new basic for soma

README.md

@@ -267,6 +267,8 @@ View.assignProgram(program)
 
 ## Immediately
 
+- saved program doesn't save state booleans 
+
 - ui objects ... refresh ... use state model ? 
 - ui objects client drop below inputs / outputs 
 

client/client.js

@@ -32,6 +32,7 @@ var wrapper = {}
 var nav = {}
 
 var verbose = false
+var verboseComs = false 
 
 /*
 
@@ -97,7 +98,7 @@ function socketSend(type, data) {
         type: type,
         data: data
     }
-    console.log('SEND', msg)
+    if(verboseComs) console.log('SEND', msg)
     sckt.send(JSON.stringify(msg))
 }
 
@@ -105,7 +106,7 @@ function socketRecv(evt) {
     var recv = JSON.parse(evt.data)
     var type = recv.type
     var data = recv.data
-    console.log('RECV', recv)
+    if(verboseComs) console.log('RECV', recv)
     // tree banger
     switch (type) {
         case 'console':
@@ -233,7 +234,7 @@ function heapSendsStateChange(data) {
 }
 
 function heapSendsUiChange(data) {
-    if (true) console.log('HEAP SENDS MSG TO UI ELEMENT IN MDL', data)
+    if (verbose) console.log('HEAP SENDS MSG TO UI ELEMENT IN MDL', data)
     program.modules[data.id].ui[data.key].lump.onMessage(data.msg)
 }
 

client/ui/threeCanvas.js

@@ -8,21 +8,23 @@
     var container = document.createElement('div')
     var scene = new THREE.Scene()
     scene.background = new THREE.Color(0xd6d6d6)
-    var camera = new THREE.PerspectiveCamera(75, 1, 1, 1000)
+    var camera = new THREE.PerspectiveCamera(75, 1, 0.1, 1000)
     camera.up.set(0, 0, 1)
     var renderer = new THREE.WebGLRenderer()
     renderer.setSize(396, 396)
     container.appendChild(renderer.domElement)
 
     // axes 
-    var axesHelper = new THREE.AxesHelper(1)
+    var axesHelper = new THREE.AxesHelper(0.1)
     scene.add(axesHelper)
 
     // grid 
+    /*
     var gridHelper = new THREE.GridHelper(10, 100)
     gridHelper.translateOnAxis(new THREE.Vector3(0, 0, 1), -0.01)
     gridHelper.rotateX(-Math.PI / 2)
     scene.add(gridHelper)
+    */
 
     // one line 
     var material = new THREE.LineBasicMaterial({ color: 0x00ffff })

modules/hardware/atkmrobot.js

@@ -47,6 +47,8 @@ function ATKMathRobot() {
 
     state.message = 'no packet yet'
     state.enc_cnt = 16384
+    state.enc_offset = 0
+    state.enc_reverse = false 
     state.pc_t = 2048
     state.onUiChange('pc_t', onPositionTargetUserChange)
 
@@ -92,6 +94,11 @@ function ATKMathRobot() {
 
     atkmr.route.subscribe(145, function(msg){
         var pos = PCKT.unPack32(msg.slice(1))
+        if(state.enc_reverse){
+            pos = state.enc_cnt - pos 
+        }
+        pos += state.enc_offset
+        pos %= state.enc_cnt 
         var rads = 2*Math.PI * (pos / state.enc_cnt)
         atkmr.outputs.pos.emit(rads)
     })

modules/robot/forwardTransform.js

@@ -9,8 +9,6 @@ let State = JSUnit.State
 function forwardTransform() {
     var theta1 = 0
     var theta2 = 0
-    var l1 = 0
-    var l2 = 0
 
     var forwardTransform = {
         description: {
@@ -25,9 +23,9 @@ function forwardTransform() {
     // one caveat here is that we can't dynamically add objects to this, 
     // or they don't get getter / settered when we do
     forwardTransform.state = State()
-    // forwardTransform.state.mode = 'G0'
-    // forwardTransform.state.G0 = 1200
-    // forwardTransform.state.G1 = 400
+    var state = forwardTransform.state
+    state.l1 = 0.4
+    state.l2 = 0.2
 
     forwardTransform.inputs = {
         theta1: Input('any', intakeTheta1),
@@ -37,11 +35,9 @@ function forwardTransform() {
     }
 
     forwardTransform.outputs = {
-        originpt: Output('tuple?'),
-        jointpt: Output('tuple?'),
-        touchpt: Output('tuple?')
-        // instructionOut: Output('move instruction'),
-        // modeChange: Output('string')
+        originpt: Output('array'),
+        jointpt: Output('array'),
+        touchpt: Output('array')
     }
 
     function intakeTheta1(num){
@@ -63,97 +59,37 @@ function forwardTransform() {
     }
 
     function intakeL1(num){
-        l1 = num
+        state.l1 = num
         var points = parseforwardTransform()
         forwardTransform.outputs.originpt.emit(points.originpt)
         forwardTransform.outputs.jointpt.emit(points.jointpt)
         forwardTransform.outputs.touchpt.emit(points.touchpt)
-        //console.log('l1 input')
+        //console.log('state.l1 input')
     }
 
     function intakeL2(num){
-        l2 = num
+        state.l2 = num
         var points = parseforwardTransform()
         forwardTransform.outputs.originpt.emit(points.originpt)
         forwardTransform.outputs.jointpt.emit(points.jointpt)
         forwardTransform.outputs.touchpt.emit(points.touchpt)
-        //console.log('l2 input')
+        //console.log('state.l2 input')
     }
 
-    // input functions
-    /*
-    function onLineIn(str){
-        var instruction = parseforwardTransform(str)
-        if (instruction.hasMove) {
-            if(verbose) console.log('forwardTransform:', instruction)
-            forwardTransform.outputs.instructionOut.emit(instruction)
-        } else {
-            if(verbose) console.log('forwardTransform:', forwardTransform.state.mode)
-            forwardTransform.outputs.modeChange.emit(forwardTransform.state.mode)
-        }
-    }
-    */
-
-    /*
-    // local functions
-    function getKeyValues(str) {
-        var kv = {}
-        for (var i = 0; i < str.length; i++) {
-            if (str[i].match('[A-Za-z]')) { // regex to match upper case letters
-                var lastIndex = str.indexOf(' ', i)
-                if (lastIndex < 0) {
-                    lastIndex = str.length
-                }
-                var key = str[i].toUpperCase()
-                kv[key] = parseFloat(str.slice(i + 1, lastIndex))
-            }
-        }
-        return kv
-    }
-    */
-
     // TODO: test, can we link global vars to ui objects ... 
     // forwardTransform.ui.mode.value = var ? no bc set / get etc 
     // more like var = forwardTransform.ui.mode.value ? is this referential?
 
     function parseforwardTransform() {
         var points = {
-            originpt: (0,0),
-            jointpt: (0,0),
-            touchpt: (0,0)
+            originpt: [0,0],
+            jointpt: [0,0],
+            touchpt: [0,0]
         }
 
-        points.jointpt = (l1*Math.cos(theta1), l1*Math.sin(theta1))
-        points.touchpt = (l1*Math.cos(theta1)+l2*Math.cos(theta2), l1*Math.sin(theta1)+l2*Math.sin(theta2))
-        /* var instruction = {
-            position: {},
-            hasMove: false,
-            speed: 0
-        }
-
-        kv = getKeyValues(str)
-        // track modality
-        if (kv.G == 0 | kv.G == 1) {
-            forwardTransform.state.mode = 'G' + kv.G.toString()
-        } else if (kv.G != null) {
-            // no arcs pls
-            console.log('unfriendly forwardTransform mode!', kv)
-        }
-
-        for (key in kv) {
-            if (key.match('[A-EX-Z]')) {
-                instruction.position[key] = kv[key]
-                instruction.hasMove = true
-            } else if (key.match('[F]')) {
-                // tricky / ugly: sets using the mode state string as object key 
-                forwardTransform.state[forwardTransform.state.mode] = kv.F
-            }
-        }
+        points.jointpt = [state.l1*Math.cos(theta1), state.l1*Math.sin(theta1)]
+        points.touchpt = [state.l1*Math.cos(theta1)+state.l2*Math.cos(theta2), state.l1*Math.sin(theta1)+state.l2*Math.sin(theta2)]
 
-        instruction.speed = forwardTransform.state[forwardTransform.state.mode]
-        // and this for help later?
-        instruction.kv = kv
-        */
         return points
     }
 

modules/ui/threeCanvas.js

@@ -45,7 +45,7 @@ function PointOnCanvas() {
     }
 
     function onNewXY2(array){
-        ui.threeCanvas.updateXY2f([array[0], 0, array[1]])
+        ui.threeCanvas.updateXY2([array[0], 0, array[1]])
     }
 
     function onUICallback(msg) {

programs/temp.json

 {
   "description": {
     "name": "new program",
-    "counter": 14
+    "counter": 16
   },
   "modules": {
     "SerialportATKLink-0": {
@@ -20,9 +20,9 @@
       "inputs": {},
       "outputs": {},
       "state": {
-        "portName": "---",
-        "portStatus": "closed",
-        "log": true
+        "portName": "COM18",
+        "portStatus": "open",
+        "log": false
       },
       "ui": {
         "kickButton": {
@@ -69,6 +69,10 @@
             {
               "parentId": "gateCounter-9",
               "key": "thru"
+            },
+            {
+              "parentId": "forwardTransform Parser-15",
+              "key": "theta1"
             }
           ]
         }
@@ -77,6 +81,8 @@
         "message": "no packet yet",
         "route": "0,0",
         "enc_cnt": 16384,
+        "enc_offset": -6000,
+        "enc_reverse": false,
         "pc_t": 2048,
         "pKp": 4.5,
         "pKi": 0,
@@ -100,8 +106,8 @@
         "id": "atk-math-robot-joint-2",
         "path": "./modules/hardware/atkmrobot.js",
         "position": {
-          "left": 600,
-          "top": 450
+          "left": 604,
+          "top": 492
         }
       },
       "inputs": {
@@ -130,6 +136,10 @@
             {
               "parentId": "logger-14",
               "key": "thru"
+            },
+            {
+              "parentId": "forwardTransform Parser-15",
+              "key": "theta2"
             }
           ]
         }
@@ -138,6 +148,8 @@
         "message": "no packet yet",
         "route": "0,1",
         "enc_cnt": 16384,
+        "enc_offset": 550,
+        "enc_reverse": true,
         "pc_t": 2048,
         "pKp": 4.5,
         "pKi": 0,
@@ -289,7 +301,7 @@
       },
       "state": {
         "prefix": "JTN1:",
-        "message": "---"
+        "message": "2.9398741799828314"
       },
       "ui": {}
     },
@@ -300,8 +312,8 @@
         "id": "ThreeJS-Canvas-7",
         "path": "./modules/ui/threeCanvas.js",
         "position": {
-          "left": 2263,
-          "top": 326
+          "left": 1312,
+          "top": 133
         }
       },
       "inputs": {
@@ -329,8 +341,8 @@
         "id": "collector-8",
         "path": "./modules/util/collector.js",
         "position": {
-          "left": 1728,
-          "top": 1057
+          "left": 1649,
+          "top": 1157
         }
       },
       "inputs": {
@@ -408,8 +420,8 @@
         "id": "parallelContencator-11",
         "path": "./modules/util/parallelContencator.js",
         "position": {
-          "left": 1232,
-          "top": 1053
+          "left": 1193,
+          "top": 1147
         }
       },
       "inputs": {
@@ -556,7 +568,107 @@
       },
       "state": {
         "prefix": "JTN2:",
-        "message": "---"
+        "message": "5.845233792238235"
+      },
+      "ui": {}
+    },
+    "forwardTransform Parser-15": {
+      "description": {
+        "name": "forwardTransform Parser",
+        "alt": "line of forwardTransform -> points",
+        "id": "forwardTransform Parser-15",
+        "path": "./modules/robot/forwardTransform.js",
+        "position": {
+          "left": 1323,
+          "top": 718
+        }
+      },
+      "inputs": {
+        "theta1": {
+          "accepts": "any"
+        },
+        "theta2": {
+          "accepts": "any"
+        },
+        "l1": {
+          "accepts": "any"
+        },
+        "l2": {
+          "accepts": "any"
+        }
+      },
+      "outputs": {
+        "originpt": {
+          "emits": "array",
+          "calls": []
+        },
+        "jointpt": {
+          "emits": "array",
+          "calls": [
+            {
+              "parentId": "ThreeJS-Canvas-7",
+              "key": "xy1"
+            }
+          ]
+        },
+        "touchpt": {
+          "emits": "array",
+          "calls": [
+            {
+              "parentId": "ThreeJS-Canvas-7",
+              "key": "xy2"
+            }
+          ]
+        }
+      },
+      "state": {
+        "l1": 0.4,
+        "l2": 0.2
+      },
+      "ui": {}
+    },
+    "leastSquares Parser-16": {
+      "description": {
+        "name": "leastSquares Parser",
+        "alt": "line of leastSquares -> l1 and l2 values",
+        "id": "leastSquares Parser-16",
+        "path": "./modules/robot/leastSquares.js",
+        "position": {
+          "left": 1823,
+          "top": 991
+        }
+      },
+      "inputs": {
+        "theta1s": {
+          "accepts": "any"
+        },
+        "theta2s": {
+          "accepts": "any"
+        }
+      },
+      "outputs": {
+        "l1": {
+          "emits": "num",
+          "calls": [
+            {
+              "parentId": "forwardTransform Parser-15",
+              "key": "l1"
+            }
+          ]
+        },
+        "l2": {
+          "emits": "num",
+          "calls": [
+            {
+              "parentId": "forwardTransform Parser-15",
+              "key": "l2"
+            }
+          ]
+        }
+      },
+      "state": {
+        "c": 1,
+        "d": -2
       },
       "ui": {}
     }

src/jsunit.js

 // event system to include type-checking etc
 // dataflow types for javascript objects ... 
 
+var verbose = false 
+
 function Input(type, fn) {
     var input = {
         accepts: type,
@@ -58,7 +60,7 @@ function Output(type) {
 
     output.emit = function(data) {
         if (this.calls.length == 0) {
-            console.log('no inputs bound to this output')
+            if(verbose) console.log('no inputs bound to this output')
         } else {
             for (index in this.calls) {
                 this.calls[index].fn(JSON.parse(JSON.stringify(data)))