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client
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event-testing
lib
load
programs
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programs.js
reps.js
views.js
README.md

Automatakit API

aka project 'consistent-sandbox'

img software img hardware

Automatakit is a system architecture for robotics where machine controllers are extensible, and organized around the principle of event propagation: things happen because of other things that have happened beforehand.

We aim to take an event graph architecture down through multiple layers of computing, routing event propagation also through a message passing network between multiple cpus each operating modular hardware endpoints.

This project serves the developement environment / api we use to write and represent programs that are event graphs.

img moving

For MW

  • top menu bar instructions

  • rick click on menu bar to delete module

  • upd8ts to modules:

  • rename inout to jsunit

  • buttons get onClick evt

  • as you test, to track,

  • weird state types solution: arrays, numbers, buttons, etc ?

  • GIFS

  • load a program

  • drag around

  • zoom in and out

  • add a module

  • hook events up

  • rm events

  • rm modules

  • change settings

  • don't forget

  • onload, load state...

  • when hooking back to server, server.emitChange(key) ... from writeStateObject

  • this spiral

  • entire programs read into UI

  • hook sever-and-back - for event hookup - for module add - for state push-down

  • re-hook state push-down

  • can req and add to program new modules

  • can req to load new program

  • can req to save this program

  • next spiral

  • programs come in chunk-wise and get placed

  • programs are modules are heirarchical

  • fundament

  • the basic unit is a .js file having inputs, outputs, and state objects

  • we can compose programs of these modules, being collections of them with connections

  • we can represent these programs heirarchically, or in a flat manner ... heirarchy just requires an extra wrap, we do it later

  • load / save programs (req. prgmem representation)

  • rewrite ui & transfers to use this rep.

  • UI

  • title bar descr. how to operate

  • 'L' for load, 'M' for new module, type for module search ?

  • right-click delete / copy etc

  • evt line highlight on hover

  • hover display type

WRT Representations

OK

Module have Inputs Outputs State (initial states are settings)

Also Names, IDs Paths-to-source

Modules-that-represent-remote-computing also have Ports that connect to a Link

To assemble a representation of these, we want to have a kind of 'netlist' that, for convenience, we'll treat like a JSON object. We want heirarchy, so consider the representation having 'top-level' outputs / inputs / state as well ?

Programming Notes

15 Minute Tasks

  • @ views.js, uiRequestModuleMenu and uiRequestProgramMenu don't properly build trees from folder structure. similarly, reciprical fn's in client.js do the same

  • @ these load / save functions could also reach into the modules' source to retrieve their proper names, as spec'd in description ...

  • 's' for save program uses hack-asf DOM alert to ask for path

title bar L for load prgmem M for add module

  • once we can plan gcode sequence, work towards more
  • better hardware abstraction, i.e. stepper.port = bridge.port('0,1') stepper.port.onPacket = function(){ ... } callbacks ?
  • UI elements, i.e. demonstrating slider for individual axis movements, or just an arrow / keypad capture on mouseover thing

Deeply Missing

  • delete modules / module context menu
  • load / save program
  • decent page nav
  • title bar / instructions
  • heirarchy zoom
  • states / uis / etc - one off / one-at-a-time for updates
  • i.e. all f'n update calls are to single module-global state update
  • !
  • states / getters / setters not applicable to sub-elements in an object within state
  • i.e. array access
  • consistent dereferencing, type checking implementation?

Planner Bugs

  • trapezoid linking doesn't account for speed changes properly, i.e. doesn't ramp down into next move if next move's cruise speed is less than our exit speed

Want

  • log() for logs-from-module tagged

Demo Desires

  • want to show immediacy of hardware: software representation
  • want to show physical reconfigurability and software reconfigurability
  • i.e. mill, add rotary tool, pull normal vector from planner moves and route to r motor
  • want to have UI elements
  • button, terminal,
  • live motor torque display, vector from accelerometer

Network Desires

  • c improvements / dma etc, would be very cool
  • flow control probably desired ... what can we model with uart and implement with fpga?
  • proper speed tests
  • DMA not possible / not enough channels for router implementation / not portable enough ...
  • lights displaying activity

Bugs

  • when bridge has two addresses only one sends
  • add watch for identical addresses
  • besides we want a different network representation
  • cannot connect input to output w/o backwards bezier

The RPI