From 56973ba3f6c85a130c9f2a0e80eb14bca0803c1f Mon Sep 17 00:00:00 2001 From: Jake Date: Sat, 9 Feb 2019 19:47:09 -0500 Subject: [PATCH] sww demo is go --- client/client.js | 2 +- littlerascal.js | 32 +++++++---- modules/hardware/atkstepper.js | 2 +- modules/motion/neilparse.js | 13 +++-- modules/motion/simplanner.js | 100 ++++----------------------------- modules/motion/usermove.js | 78 +++++++++++++++++++++++++ views.js | 8 +-- 7 files changed, 123 insertions(+), 112 deletions(-) create mode 100644 modules/motion/usermove.js diff --git a/client/client.js b/client/client.js index e06abe4..f41c7e8 100644 --- a/client/client.js +++ b/client/client.js @@ -60,7 +60,7 @@ window.onload = function() { nav = document.getElementById('nav') - const socket = new WebSocket('ws://localhost:8081') + const socket = new WebSocket('ws://localhost:8082') socket.onopen = function(evt) { // pass to global ref diff --git a/littlerascal.js b/littlerascal.js index 769634c..95431ae 100644 --- a/littlerascal.js +++ b/littlerascal.js @@ -6,20 +6,19 @@ const Programs = require('./programs.js') var program = Programs.new('new program') /* ok -- new plotter -- ack four -- go to pos block -- neil:mm adjust +- video + - cut: red + - mountain: green + - valley: blue - git push -- add y axis network wait ? */ // das link var link = Programs.loadModuleFromSource(program, './modules/hardware/atkseriallink.js') link.startUp() -link.state.log = true +link.state.log = false -let steps = 10 +let steps = 80 // x motor var xm = Programs.loadModuleFromSource(program, './modules/hardware/atkstepper.js') @@ -49,9 +48,11 @@ 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 +planner.state.minSpeed = 0.1 +planner.state.accel = 20 + +var outButton = Programs.loadModuleFromSource(program, './modules/motion/usermove.js') +outButton.state.moveSpeed = 200 /* @@ -90,9 +91,16 @@ 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) +xm.outputs.ack.attach(planner.inputs.positions) + ylm.outputs.ack.attach(planner.inputs.acks) +ylm.outputs.ack.attach(planner.inputs.positions) +ylr.outputs.ack.attach(planner.inputs.acks) + zm.outputs.ack.attach(planner.inputs.acks) +zm.outputs.ack.attach(planner.inputs.positions) let moveToPlanner = { position: { @@ -109,6 +117,7 @@ link.onOpen = function(){ } // ws input +// fusion runs on socket 1234 ... var sockit = Programs.loadModuleFromSource(program, './modules/pipes/websocket.js') var np = Programs.loadModuleFromSource(program, './modules/motion/neilparse.js') @@ -117,6 +126,8 @@ sockit.outputs.data.attach(np.inputs.array) np.outputs.move.attach(planner.inputs.instruction) planner.outputs.moveComplete.attach(np.inputs.shift) +outButton.outputs.move.attach(planner.inputs.instruction) + // UI HOOKUP Programs.setView(program, { @@ -131,6 +142,7 @@ let motorspace = 400 Programs.setUI(sockit, top, top) Programs.setUI(np, 600, top) +Programs.setUI(outButton, top, 300) Programs.setUI(link, 1800, top) Programs.setUI(xm, motorbar, top) diff --git a/modules/hardware/atkstepper.js b/modules/hardware/atkstepper.js index 0963618..6546575 100644 --- a/modules/hardware/atkstepper.js +++ b/modules/hardware/atkstepper.js @@ -191,7 +191,7 @@ function Stepper() { console.log(dMove) } - if(true) console.log('------------------- DMOVE', state.axis, dMove) + if(true) console.log('------------------- DMOVE', state.axis, dMove.steps) var packet = new Array() // step blocks are #131 diff --git a/modules/motion/neilparse.js b/modules/motion/neilparse.js index 0e31574..7bbb405 100644 --- a/modules/motion/neilparse.js +++ b/modules/motion/neilparse.js @@ -25,10 +25,11 @@ function NeilParser() { // 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.unitsPerMM = 8 + state.lift = 5 + state.moveSpeed = 100 + state.plungeSpeed = 20 + state.jogSpeed = 200 state.listLength = 0 neilParser.inputs = { @@ -78,8 +79,8 @@ function NeilParser() { if (Array.isArray(flat[j])) { let move = { position: { - X: flat[j][0], - Y: flat[j][1] + X: flat[j][0] / state.unitsPerMM, + Y: flat[j][1] / state.unitsPerMM } } if (upState) { diff --git a/modules/motion/simplanner.js b/modules/motion/simplanner.js index 05cb5f8..8a70348 100644 --- a/modules/motion/simplanner.js +++ b/modules/motion/simplanner.js @@ -30,36 +30,24 @@ function Planner() { var state = planner.state // reference pass attempt? state.axisIDs = 'X,Y,Z' - state.onUiChange('axisIDs', axisIDUpdate) state.accel = 200 // units/s/s state.minSpeed = 1 // units/s state.position = [0, 0, 0] - // should be grn / red button ... state.isRunning = 1 - state.onUiChange('isRunning', netStateRefresh) state.netWindow = 1 - state.netState = [0, 0, 0] + state.netState = 0 planner.ui = UI() var ui = planner.ui - ui.addElement('startStopButton', 'ui/uiButton.js') - ui.startStopButton.subscribe('onload', function(msg) { - ui.startStopButton.send({ - calls: 'setText', - argument: 'start / stop planner' - }) - }) - ui.startStopButton.subscribe('onclick', onStartStop) - planner.inputs = { instruction: Input('move instruction', onNewInstruction), acks: Input('move acknowledgement', onAck), - run: Input('boolean', onRunInstruction) + positions: Input('new positions', onPositions) } planner.outputs = { @@ -67,23 +55,16 @@ function Planner() { moveComplete: Output('number') } - // we'll use one of these to assert / do things - // after the module is loaded, and state is copied etc - // i.e. one thing we can do is assert a starting value - planner.init = function() { - state.isRunning = 0 - state.netState = [0, 0, 0] - } - /* ------------------------------------------------------ UPDATING / SETUP ------------------------------------------------------ */ - function onAck(msg) { + function onPositions(msg){ //console.log("Planner onAck:", msg) // update position, net states, run netCheck + // positions ... var axes = state.axisIDs.split(',') var match = axes.indexOf(msg.axis) if (match !== -1) { @@ -91,82 +72,23 @@ function Planner() { var newPos = state.position.slice(0) newPos[match] += msg.increment state.position = newPos - var newNetState = state.netState.slice(0) - newNetState[match] -= 1 - state.netState = newNetState - if (verbose) console.log('NEW NET STATE', newNetState) } else { console.log('ERR in PLANNER: missed axis on ack from stepper') } - netStateRefresh() } - function netStateRefresh() { - // check if received all four, - // send a packet - var ns = state.netState - var i = 0 - // check equality - while (ns[i] == ns[i + 1]) { - i++ - // console.log('EQUALITY LOOP') - if (i > ns.length - 1) { - break - } - } - if (i == ns.length - 1) { + function onAck(msg) { + // just count to four + state.netState ++ + if(state.netState >= 4){ console.log('Planner confirms Move Complete') + state.netState = 0 planner.outputs.moveComplete.emit(1) } - } - - function onRunInstruction(boolean) { - if (boolean) { - if (state.isRunning) { - // already running, do nothing - } else { - state.isRunning = 1 - netStateRefresh() - } - } else { - if (state.isRunning) { - state.isRunning = 0 - } else { - // oy - } - } - } - - function axisIDUpdate() { - var axes = state.axisIDs.split(',') - var position = new Array(axes.length) - position.fill(0) - var packetState = new Array(axes.length) - for (i in axes) { - position.push(0) - packetState.push(0) - // could do - //planner.outputs[axes[i]] = Output('move instruction') - } - state.position = position - state.packetState = packetState - console.log(planner) - } - - function onStartStop() { - if (state.isRunning) { - state.isRunning = 0 - } else { - state.isRunning = 1 - netStateRefresh() - } + } function sendMoveToNetwork(move) { - for (i in state.netState) { - state.netState[i]++ - } - state.netState = state.netState planner.outputs.moves.emit(move) } @@ -203,8 +125,6 @@ function Planner() { console.log('------------------ !ACHTUNG! -------------------') console.log('------------------ !ACHTUNG! -------------------') console.log('planner throwing zero length vector') - zlcounter++ - console.log(zlcounter) // this means we need another one from the queue planner.outputs.moveComplete.emit(1) } else { diff --git a/modules/motion/usermove.js b/modules/motion/usermove.js new file mode 100644 index 0000000..e640f07 --- /dev/null +++ b/modules/motion/usermove.js @@ -0,0 +1,78 @@ +// boilerplate atkapi header +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 + +// unit to convert neil's mods-output arrays into human readable move objects +// probably do flow control here also ? + +function UserMove() { + + var userMove = { + description: { + name: 'userMove gen', + alt: 'line of userMove -> points' + } + } + + // one caveat here is that we can't dynamically add objects to this, + // or they don't get getter / settered when we do + userMove.state = State() + var state = userMove.state + state.moveTo = '100,100,10' + state.moveSpeed = 100 + + userMove.inputs = { + go: Input('event', (evt) => { + sendMove() + }) + } + + userMove.outputs = { + move: Output('move') + } + + userMove.ui = UI() + + var ui = userMove.ui + ui.addElement('goButton', 'ui/uiButton.js') + ui.goButton.subscribe('onload', function(msg) { + ui.goButton.send({ + calls: 'setText', + argument: 'click to send move' + }) + }) + ui.goButton.subscribe('onclick', (evt) => { + sendMove() + }) + + function sendMove() { + var axes = state.moveTo.split(',') + if (axes.length == 3) { + let move = { + position: { + X: parseFloat(axes[0]), + Y: parseFloat(axes[1]), + Z: parseFloat(axes[2]), + }, + speed: state.moveSpeed + } + console.log('User Move is', move) + userMove.outputs.move.emit(move) + } else { + console.log("len for moves must be three") + } + + } + + return userMove +} + +// export the module +module.exports = UserMove \ No newline at end of file diff --git a/views.js b/views.js index fb211bf..4dd0474 100644 --- a/views.js +++ b/views.js @@ -44,22 +44,22 @@ function startHttp() { }) // through this window - http.listen(8080, () => { - console.log('RNDMC is listening on localhost:8080') + http.listen(8081, () => { + console.log('RNDMC is listening on localhost:8081') }) } function startWs() { // and listening for requests here - const wss = new WebSocket.Server({ port: 8081 }) + const wss = new WebSocket.Server({ port: 8082 }) wss.on('connection', (ws) => { sckt = ws // say hello socketSend('console', 'hello client') // send current config as list of all modules - console.log('socket open on 8081') + console.log('socket open on 8082') ws.on('message', (evt) => { socketRecv(evt) }) -- GitLab