ready for sww, some improvements to go

canvas.js

@@ -6,7 +6,6 @@ const Programs = require('./programs.js')
 // the program object: real simple, just has a description, and a 'modules' 
 var program = Programs.new('new program')
 
-
 var canvas = Programs.loadModuleFromSource(program, './modules/ui/threeCanvas.js')
 Programs.setUI(canvas, 200, 200)
 

littlerascal.js

+// business 
+const Reps = require('./reps.js')
+const Programs = require('./programs.js')
+
+// the program object: real simple, just has a description, and a 'modules' 
+var program = Programs.new('new program')
+
+/* ok
+- new plotter 
+- ack four 
+- go to pos block 
+- neil:mm adjust 
+- git push
+- add y axis network wait ? 
+*/
+
+// das link 
+var link = Programs.loadModuleFromSource(program, './modules/hardware/atkseriallink.js')
+link.startUp()
+link.state.log = true
+
+let steps = 10
+
+// x motor
+var xm = Programs.loadModuleFromSource(program, './modules/hardware/atkstepper.js')
+xm.route.route = '0,0'
+xm.state.route = '0,0'
+xm.state.spu = steps
+xm.state.axis = 'X'
+
+// y left and right
+var ylm = Programs.loadModuleFromSource(program, './modules/hardware/atkstepper.js')
+ylm.route.route = '0,1'
+ylm.state.route = '0,1'
+ylm.state.spu = steps 
+ylm.state.axis = 'Y'
+
+var ylr = Programs.loadModuleFromSource(program, './modules/hardware/atkstepper.js')
+ylr.route.route = '0,2'
+ylr.state.route = '0,2'
+ylr.state.spu = -steps
+ylr.state.axis = 'Y'
+
+// z motor
+var zm = Programs.loadModuleFromSource(program, './modules/hardware/atkstepper.js')
+zm.route.route = '0,3'
+zm.state.route = '0,3'
+zm.state.spu = -steps
+zm.state.axis = 'Z'
+
+var planner = Programs.loadModuleFromSource(program, './modules/motion/simplanner.js')
+planner.state.minSpeed = 1
+planner.state.accel = 300
+planner.netWindow = 1
+
+/*
+
+var simplanner = Programs.loadModuelFromSource(program, './modules/motion/simplanner.js')
+
+let ahMove = {
+	axes: ['X', 'Y', 'Z'],
+	p1: [10, 10, 10],
+	p2: [20, 20, 20],
+	vector: [10, 10, 10],
+	cruise: 100,
+	entry: 10,
+	exit: 10, 
+	accel: 100
+}
+
+*/
+
+// what doth planner output ?
+/*
+var newMove = {
+    axes: axes,
+    p1: p1,
+    p2: p2,
+    cruise: move.speed,
+    entry: 0,
+    exit: 0,
+    accel: state.accel
+}
+*/
+
+// can we write something that just steps through moves one by one ? 
+
+// HOOKUP
+planner.outputs.moves.attach(xm.inputs.trapezoid)
+planner.outputs.moves.attach(ylm.inputs.trapezoid)
+planner.outputs.moves.attach(ylr.inputs.trapezoid)
+planner.outputs.moves.attach(zm.inputs.trapezoid)
+xm.outputs.ack.attach(planner.inputs.acks)
+ylm.outputs.ack.attach(planner.inputs.acks)
+zm.outputs.ack.attach(planner.inputs.acks)
+
+let moveToPlanner = {
+	position: {
+		X: 20,
+		Y: 10,
+		Z: 5
+	},
+	speed: 150
+}
+
+link.onOpen = function(){
+	// planner.inputs.instruction.fn(moveToPlanner)
+	//xm.inputs.trapezoid.fn(ahMove)
+}
+
+// ws input
+
+var sockit = Programs.loadModuleFromSource(program, './modules/pipes/websocket.js')
+var np = Programs.loadModuleFromSource(program, './modules/motion/neilparse.js')
+
+sockit.outputs.data.attach(np.inputs.array)
+np.outputs.move.attach(planner.inputs.instruction)
+planner.outputs.moveComplete.attach(np.inputs.shift)
+
+// UI HOOKUP
+
+Programs.setView(program, {
+    scale: 0.5,
+    translate: [-160, -30],
+    origin: [200, 120]
+})
+
+let top = 100
+let motorbar = 1200
+let motorspace = 400
+
+Programs.setUI(sockit, top, top)
+Programs.setUI(np, 600, top)
+
+Programs.setUI(link, 1800, top)
+Programs.setUI(xm, motorbar, top)
+Programs.setUI(ylm, motorbar, top + motorspace)
+Programs.setUI(ylr, motorbar, top + 2 * motorspace)
+Programs.setUI(zm, motorbar, top + 3 * motorspace)
+Programs.setUI(planner, 600, 450)
+
+// UI 
+const View = require('./views.js')
+View.startHttp()
+View.startWs()
+
+Programs.assignSocket(View.uiSocket)
+View.assignProgram(program)
\ No newline at end of file

modules/hardware/atkseriallink.js

@@ -94,6 +94,7 @@ function ATKSerialLink() {
                 //state.portStatus = 'opening'
                 serialport.on('open', function() {
                     state.portStatus = 'open'
+                    atkSerialLink.onOpen() 
                 })
                 serialport.on('error', function(err) {
                     state.portStatus = err.message
@@ -103,6 +104,10 @@ function ATKSerialLink() {
         }
     }
 
+    atkSerialLink.onOpen = function() {
+        // null 4 now ... 
+    }
+
     /*
     ------------------------------------------------------
     PACKETS TO HARDWARE

modules/hardware/atkstepper.js

@@ -47,7 +47,7 @@ function Stepper() {
     })
 
     state.axis = 'X'
-    state.spu = 200 // steps per unit 
+    state.spu = 80 // steps per unit 
     state.rawMove = -10
 
     var ui = stepper.ui 
@@ -191,7 +191,7 @@ function Stepper() {
             console.log(dMove)
         }
 
-        if(verbose) console.log('------------------- DMOVE', state.axis, dMove.steps)
+        if(true) console.log('------------------- DMOVE', state.axis, dMove)
 
         var packet = new Array()
         // step blocks are #131

modules/motion/neilparse.js

+// boilerplate atkapi header
+const JSUnit = require('../../src/jsunit.js')
+
+let Input = JSUnit.Input
+let Output = JSUnit.Output
+let State = JSUnit.State
+
+// unit to convert neil's mods-output arrays into human readable move objects 
+// probably do flow control here also ?
+
+function NeilParser() {
+    var neilParser = {
+        description: {
+            name: 'neilParser Parser',
+            alt: 'line of neilParser -> points'
+        }
+    }
+
+    // log more 
+    var verbose = false
+
+    let npList = null
+
+    // one caveat here is that we can't dynamically add objects to this, 
+    // or they don't get getter / settered when we do
+    neilParser.state = State()
+    var state = neilParser.state
+    state.lift = 50
+    state.moveSpeed = 200
+    state.plungeSpeed = 50
+    state.jogSpeed = 600
+    state.listLength = 0
+
+    neilParser.inputs = {
+        array: Input('array', (arr) => {
+            let list = writeMoveObjects(arr)
+            console.log('have list', list)
+            npList = list
+            state.listLength = npList.length
+            // throw it out 
+            neilParser.outputs.newList.emit(1)
+            onShift() 
+
+        }),
+        shift: Input('event', (arg) => {
+            onShift() 
+        })
+    }
+
+    neilParser.outputs = {
+        move: Output('move'),
+        newList: Output('event')
+    }
+
+    function writeMoveObjects(arr) {
+        // arr[i] are segments, 
+        // between arr[i] instances, we put a z-lift and then 
+        // a z-drop 
+
+        if (Array.isArray(arr)) {
+            let flat = new Array()
+            for (var i = 0; i < arr.length; i++) {
+                flat.push(arr[i][0])
+                flat.push('z down move')
+                flat = flat.concat(arr[i].slice(1))
+                flat.push('z up move')
+            }
+            // console.log('FLATTENED TO', flat)
+            // add header
+            flat.splice(0, 0, 'z up move')
+            // and return home 
+            flat.push([0, 0])
+            // make a list of objs 
+            let list = new Array()
+            // this is actually stateful ... jogging or not 
+            let upState = false
+            for (var j = 0; j < flat.length; j++) {
+                if (Array.isArray(flat[j])) {
+                    let move = {
+                        position: {
+                            X: flat[j][0],
+                            Y: flat[j][1]
+                        }
+                    }
+                    if (upState) {
+                        move.speed = state.jogSpeed
+                    } else {
+                        move.speed = state.moveSpeed
+                    }
+                    list.push(move)
+                } else if (flat[j] === 'z up move') {
+                    upState = true
+                    list.push({
+                        position: {
+                            Z: state.lift
+                        },
+                        speed: state.plungeSpeed
+                    })
+                } else if (flat[j] === 'z down move') {
+                    upState = false
+                    list.push({
+                        position: {
+                            Z: 0
+                        },
+                        speed: state.plungeSpeed
+                    })
+                }
+            }
+
+            return list
+
+        } else {
+            console.log('NEIL PARSE: err: not an array')
+        }
+
+    }
+
+    function onShift() {
+        if (npList != null && npList.length > 0) {
+            neilParser.outputs.move.emit(npList.shift())
+            state.listLength = npList.length
+        } else {
+            console.log('NP Completes Moves')
+        }
+    }
+
+    return neilParser
+}
+
+
+// export the module 
+module.exports = NeilParser
\ No newline at end of file

modules/pipes/websocket.js

+// boilerplate atkapi header
+const JSUnit = require('../../src/jsunit.js')
+
+let Input = JSUnit.Input
+let Output = JSUnit.Output
+let State = JSUnit.State
+
+// websocket, to share program representations with the client (and back)
+const ws = require('ws')
+
+function WebSocket() {
+    var webSocket = {
+        description: {
+            name: 'webSocket',
+            alt: 'webseket'
+        }
+    }
+
+    // log more 
+    var verbose = false 
+
+    let sckt = null 
+
+    // one caveat here is that we can't dynamically add objects to this, 
+    // or they don't get getter / settered when we do
+    webSocket.state = State()
+    var state = webSocket.state
+    state.address = '127.0.0.1'
+    state.port = 1234
+    state.status = 'closed'
+
+    webSocket.inputs = {
+        in: Input('any', (thing) => {
+            // some fn 
+        })
+    }
+
+    webSocket.outputs = {
+        data: Output('any')
+    }
+
+    function openSocket(){
+        const wss = new ws.Server({port: state.port})
+        wss.on('connection', (pipe) => {
+            sckt = pipe 
+            console.log('WebSocket Opened')
+            sckt.on('message', (msg) => {
+                webSocket.outputs.data.emit(JSON.parse(msg))
+            })
+        })
+    }
+
+    openSocket() 
+
+    return webSocket
+}
+
+
+// export the module 
+module.exports = WebSocket
\ No newline at end of file

rundmc.js

@@ -29,9 +29,9 @@ const Reps = require('./reps.js')
 const Programs = require('./programs.js')
 
 // the program object: real simple, just has a description, and a 'modules' 
-// var program = Programs.new('new program')
+var program = Programs.new('new program')
 
-var program = Programs.open('./programs/temp.json')
+//var program = Programs.open('./programs/temp.json')
 
 /*
 var stest = Programs.loadModuleFromSource(program, './modules/ui/stest.js')

src/atkunit.js

@@ -39,6 +39,7 @@ function Hardware() {
             argument: 'reset hardware'
         })
     })
+    ui.resetButton.subscribe('onclick', onReset)
 
     ui.addElement('testButton', 'ui/uiButton.js')
     ui.testButton.subscribe('onload', function(msg) {
@@ -47,8 +48,10 @@ function Hardware() {
             argument: 'test network'
         })
     })
+    ui.testButton.subscribe('onclick', onNetworkTest)
 
     state.onUiChange('route', function() {
+        console.log('logging state / route change')
         hardware.route.route = state.route
     })
 

views.js

@@ -141,7 +141,7 @@ function socketSend(type, data) {
         //console.log('SEND', msg)
         sckt.send(JSON.stringify(msg))
     } else {
-        console.log('on socketSend, ws not ready')
+        // console.log('on socketSend, ws not ready')
     }
 }
 
@@ -306,7 +306,7 @@ function uiRequestUiChange(data){
 }
 
 function uiRequestMdlPositionChange(data) {
-    if(verbose) console.log('UI REQUEST ADD / CHANGE UI INFO TO MODULE', data)
+    if(true) console.log('UI REQUEST ADD / CHANGE UI INFO TO MODULE', data)
     var mod = program.modules[data.description.id]
     mod.description.position = data.description.position
 }