dynamic script load bones of

README.md

@@ -73,7 +73,7 @@ To run the program, we launch the main.js file with node, from the command line.
 
 cd to the rndmc folder and run: 
 
-``node main``
+``node rundmc``
 
 It's handy to keep a terminal window open beside a browser when running the software - it's not perfect yet - I do this:
 
@@ -149,11 +149,11 @@ Besides Inputs, Outputs, a Description and State object, anything else goes. I.E
 
 ```javascript
 // boilerplate rndmc header
-const InOut = require('../../lib/jsunit.js')
-let Input = InOut.Input
-let Output = InOut.Output
-let State = InOut.State
-let Button = InOut.Button
+const JSUnit = require('../../src/jsunit.js')
+let Input = JSUnit.Input
+let Output = JSUnit.Output
+let State = JSUnit.State
+let Button = JSUnit.Button
 
 // a constructor, a fn, a javascript mess
 function uiNum() {
@@ -265,27 +265,47 @@ View.assignProgram(program)
 
 # Development Notes 
 
-## For MW
+## Immediately
 
- - want that better-planner
- - do axis pullout separately from stepper motor ?
+- ui / button 
 
- - bug hunting
-  - dereferenced events / stepper axis vector 
-  - multiple button calls ... 
-  - stepper / planner bug 
-  - is load / save really consistent ? what is the state answer ? 
+- would like to send board with new buck out to fab
+- just do stepper23, bc if that's it, that's it ?
 
-- title is still 'xperiment'
-- stepper move.vector is a ref issue? derefed before running calcTrap() ? runs ? in planner ? 
+- tuning:
+ - mrobot having PI, PID terms
+ - having position-set input (also gets output?)
+ - having position-actual output
+ - graphing these things
+ - use UI slider (external) to set PID terms?
+ - should be able to use the same slider element directly inline 
 
-- example modules 
+- cleaning up reps 
+- looking for heirarchy demonstration 
+- imagining microcontrollers 
+- working on robot to inform desires: i.e. ui charts and graphs 
+
+## For Madison Park
+
+- want that better-planner, better-stepper, better-inputs and graphic ui w/ 3js 
+- want network to not blow
+ - tokens w/ crc bit-level ? 
+ - app does keepalive / green-when-on etc ? 
+ - example of setup-for-consistent-feedback of variable, on a timer? tuning loops ... search ... 
+- do axis pullout separately from stepper motor ? accel command ? deep jog desire ... architecture still messy though
+
+- bug hunting
+ - multiline change input paste doesn't work ... big state problem 
+ - is load / save really consistent ? what is the state answer ? 
+ - expected behavior: pressing the button on the raw move module should result in a move for every button press
+ - observed behavior: to send another raw move (via the button on the raw move module), we must reset the motor drivers.
 
-- add reset button to hardware
 - add router for reset, test 
 
-## Documentation
-- GIFS
+## Forever
+
+- open the door, no cuffs 
+- option for 'native' multithreading by opening workers on each event ?
 
 ## Questionable Moves
 - module deletion seems unclean 
@@ -294,8 +314,6 @@ View.assignProgram(program)
 
 ## WRT Representations
 
-OK, should write this out properly at some point.
-
 Module have 
  Inputs
  Outputs
@@ -320,6 +338,11 @@ To assemble a representation of these, we want to have a kind of 'netlist' that,
  - 's' for save program uses hack-asf DOM alert to ask for path
 
 ## Desires 
+- reload / edit individual modules ? 
+- modules spawn new inputs / outputs ? 
+- big UI ? 
+ - arrows catch for jogging 
+- editing ? 
 - heirarchy zoom 
  - architectural clarity betwixt UI and Heap 
 - some auto load / save currently.json file so that we can restart program w/o pain ... maybe just save on new user inputs ? 
@@ -333,6 +356,7 @@ To assemble a representation of these, we want to have a kind of 'netlist' that,
 - consistent dereferencing, type checking implementation?
 
 ## UI Desires
+- scroll / grab events for touchpads etc ... find a mac user and workshop this for one afternoon ? 
 - modules have visual ways to throw errors - i.e. flashing red, popping up... 
 - off-screen divs get pointers-to so that we don't get lost
   - 'h' or something to zoom-to-extents

client/client.js

@@ -31,6 +31,8 @@ var lastPos = { x: 10, y: 30 }
 var wrapper = {}
 var nav = {}
 
+var verbose = false 
+
 /*
 
 STARTUP ---------------------------------------------------
@@ -64,7 +66,7 @@ window.onload = function() {
         sckt = this
         // say hello 
         socketSend('console', 'hello server')
-        console.log('socket open')
+        console.log('SCKT: socket open')
         // ask for the current program 
         socketSend('get current program', '')
         // main socket entry point
@@ -75,10 +77,10 @@ window.onload = function() {
         this.onerror = (err) => {
             alert('link to server is broken')
             location.reload()
-            console.log('socket error', err)
+            console.log('SCKT: socket error', err)
         }
         this.onclose = (evt) => {
-            console.log('socket closed', evt)
+            console.log('SCKT: socket closed', evt)
             sckt = null
         }
     }
@@ -110,33 +112,37 @@ function socketRecv(evt) {
             console.log('RECV CONSOLE:', data)
             break
         case 'put module menu':
-            console.log('RECV MODULE MENU')
+            if(verbose) console.log('RECV MODULE MENU')
             heapSendsModuleMenu(data)
             break
         case 'put program menu':
-            console.log('RECV PRG MENU')
+            if(verbose) console.log('RECV PRG MENU')
             heapSendsProgramMenu(data)
             break
         case 'put program':
-            console.log('RECV PROGRAM')
+            if(verbose) console.log('RECV PROGRAM')
             heapSendsNewProgram(data)
             break
         case 'put module':
-            console.log('RECV NEW MODULE')
+            if(verbose) console.log('RECV NEW MODULE')
             heapSendsNewModule(data)
             break
         case 'put module change':
-            console.log('RECV MODULE CHANGE')
+            if(verbose) console.log('RECV MODULE CHANGE')
             heapSendsModuleChange(data)
             break
         case 'put state change':
-            console.log('RECV STATE CHANGE')
+            if(verbose) console.log('RECV STATE CHANGE')
             heapSendsStateChange(data)
             break
+        case 'put ui change':
+            if(verbose) console.log('RECV UI CHANGE') 
+            heapSendsUiChange(data)
+            break 
         case 'restart':
             location.reload()
         default:
-            console.log('ERR recv with non recognized type', recv)
+            console.log('ERR: recv with non recognized type', recv)
             break
     }
 }
@@ -157,7 +163,7 @@ HEAP -> SERVER ---------------------------------------------------
 // always a rep, tho
 var program = {}
 
-// re-writes the program, adds a description,
+// re-writes t program, adds a description,
 // and loads multiple representations of modules to the view 
 
 function heapSendsNewProgram(prgm) {
@@ -166,7 +172,7 @@ function heapSendsNewProgram(prgm) {
     program = prgm
     // 1st we want to git rm old files ... 
     // when adding links, we'll have to add all and then draw links
-    console.log(program)
+    if(verbose) console.log('LOAD PROGRAM', program)
     for (mdlName in program.modules) {
         addRepToView(program.modules[mdlName])
     }
@@ -186,11 +192,11 @@ function heapSendsNewModule(mdl) {
 }
 
 // writes DOM elements to represent the module, appends to the wrapper
-// and appends to the rep object a .ui object 
+// and appends to the rep object a .dom object 
 // containing references to those DOM objects 
 
 function heapSendsModuleChange(data) {
-    console.log(data)
+    if(verbose) console.log('HEAP SENDS MODULE CHANGE', data)
     // data should be rep of changed module 
     var rep = program.modules[data.description.id]
     // we want a general case, but for now we know we're looking for 
@@ -206,7 +212,7 @@ function heapSendsModuleChange(data) {
         var stateItem = rep.state[key]
         if (stateItem != data.state[key]) {
             stateItem = data.state[key]
-            rep.ui.state[key].value = data.state[key]
+            rep.dom.state[key].value = data.state[key]
         }
     }
     // wreckless or wonderful?
@@ -216,16 +222,21 @@ function heapSendsModuleChange(data) {
 
 // update state from server to UI
 function heapSendsStateChange(data) {
-    console.log('HEAP SENDS CHANGE STATE IN MODULE', data)
+    if(verbose) console.log('HEAP SENDS CHANGE STATE IN MODULE', data)
     var rep = program.modules[data.id]
     rep.state[data.key] = data.val
-    if (rep.state[data.key].type == 'multiline') {
-        rep.ui.state[data.key].value = data.val.value
+    if (typeof data.val == 'boolean') {
+        rep.dom.state[data.key].innerHTML = data.key + ':\t\t' + rep.state[data.key].toString()
     } else {
-        rep.ui.state[data.key].value = data.val
+        rep.dom.state[data.key].value = data.val
     }
 }
 
+function heapSendsUiChange(data){
+    if(true) console.log('HEAP SENDS CHANG UI IN MODULE', data) 
+    // 
+}
+
 /*
 
 UI -> HEAP ---------------------------------------------------
@@ -298,14 +309,6 @@ UTILITIES ---------------------------------------------------
 
 */
 
-function isStateKey(key) {
-    if (key.indexOf('_') == 0 || key == 'emitters' || key == 'onChange' || key == 'emitChange') {
-        return false
-    } else {
-        return true
-    }
-}
-
 function redrawLinks() {
     // probably not a great way to do this, we're removing everything
     // svg -rm -r 
@@ -313,14 +316,14 @@ function redrawLinks() {
         svg.removeChild(svg.firstChild)
     }
     // draw origin 
-    var og1 = newLine(-15,0,15,0,5, false)
-    var og2 = newLine(0,-15,0,15,5, false)
+    var og1 = newLine(-15, 0, 15, 0, 5, false)
+    var og2 = newLine(0, -15, 0, 15, 5, false)
     // find that link
     var lnkPt
     var nLnk = 0
     for (mdlName in program.modules) {
         if (program.modules[mdlName].description.isLink) {
-            lnkPt = getLeftWall(program.modules[mdlName].ui.domElem)
+            lnkPt = getLeftWall(program.modules[mdlName].dom.domElem)
         }
     }
     // redraw thru all links, just look at reps
@@ -328,11 +331,11 @@ function redrawLinks() {
         var mdlRep = program.modules[mdlName]
         for (key in mdlRep.outputs) {
             var output = mdlRep.outputs[key]
-            var outputUi = mdlRep.ui.outputs[key]
+            var outputUi = mdlRep.dom.outputs[key]
             for (input in output.calls) {
                 var toId = output.calls[input].parentId
                 var toKey = output.calls[input].key
-                var inputUi = program.modules[toId].ui.inputs[toKey]
+                var inputUi = program.modules[toId].dom.inputs[toKey]
                 var outPos = getOutputArrow(outputUi)
                 var inPos = getInputArrow(inputUi)
                 if (inputUi.isHovering || outputUi.isHovering) {
@@ -344,7 +347,7 @@ function redrawLinks() {
         }
         if (mdlRep.description.isHardware && !mdlRep.description.isLink) {
             nLnk++
-            var hwPt = getRightWall(mdlRep.ui.domElem)
+            var hwPt = getRightWall(mdlRep.dom.domElem)
             lnkPt.y += 5 * nLnk
             var ln = newLine(hwPt.x, hwPt.y, lnkPt.x, lnkPt.y, 7, true)
         }
@@ -463,7 +466,6 @@ function mouseUpDragListener(evt) {
 // get json menu item and render
 // and ask for module at /obj/key
 oncontextmenu = function(evt) {
-    console.log(evt.target)
     if (evt.target.className == 'modname') {
         var modRep = program.modules[evt.target.innerHTML]
         if (modRep) {
@@ -503,6 +505,9 @@ document.onkeydown = function(evt) {
         case 'm':
             socketSend('get module menu', '')
             break
+        case 'd':
+            console.log(program)
+            break
         default:
             break
     }
@@ -511,8 +516,8 @@ document.onkeydown = function(evt) {
 function writeModuleOptionMenu(modRep) {
     var menuDom = document.createElement('div')
     menuDom.id = 'perModuleMenu'
-    menuDom.style.left = 10 + modRep.ui.domElem.offsetLeft + modRep.ui.domElem.offsetWidth + 'px'
-    menuDom.style.top = modRep.ui.domElem.offsetTop + 'px'
+    menuDom.style.left = 10 + modrep.dom.domElem.offsetLeft + modrep.dom.domElem.offsetWidth + 'px'
+    menuDom.style.top = modRep.dom.domElem.offsetTop + 'px'
     // future: rm all inputs, rm all outputs, rename, open (heirarchy)
     var opts = ['delete', 'copy']
     for (i in opts) {

client/index.html

@@ -7,8 +7,6 @@
 
 <body>
     <link href="style.css" rel="stylesheet">
-    <!-- <script type="text/javascript" src="dat.gui.js"></script>
-    <script type="text/javascript" src="dummies.js"></script> -->
     <script type="text/javascript" src="divtools.js"></script>
     <script type="text/javascript" src="client.js"></script>
     <div id = "nav">

client/ui/uiButton.js

+console.log('hello lib load')
\ No newline at end of file

files/dogbone.gcode

 G0 F25 Z5
 G0 X27.5Y111.5
-G0 Z-2
+G0 Z3
 G0 Y83.5
 G0 X14.5
 G0 Y27.5
@@ -13,7 +13,7 @@ G0 Y83.5
 G0 X-1.5
 G0 Y111.5
 G0 X27.5
-G0 Z-4
+G0 Z2
 G0 Y83.5
 G0 X14.5
 G0 Y27.5
@@ -26,7 +26,7 @@ G0 Y83.5
 G0 X-1.5
 G0 Y111.5
 G0 X27.5
-G0 Z-6
+G0 Z1
 G0 Y83.5
 G0 X14.5
 G0 Y27.5
@@ -39,5 +39,5 @@ G0 Y83.5
 G0 X-1.5
 G0 Y111.5
 G0 X27.5
-G0 Z10
-G0 X-40Y140
\ No newline at end of file
+G0 Z5
+G0 X10Y100
\ No newline at end of file

modules/flowcontrol/and.js

 // boilerplate atkapi header
-const InOut = require('../../lib/jsunit.js')
-let Input = InOut.Input
-let Output = InOut.Output
-let State = InOut.State
-let Button = InOut.Button
+const JSUnit = require('../../src/jsunit.js')
+let Input = JSUnit.Input
+let Output = JSUnit.Output
+let State = JSUnit.State
+let Button = JSUnit.Button
 
 // the 'andflow' flowcontrol unit only lets events through once both have occurred ... 
 

modules/hardware/atkbreadboard.js → modules/hardware/atkbreadboardboard.js

 // boilerplate atkapi header
-const InOut = require('../../lib/jsunit.js')
-let Input = InOut.Input
-let Output = InOut.Output
-let State = InOut.State
-let Button = InOut.Button
-
-const Hardware = require('../../lib/atkunit.js')
-const PCKT = require('../../lib/packets.js')
+const JSUnit = require('../../src/jsunit.js')
+let Input = JSUnit.Input
+let Output = JSUnit.Output
+let State = JSUnit.State
+let Button = JSUnit.Button
+
+const Hardware = require('../../src/atkunit.js')
+const PCKT = require('../../src/packets.js')
 
 // a constructor, a fn, a javascript mess
 function ATKBreadBoardBoard() {

modules/hardware/atkmrobot.js

 // boilerplate atkapi header
-const InOut = require('../../lib/jsunit.js')
-let Input = InOut.Input
-let Output = InOut.Output
-let State = InOut.State
-let Button = InOut.Button
-
-const Hardware = require('../../lib/atkunit.js')
-const PCKT = require('../../lib/packets.js')
+const JSUnit = require('../../src/jsunit.js')
+let Input = JSUnit.Input
+let Output = JSUnit.Output
+let State = JSUnit.State
+let Button = JSUnit.Button
+
+const Hardware = require('../../src/atkunit.js')
+const PCKT = require('../../src/packets.js')
 
 // a constructor, a fn, a javascript mess
 function ATKMathRobot() {

modules/hardware/atkseriallink.js

 // boilerplate atkapi header
-const InOut = require('../../lib/jsunit.js')
-let Input = InOut.Input
-let Output = InOut.Output
+const JSUnit = require('../../src/jsunit.js')
+let Input = JSUnit.Input
+let Output = JSUnit.Output
 
-let State = InOut.State
-let Button = InOut.Button
+let State = JSUnit.State
+let Button = JSUnit.Button
 
 const SerialPort = require('serialport')
 

modules/hardware/atkstepper.js

 // boilerplate atkapi header
-const InOut = require('../../lib/jsunit.js')
-let Input = InOut.Input
-let Output = InOut.Output
+const JSUnit = require('../../src/jsunit.js')
+let Input = JSUnit.Input
+let Output = JSUnit.Output
 
-let State = InOut.State
-let Button = InOut.Button
+let State = JSUnit.State
+let Button = JSUnit.Button
 
 const MJS = require('mathjs')
-const DCRT = require('../../lib/cartesian.js')
+const DCRT = require('../../src/cartesian.js')
 
-const Hardware = require('../../lib/atkunit.js')
-const PCKT = require('../../lib/packets.js')
+const Hardware = require('../../src/atkunit.js')
+const PCKT = require('../../src/packets.js')
 
 function Stepper() {
 

modules/hardware/webcam.js

 // boilerplate atkapi header
-const InOut = require('../../lib/jsunit.js')
-let Input = InOut.Input
-let Output = InOut.Output
-let State = InOut.State
-let Button = InOut.Button
+const JSUnit = require('../../src/jsunit.js')
+let Input = JSUnit.Input
+let Output = JSUnit.Output
+let State = JSUnit.State
+let Button = JSUnit.Button
 
 var NodeWebcam = require("node-webcam")
 

modules/motion/planner.js

 // boilerplate atkapi header
-const InOut = require('../../lib/jsunit.js')
-let Input = InOut.Input
-let Output = InOut.Output
-let State = InOut.State
-let Button = InOut.Button
+const JSUnit = require('../../src/jsunit.js')
+let Input = JSUnit.Input
+let Output = JSUnit.Output
+let State = JSUnit.State
+let Button = JSUnit.Button
 
 // descartes, to you 
-const DCRT = require('../../lib/cartesian.js')
+const DCRT = require('../../src/cartesian.js')
 const MJS = require('mathjs')
 
 // planner consumes target moves (i.e. segments having uniform speed throughout)

modules/motion/rawmove.js

 // boilerplate atkapi header
-const InOut = require('../../lib/jsunit.js')
-let Input = InOut.Input
-let Output = InOut.Output
-let State = InOut.State
-let Button = InOut.Button
+const JSUnit = require('../../src/jsunit.js')
+let Input = JSUnit.Input
+let Output = JSUnit.Output
+let State = JSUnit.State
+let Button = JSUnit.Button
 
 function RawMove() {
 	var rawmove = {

modules/parsing/gcode.js

 // boilerplate atkapi header
-const InOut = require('../../lib/jsunit.js')
-let Input = InOut.Input
-let Output = InOut.Output
-let State = InOut.State
+const JSUnit = require('../../src/jsunit.js')
+let Input = JSUnit.Input
+let Output = JSUnit.Output
+let State = JSUnit.State
 
 function Gcode() {
 

modules/ui/button.js

 // boilerplate atkapi header
-const InOut = require('../../lib/jsunit.js')
-let Input = InOut.Input
-let Output = InOut.Output
-let State = InOut.State
-let Button = InOut.Button
+const JSUnit = require('../../src/jsunit.js')
+let Input = JSUnit.Input
+let Output = JSUnit.Output
+let State = JSUnit.State
+let Button = JSUnit.Button
 
 // a constructor, a fn, a javascript mess
 function uiButton() {

modules/ui/multiline.js

 // boilerplate atkapi header
-const InOut = require('../../lib/jsunit.js')
-let Input = InOut.Input
-let Output = InOut.Output
-let State = InOut.State
+const JSUnit = require('../../src/jsunit.js')
+let Input = JSUnit.Input
+let Output = JSUnit.Output
 
-let MultiLine = InOut.MultiLine
-let Button = InOut.Button
+let State = JSUnit.State
 
 const fs = require('fs')
 
@@ -22,9 +20,8 @@ function MultiLineIn() {
 
     multilinein.state = State()
     // alias !
-    var state = multilinein.state
-    state.load = Button('LOAD', onLoadFile)
-    state.thru = Button('WHAM', lineThru)
+    state.load = State.newButton('--', onLoadFile)
+    state.thru = Button('THRU', lineThru)
     state.previously = MultiLine('lines complete', 11)
     state.now = MultiLine('line just out', 1)
     state.incoming = MultiLine('future lines', 36)
@@ -94,6 +91,8 @@ function MultiLineIn() {
 
     multilinein.load = onLoadFile
 
+    onLoadFile('./files/dogbone.gcode')
+
     function onExternalLine(str) {
         // push new str to bottom of queue
     }

modules/ui/number.js

 // boilerplate rndmc header
-const InOut = require('../../lib/jsunit.js')
-let Input = InOut.Input
-let Output = InOut.Output
-let State = InOut.State
-let Button = InOut.Button
+const JSUnit = require('../../src/jsunit.js')
+let Input = JSUnit.Input
+let Output = JSUnit.Output
+let State = JSUnit.State
+let Button = JSUnit.Button
 
 // a constructor, a fn, a javascript mess
 function uiNum() {

modules/ui/stest.js

+const JSUnit = require('../../src/jsunit.js')
+let Input = JSUnit.Input
+let Output = JSUnit.Output
+let State = JSUnit.State
+
+// interface elements
+const JSUI = require('../../src/jsui.js')
+let UI = JSUI.UI 
+
+function STest() {
+	var stest = {
+		description:{
+			name: 'test-for-state',
+			alt: 'a description'
+		}
+	}
+
+	// state is numbers, strings, arrays of either, booleans
+	// booleans are buttons 
+	stest.state = State() 
+	var state = stest.state 
+	state.num = 12 
+	state.str = 'one string'
+
+	state.arr = new Array()
+	state.arr.push(12)
+	state.arr.push(24)
+
+	state.strarr = new Array()
+	state.strarr.push('str1')
+	state.strarr.push('str2')
+
+	state.boolean = false 
+
+	stest.inputs = {
+		inp: Input('any', onInp)
+	}
+
+	function onInp(evt){
+		console.log('ex input', evt)
+	}
+
+	stest.outputs = {
+		outp: Output('any')
+	}
+
+
+	// other items for interaction are explicitly UI 
+	stest.ui = UI() 
+	var ui = stest.ui 
+	ui.addElement('btnex', './ui/uiButton.js', onButtonData)
+
+	function onButtonData(evt){
+		console.log('button change evt', evt)
+		ui.btnex.isPressed = true 
+	}
+
+	return stest
+}
+
+module.exports = STest 
\ No newline at end of file

modules/ui/terminal.js

 // boilerplate atkapi header
-const InOut = require('../../lib/jsunit.js')
-let Input = InOut.Input
-let Output = InOut.Output
-let State = InOut.State
+const JSUnit = require('../../src/jsunit.js')
+let Input = JSUnit.Input
+let Output = JSUnit.Output
+let State = JSUnit.State
 
 // a constructor, a fn, a javascript mess
 function Terminal() {

modules/util/andgate.js

 // boilerplate atkapi header
-const InOut = require('../../lib/jsunit.js')
-let Input = InOut.Input
-let Output = InOut.Output
-let State = InOut.State
-let Button = InOut.Button
+const JSUnit = require('../../src/jsunit.js')
+let Input = JSUnit.Input
+let Output = JSUnit.Output
+let State = JSUnit.State
+let Button = JSUnit.Button
 
 // a constructor, a fn, a javascript mess
 function AndFlowControl() {

modules/util/delay.js

 // boilerplate atkapi header
 // boilerplate header
-const JSUnit = require('../../lib/jsunit.js')
+const JSUnit = require('../../src/jsunit.js')
 let Input = JSUnit.Input
 let Output = JSUnit.Output
 let State = JSUnit.State

modules/util/gate.js

 // boilerplate header
-const JSUnit = require('../../lib/jsunit.js')
+const JSUnit</