towards ports and links, and instron utils

README.md

@@ -15,11 +15,6 @@ This project serves the developement environment / api we use to write and repre
 
 
 ## Programming Notes
-- wake up planner sequence, say hello
- - load program / don't during startup ?
- - flow control immediately ? 
-
- - exercise to get in groove: pwm for servos & startup seq. in atkapi 
 - once we can plan gcode sequence, work towards more
  - better hardware abstraction, i.e.
    stepper.port = bridge.port('0,1')

lib/atkport.js

+// object to extend for things-that-are-hardware
+
+// and pass f'n to call on received messages
+function ATKPort(route, calls) {
+    var atkport = {
+        isAtkPort: true,
+        link: null, // pls, deliver 2 me a hw outlet 
+        route: route,
+        calls: calls
+    }
+
+    atkport.send = function(msg) {
+        if (this.link != null) {
+            this.link.send(msg, this)
+        } else {
+            console.log("NO LINK NO SEND")
+        }
+    }
+
+    atkport.onMessage = function(msg){
+        this.calls(msg)
+    }
+
+    return atkport
+}
+
+module.exports = ATKPort
\ No newline at end of file

package-lock.json

@@ -53,6 +53,11 @@
         "safe-buffer": "5.1.2"
       }
     },
+    "abbrev": {
+      "version": "1.1.1",
+      "resolved": "https://registry.npmjs.org/abbrev/-/abbrev-1.1.1.tgz",
+      "integrity": "sha512-nne9/IiQ/hzIhY6pdDnbBtz7DjPTKrY00P/zvPSm5pOFkl6xuGrGnXn/VtTNNfNtAfZ9/1RtehkszU9qcTii0Q=="
+    },
     "accepts": {
       "version": "1.3.5",
       "resolved": "https://registry.npmjs.org/accepts/-/accepts-1.3.5.tgz",
@@ -1075,11 +1080,28 @@
         "semver": "5.5.0"
       }
     },
+    "node-webcam": {
+      "version": "0.4.5",
+      "resolved": "https://registry.npmjs.org/node-webcam/-/node-webcam-0.4.5.tgz",
+      "integrity": "sha512-ZOwSLKb2D0Ie3P4Ja5ouuwmhQs4Xsda98LANkoKJJxqa39o/pLbR/khEqvn7YQpJeoZ+CXGmHuHfTalCB7PvyQ==",
+      "requires": {
+        "nopt": "4.0.1"
+      }
+    },
     "noop-logger": {
       "version": "0.1.1",
       "resolved": "https://registry.npmjs.org/noop-logger/-/noop-logger-0.1.1.tgz",
       "integrity": "sha1-lKKxYzxPExdVMAfYlm/Q6EG2pMI="
     },
+    "nopt": {
+      "version": "4.0.1",
+      "resolved": "https://registry.npmjs.org/nopt/-/nopt-4.0.1.tgz",
+      "integrity": "sha1-0NRoWv1UFRk8jHUFYC0NF81kR00=",
+      "requires": {
+        "abbrev": "1.1.1",
+        "osenv": "0.1.5"
+      }
+    },
     "npmlog": {
       "version": "4.1.2",
       "resolved": "https://registry.npmjs.org/npmlog/-/npmlog-4.1.2.tgz",
@@ -1183,6 +1205,20 @@
       "resolved": "https://registry.npmjs.org/os-homedir/-/os-homedir-1.0.2.tgz",
       "integrity": "sha1-/7xJiDNuDoM94MFox+8VISGqf7M="
     },
+    "os-tmpdir": {
+      "version": "1.0.2",
+      "resolved": "https://registry.npmjs.org/os-tmpdir/-/os-tmpdir-1.0.2.tgz",
+      "integrity": "sha1-u+Z0BseaqFxc/sdm/lc0VV36EnQ="
+    },
+    "osenv": {
+      "version": "0.1.5",
+      "resolved": "https://registry.npmjs.org/osenv/-/osenv-0.1.5.tgz",
+      "integrity": "sha512-0CWcCECdMVc2Rw3U5w9ZjqX6ga6ubk1xDVKxtBQPK7wis/0F2r9T6k4ydGYhecl7YUBxBVxhL5oisPsNxAPe2g==",
+      "requires": {
+        "os-homedir": "1.0.2",
+        "os-tmpdir": "1.0.2"
+      }
+    },
     "parseurl": {
       "version": "1.3.2",
       "resolved": "https://registry.npmjs.org/parseurl/-/parseurl-1.3.2.tgz",

package.json

@@ -10,6 +10,7 @@
     "express": "^4.16.3",
     "http": "0.0.0",
     "mathjs": "^5.1.2",
+    "node-webcam": "^0.4.5",
     "readline": "^1.3.0",
     "serialport": "^6.2.2",
     "ws": "^6.0.0"

programs/instron-prep.js

+
+
+var test = addModule('./src/hardware/test.js')
+var bridge = addModule('./src/hardware/bridge.js')
+
+test.outputs.packet.attach(bridge.inputs.B)
+
+bridge.outputs.B.attach(test.inputs.packet)
+
+var yma = addModule('./src/hardware/stepper.js')
+var ymb = addModule('./src/hardware/stepper.js')
+
+var t2 = addModule('./src/hardware/test.js')
+var t3 = addModule('./src/hardware/test.js')
+
+yma.state.axis = 'Y'
+yma.state.spu = 75
+yma.state.rawMove = 0.25
+yma.outputs.packet.attach(bridge.inputs.A)
+bridge.outputs.A.attach(yma.inputs.packet)
+t2.outputs.packet.attach(bridge.inputs.A)
+bridge.outputs.A.attach(t2.inputs.packet)
+
+ymb.state.axis = 'Y'
+// should have to reverse this but did it with wires :|
+ymb.state.spu = -75
+ymb.state.rawMove = 0.25
+ymb.outputs.packet.attach(bridge.inputs.F)
+bridge.outputs.F.attach(ymb.inputs.packet)
+t3.outputs.packet.attach(bridge.inputs.F)
+bridge.outputs.F.attach(t3.inputs.packet)
+
+/*
+var serialATKLink = addModule('./src/hardware/serialATKLink.js')
+
+/*
+var rtr = addModule('./src/hardware/atkrouter.js')
+rtr.port.route = '0'
+serialATKLink.attach(rtr)
+
+var bbs = addModule('./src/hardware/atkbbbs.js')
+bbs.port.route = '0,2'
+serialATKLink.attach(bbs.port)
+*/
+
+bridge.init()
+
+var plCol = 1060
+
+setUiPos(test, plCol,718 + 200)
+setUiPos(t2, plCol, 850 + 200)
+setUiPos(t3, plCol, 970 + 200)
+
+var hwCol = 1629
+
+setUiPos(yma, hwCol, 372)
+setUiPos(ymb, hwCol, 626)
+setUiPos(bridge, hwCol,890)
\ No newline at end of file

programs/instron.js

+
+var gate = addModule('./src/util/gate.js')
+var delay = addModule('./src/util/delay.js')
+var log = addModule('./src/util/log.js')
+
+gate.outputs.out.attach(delay.inputs.thru)
+gate.outputs.out.attach(log.inputs.thru)
+
+var andflow = addModule('./src/flowcontrol/and.js')
+
+//delay.outputs.out.attach(gate.inputs.thru)
+
+var cam = addModule('./src/hardware/webcam.js')
+
+gate.outputs.out.attach(andflow.inputs.reset)
+gate.outputs.out.attach(cam.inputs.trigger)
+
+delay.outputs.out.attach(andflow.inputs.A)
+cam.outputs.callback.attach(andflow.inputs.B)
+
+andflow.outputs.out.attach(gate.inputs.thru)
+
+var adc = addModule('./src/hardware/adc.js')
+var test = addModule('./src/hardware/test.js')
+var bridge = addModule('./src/hardware/bridge.js')
+
+adc.outputs.packet.attach(bridge.inputs.B)
+test.outputs.packet.attach(bridge.inputs.B)
+
+bridge.outputs.B.attach(adc.inputs.packet)
+bridge.outputs.B.attach(test.inputs.packet)
+
+var yma = addModule('./src/hardware/stepper.js')
+var ymb = addModule('./src/hardware/stepper.js')
+
+gate.outputs.out.attach(yma.inputs.rmtrig)
+gate.outputs.out.attach(ymb.inputs.rmtrig)
+
+var t2 = addModule('./src/hardware/test.js')
+var t3 = addModule('./src/hardware/test.js')
+
+yma.state.axis = 'Y'
+yma.state.spu = 75
+yma.state.rawMove = 0.25
+yma.outputs.packet.attach(bridge.inputs.A)
+bridge.outputs.A.attach(yma.inputs.packet)
+t2.outputs.packet.attach(bridge.inputs.A)
+bridge.outputs.A.attach(t2.inputs.packet)
+
+ymb.state.axis = 'Y'
+// should have to reverse this but did it with wires :|
+ymb.state.spu = -75
+ymb.state.rawMove = 0.25
+ymb.outputs.packet.attach(bridge.inputs.F)
+bridge.outputs.F.attach(ymb.inputs.packet)
+t3.outputs.packet.attach(bridge.inputs.F)
+bridge.outputs.F.attach(t3.inputs.packet)
+
+/*
+var serialATKLink = addModule('./src/hardware/serialATKLink.js')
+
+/*
+var rtr = addModule('./src/hardware/atkrouter.js')
+rtr.port.route = '0'
+serialATKLink.attach(rtr)
+
+var bbs = addModule('./src/hardware/atkbbbs.js')
+bbs.port.route = '0,2'
+serialATKLink.attach(bbs.port)
+*/
+
+bridge.init()
+
+setUiPos(gate, 160, 130)
+setUiPos(delay, 160, 260)
+setUiPos(log, 160, 400)
+
+setUiPos(andflow, 700, 300)
+
+setUiPos(cam, 500, 700)
+
+var plCol = 1060
+
+setUiPos(test, plCol,718 + 200)
+setUiPos(t2, plCol, 850 + 200)
+setUiPos(t3, plCol, 970 + 200)
+
+var hwCol = 1629
+
+setUiPos(adc, hwCol, 180)
+setUiPos(yma, hwCol, 372)
+setUiPos(ymb, hwCol, 626)
+setUiPos(bridge, hwCol,890)
\ No newline at end of file

programs/mothercnc.js

+
 // wrap require() up, appending path used to object, and giving ID
 // use the same to load from browser 
 var term = addModule('./src/ui/terminal.js')
@@ -88,7 +89,7 @@ bridge.state.rE = '0'
 
 bridge.init()
 
-multiline.load()
+multiline.load('load/dogbone.gcode')
 
 // setting data w/r/t the representations they serve 
 

server.js

@@ -12,6 +12,20 @@
 
 /*
 
+RULES:
+
+modules have Ouputs() and Inputs() that connect to other software modules running on the same CPU. It's a directed graph.
+
+modules can have ATKPort()s that use a Link() to get to remote hardware, per message-passing network. It's a physical graph of duplex connections.
+
+this is nice because we might have two Link()s to double up on bandwidth. 
+
+alternately, Link()s could be TCP connections to other pieces of hardware, including something like us ! 
+
+*/
+
+/*
+
 SYSTEM REQUIRES
 
 */
@@ -122,168 +136,55 @@ PROGRAM AS API
 
 var modules = new Array()
 
-var term = addModule('./src/ui/terminal.js')
-var multiline = addModule('./src/ui/multiline.js')
-var goButton = addModule('./src/ui/button.js')
-var numOut = addModule('./src/ui/number.js')
-var delay = addModule('./src/util/delay.js')    
-var testButton = addModule('./src/ui/button.js')
-
-var gcode = addModule('./src/parsing/gcode.js')
-var planner = addModule('./src/motion/planner.js')
+var test = addModule('./src/hardware/test.js')
+var bridge = addModule('./src/hardware/bridge.js')
 
-var servo = addModule('./src/hardware/servo.js')
+test.outputs.packet.attach(bridge.inputs.B)
 
-var xm = addModule('./src/hardware/stepper.js')
-var yma = addModule('./src/hardware/stepper.js')
-var ymb = addModule('./src/hardware/stepper.js')
-var zm = addModule('./src/hardware/stepper.js')
+bridge.outputs.B.attach(test.inputs.packet)
 
-var t1 = addModule('./src/hardware/test.js')
 var t2 = addModule('./src/hardware/test.js')
 var t3 = addModule('./src/hardware/test.js')
-var t4 = addModule('./src/hardware/test.js')
-var t5 = addModule('./src/hardware/test.js')
-//var t6 = addModule('./src/hardware/test.js')
-var t7 = addModule('./src/hardware/test.js')
-
-var bridge = addModule('./src/hardware/bridge.js')
 
-// attaching an output to an input
-term.outputs.lineOut.attach(gcode.inputs.lineIn)
-multiline.outputs.lineOut.attach(gcode.inputs.lineIn)
-gcode.outputs.instructionOut.attach(planner.inputs.instruction)
-
-goButton.outputs.whammy.attach(numOut.inputs.evt)
-numOut.outputs.out.attach(multiline.inputs.req)
-goButton.outputs.whammy.attach(delay.inputs.thru)
-delay.outputs.out.attach(planner.inputs.run)
-
-testButton.outputs.whammy.attach(t1.inputs.trigger)
-testButton.outputs.whammy.attach(t2.inputs.trigger)
-testButton.outputs.whammy.attach(t3.inputs.trigger)
-testButton.outputs.whammy.attach(t4.inputs.trigger)
-testButton.outputs.whammy.attach(t5.inputs.trigger)
-//testButton.outputs.whammy.attach(t6.inputs.trigger)
-
-
-// bi-directional hook planner / motor
-planner.outputs.moves.attach(xm.inputs.move)
-xm.outputs.ack.attach(planner.inputs.acks)
-
-planner.outputs.moves.attach(yma.inputs.move)
-yma.outputs.ack.attach(planner.inputs.acks)
-
-planner.outputs.moves.attach(ymb.inputs.move)
-//ymb.outputs.ack.attach(planner.inputs.acks)
-
-planner.outputs.moves.attach(zm.inputs.move)
-zm.outputs.ack.attach(planner.inputs.acks)
-
-planner.outputs.moveComplete.attach(multiline.inputs.req)
-
-// 0,4 is NC
-// 0,0 is YL 
-// 0,1 is Z
-// 0,2 is ATKBBB
-// 0,3 is X
-// 0,4 is NC
-// 0,5 is YR
-// 0 is Router
-
-// same motors / bridge 
-xm.state.axis = 'X'
-xm.state.spu = 100
-xm.outputs.packet.attach(bridge.inputs.A)
-bridge.outputs.A.attach(xm.inputs.packet)
-bridge.state.rA = '0,3'
-t1.outputs.packet.attach(bridge.inputs.A)
-bridge.outputs.A.attach(t1.inputs.packet)
-
-// a, or, left
-yma.state.axis = 'Y'
-yma.state.spu = 100
-yma.outputs.packet.attach(bridge.inputs.B)
-bridge.outputs.B.attach(yma.inputs.packet)
-bridge.state.rB = '0,0'
-t2.outputs.packet.attach(bridge.inputs.B)
-bridge.outputs.B.attach(t2.inputs.packet)
-
-// right 
-ymb.state.axis = 'Y'
-// should have to reverse this but did it with wires :|
-ymb.state.spu = -100
-ymb.outputs.packet.attach(bridge.inputs.C)
-bridge.outputs.C.attach(ymb.inputs.packet)
-bridge.state.rC = '0,5'
-t3.outputs.packet.attach(bridge.inputs.C)
-bridge.outputs.C.attach(t3.inputs.packet)
-
-zm.state.axis = 'Z'
-zm.state.spu = -100
-zm.outputs.packet.attach(bridge.inputs.D)
-bridge.outputs.D.attach(zm.inputs.packet)
-bridge.state.rD = '0,1'
-t4.outputs.packet.attach(bridge.inputs.D)
-bridge.outputs.D.attach(t4.inputs.packet)
-
-servo.outputs.packet.attach(bridge.inputs.E)
-servo.state.servoVal = 30
-t5.outputs.packet.attach(bridge.inputs.E)
-bridge.outputs.E.attach(t5.inputs.packet)
-bridge.state.rE = '0,2'
-
-bridge.state.rF = '0,4'
-/*
-t6.outputs.packet.attach(bridge.inputs.F)
-bridge.outputs.F.attach(t6.inputs.packet)
-//bridge.state.rF = '0'
-*/
+t2.outputs.packet.attach(bridge.inputs.A)
+bridge.outputs.A.attach(t2.inputs.packet)
 
-t7.outputs.packet.attach(bridge.inputs.G)
-bridge.outputs.G.attach(t7.inputs.packet)
-
-bridge.init()
+t3.outputs.packet.attach(bridge.inputs.F)
+bridge.outputs.F.attach(t3.inputs.packet)
 
-multiline.load('load/dogbone.gcode')
-
-// setting data w/r/t the representations they serve 
+/*
+var serialATKLink = addModule('./src/hardware/serialATKLink.js')
 
-setUiPos(multiline, 10, 10)
+/*
+var rtr = addModule('./src/hardware/atkrouter.js')
+rtr.port.route = '0'
+serialATKLink.attach(rtr)
 
-setUiPos(gcode, 450, 10)
-setUiPos(term, 450, 180)
-setUiPos(goButton, 450, 300)
-setUiPos(numOut, 450, 400)
-setUiPos(delay, 450, 520)
-setUiPos(testButton, 450, 730)
+var bbs = addModule('./src/hardware/atkbbbs.js')
+bbs.port.route = '0,2'
+serialATKLink.attach(bbs.port)
+*/
 
-var plCol = 900
+bridge.init()
 
-setUiPos(t1, plCol, 730)
-setUiPos(t2, plCol, 850)
-setUiPos(t3, plCol, 970)
-setUiPos(t4, plCol, 1090)
-setUiPos(t5, plCol, 1210)
-setUiPos(t7, plCol, 1330)
-//setUiPos(t7, plCol, 1450)
-setUiPos(servo, plCol, 500)
-setUiPos(planner, plCol, 10)
+var plCol = 1060
 
-var hwCol = 1350
+setUiPos(test, plCol,718 + 200)
+setUiPos(t2, plCol, 850 + 200)
+setUiPos(t3, plCol, 970 + 200)
 
-setUiPos(xm, hwCol, 10)
-setUiPos(yma, hwCol, 250)
-setUiPos(ymb, hwCol, 490)
-setUiPos(zm, hwCol, 730)
+var hwCol = 1629
 
-setUiPos(bridge, hwCol, 970)
+setUiPos(bridge, hwCol,890)
 
-// setting ui elements / state 
-planner.state.isRunning = 0
+/*
+------------------------------------------------------
+LOST FUNCTION
+------------------------------------------------------
+*/
 
-function setUiPos(module, left, top){
-    if(module.ui == null){
+function setUiPos(module, left, top) {
+    if (module.ui == null) {
         module.ui = {}
     }
     module.ui.left = left
@@ -323,7 +224,7 @@ function addModule(path) {
             }
         }
 
-        console.log('ADDING MODULE', mod)
+        console.log('ADDING MODULE', mod.description.name)
 
         // now roll and return representable object 
         // first to UI
@@ -418,18 +319,18 @@ function changeState(data) {
                     // that might change some state
                     oldState[key] = newState[key]
                     // to prevent quickly changing it back, we'll exit now (one state change from UI per trx)
-                    return true 
+                    return true
                 }
             } else if (oldState[key].isMultiLine) {
-                if (oldState[key].value != newState[key].value){
+                if (oldState[key].value != newState[key].value) {
                     console.log('CHANGE MULTILINE STATE', key, 'to', newState[key].value, 'in', data.id)
-                    oldState[key].value = newState[key].value 
-                    return true 
+                    oldState[key].value = newState[key].value
+                    return true
                 }
             } else if (oldState[key] !== newState[key]) {
                 console.log('CHANGE STATE', key, 'to', newState[key], 'in', data.id)
-                oldState[key] = newState[key] 
-                return true 
+                oldState[key] = newState[key]
+                return true
             }
         }
     }
@@ -479,11 +380,11 @@ function putLink(data) {
         return module.id === data.to.id
     })
 
-    if(fromModule.outputs[data.from.output].isLinked(toModule.inputs[data.to.input])){
-    	console.log("HOOKDOWN")
-    	fromModule.outputs[data.from.output].remove(toModule.inputs[data.to.input])
+    if (fromModule.outputs[data.from.output].isLinked(toModule.inputs[data.to.input])) {
+        console.log("HOOKDOWN")
+        fromModule.outputs[data.from.output].remove(toModule.inputs[data.to.input])
     } else {
-    	fromModule.outputs[data.from.output].attach(toModule.inputs[data.to.input])
+        fromModule.outputs[data.from.output].attach(toModule.inputs[data.to.input])
     }
 
     // replace it 

src/flowcontrol/and.js

+// boilerplate atkapi header
+const InOut = require('../../lib/inout.js')
+let Input = InOut.Input
+let Output = InOut.Output
+let State = InOut.State
+let Button = InOut.Button
+
+// a constructor, a fn, a javascript mess
+function AndFlow() {
+
+    var andflow = {
+        // descriptions are used in UI
+        description: {
+            name: 'andflow',
+            alt: 'in ... out'
+        }
+    }
+
+    andflow.state = State()
+    // alias !
+    var state = andflow.state 
+
+    state.toggle = Button("Reset")
+    state.onChange('toggle', onReset)
+    // yikes 
+    state.A = 0
+    state.B = 0 
+
+    andflow.inputs = {
+        reset: Input('any', onReset),
+        A: Input('any', onA),
+        B: Input('any', onB)
+    }
+
+    andflow.outputs = {
+        out: Output('any')
+    }
+
+    function onReset(evt){
+        state.A = 0,
+        state.B = 0
+    }
+
+    function onA(input){
+        state.A = 1 
+        if(state.A && state.B){
+            andflow.outputs.out.emit(1)
+            onReset()
+        }
+    }
+
+    function onB(input){
+        state.B = 1
+        if(state.A && state.B){
+            andflow.outputs.out.emit(1)
+            onReset()
+        }