot in the param array.

    #[test]
    fn duplicate_define_param_does_not_panic() {
        // Simply building a linkage with a duplicate name must succeed.
        // (Previously this would panic with "duplicate parameter name".)
        const _: LinkageFixed<2, 0, 2> = LinkageFixed::start()
            .define_param("angle", 0.25) // index 0
            .define_param("angle", 0.75); // index 1 — shadows index 0
    }

    #[test]
    fn shadowing_builder_binds_to_most_recent_definition() -> Result<(), Box<dyn StdError>> {
        // "angle" is defined twice.  yaw_param("angle") bakes in the index of
        // the second definition (index 1), not the first (index 0).
        //
        // We verify this by setting params = [1.0, 0.0]:
        //   - if bound to index 0 → yaw 90° → forward lands at ~(0, 10, 0)
        //   - if bound to index 1 → yaw  0° → forward lands at (10, 0, 0)  ✓
        const LINKAGE: LinkageFixed<2, 0, 5> = LinkageFixed::start()
            .define_param("angle", 0.0) // index 0, default 0.0
            .define_param("angle", 1.0) // index 1, default 1.0 — shadows index 0
            .yaw_param("angle", 0.0, 90.0) // binds to index 1 (most recent)
            .forward(10.0);

        let params = [1.0, 0.0]; // index 0 = full, index 1 = zero
        let pos = LINKAGE.view().final_pose(&params)?.position();
        // yaw driven by index 1 = 0.0 → 0° → moves along +X
        assert!(pos.is_close_to(&Vec3::from([10.0, 0.0, 0.0]), 1e-5));
        Ok(())
    }

    // ── freeze_param / retain_params ─────────────────────────────────────────

    #[test]
    fn freeze_param_index_uses_raw_rotation_degrees() -> Result<(), Box<dyn StdError>> {
        const BASE: LinkageFixed<2, 0, 5> = LinkageFixed::start()
            .define_param("angle", 0.5)
            .define_param("len", 0.5)
            .yaw_param("angle", -180.0, 180.0)
            .forward_param("len", 0.0, 10.0);

        const FROZEN: LinkageFixed<1, 0, 5> = BASE.freeze_param_index(0, 90.0);

        assert_specialized_matches_original(BASE, &[0.75, 1.0], FROZEN, &[1.0])?;
        let pos = FROZEN.view().final_pose(&[1.0])?.position();
        assert!(pos.is_close_to(&Vec3::from([0.0, 10.0, 0.0]), 1e-4));
        Ok(())
    }

    #[test]
    fn freeze_param_name_matches_unique_slot() -> Result<(), Box<dyn StdError>> {
        const BASE: LinkageFixed<2, 0, 5> = LinkageFixed::start()
            .define_param("yaw", 0.25)
            .define_param("dist", 0.5)
            .yaw_param("yaw", 0.0, 180.0)
            .forward_param("dist", 0.0, 8.0);

        const FROZEN_BY_NAME: LinkageFixed<1, 0, 5> = BASE.freeze_param_name("yaw", 45.0);
        const FROZEN_BY_DEFAULT: LinkageFixed<1, 0, 5> = BASE.freeze_param_index_at_default(0);

        let pos_by_name = FROZEN_BY_NAME.view().final_pose(&[0.5])?.position();
        let pos_by_default = FROZEN_BY_DEFAULT.view().final_pose(&[0.5])?.position();
        assert!(pos_by_name.is_close_to(&pos_by_default, 1e-6));
        Ok(())
    }

    #[test]
    fn retain_param_names_freezes_unlisted_at_default() -> Result<(), Box<dyn StdError>> {
        const BASE: LinkageFixed<2, 0, 5> = LinkageFixed::start()
            .define_param("angle", 0.5)
            .define_param("dist", 0.5)
            .yaw_param("angle", -90.0, 90.0)
            .forward_param("dist", 0.0, 4.0);

        const RETAINED: LinkageFixed<1, 0, 5> = BASE.retain_param_names(&["dist"]);

        assert_specialized_matches_original(BASE, &[0.5, 1.0], RETAINED, &[1.0])?;
        let pos = RETAINED.view().final_pose(&[1.0])?.position();
        assert!(pos.is_close_to(&Vec3::from([4.0, 0.0, 0.0]), 1e-4));
        Ok(())
    }

    #[test]
    fn freeze_param_index_freezes_only_that_shadowed_slot() -> Result<(), Box<dyn StdError>> {
        const BASE: LinkageFixed<3, 0, 5> = LinkageFixed::start()
            .define_param("x", 0.1)
            .forward_param("x", 0.0, 10.0)
            .define_param("y", 0.2)
            .left_param("y", 0.0, 10.0)
            .define_param("x", 0.3)
            .up_param("x", 0.0, 10.0);

        const FIRST_X: LinkageFixed<2, 0, 5> = BASE.freeze_param_index(0, 4.0);
        const SECOND_X: LinkageFixed<2, 0, 5> = BASE.freeze_param_index(2, 6.0);

        assert_specialized_matches_original(BASE, &[0.4, 0.8, 0.6], FIRST_X, &[0.8, 0.6])?;
        assert_specialized_matches_original(BASE, &[0.4, 0.8, 0.6], SECOND_X, &[0.4, 0.8])?;
        Ok(())
    }

    #[test]
    fn retain_param_names_retains_every_shadowed_slot_in_original_order()
    -> Result<(), Box<dyn StdError>> {
        const BASE: LinkageFixed<3, 0, 5> = LinkageFixed::start()
            .define_param("x", 0.25)
            .forward_param("x", 0.0, 10.0)
            .define_param("y", 0.5)
            .left_param("y", 0.0, 10.0)
            .define_param("x", 0.75)
            .up_param("x", 0.0, 10.0);

        const RETAINED: LinkageFixed<2, 0, 5> = BASE.retain_param_names(&["x"]);
        let params = RETAINED.view().params();
        assert_eq!(params[0].name(), "x");
        assert_eq!(params[0].default(), 0.25);
        assert_eq!(params[1].name(), "x");
        assert_eq!(params[1].default(), 0.75);

        assert_specialized_matches_original(BASE, &[1.0, 0.5, 0.0], RETAINED, &[1.0, 0.0])?;
        Ok(())
    }

    #[test]
    fn retain_param_indexes_keeps_exact_shadowed_slots() -> Result<(), Box<dyn StdError>> {
        const RETAINED: LinkageFixed<2, 0, 8> = BRUCE.retain_param_indexes(&[0, 2]);

        let params = RETAINED.view().params();
        assert_eq!(params[0].name(), "Bruce");
        assert_eq!(params[0].default(), 0.10);
        assert_eq!(params[1].name(), "Bruce");
        assert_eq!(params[1].default(), 0.30);

        assert_specialized_matches_original(
            BRUCE,
            &[0.11, 0.20, 0.33, 0.40],
            RETAINED,
            &[0.11, 0.33],
        )?;
        Ok(())
    }

    #[test]
    fn retain_param_names_freezes_non_retained_shadowed_slots_at_their_own_defaults()
    -> Result<(), Box<dyn StdError>> {
        const BASE: LinkageFixed<3, 0, 5> = LinkageFixed::start()
            .define_param("x", 0.25)
            .forward_param("x", 0.0, 10.0)
            .define_param("y", 0.5)
            .left_param("y", 0.0, 10.0)
            .define_param("x", 0.75)
            .up_param("x", 0.0, 10.0);

        const RETAINED: LinkageFixed<1, 0, 5> = BASE.retain_param_names(&["y"]);

        assert_specialized_matches_original(BASE, &[0.25, 1.0, 0.75], RETAINED, &[1.0])?;
        Ok(())
    }

    #[test]
    fn specialization_matches_original_for_index_and_name_selectors()
    -> Result<(), Box<dyn StdError>> {
        const BASE: LinkageFixed<3, 0, 5> = LinkageFixed::start()
            .define_param("x", 0.25)
            .forward_param("x", 0.0, 10.0)
            .define_param("y", 0.5)
            .left_param("y", 0.0, 10.0)
            .define_param("z", 0.75)
            .up_param("z", 0.0, 10.0);

        const SPECIALIZED: LinkageFixed<1, 0, 5> = BASE
            .freeze_param_index::<2>(0, 4.0)
            .retain_param_names(&["y"]);

        assert_specialized_matches_original(BASE, &[0.4, 0.8, 0.75], SPECIALIZED, &[0.8])?;
        Ok(())
    }

    const BRUCE: LinkageFixed<4, 0, 8> = LinkageFixed::start()
        .define_param("Bruce", 0.10)
        .pen_down()
        .forward_param("Bruce", 0.0, 100.0)
        .define_param("Bruce", 0.20)
        .left_param("Bruce", 0.0, 100.0)
        .define_param("Bruce", 0.30)
        .up_param("Bruce", 0.0, 100.0)
        .define_param("Bruce", 0.40)
        .yaw_param("Bruce", -180.0, 180.0);

    #[test]
    fn bruce_full_evaluation_uses_each_slot_bound_at_step_creation() -> Result<(), Box<dyn StdError>>
    {
        let pose = BRUCE.view().final_pose(&[0.11, 0.22, 0.33, 0.44])?;

        assert_pose_close(
            pose,
            Pose::new(pose.orientation(), Vec3::from([11.0, 22.0, 33.0])),
            1e-4,
        );
        Ok(())
    }

    #[test]
    fn bruce_freeze_param_index_freezes_one_slot() -> Result<(), Box<dyn StdError>> {
        const FROZEN: LinkageFixed<3, 0, 8> = BRUCE.freeze_param_index(2, 33.0);

        assert_specialized_matches_original(
            BRUCE,
            &[0.11, 0.22, 0.33, 0.44],
            FROZEN,
            &[0.11, 0.22, 0.44],
        )?;
        Ok(())
    }

    #[test]
    fn bruce_freeze_param_index_at_default_freezes_one_slot() -> Result<(), Box<dyn StdError>> {
        const FROZEN: LinkageFixed<3, 0, 8> = BRUCE.freeze_param_index_at_default(2);

        assert_specialized_matches_original(
            BRUCE,
            &[0.11, 0.22, 0.30, 0.44],
            FROZEN,
            &[0.11, 0.22, 0.44],
        )?;
        Ok(())
    }

    #[test]
    fn bruce_retain_param_names_retains_all_slots_named_bruce() -> Result<(), Box<dyn StdError>> {
        const RETAINED: LinkageFixed<4, 0, 8> = BRUCE.retain_param_names(&["Bruce"]);

        let params = RETAINED.view().params();
        assert_eq!(params[0].name(), "Bruce");
        assert_eq!(params[1].name(), "Bruce");
        assert_eq!(params[2].name(), "Bruce");
        assert_eq!(params[3].name(), "Bruce");

        assert_specialized_matches_original(
            BRUCE,
            &[0.11, 0.22, 0.33, 0.44],
            RETAINED,
            &[0.11, 0.22, 0.33, 0.44],
        )?;
        Ok(())
    }

    #[test]
    fn bruce_retain_param_names_freezes_non_bruce_at_own_default() -> Result<(), Box<dyn StdError>>
    {
        const BASE: LinkageFixed<3, 0, 7> = LinkageFixed::start()
            .define_param("Bruce", 0.10)
            .pen_down()
            .forward_param("Bruce", 0.0, 100.0)
            .define_param("Terry", 0.77)
            .left_param("Terry", 0.0, 100.0)
            .define_param("Bruce", 0.30)
            .up_param("Bruce", 0.0, 100.0);

        const RETAINED: LinkageFixed<2, 0, 7> = BASE.retain_param_names(&["Bruce"]);

        assert_specialized_matches_original(BASE, &[0.11, 0.77, 0.33], RETAINED, &[0.11, 0.33])?;
        Ok(())
    }

    #[cfg(feature = "alloc")]
    #[test]
    fn linkage_buf_retain_param_indexes_drops_multiple_params() -> Result<(), Box<dyn StdError>> {
        // Mirror of the const test above but using LinkageBuf.
        let base: LinkageBuf<3, 0> = LinkageBuf::start()
            .define_param("yaw", 0.5)
            .define_param("pitch", 0.5)
            .define_param("dist", 0.5)
            .yaw_param("yaw", -90.0, 90.0)
            .pitch_param("pitch", -90.0, 90.0)
            .forward_param("dist", 0.0, 6.0);

        let frozen: LinkageBuf<1, 0> = base.retain_param_indexes(&[2]);

        let pos = frozen.view().final_pose(&[1.0])?.position();
        assert!(pos.is_close_to(&Vec3::from([6.0, 0.0, 0.0]), 1e-4));
        Ok(())
    }

    #[cfg(feature = "alloc")]
    #[test]
    fn linkage_buf_retain_params_handles_shadowed_non_retained_params_by_slot()
    -> Result<(), Box<dyn StdError>> {
        let base: LinkageBuf<3, 0> = LinkageBuf::start()
            .define_param("x", 0.25)
            .forward_param("x", 0.0, 10.0)
            .define_param("y", 0.5)
            .left_param("y", 0.0, 10.0)
            .define_param("x", 0.75)
            .up_param("x", 0.0, 10.0);

        let retained: LinkageBuf<1, 0> = base.retain_param_names(&["y"]);

        let pos = retained.view().final_pose(&[1.0])?.position();
        assert!(pos.is_close_to(&Vec3::from([2.5, 10.0, 7.5]), 1e-4));
        Ok(())
    }

    #[cfg(feature = "alloc")]
    #[test]
    fn linkage_buf_retain_param_names_uses_each_shadowed_slots_own_default()
    -> Result<(), Box<dyn StdError>> {
        let base: LinkageBuf<3, 0> = LinkageBuf::start()
            .define_param("x", 0.25)
            .forward_param("x", 0.0, 10.0)
            .define_param("y", 0.5)
            .left_param("y", 0.0, 10.0)
            .define_param("x", 0.75)
            .up_param("x", 0.0, 10.0);

        let frozen: LinkageBuf<1, 0> = base.retain_param_names(&["y"]);

        let pos = frozen.view().final_pose(&[1.0])?.position();
        assert!(pos.is_close_to(&Vec3::from([2.5, 10.0, 7.5]), 1e-4));
        Ok(())
    }

    // ── freeze/retain validation: unknown names, duplicates, out-of-range ─────

    #[test]
    #[should_panic(expected = "freeze name not found in params")]
    fn freeze_param_name_rejects_unknown_name() {
        let linkage: LinkageFixed<1, 0, 4> = LinkageFixed::start()
            .define_param("angle", 0.5)
            .yaw_param("angle", -90.0, 90.0);
        let _: LinkageFixed<0, 0, 4> = linkage.freeze_param_name("typo", 0.0);
    }

    #[test]
    #[should_panic(expected = "freeze param index out of bounds")]
    fn freeze_param_index_rejects_out_of_bounds_index() {
        let linkage: LinkageFixed<1, 0, 4> = LinkageFixed::start()
            .define_param("angle", 0.5)
            .yaw_param("angle", -90.0, 90.0);
        let _: LinkageFixed<0, 0, 4> = linkage.freeze_param_index(9, 0.0);
    }

    #[test]
    #[should_panic(expected = "freeze name is ambiguous")]
    fn freeze_param_name_rejects_duplicate_name() {
        let linkage: LinkageFixed<2, 0, 4> = LinkageFixed::start()
            .define_param("angle", 0.5)
            .define_param("angle", 0.5)
            .yaw_param("angle", -90.0, 90.0);
        let _: LinkageFixed<1, 0, 4> = linkage.freeze_param_name("angle", 0.0);
    }

    #[test]
    #[should_panic(expected = "raw freeze value out of range")]
    fn freeze_param_index_rejects_raw_value_above_range() {
        let linkage: LinkageFixed<1, 0, 4> = LinkageFixed::start()
            .define_param("angle", 0.5)
            .yaw_param("angle", -180.0, 180.0);
        let _: LinkageFixed<0, 0, 4> = linkage.freeze_param_index(0, 999.0);
    }

    #[test]
    #[should_panic(expected = "raw freeze value out of range")]
    fn freeze_param_index_rejects_raw_value_outside_one_referenced_range() {
        let linkage: LinkageFixed<1, 0, 4> = LinkageFixed::start()
            .define_param("x", 0.5)
            .yaw_param("x", -180.0, 180.0)
            .forward_param("x", 0.0, 10.0);
        let _: LinkageFixed<0, 0, 4> = linkage.freeze_param_index(0, 90.0);
    }

    #[test]
    #[should_panic(expected = "retain name not found in params")]
    fn retain_params_rejects_unknown_name() {
        let linkage: LinkageFixed<2, 0, 5> = LinkageFixed::start()
            .define_param("angle", 0.5)
            .define_param("dist", 0.5)
            .yaw_param("angle", -90.0, 90.0)
            .forward_param("dist", 0.0, 10.0);
        let _: LinkageFixed<1, 0, 5> = linkage.retain_param_names(&["unknown_param"]);
    }

    #[test]
    #[should_panic(expected = "duplicate name in retain list")]
    fn retain_params_rejects_duplicate_name() {
        let linkage: LinkageFixed<2, 0, 5> = LinkageFixed::start()
            .define_param("angle", 0.5)
            .define_param("dist", 0.5)
            .yaw_param("angle", -90.0, 90.0)
            .forward_param("dist", 0.0, 10.0);
        let _: LinkageFixed<2, 0, 5> = linkage.retain_param_names(&["angle", "angle"]);
    }

    #[test]
    #[should_panic(expected = "duplicate index in retain list")]
    fn retain_param_indexes_rejects_duplicate_index() {
        let linkage: LinkageFixed<2, 0, 5> = LinkageFixed::start()
            .define_param("angle", 0.5)
            .define_param("dist", 0.5)
            .yaw_param("angle", -90.0, 90.0)
            .forward_param("dist", 0.0, 10.0);
        let _: LinkageFixed<2, 0, 5> = linkage.retain_param_indexes(&[0, 0]);
    }

    #[test]
    fn retain_params_output_follows_original_param_order() -> Result<(), Box<dyn StdError>> {
        // Define params in order [x, y, z].  Retain in reverse order ["z", "x"].
        // Output should still be [x, z] — original order, not retain-list order.
        const BASE: LinkageFixed<3, 0, 6> = LinkageFixed::start()
            .define_param("x", 0.5)
            .define_param("y", 0.5)
            .define_param("z", 0.5)
            .forward_param("x", 0.0, 3.0)
            .left_param("z", 0.0, 7.0);

        const RETAINED: LinkageFixed<2, 0, 6> = BASE.retain_param_names(&["z", "x"]);

        // Output param 0 is "x" (original order), param 1 is "z".
        // forward("x") at 1.0 = 3 units along +X; left("z") at 0.0 = 0 lateral.
        let pos = RETAINED.view().final_pose(&[1.0, 0.0])?.position();
        assert!(pos.is_close_to(&Vec3::from([3.0, 0.0, 0.0]), 1e-4));

        // left("z") at 1.0 = 7 units left from where x took us.
        let pos2 = RETAINED.view().final_pose(&[1.0, 1.0])?.position();
        assert!(pos2.is_close_to(&Vec3::from([3.0, 7.0, 0.0]), 1e-4));
        Ok(())
    }

    #[test]
    fn freeze_covers_all_translation_and_rotation_step_types() -> Result<(), Box<dyn StdError>> {
        // One param used across forward/left/up/yaw/pitch/roll with distinct ranges.
        // Retain none freezes it at its normalized default, which resolves through
        // each step's own range.
        const BASE: LinkageFixed<1, 0, 8> = LinkageFixed::start()
            .define_param("t", 0.5)
            .forward_param("t", 0.0, 1.0) // Forward: high = 1.0
            .left_param("t", 0.0, 2.0) // Left: high = 2.0
            .up_param("t", 0.0, 3.0) // Up:   high = 3.0
            .yaw_param("t", 0.0, 0.0) // Yaw:  high = 0.0  (no rotation)
            .pitch_param("t", 0.0, 0.0) // Pitch: high = 0.0
            .roll_param("t", 0.0, 0.0); // Roll:  high = 0.0

        const FROZEN: LinkageFixed<0, 0, 8> = BASE.retain_param_indexes(&[]);

        // Zero rotations, then forward(0.5) + left(1) + up(1.5).
        let pos = FROZEN.view().final_pose(&[])?.position();
        assert!(pos.is_close_to(&Vec3::from([0.5, 1.0, 1.5]), 1e-4));
        Ok(())
    }

    #[test]
    fn freeze_param_index_at_default_supports_multiple_step_ranges() -> Result<(), Box<dyn StdError>>
    {
        // "t" appears twice with completely different low/high.
        // Frozen at 0.5 must use each step's own span, not a shared physical value.
        const BASE: LinkageFixed<1, 0, 4> = LinkageFixed::start()
            .define_param("t", 0.5)
            .forward_param("t", 0.0, 10.0) // at 0.5 → 5.0 units
            .left_param("t", 0.0, 20.0); // at 0.5 → 10.0 units

        const FROZEN: LinkageFixed<0, 0, 4> = BASE.freeze_param_index_at_default(0);

        let pos = FROZEN.view().final_pose(&[])?.position();
        assert!(pos.is_close_to(&Vec3::from([5.0, 10.0, 0.0]), 1e-4));
        Ok(())
    }

    #[test]
    fn linkage_view_materializes_active_step_count() {
        const BASE: LinkageFixed<0, 0, 5> = LinkageFixed::start()
            .yaw(0.0)
            .forward(2.0)
            .left(0.0)
            .up(1.0);

        const STRIPPED: LinkageView<'static, 0, 0> = BASE.view();

        let steps = STRIPPED.steps();
        assert_eq!(steps.len(), 5);
        assert!(matches!(steps[0], Step::Start));
        assert!(matches!(steps[1], Step::Yaw(StepArg::Fixed(value)) if value == 0.0));
        assert_fixed_move(steps[2], 2.0);
        assert!(matches!(steps[3], Step::Left(StepArg::Fixed(value)) if value == 0.0));
        assert_fixed_up(steps[4], 1.0);
    }

    #[test]
    fn linkage_fixed_freeze_runs_cleanup_passes() -> Result<(), Box<dyn StdError>> {
        const BASE: LinkageFixed<1, 0, 6> = LinkageFixed::start()
            .define_param("t", 0.5)
            .yaw_param("t", -90.0, 90.0)
            .forward_param("t", 0.0, 4.0)
            .forward(6.0)
            .left_param("t", -2.0, 2.0)
            .up(1.0);

        const FROZEN: LinkageFixed<0, 0, 6> = BASE.freeze_param_index_at_default(0);

        let steps = FROZEN.view().steps();
        assert_eq!(steps.len(), 3);
        assert!(matches!(steps[0], Step::Start));
        assert_fixed_move(steps[1], 8.0);
        assert_fixed_up(steps[2], 1.0);

        let original_pose = BASE.view().final_pose(&[0.5])?;
        let frozen_pose = FROZEN.view().final_pose(&[])?;
        assert_pose_close(original_pose, frozen_pose, 1e-5);
        Ok(())
    }

    #[cfg(feature = "alloc")]
    #[test]
    fn linkage_buf_freeze_runs_cleanup_passes() -> Result<(), Box<dyn StdError>> {
        let base: LinkageBuf<1, 0> = LinkageBuf::start()
            .define_param("t", 0.5)
            .yaw_param("t", -90.0, 90.0)
            .forward_param("t", 0.0, 4.0)
            .forward(6.0)
            .left_param("t", -2.0, 2.0)
            .up(1.0);

        let frozen: LinkageBuf<0, 0> = base.clone().freeze_param_index_at_default(0);

        let steps = frozen.view().steps();
        assert_eq!(steps.len(), 3);
        assert!(matches!(steps[0], Step::Start));
        assert_fixed_move(steps[1], 8.0);
        assert_fixed_up(steps[2], 1.0);

        let original_pose = base.view().final_pose(&[0.5])?;
        let frozen_pose = frozen.view().final_pose(&[])?;
        assert_pose_close(original_pose, frozen_pose, 1e-5);
        Ok(())
    }

    #[cfg(feature = "alloc")]
    #[test]
    #[should_panic(expected = "freeze name not found in params")]
    fn linkage_buf_freeze_param_name_rejects_unknown_name() {
        let linkage: LinkageBuf<1, 0> = LinkageBuf::start()
            .define_param("angle", 0.5)
            .yaw_param("angle", -90.0, 90.0);
        let _: LinkageBuf<0, 0> = linkage.freeze_param_name("typo", 0.0);
    }

    #[cfg(feature = "alloc")]
    #[test]
    #[should_panic(expected = "retain name not found in params")]
    fn linkage_buf_retain_params_rejects_unknown_name() {
        let linkage: LinkageBuf<2, 0> = LinkageBuf::start()
            .define_param("angle", 0.5)
            .define_param("dist", 0.5)
            .yaw_param("angle", -90.0, 90.0)
            .forward_param("dist", 0.0, 10.0);
        let _: LinkageBuf<1, 0> = linkage.retain_param_names(&["unknown_param"]);
    }

    #[cfg(feature = "alloc")]
    #[test]
    #[should_panic(expected = "duplicate name in retain list")]
    fn linkage_buf_retain_params_rejects_duplicate_name() {
        let linkage: LinkageBuf<2, 0> = LinkageBuf::start()
            .define_param("angle", 0.5)
            .define_param("dist", 0.5)
            .yaw_param("angle", -90.0, 90.0)
            .forward_param("dist", 0.0, 10.0);
        let _: LinkageBuf<2, 0> = linkage.retain_param_names(&["angle", "angle"]);
    }

    #[cfg(feature = "alloc")]
    #[test]
    fn linkage_buf_freeze_output_matches_linkage_fixed_freeze_output()
    -> Result<(), Box<dyn StdError>> {
        // Verify LinkageBuf::freeze_param_name produces identical poses
        // to the equivalent LinkageFixed specialization.
        const FIXED_BASE: LinkageFixed<2, 0, 5> = LinkageFixed::start()
            .define_param("angle", 0.5)
            .define_param("dist", 0.5)
            .yaw_param("angle", -180.0, 180.0)
            .forward_param("dist", 0.0, 8.0);

        const FIXED_FROZEN: LinkageFixed<1, 0, 5> = FIXED_BASE.freeze_param_name("angle", -90.0);

        let buf_base: LinkageBuf<2, 0> = LinkageBuf::start()
            .define_param("angle", 0.5)
            .define_param("dist", 0.5)
            .yaw_param("angle", -180.0, 180.0)
            .forward_param("dist", 0.0, 8.0);
        let buf_frozen: LinkageBuf<1, 0> = buf_base.freeze_param_name("angle", -90.0);

        for t in [0.0f32, 0.25, 0.5, 0.75, 1.0] {
            let pos_fixed = FIXED_FROZEN.view().final_pose(&[t])?.position();
            let pos_buf = buf_frozen.view().final_pose(&[t])?.position();
            assert!(pos_fixed.is_close_to(&pos_buf, 1e-5));
        }
        Ok(())
    }

    fn assert_specialized_matches_original<
        const DOF: usize,
        const OUT_DOF: usize,
        const MARKS: usize,
        const N: usize,
    >(
        original: LinkageFixed<DOF, MARKS, N>,
        original_params: &[f32; DOF],
        specialized: LinkageFixed<OUT_DOF, MARKS, N>,
        specialized_params: &[f32; OUT_DOF],
    ) -> Result<(), Box<dyn StdError>> {
        assert_pose_close(
            original.view().final_pose(original_params)?,
            specialized.view().final_pose(specialized_params)?,
            1e-4,
        );
        assert_draw_items_3d_close(
            original.view().draw_items_3d(original_params)?,
            specialized.view().draw_items_3d(specialized_params)?,
            1e-4,
        );
        Ok(())
    }

    fn assert_draw_items_3d_close(
        mut left: impl Iterator<Item = Item3d>,
        mut right: impl Iterator<Item = Item3d>,
        tolerance: f32,
    ) {
        loop {
            match (left.next(), right.next()) {
                (Some(left), Some(right)) => assert_draw_item_3d_close(left, right, tolerance),
                (None, None) => break,
                (Some(_), None) => panic!("specialized linkage emitted fewer draw items"),
                (None, Some(_)) => panic!("specialized linkage emitted more draw items"),
            }
        }
    }

    fn assert_draw_item_3d_close(left: Item3d, right: Item3d, tolerance: f32) {
        match (left, right) {
            (Item3d::Stroke(left), Item3d::Stroke(right)) => {
                assert_pose_close(left.start(), right.start(), tolerance);
                assert_pose_close(left.end(), right.end(), tolerance);
                assert!((left.width() - right.width()).abs() <= tolerance);
            }
            (Item3d::Disk(left), Item3d::Disk(right)) => {
                assert_pose_close(left.pose(), right.pose(), tolerance);
                assert!((left.radius() - right.radius()).abs() <= tolerance);
            }
            (Item3d::Sphere(left), Item3d::Sphere(right)) => {
                assert_pose_close(left.pose(), right.pose(), tolerance);
                assert!((left.radius() - right.radius()).abs() <= tolerance);
            }
            _ => panic!("draw item variants differ"),
        }
    }

    fn assert_pose_close(left: Pose, right: Pose, tolerance: f32) {
        assert!(left.position().is_close_to(&right.position(), tolerance));
        assert!(
            left.orientation()
                .is_close_to(&right.orientation(), tolerance)
        );
    }

    fn assert_fixed_move(step: Step, expected: f32) {
        match step {
            Step::Forward(StepArg::Fixed(actual)) => assert!((actual - expected).abs() <= 1e-6),
            _ => panic!("expected fixed forward step"),
        }
    }

    fn assert_fixed_up(step: Step, expected: f32) {
        match step {
            Step::Up(StepArg::Fixed(actual)) => assert!((actual - expected).abs() <= 1e-6),
            _ => panic!("expected fixed up step"),
        }
    }
}