diff --git a/.gitignore b/.gitignore
index 3b261560ecb84427e3c4197a8f551f6a0715b77d..01104a706829187c4bfa8b034cb6e49b739111be 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,4 @@
node_modules
.ipynb_checkpoints
-.DS_Store
\ No newline at end of file
+.DS_Store
+dice_firmware
\ No newline at end of file
diff --git a/01_Code/physical_computing_interface/assembly/app.js b/01_Code/physical_computing_interface/assembly/app.js
index e692e8e90a205cf27e8c87fdd6b3127ea183020e..770e61eff034e478753895303b189630022f050b 100644
--- a/01_Code/physical_computing_interface/assembly/app.js
+++ b/01_Code/physical_computing_interface/assembly/app.js
@@ -27,87 +27,105 @@ assembler.run();
//////////////////////////////python-urx//////////////////
-
-var ur10Setup={
- globals:{
- run:true,
- pythonFileName: "ur10test", //in ./assembly/python-urx/
- ipNode: "192.168.1.52",
- ipEdge: "192.168.1.53",
- latticePitch:{
- x:0.031,
- y:0.031,
- z:0.006,
- },
- nodePickupRobotHome:{
- x: -1.5394771734820765,
- y: -1.6685369650470179,
- z: -2.495819155369894,
- rx:-2.1159094015704554,
- ry:-1.5422142187701624,
- rz:-1.5874159971820276,
- },
- edgePickupRobotHome:{
- x: -0.21965343156923467,
- y: -1.5261443297015589,
- z: 2.5553131103515625,
- rx:-1.0277064482318323,
- ry:1.3498035669326782,
- rz:-1.5769990126239222,
- },
- programmingRelativeDistance:{
- x: -0.203,
- y: 0.0127,
- z: 0.013,
- rx:0,
- ry:0,
- rz:0,
- },
- nodeRelativeDistance:{
- x: -0.4417,
- y: 0.005,
- z: 0.04,
- rx:0,
- ry:0,
- rz:0
+var integratedSetup={
+ ur10Setup:{
+ parameters:{
+ run:true,
+ pythonFileName: "ur10test", //in ./assembly/python-urx/
+ ipNode: "192.168.1.52",
+ ipEdge: "192.168.1.53",
+ latticePitch:{
+ x:0.031,
+ y:0.031,
+ z:0.006,
+ },
+ nodePickupRobotHome:{
+ x: -1.5394771734820765,
+ y: -1.6685369650470179,
+ z: -2.495819155369894,
+ rx:-2.1159094015704554,
+ ry:-1.5422142187701624,
+ rz:-1.5874159971820276,
+ },
+ edgePickupRobotHome:{
+ x: -0.21965343156923467,
+ y: -1.5261443297015589,
+ z: 2.5553131103515625,
+ rx:-1.0277064482318323,
+ ry:1.3498035669326782,
+ rz:-1.5769990126239222,
+ },
+ programmingRelativeDistance:{
+ x: -0.203,
+ y: 0.0127,
+ z: 0.013,
+ rx:0,
+ ry:0,
+ rz:0,
+ },
+ nodeRelativeDistance:{
+ x: -0.4417,
+ y: 0.005,
+ z: 0.04,
+ rx:0,
+ ry:0,
+ rz:0
+ },
+ edgeRelativeDistance:{
+ x: 0,
+ y: 0,
+ z: 0.04,
+ rx:0,
+ ry:0,
+ rz:0
+ },
+ v:0.5,
+ a:0.5,
+ v1:0.05,
+ a1:0.05,
+ sleep:0.2,
+ sleep1:0.1,
+
+
},
- edgeRelativeDistance:{
- x: 0,
- y: 0,
- z: 0.04,
- rx:0,
- ry:0,
- rz:0
+ nodes:[ //relative to the pickup
+ ],
+ edges:[ //relative to the pickup
+ ],
+ },
+ DEMSetup:{
+ parameters: {
+ run:false,
+ make:false,
+ delta_t: 1e-4,
+ cutoff: 0.1,
+ spring_constant: 1000.0,
+ num_particles_per_node:3,
+ region_pitch:1.0,
+ save_every:20, //visualize every how much frames
+ save_max:200, //max num of files saved
},
- v:0.5,
- a:0.5,
- v1:0.05,
- a1:0.05,
- sleep:0.2,
- sleep1:0.1,
-
+ particles:[],
+ }
+}
- },
- nodes:[ //relative to the pickup
- ],
- edges:[ //relative to the pickup
- ],
-};
-GLOBALS.selectedjson=ur10Setup.globals;
+GLOBALS.selectedjson=integratedSetup;
GLOBALS.editor.set(GLOBALS.selectedjson);
document.addEventListener('runNode', function (e) {
- startAssembler(ur10Setup);
+ startAssembler(integratedSetup);
}, false);
document.addEventListener('addNode', function (e) {
- assembleNode(e,ur10Setup);
+ assembleNode(e,integratedSetup);
}, false);
-function assembleNode(e,ur10Setup){
+function assembleNode(e,integratedSetup){
+
+ var ur10Setup=integratedSetup.ur10Setup;
var x=e.detail.x;
var y=e.detail.y;
var z=e.detail.z;
@@ -133,7 +151,7 @@ function assembleNode(e,ur10Setup){
ur10Setup.edges.push({
y: (x+0.5*(j1-y)),
x: (GLOBALS.gridSize-y-1+0.5*(i1-x)),
- z: z*ur10Setup.globals.latticePitch.z,
+ z: z*ur10Setup.parameters.latticePitch.z,
rx:0,
ry:0,
rz:((j1-y)==0)? 0:Math.PI/2.0,
@@ -200,12 +218,27 @@ function assembleNode(e,ur10Setup){
}
+ /////////////////////////////////////////////////
+ //add particles to the DEM simulator
+ for(var i=0;i<integratedSetup.DEMSetup.parameters.num_particles_per_node;i++){
+ integratedSetup.DEMSetup.particles.push({
+ position:[
+ (Math.random()+(GLOBALS.gridSize-y-1))*integratedSetup.DEMSetup.parameters.region_pitch ,
+ (Math.random()+(x))*integratedSetup.DEMSetup.parameters.region_pitch
+ ],
+ velocity:[
+ Math.random()*2.0-1.0 , Math.random()*2.0-1.0
+ ]
+ });
+ }
}
-function startAssembler(ur10Setup){
+function startAssembler(integratedSetup){
+ var ur10Setup=integratedSetup.ur10Setup;
+
console.log("Run Assembler to assemble "+ur10Setup.nodes.length+ " node(s) and "+ur10Setup.edges.length+ " edge(s)!");
console.log(ur10Setup.edges)
- $.post("/", { data : { setup : JSON.stringify(ur10Setup) } }, function(temp) {
+ $.post("/", { data : { setup : JSON.stringify(integratedSetup) } }, function(temp) {
});
//todo change that to message down
diff --git a/01_Code/physical_computing_interface/assembly/python-urx/setup.json b/01_Code/physical_computing_interface/assembly/python-urx/setup.json
index f37b76ac6cc9f171870c2d36a86b60d38793a3d3..46e67bcff2c84824311a440e6031a4165ef3c13a 100644
--- a/01_Code/physical_computing_interface/assembly/python-urx/setup.json
+++ b/01_Code/physical_computing_interface/assembly/python-urx/setup.json
@@ -1,6 +1,6 @@
{
"setup": {
- "globals": {
+ "parameters": {
"run": true,
"pythonFileName": "ur10test",
"ipNode": "192.168.1.52",
@@ -58,14 +58,6 @@
"sleep1": 0.1
},
"nodes": [
- {
- "y": 0,
- "x": 1,
- "z": 0,
- "rx": 0,
- "ry": 0,
- "rz": 0
- },
{
"y": 0,
"x": 0,
@@ -78,44 +70,20 @@
"edges": [
{
"y": 0,
- "x": 1.5,
+ "x": 0.5,
"z": 0,
"rx": 0,
"ry": 0,
"rz": 0
},
- {
- "y": 0.5,
- "x": 1,
- "z": 0,
- "rx": 0,
- "ry": 0,
- "rz": 1.5707963267948966
- },
{
"y": -0.5,
- "x": 1,
+ "x": 0,
"z": 0,
"rx": 0,
"ry": 0,
"rz": 1.5707963267948966
},
- {
- "y": 0,
- "x": 0.5,
- "z": 0,
- "rx": 0,
- "ry": 0,
- "rz": 0
- },
- {
- "y": 0,
- "x": 0.5,
- "z": 0,
- "rx": 0,
- "ry": 0,
- "rz": 0
- },
{
"y": 0,
"x": -0.5,
diff --git a/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py b/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py
index c31fa7e0a4f6f46f03a8204999f312c14f9003b0..8f0241d25140a4dbe0813770c183288d83d6b944 100644
--- a/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py
+++ b/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py
@@ -11,7 +11,7 @@ import json
print("")
print("")
-print('Hello from python!')
+print('Hello from ur10test.py!')
print("")
@@ -22,7 +22,7 @@ with open('../assembly/python-urx/setup.json') as f:
# set values
setup=data["setup"]
-globalSetup=data["setup"]["globals"]
+globalSetup=data["setup"]["parameters"]
reference_roy=globalSetup["nodePickupRobotHome"]
reference_siegfried=globalSetup["edgePickupRobotHome"]
latticePitch=globalSetup["latticePitch"]
diff --git a/01_Code/physical_computing_interface/json/json.js b/01_Code/physical_computing_interface/json/json.js
index 4a4034aa8d504b1e89b87c218f29099f92fd2310..e79d856255fb892bcf21c87f2433b6fbfd7464c0 100644
--- a/01_Code/physical_computing_interface/json/json.js
+++ b/01_Code/physical_computing_interface/json/json.js
@@ -203,13 +203,12 @@ function initEditor(){
if(json.ipNode === undefined){
GLOBALS.updateNode(json);
}else{
- ur10Setup.globals=json; //todo remove from here
+ integratedSetup=json; //todo remove from here
}
}
};
GLOBALS.editor = new JSONEditor(container, options);
- GLOBALS.editor.set({bla:"hi"});
document.addEventListener('selectNode', function (e) {
GLOBALS.editor.set(GLOBALS.selectedjson);
diff --git a/01_Code/physical_computing_interface/setup/serve.js b/01_Code/physical_computing_interface/setup/serve.js
index 7f08b54b1fc9dbae9b123d9d7b8ca603eba5836e..77e2d63a0eaab6a92624dbbed424457f0890fcee 100644
--- a/01_Code/physical_computing_interface/setup/serve.js
+++ b/01_Code/physical_computing_interface/setup/serve.js
@@ -19,7 +19,6 @@ app.use(express.urlencoded({limit: '50mb', extended: true}));
//serve the html
app.use(express.static(__dirname + '/../')); // exposes index.html, per below
-
app.post("/", function(req, res) {
// each key in req.body will match the keys in the data object that you passed in
var myObject = req.body.data;
@@ -28,8 +27,6 @@ app.post("/", function(req, res) {
console.log("run python_urx!");
runPython_urx(setup);
-
-
res.send("I am done");
});
@@ -46,20 +43,46 @@ function runPython_urx(setup){
var root="../assembly/python-urx/";
let outputFile = editJsonFile(`${__dirname}/`+root+`setup.json`);
- outputFile.set("setup", setup);
+ outputFile.set("setup", setup.ur10Setup);
outputFile.save();
- console.log("saved the setup in ../assembly/python-urx/setup.json");
+ console.log("saved the UR10 setup in ../assembly/python-urx/setup.json");
console.log();
- if(setup.globals.run){
+ if(setup.ur10Setup.parameters.run){
console.log("Call python script:")
var commands=[];
- commands.push("python " + root+setup.globals.pythonFileName +".py");
+ commands.push("python " + root+setup.ur10Setup.parameters.pythonFileName +".py");
runListCommand(commands,0);
}else{
console.log("didn't run the UR10");
}
+
+ if(integratedSetup.DEMSetup.parameters.run){
+ var root="../simulation/dice_firmware/build/x86/src/sim/vis/";
+ let outputFile = editJsonFile(`${__dirname}/`+root+`sim_config.json`);
+ outputFile.set("setup", setup.DEMSetup);
+ outputFile.save();
+ console.log("saved the DEM setup in ../simulation/dice_firmware/build/x86/src/sim/vis/");
+ console.log();
+ console.log("Compile and run the DEM simulator:")
+ var commands=[];
+ if(integratedSetup.DEMSetup.parameters.make){
+ //make first
+ commands.push("cd " + "../simulation/dice_firmware/build/x86");
+ commands.push("make");
+ commands.push("cd " + "src/sim/vis/");
+
+ }else{
+ commands.push("cd " + root);
+ }
+
+ commands.push("./sim_vis_executable");
+ runListCommand(commands,0);
+
+ }else{
+ console.log("didn't run DEM simulation");
+ }
}
function runListCommand(commands,index){
diff --git a/02_Presentation/assembly/json.png b/02_Presentation/assembly/json.png
new file mode 100644
index 0000000000000000000000000000000000000000..346ebdb252b7f0859c9eaa7a8cd1b6b22051d057
Binary files /dev/null and b/02_Presentation/assembly/json.png differ
diff --git a/02_Presentation/assembly/ur10.md b/02_Presentation/assembly/ur10.md
index 9033f5aa93b4ae94b5536ee2107d805d6b932211..136597ed589da8d446242b1c8954f2274672e6ee 100644
--- a/02_Presentation/assembly/ur10.md
+++ b/02_Presentation/assembly/ur10.md
@@ -13,7 +13,8 @@
5. Now you can run the node.js server by running
- `node server.js`
6. this will show you instructions to navigate to `http://localhost:8080/demos/indexUR10.html` on your browser
-7. There you can **first** change the settings in the json editor in the bottom right, these are the global settings:
+7. There you can **first** change the settings in the json editor in the bottom right, these are under ur10Setup parameters settings:
+ - 
```javascript
{
run:true, // if true it will call the python script to move the UR10s, if false it will just save the setup ../assembly/python-urx/setup.json
@@ -75,7 +76,7 @@
```
8. If the settings are correct you can place the nodes in the assembly 3d grid, for now place them in the bottom right corner
- 
-9. You can run after placing one node or after placing both nodes by pressing right click while the cursor is on the node; then the radial menu will appear, you can then press play.
+9. You can run after placing one node or after placing both nodes by pressing right click while the cursor is on the node; then the radial menu will appear, you can then press play.
- 
-10. This will save the current setup to `./physical-computing-design-tools/01_Code/physical_computing_interface/assembly/python-urx/setup.json` and if `run:true` it will run the python file that is in `./physical-computing-design-tools/01_Code/physical_computing_interface/assembly/python-urx/` for example `ur10test.py`
-11. `./physical-computing-design-tools/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py` uses `python-urx` library to communicate with the UR10s and it uses the settings in `./physical-computing-design-tools/01_Code/physical_computing_interface/assembly/python-urx/setup.json`, you can debug this independently.
\ No newline at end of file
+11. This will save the current setup to `./physical-computing-design-tools/01_Code/physical_computing_interface/assembly/python-urx/setup.json` and if `run:true` it will run the python file that is in `./physical-computing-design-tools/01_Code/physical_computing_interface/assembly/python-urx/` for example `ur10test.py`
+12. `./physical-computing-design-tools/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py` uses `python-urx` library to communicate with the UR10s and it uses the settings in `./physical-computing-design-tools/01_Code/physical_computing_interface/assembly/python-urx/setup.json`, you can debug this independently.
\ No newline at end of file