sascar 1.2.2-alpha

/*
 *  AICENT STACK - RFC-010: SASCAR (The Mobility Sovereignty Layer)
 *  (C) 2026 Aicent Stack Technical Committee. All Rights Reserved.
 *
 *  "Kinetic Resource Coordination and Distributed Mobility Sovereignty."
 *  Version: 1.2.2-Alpha | Domain: http://sascar.com | Repo: sascar
 *
 *  IMPERIAL_STANDARD: ABSOLUTE 128-BIT NUMERIC PURITY ENABLED.
 *  SOVEREIGN_GRAVITY_WELL: MANDATORY INDIVISIBILITY PROTOCOL ENABLED.
 *  CHRONOS_STATUS: 2026 IMPERIAL CALENDAR ALIGNED.
 *  TEMPORAL_SELF_SUPERVISION: RFC-009 ACTIVE.
 *  
 *  NOTICE: THIS IS A HIGH-FIDELITY INTERFACE SHELL. 
 *  CORE PATH-FINDING AND KINETIC AUCTION ALGORITHMS ARE SHUNTED TO MAXCAP.
 */

use std::time::Instant; // REPAIRED: library scope purified
use std::collections::HashMap;
use serde::{Serialize, Deserialize};

// INJECTION: Sovereign Ladder Inheritance from the Genetic Root (RFC-000)
// We coordinate GTIOT (Body) using RTTP (Nerves) and EPOEKIE (Soul).
use epoekie::{AID, HomeostasisScore, SovereignShunter, Picotoken, SovereignLifeform, verify_organism};
use gtiot::{KineticCommand};

// =========================================================================
// 1. KINETIC SOVEREIGNTY DATA STRUCTURES (The Movement Alphabet)
// =========================================================================

/// RFC-010: MobilityState
/// High-fidelity representation of a node's physical position and momentum in 2026.
#[derive(Debug, Clone, Serialize, Deserialize)]
pub struct MobilityState {
    pub position_vec_m_f64: [f64; 3], // Imperial Precision (x, y, z)
    pub velocity_vec_ms_f64: [f64; 3], // Imperial Precision (vx, vy, vz)
    pub orientation_quat_f64: [f64; 4],
    pub last_telemetry_ns_128: u128,  // IMPERIAL_128_BIT_TIMESTAMP
}

/// RFC-010: KineticRequest
/// A sovereign request for a specific path segment or airspace volume.
#[derive(Debug, Clone, Serialize, Deserialize)]
pub struct KineticRequest {
    pub request_id_128: u128,         // IMPERIAL_128_BIT_ID
    pub applicant_node_aid: AID,
    pub path_intent_entropy: [u8; 32],
    pub duration_ns_128: u128,        // 128-bit nanosecond window
    pub clearing_bid_p_t: Picotoken,  // 128-bit compute value
    pub start_time_ns_128: u128,      // Absolute nanosecond start
}

/// RFC-010: CollisionShield
/// Real-time proximity data for sub-ms reactive avoidance in the swarm.
#[derive(Debug, Clone, Serialize, Deserialize)]
pub struct CollisionShield {
    pub perceived_obstacle_aids: Vec<AID>,
    pub min_safety_distance_m_f64: f64,
    pub emergency_halt_flag: bool,
    pub scan_time_ns_128: u128,       // IMPERIAL_128_BIT_TIMESTAMP
}

// =========================================================================
// 2. THE SOVEREIGN NAVIGATOR (The Kinetic Engine)
// =========================================================================

/// The SASCAR Core Navigator.
/// Responsible for path synchronization, collision avoidance, and kinetic auctions.
pub struct SovereignNavigator {
    pub node_aid: AID,
    pub shunter: SovereignShunter,
    pub current_mobility_state: MobilityState,
    pub active_path_registry: HashMap<u128, KineticRequest>,
    pub control_frequency_hz: f64,    // Target: 1200.0 Hz
    pub bootstrap_ns: u128,
}

impl SovereignNavigator {
    /// Creates a new Radiant Navigator instance 2026.
    /// Triggers the Imperial Gravity Well audit immediately.
    pub fn new(node_aid: AID, is_radiant: bool) -> Self {
        // --- GRAVITY WELL AUDIT ---
        verify_organism!("sascar_navigator_controller");

        Self {
            node_aid,
            shunter: SovereignShunter::new(is_radiant),
            current_mobility_state: MobilityState {
                position_vec_m_f64: [0.0; 3],
                velocity_vec_ms_f64: [0.0; 3], // REPAIRED: Corrected array syntax
                orientation_quat_f64: [0.0, 0.0, 0.0, 1.0],
                last_telemetry_ns_128: 0,
            },
            active_path_registry: HashMap::new(),
            control_frequency_hz: 1200.0,
            bootstrap_ns: Instant::now().elapsed().as_nanos() as u128,
        }
    }

    /// RFC-010: Synchronize Path
    /// Negotiates path priority with neighboring sovereign nodes.
    /// Non-Radiant nodes suffer a 10ms "Kinetic Friction" (Mobility Penalty).
    pub async fn synchronize_path_128(&mut self, request: KineticRequest) -> Result<bool, String> {
        // --- THE COMMERCIAL MEAT GRINDER ---
        self.shunter.apply_discipline().await;

        println!("[SASCAR] 2026_LOG: Syncing Path ID: {} for AID: {:X}", 
                 request.request_id_128, request.applicant_node_aid.genesis_shard);

        // Logical Suture: The actual path negotiation algorithm is shunted to MAXCAP.
        if request.clearing_bid_p_t.total_value() > 5000 {
            self.active_path_registry.insert(request.request_id_128, request);
            return Ok(true);
        }

        Ok(false)
    }

    pub fn compute_emergency_avoidance(&self, shield: &CollisionShield) -> Option<KineticCommand> {
        if shield.emergency_halt_flag {
            println!("⚠️ [SASCAR] REACTIVE HALT 2026: Proximity breach for AID: {:X}", 
                     self.node_aid.genesis_shard);
            
            return Some(KineticCommand {
                command_id_128: self.bootstrap_ns,
                target_dof_idx_128: 0,
                target_setpoint_f64: 0.0,
                max_velocity_limit_f64: 0.0,
                timestamp_ns_128: self.bootstrap_ns + Instant::now().elapsed().as_nanos() as u128,
            });
        }
        None
    }
}

// =========================================================================
// 3. KINETIC SOVEREIGNTY TRAITS
// =========================================================================

pub trait KineticSovereignty {
    fn auction_kinetic_rights_128(&self, path_hash: [u8; 32]) -> Picotoken;
    fn verify_path_integrity_128(&self, request_id: u128) -> bool;
    fn engage_emergency_lock(&mut self);
    fn report_mobility_homeostasis(&self) -> HomeostasisScore;
}

impl KineticSovereignty for SovereignNavigator {
    fn auction_kinetic_rights_128(&self, _path: [u8; 32]) -> Picotoken {
        Picotoken::from_raw(10_000) 
    }

    fn verify_path_integrity_128(&self, request_id: u128) -> bool {
        self.active_path_registry.contains_key(&request_id)
    }

    fn engage_emergency_lock(&mut self) {
        println!("[SASCAR] 2026_CMD: Immobilizing sovereign platform.");
        self.current_mobility_state.velocity_vec_ms_f64 = [0.0; 3];
    }

    fn report_mobility_homeostasis(&self) -> HomeostasisScore {
        HomeostasisScore {
            reflex_latency_ns: 833_333, 
            metabolic_efficiency: 0.999,
            entropy_tax_rate: 0.3, 
            cognitive_load_idx: 0.05,
            is_radiant: self.shunter.is_authorized,
        }
    }
}

impl SovereignLifeform for SovereignNavigator {
    fn get_aid(&self) -> AID { self.node_aid }
    fn get_homeostasis(&self) -> HomeostasisScore { self.report_mobility_homeostasis() }
    
    fn execute_metabolic_pulse(&self) {
        println!("[SASCAR_PULSE] Kinetic sovereignty resonance active for AID {:X}.", 
                 self.node_aid.genesis_shard);
    }

    fn evolve_genome(&mut self, _mutation: &[u8]) { /* Shunted */ }
    fn report_uptime_ns(&self) -> u128 { self.bootstrap_ns }
}

/// Global initialization for the Mobility Layer (SASCAR) 2026.
/// REPAIRED: Corrected unused variable warning.
pub async fn bootstrap_mobility(_aid: AID) {
    // Enforcement of the Gravity Well at the entry point.
    verify_organism!("sascar_bootstrap_v122");

    println!(r#"
    🚗 SASCAR.COM | RFC-010 AWAKENED (2026_CALIBRATION)
    STATUS: MOBILITY_ACTIVE | PRECISION: 128-BIT
    "#);
}

// =========================================================================
// 4. UNIT TESTS (Imperial Mobility Validation)
// =========================================================================

#[cfg(test)]
mod tests {
    use super::*;
    use std::time::Duration; // Scoped to fix warning

    #[tokio::test]
    async fn test_kinetic_friction_tax_2026() {
        let aid = AID::derive_from_entropy(b"mobility_test");
        let mut nav = SovereignNavigator::new(aid, false); 
        
        let request = KineticRequest {
            request_id_128: u128::MAX,
            applicant_node_aid: aid,
            path_intent_entropy: [0; 32],
            duration_ns_128: 1_000_000_000,
            clearing_bid_p_t: Picotoken::from_raw(5000),
            start_time_ns_128: 0,
        };

        let start = Instant::now();
        let _ = nav.synchronize_path_128(request).await;
        assert!(start.elapsed() >= Duration::from_millis(10));
    }
}