@prefix sh: <http://www.w3.org/ns/shacl#> .
@prefix rdfs: <http://www.w3.org/2000/01/rdf-schema#> .
@prefix xsd: <http://www.w3.org/2001/XMLSchema#> .
@prefix qudt: <http://qudt.org/schema/qudt/> .
@prefix algo-ext: <https://secorolab.github.io/metamodels/algorithm#> .
@prefix geom-op: <https://comp-rob2b.github.io/metamodels/geometry/spatial-operators#> .
@prefix kc-op: <https://comp-rob2b.github.io/metamodels/kinematic-chain/operators#> .
@prefix kc-op-ext: <https://secorolab.github.io/metamodels/kinematic-chain/operators#> .
@prefix cstr_hdl: <https://comp-rob2b.github.io/metamodels/task/constraint-handler#> .
@prefix cstr-hdl-ext: <https://secorolab.github.io/metamodels/task/constraint-handler#> .
@prefix mot: <https://comp-rob2b.github.io/metamodels/task/motion-specification#> .
@prefix slv: <https://comp-rob2b.github.io/metamodels/task/solver-specification#> .
@prefix slv-ext: <https://secorolab.github.io/metamodels/task/solver-specification#> .

cstr-hdl-ext:FeedForwardController
    a rdfs:Class, sh:NodeShape ;
    rdfs:subClassOf cstr_hdl:Controller ;
    sh:targetClass cstr-hdl-ext:FeedForwardController ;
    sh:message "A feed-forward controller needs exactly one quantity reference signal and no error signal." ;
    sh:property [
        sh:path cstr-hdl-ext:reference-signal ;
        sh:minCount 1 ;
        sh:maxCount 1 ;
        sh:nodeKind sh:BlankNodeOrIRI ;
        sh:class qudt:Quantity
    ] ;
    sh:property [
        sh:path cstr_hdl:error-signal ;
        sh:maxCount 0
    ] .

# Any controller may consume a reference signal, produced by a setpoint generator.
cstr-hdl-ext:ReferenceConsumer
    a sh:NodeShape ;
    sh:targetSubjectsOf cstr-hdl-ext:reference-signal ;
    sh:message "A reference consumer must be a controller with exactly one quantity reference signal." ;
    sh:class cstr_hdl:Controller ;
    sh:property [
        sh:path cstr-hdl-ext:reference-signal ;
        sh:minCount 1 ;
        sh:maxCount 1 ;
        sh:nodeKind sh:BlankNodeOrIRI ;
        sh:class qudt:Quantity
    ] .

cstr-hdl-ext:SolverBoundController
    a sh:NodeShape ;
    sh:targetSubjectsOf cstr-hdl-ext:solver ;
    sh:message "A solver-bound controller must reference exactly one solver that takes commands: a dynamics or inverse-kinematics solver (not forward kinematics), a command-forwarding solver, or a velocity or force distribution." ;
    sh:class cstr_hdl:Controller ;
    sh:property [
        sh:path cstr-hdl-ext:solver ;
        sh:minCount 1 ;
        sh:maxCount 1 ;
        sh:nodeKind sh:IRI ;
        sh:or (
            [
                sh:class slv:SolverWithInputAndOutput ;
                sh:not [
                    sh:property [
                        sh:path slv:solver ;
                        sh:minCount 1 ;
                        sh:in ( kc-op:ForwardPositionKinematics kc-op-ext:ForwardVelocityKinematics )
                    ]
                ]
            ]
            [ sh:class slv-ext:CommandForwardingSolver ]
            [ sh:class slv-ext:VelocityDistributionSolver ]
            [ sh:class slv:ForceDistributionSolver ]
        )
    ] .

cstr-hdl-ext:LimiterOwner
    a sh:NodeShape ;
    sh:targetSubjectsOf algo-ext:limits ;
    sh:message "A limiter owner must provide one or more saturation operations as limits." ;
    sh:property [
        sh:path algo-ext:limits ;
        sh:minCount 1 ;
        sh:nodeKind sh:BlankNodeOrIRI ;
        sh:class algo-ext:Saturation
    ] .

# The role marking which operator output a controller tracks: one instantaneous
# desired value, the control horizon being one tick deep.
cstr-hdl-ext:SetpointGenerator
    a rdfs:Class, sh:NodeShape ;
    sh:targetClass cstr-hdl-ext:SetpointGenerator ;
    sh:message "A setpoint generator must produce exactly one output, on algo-ext:out or geom-op:out." ;
    sh:xone (
        [ sh:property [ sh:path algo-ext:out ; sh:minCount 1 ; sh:maxCount 1 ; sh:nodeKind sh:BlankNodeOrIRI ] ]
        [ sh:property [ sh:path geom-op:out ; sh:minCount 1 ; sh:maxCount 1 ; sh:nodeKind sh:BlankNodeOrIRI ] ]
    ) .

cstr-hdl-ext:FallbackMonitor
    a sh:NodeShape ;
    sh:targetSubjectsOf cstr-hdl-ext:fallback-motion ;
    sh:message "A fallback monitor must be a monitor with exactly one guarded fallback motion." ;
    sh:class cstr_hdl:Monitor ;
    sh:property [
        sh:path cstr-hdl-ext:fallback-motion ;
        sh:minCount 1 ;
        sh:maxCount 1 ;
        sh:nodeKind sh:BlankNodeOrIRI ;
        sh:class mot:GuardedMotion
    ] .

# Optional per-monitor debounce; absent fires on the rising edge.
cstr-hdl-ext:DebounceMonitor
    a sh:NodeShape ;
    sh:targetSubjectsOf cstr-hdl-ext:debounce-duration ;
    sh:message "A debounce monitor must be a monitor with exactly one quantity debounce duration." ;
    sh:class cstr_hdl:Monitor ;
    sh:property [
        sh:path cstr-hdl-ext:debounce-duration ;
        sh:nodeKind sh:BlankNodeOrIRI ;
        sh:class qudt:Quantity ;
        sh:minCount 1 ;
        sh:maxCount 1
    ] .