diff --git a/README.md b/README.md
index 5fa0a45d00fc5aafcacfabcf1ef457ecb1cb1eba..b72a8ea34de2b49f38c0c4378cee93c9864dd1fd 100644
--- a/README.md
+++ b/README.md
@@ -2,15 +2,39 @@
## oy
+- not yet disconnecting events
+
+- some styling
+ - state 'squishes' when module moved too far right
+ - state 'input' length / title length for long titles ?
+
+- state context menu or button - like 'fire this listener' on click, or get alt description
+
+- bridge should be able to look for devices, test devices, and do terminal stuff
+
+- right-click on title of module, reload
+
+- for crashes etc, how can we re-start / kick serverside from the browser? some other daemon program ?
+
+- probably shouldn't send *all* of the state every time ... ?
+ - althought it's nice and foolproof
+
+- still want more diverse html inputs ... i.e. text input with some size to it ? gcode parser for this ...
+
+- write in logger functions
+ - i.e. module.log('whatever') is wrapped at load into console.log() and sends serverside log message as well, with ID and name
+
- state variables good
- final steps before writing gcode consumption program
- - write ui position back to server
- - nomenclature all over the place is spaget
- - cleaner replace ? wholistic replace ?
- - classes / pretty code ? find desires by using
+ - nomenclature all over the place is spaget
+ - rewriting this is a good reintroduction to project
+ - cleaner replace ? wholistic replace ?
+ - classes / pretty code ? find desires by using
- any kind of save / load
- still with script-type writable file ?
+ - but largely ready to write planner, serialport and packet parsing modules, do gcode stuff
+
- server modules are ground truth
- to the client, we serve representations of these modules
- on the client, we keep a copy of this rep , and build a UI for it, ``rep.ui``
@@ -35,6 +59,9 @@ http://backbonejs.org/#Events
## Desires
- load / keep state
+ - run headless with view into
+ - collaborative program editing would be cool
+ - program save / load / edit ?
## Model Consistency
diff --git a/client/client.js b/client/client.js
index 861d6b04c46b5afd005a44e34c92c24e2466256d..0ed360dfa4e3ca1b8a2fcb314010e928215419d4 100644
--- a/client/client.js
+++ b/client/client.js
@@ -28,11 +28,7 @@ oncontextmenu = function(evt) {
if (sckt) {
lastPos.X = evt.pageX
lastPos.Y = evt.pageY
- var req = {
- type: 'get menu',
- data: ''
- }
- sckt.send(JSON.stringify(req))
+ socketSend('get menu', '')
} else {
// socket brkn
location.reload()
@@ -86,6 +82,7 @@ function addReps(reps) {
function addRep(rep) {
// a div to locate it
var domElem = document.createElement('div')
+ // dif. color for hardwares ?
domElem.className = 'block'
domElem.style.left = lastPos.X + 'px'
domElem.style.top = lastPos.Y + 'px'
diff --git a/client/divtools.js b/client/divtools.js
index 0ef83161d8222965cb3823aac64c978f28907fe0..119212dc64efc68e051dd731b8b2920422dfb22f 100644
--- a/client/divtools.js
+++ b/client/divtools.js
@@ -1,37 +1,54 @@
// writing representations
-function writeStateRep(container, rep, key){
+function writeStateRep(container, rep, key) {
var variable = rep.state[key]
- if(typeof variable == 'string'){
- var li = document.createElement('li')
- li.appendChild(document.createTextNode(key))
- var input = document.createElement('input')
- input.type = 'text'
- input.size = 24
- input.value = variable
- input.addEventListener('change', function(){
- rep.state[key] = input.value
- putState(rep)
- })
- li.appendChild(input)
- container.appendChild(li)
- return input
- } else if (typeof variable == 'number'){
+ if (variable.isButton) {
+ console.log('BUTTON!')
var li = document.createElement('li')
- li.appendChild(document.createTextNode(key))
- var input = document.createElement('input')
- input.type = 'text'
- input.size = 24
- input.value = variable.toString()
- input.addEventListener('change', function(){
- rep.state[key] = parseFloat(input.value)
+ li.appendChild(document.createTextNode(variable.label))
+ li.addEventListener('click', function() {
+ // invert
+ if(rep.state[key].isPressed){
+ rep.state[key].isPressed = false
+ } else {
+ rep.state[key].isPressed = true
+ }
putState(rep)
})
- li.appendChild(input)
container.appendChild(li)
- return input
+ return li
} else {
- console.log("unui'd type:", typeof variable)
+ if (typeof variable == 'string') {
+ var li = document.createElement('li')
+ li.appendChild(document.createTextNode(key))
+ var input = document.createElement('input')
+ input.type = 'text'
+ input.size = 24
+ input.value = variable
+ input.addEventListener('change', function() {
+ rep.state[key] = input.value
+ putState(rep)
+ })
+ li.appendChild(input)
+ container.appendChild(li)
+ return input
+ } else if (typeof variable == 'number') {
+ var li = document.createElement('li')
+ li.appendChild(document.createTextNode(key))
+ var input = document.createElement('input')
+ input.type = 'text'
+ input.size = 24
+ input.value = variable.toString()
+ input.addEventListener('change', function() {
+ rep.state[key] = parseFloat(input.value)
+ putState(rep)
+ })
+ li.appendChild(input)
+ container.appendChild(li)
+ return input
+ } else {
+ console.log("unui'd type:", typeof variable)
+ }
}
}
@@ -90,7 +107,7 @@ function modifyBezierTail(bz, x2, y2) {
redrawBezier(bz)
}
-function getOutputArrow(div){
+function getOutputArrow(div) {
var x = div.offsetParent.offsetLeft + div.offsetLeft + div.clientWidth
var y = div.offsetParent.offsetTop + div.offsetTop + div.clientHeight / 2
var pos = {
@@ -101,7 +118,7 @@ function getOutputArrow(div){
return pos
}
-function getInputArrow(div){
+function getInputArrow(div) {
var x = div.offsetParent.offsetLeft
var y = div.offsetParent.offsetTop + div.offsetTop + div.clientHeight / 2
var pos = {
diff --git a/client/style.css b/client/style.css
index 5d557999e50422bb15f9fb0755802666b5355669..0b06c0e286dc5c37b74873e16f8fa6e40447ddaa 100644
--- a/client/style.css
+++ b/client/style.css
@@ -34,9 +34,11 @@ body {
color: #eee;
}
+/*
.state li:hover {
background-color: #303030;
}
+*/
.state input {
background-color: #1a1a1a;
@@ -82,7 +84,11 @@ li {
}
li:hover{
- background-color: #000;
+ background-color: #969696;
+}
+
+li:active{
+ background-color: #d1d1d1;
}
#menu {
diff --git a/lib/inout.js b/lib/inout.js
index e0d05f0d39288eb182db2994a7444c38106737ce..a24abf480bd63508894020345b4d376bb16071ab 100644
--- a/lib/inout.js
+++ b/lib/inout.js
@@ -54,10 +54,22 @@ function State(){
return state
}
+// within state ... or not ?
+function Button(label){
+ var button = {
+ isButton: true,
+ isPressed: false,
+ label: label
+ }
+
+ return button
+}
+
module.exports = {
Input: Input,
Output: Output,
- State: State
+ State: State,
+ Button: Button
}
/*
diff --git a/package-lock.json b/package-lock.json
index f6b39aee788f79d0344d7a0983766c9a6f8d1b78..b46f78106464b85d6b3e9258ffe61a04d7d7c093 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -356,6 +356,11 @@
"resolved": "https://registry.npmjs.org/array-flatten/-/array-flatten-1.1.1.tgz",
"integrity": "sha1-ml9pkFGx5wczKPKgCJaLZOopVdI="
},
+ "async-limiter": {
+ "version": "1.0.0",
+ "resolved": "https://registry.npmjs.org/async-limiter/-/async-limiter-1.0.0.tgz",
+ "integrity": "sha512-jp/uFnooOiO+L211eZOoSyzpOITMXx1rBITauYykG3BRYPu8h0UcxsPNB04RR5vo4Tyz3+ay17tR6JVf9qzYWg=="
+ },
"bindings": {
"version": "1.3.0",
"resolved": "https://registry.npmjs.org/bindings/-/bindings-1.3.0.tgz",
@@ -483,6 +488,11 @@
"resolved": "https://registry.npmjs.org/commander/-/commander-2.17.1.tgz",
"integrity": "sha512-wPMUt6FnH2yzG95SA6mzjQOEKUU3aLaDEmzs1ti+1E9h+CsrZghRlqEM/EJ4KscsQVG8uNN4uVreUeT8+drlgg=="
},
+ "complex.js": {
+ "version": "2.0.11",
+ "resolved": "https://registry.npmjs.org/complex.js/-/complex.js-2.0.11.tgz",
+ "integrity": "sha512-6IArJLApNtdg1P1dFtn3dnyzoZBEF0MwMnrfF1exSBRpZYoy4yieMkpZhQDC0uwctw48vii0CFVyHfpgZ/DfGw=="
+ },
"component-emitter": {
"version": "1.2.1",
"resolved": "https://registry.npmjs.org/component-emitter/-/component-emitter-1.2.1.tgz",
@@ -531,6 +541,11 @@
"ms": "2.0.0"
}
},
+ "decimal.js": {
+ "version": "10.0.1",
+ "resolved": "https://registry.npmjs.org/decimal.js/-/decimal.js-10.0.1.tgz",
+ "integrity": "sha512-vklWB5C4Cj423xnaOtsUmAv0/7GqlXIgDv2ZKDyR64OV3OSzGHNx2mk4p/1EKnB5s70k73cIOOEcG9YzF0q4Lw=="
+ },
"decompress-response": {
"version": "3.3.0",
"resolved": "https://registry.npmjs.org/decompress-response/-/decompress-response-3.3.0.tgz",
@@ -600,6 +615,11 @@
"resolved": "https://registry.npmjs.org/escape-html/-/escape-html-1.0.3.tgz",
"integrity": "sha1-Aljq5NPQwJdN4cFpGI7wBR0dGYg="
},
+ "escape-latex": {
+ "version": "1.1.1",
+ "resolved": "https://registry.npmjs.org/escape-latex/-/escape-latex-1.1.1.tgz",
+ "integrity": "sha512-N2D6Z2kXh8x/pQNQH+natXDCwrzghhXMRII5dZ518mlTLeuba80NL0LCQyaahqOrAidoLivmmG6GKPnGhHse+A=="
+ },
"etag": {
"version": "1.8.1",
"resolved": "https://registry.npmjs.org/etag/-/etag-1.8.1.tgz",
@@ -712,6 +732,11 @@
"resolved": "https://registry.npmjs.org/forwarded/-/forwarded-0.1.2.tgz",
"integrity": "sha1-mMI9qxF1ZXuMBXPozszZGw/xjIQ="
},
+ "fraction.js": {
+ "version": "4.0.9",
+ "resolved": "https://registry.npmjs.org/fraction.js/-/fraction.js-4.0.9.tgz",
+ "integrity": "sha512-qP1sNwdrcA+Vs5TTvGETuaaUmz4Tm48V6Jc+8Oh/gqvkb1d42s99w5kvSrZkIATp/mz3rV4CTef6xINkCofu+A=="
+ },
"fresh": {
"version": "0.5.2",
"resolved": "https://registry.npmjs.org/fresh/-/fresh-0.5.2.tgz",
@@ -876,6 +901,11 @@
"resolved": "https://registry.npmjs.org/isobject/-/isobject-3.0.1.tgz",
"integrity": "sha1-TkMekrEalzFjaqH5yNHMvP2reN8="
},
+ "javascript-natural-sort": {
+ "version": "0.7.1",
+ "resolved": "https://registry.npmjs.org/javascript-natural-sort/-/javascript-natural-sort-0.7.1.tgz",
+ "integrity": "sha1-+eIwPUUH9tdDVac2ZNFED7Wg71k="
+ },
"kind-of": {
"version": "3.2.2",
"resolved": "https://registry.npmjs.org/kind-of/-/kind-of-3.2.2.tgz",
@@ -928,6 +958,21 @@
"object-visit": "1.0.1"
}
},
+ "mathjs": {
+ "version": "5.1.2",
+ "resolved": "https://registry.npmjs.org/mathjs/-/mathjs-5.1.2.tgz",
+ "integrity": "sha512-ewA6m6omkS+VPkU6Qd60T2oPVvACG4r8ajD6M6OaWbO0nMQ4wr0ZHFHRjfuzpTb96Y5HT82rTeNqGGktBa5G/w==",
+ "requires": {
+ "complex.js": "2.0.11",
+ "decimal.js": "10.0.1",
+ "escape-latex": "1.1.1",
+ "fraction.js": "4.0.9",
+ "javascript-natural-sort": "0.7.1",
+ "seed-random": "2.2.0",
+ "tiny-emitter": "2.0.2",
+ "typed-function": "1.1.0"
+ }
+ },
"media-typer": {
"version": "0.3.0",
"resolved": "https://registry.npmjs.org/media-typer/-/media-typer-0.3.0.tgz",
@@ -1526,6 +1571,11 @@
"resolved": "https://registry.npmjs.org/safe-buffer/-/safe-buffer-5.1.2.tgz",
"integrity": "sha512-Gd2UZBJDkXlY7GbJxfsE8/nvKkUEU1G38c1siN6QP6a9PT9MmHB8GnpscSmMJSoF8LOIrt8ud/wPtojys4G6+g=="
},
+ "seed-random": {
+ "version": "2.2.0",
+ "resolved": "https://registry.npmjs.org/seed-random/-/seed-random-2.2.0.tgz",
+ "integrity": "sha1-KpsZ4lCoFwmSMaW5mk2vgLf77VQ="
+ },
"semver": {
"version": "5.5.0",
"resolved": "https://registry.npmjs.org/semver/-/semver-5.5.0.tgz",
@@ -1833,6 +1883,11 @@
"resolved": "https://registry.npmjs.org/time-stamp/-/time-stamp-1.1.0.tgz",
"integrity": "sha1-dkpaEa9QVhkhsTPztE5hhofg9cM="
},
+ "tiny-emitter": {
+ "version": "2.0.2",
+ "resolved": "https://registry.npmjs.org/tiny-emitter/-/tiny-emitter-2.0.2.tgz",
+ "integrity": "sha512-2NM0auVBGft5tee/OxP4PI3d8WItkDM+fPnaRAVo6xTDI2knbz9eC5ArWGqtGlYqiH3RU5yMpdyTTO7MguC4ow=="
+ },
"to-buffer": {
"version": "1.1.1",
"resolved": "https://registry.npmjs.org/to-buffer/-/to-buffer-1.1.1.tgz",
@@ -1871,6 +1926,11 @@
"mime-types": "2.1.19"
}
},
+ "typed-function": {
+ "version": "1.1.0",
+ "resolved": "https://registry.npmjs.org/typed-function/-/typed-function-1.1.0.tgz",
+ "integrity": "sha512-TuQzwiT4DDg19beHam3E66oRXhyqlyfgjHB/5fcvsRXbfmWPJfto9B4a0TBdTrQAPGlGmXh/k7iUI+WsObgORA=="
+ },
"unpipe": {
"version": "1.0.0",
"resolved": "https://registry.npmjs.org/unpipe/-/unpipe-1.0.0.tgz",
@@ -1933,6 +1993,14 @@
"resolved": "https://registry.npmjs.org/wrappy/-/wrappy-1.0.2.tgz",
"integrity": "sha1-tSQ9jz7BqjXxNkYFvA0QNuMKtp8="
},
+ "ws": {
+ "version": "6.0.0",
+ "resolved": "https://registry.npmjs.org/ws/-/ws-6.0.0.tgz",
+ "integrity": "sha512-c2UlYcAZp1VS8AORtpq6y4RJIkJ9dQz18W32SpR/qXGfLDZ2jU4y4wKvvZwqbi7U6gxFQTeE+urMbXU/tsDy4w==",
+ "requires": {
+ "async-limiter": "1.0.0"
+ }
+ },
"xtend": {
"version": "4.0.1",
"resolved": "https://registry.npmjs.org/xtend/-/xtend-4.0.1.tgz",
diff --git a/package.json b/package.json
index 2fb0e633c3b106b4c28e65247b879618a0f6e6e4..66dba07163d90e70adad0bb1fe82269e1feed12c 100644
--- a/package.json
+++ b/package.json
@@ -9,6 +9,7 @@
"dependencies": {
"express": "^4.16.3",
"http": "0.0.0",
+ "mathjs": "^5.1.2",
"readline": "^1.3.0",
"serialport": "^6.2.2",
"ws": "^6.0.0"
diff --git a/server.js b/server.js
index bd8b953c71d154aee65774fc7da736d7edd58d4b..8ae6379ddd6cab224de9061e25d2abe4145a9f3e 100644
--- a/server.js
+++ b/server.js
@@ -103,38 +103,62 @@ function socketRecv(evt) {
}
/*
-
+------------------------------------------------------
PROGRAM AS API
-
+------------------------------------------------------
*/
var modules = new Array()
// 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')
-var gcode = addModule('./src/parsing/gcode.js')
+//var term = addModule('./src/ui/terminal.js')
+//var gcode = addModule('./src/parsing/gcode.js')
+//var planner = addModule('./src/motion/planner.js')
+var stepper = addModule('./src/hardware/stepper.js')
+var bridge = addModule('./src/hardware/bridge.js')
// attaching an output to an input
-term.outputs.lineOut.attach(gcode.inputs.lineIn)
+// term.outputs.lineOut.attach(gcode.inputs.lineIn)
// setting ui elements / state
-term.state.uiInput = "G1 F100 X10 Y10"
+// term.state.uiInput = "G1 F100 X10 Y10"
// gcode.ui.G0.set(1255)
+stepper.state.address = '0,2'
+stepper.outputs.packet.attach(bridge.inputs.B)
+bridge.outputs.B.attach(stepper.inputs.packet)
+
+// gcode.outputs.instructionOut.attach(planner.inputs.instruction)
+// planner.outputs.move.attach(stepper.inputs.move)
+
// setting data w/r/t the representations they serve
+/*
term.ui = {}
term.ui.left = 10
term.ui.top = 10
gcode.ui = {}
-gcode.ui.left = 200
-gcode.ui.top = 400
+gcode.ui.left = 50
+gcode.ui.top = 100
-/*
+planner.ui = {}
+planner.ui.left = 100
+planner.ui.top = 250
+*/
-PROGRAM WRITING
+stepper.ui = {}
+stepper.ui.left = 150
+stepper.ui.top = 450
+
+bridge.ui = {}
+bridge.ui.left = 200
+bridge.ui.top = 650
+/*
+------------------------------------------------------
+PROGRAM WRITING
+------------------------------------------------------
*/
function addModule(path) {
@@ -149,7 +173,7 @@ function addModule(path) {
mod.path = path
// we need to add some top-level info to the inputs so that we can draw them
- for (item in mod.inputs){
+ for (item in mod.inputs) {
mod.inputs[item].parentId = mod.id
mod.inputs[item].key = item
}
@@ -211,7 +235,7 @@ function putReps() {
socketSend('add reps', reps)
}
-function makeRep(mod){
+function makeRep(mod) {
// scrape for only things we'll want to represent
var rep = {
id: mod.id,
@@ -222,12 +246,12 @@ function makeRep(mod){
}
// holds UI information - to load mods at location
- if(mod.ui != null){
+ if (mod.ui != null) {
rep.ui = mod.ui
}
- for(var key in mod.state){
- if(isStateKey(key)){
+ for (var key in mod.state) {
+ if (isStateKey(key)) {
rep.state[key] = mod.state[key]
}
}
@@ -239,7 +263,7 @@ function putRep(mod) {
socketSend('add rep', makeRep(mod))
}
-function changeRep(mod){
+function changeRep(mod) {
socketSend('change rep', makeRep(mod))
}
@@ -252,7 +276,12 @@ function changeState(data) {
// rep only holds proper key-values w/o emitters, _values etc
for (var key in newState) {
if (isStateKey(key)) {
- if (oldState[key] !== newState[key]) {
+ if (oldState[key].isButton) {
+ if (oldState[key].isPressed != newState[key].isPressed) {
+ console.log('CHANGE STATE', key, 'to', newState[key], 'in', data.id)
+ oldState[key] = newState[key]
+ }
+ } else if (oldState[key] !== newState[key]) {
console.log('CHANGE STATE', key, 'to', newState[key], 'in', data.id)
oldState[key] = newState[key]
}
@@ -260,9 +289,9 @@ function changeState(data) {
}
}
-function changeUi(data){
+function changeUi(data) {
var mod = modules[data.id]
- if(mod.ui == null){
+ if (mod.ui == null) {
console.log("NO UI")
mod.ui = {}
}
@@ -270,8 +299,8 @@ function changeUi(data){
console.log('CHANGE UI', mod.id, mod.ui)
}
-function isStateKey(key){
- if(key.indexOf('_') == 0 || key == 'emitters' || key == 'onChange' || key == 'emitChange'){
+function isStateKey(key) {
+ if (key.indexOf('_') == 0 || key == 'emitters' || key == 'onChange' || key == 'emitChange') {
return false
} else {
return true
@@ -283,8 +312,8 @@ function putState(mod) {
// push just the state to the individual mod
// copy only the keys we want to see
var state = {}
- for (var key in mod.state){
- if(isStateKey(key)){
+ for (var key in mod.state) {
+ if (isStateKey(key)) {
state[key] = mod.state[key]
}
}
diff --git a/src/hardware/bridge.js b/src/hardware/bridge.js
new file mode 100644
index 0000000000000000000000000000000000000000..40f889bb26cc0fa927ff5320b7b520c85ba961ed
--- /dev/null
+++ b/src/hardware/bridge.js
@@ -0,0 +1,174 @@
+// 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
+
+const serialport = require('serialport')
+
+function ATKBridge() {
+ var bridge = {
+ description: {
+ name: 'ATK Hardware Bridge',
+ alt: 'talks over serialport',
+ isHardware: true
+ }
+ }
+
+ bridge.state = State()
+ var state = bridge.state
+
+ state.rA = '0,0'
+ state.rB = '0,1'
+
+ state.findPort = Button('click to find atk port')
+ state.portName = '---'
+ state.connect = Button('click to connect')
+ state.portStatus = 'closed' // or we hope it will be
+ state.terminal = 'address | key:values'
+ state.sendRawPacket = Button('sendRaw')
+
+ /*
+ ------------------------------------------------------
+ SERIALPORT MANAGEMENT
+ ------------------------------------------------------
+ */
+
+ port = null
+
+ state.onChange('findPort', findPort)
+
+ function findPort() {
+ serialport.list(function(err, ports) {
+ ports.forEach(function(port) {
+ if (port.manufacturer == 'Silicon Labs') {
+ console.log('found cp2102 port')
+ state.portName = port.comName
+ openPort()
+ }
+ })
+ })
+ }
+
+ state.onChange('connect', openPort)
+
+ function openPort() {
+ if (state.portName == '---') {
+ findPort()
+ } else {
+ if (port == null) {
+ port = new serialport(state.portName, {
+ baudRate: 750000
+ })
+ port.on('open', function() {
+ state.portStatus = 'open'
+ })
+ port.on('error', function(err) {
+ state.portStatus = err.message
+ })
+ port.on('data', onPortData)
+ }
+ }
+ }
+
+ function sendToHardware(pckt){
+ if(port.writable){
+ port.write(pckt)
+ return true
+ } else {
+ return false
+ }
+ }
+
+ /*
+ ------------------------------------------------------
+ PACKETS TO HARDWARE
+ ------------------------------------------------------
+ */
+
+ // from software output to hardware ...
+ bridge.inputs = {
+ A: Input('headless packet', function() {
+ onPacketInput('rA')
+ }),
+ B: Input('headless packet', function() {
+ onPacketInput('rB')
+ })
+ }
+
+ state.onChange('sendRawPacket', function() {
+ if (parseTerminal(state.terminal)) {
+ state.sendRawPacket.isPressed = false
+ } else {
+ state.terminal = 'not parsed successfully'
+ state.sendRawPacket.isPressed = false
+ }
+ })
+
+ function parseTerminal(str){
+ //
+ return false
+ }
+
+ function onSoftwareInput(key) {
+ console.log('packet to send on address', state.key)
+ }
+
+ function parseTerminal(str) {
+ console.log('ready to parse...', str, 'as packet')
+ }
+
+ /*
+ ------------------------------------------------------
+ PACKETS FROM HARDWARE
+ ------------------------------------------------------
+ */
+
+ // from hardware outputs to software ...
+ bridge.outputs = {
+ A: Output('headless packet'),
+ B: Output('headless packet')
+ }
+
+ var thisPacket = new Array()
+
+ function onPortData(data) {
+ console.log('DATA IN', data)
+ /*
+ // not sure about this, from old code, but sure
+ var dataArray = new Array()
+ for (var i = 0; i < data.length; i ++){
+ dataArray[i] = data[i]
+ }
+ */
+
+ thisPacket = thisPacket.concat(data)
+ if (thisPacket[0] <= 0) {
+ thisPacket = []
+ console.log('throwing packet with leading zero')
+ }
+
+ while (thisPacket.length >= thisPacket[0]) {
+ if (thisPacket.length == thisPacket[0]) {
+ var packetCopy = thisPacket.slice(0) // copy, deref
+ thisPacket = []
+ onPacket(packetCopy)
+ } else { // rare case of two packets saddling break
+ var fullPacket = thisPacket.slice(0, thisPacket[0])
+ onPacket(fullPacket)
+ thisPacket = thisPacket.slice(thisPacket[0])
+ }
+
+ }
+ }
+
+ function onPacket(pckt) {
+ console.log('recv full packet', pckt)
+ }
+
+ return bridge
+}
+
+module.exports = ATKBridge
\ No newline at end of file
diff --git a/src/hardware/stepper.js b/src/hardware/stepper.js
new file mode 100644
index 0000000000000000000000000000000000000000..32a68c3396a4396f42ac956a9eea14d4e05bd933
--- /dev/null
+++ b/src/hardware/stepper.js
@@ -0,0 +1,112 @@
+// 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
+
+const math = require ('mathjs')
+
+function Stepper() {
+ var stepper = {
+ description: {
+ name: 'ATK Network Stepper Driver',
+ alt: 'software representation of stepper',
+ isHardware: true
+ }
+ }
+
+ stepper.state = State()
+ state = stepper.state
+
+ state.axis = 'X'
+ state.spu = 200 // steps per unit
+ state.rawMove = -10
+
+ state.makeMove = Button('test move')
+
+ state.onChange('makeMove', function(){
+ onRawMove()
+ state.makeMove.isPressed = false
+ })
+
+ stepper.inputs = {
+ move: Input('move instruction', onNewInstruction),
+ packet: Input('headless packet', onHardwareIn)
+ }
+
+ stepper.outputs = {
+ heft: Output('number'), // how much juice used for last move
+ packet: Output('headless packet')
+ }
+
+ function onHardwareIn(pckt){
+ console.log('packet from stepper', pckt)
+ }
+
+ function onRawMove(){
+ console.log('raw move for', state.rawMove)
+ // finds type of ramp, calculates entry and exit ramp lengths
+ var length = Math.abs(state.rawMove)
+ var testTrapezoid = calcDiscreteMoves(state.rawMove, 10, 100, length / 2 - length/4, length / 2 + length / 4)
+ console.log(testTrapezoid)
+ /*
+ var machineTrap = calcDiscreteMoves(rawTrap)
+ var packet = makeTrapezoidPacket(machineTrap)
+ // send it
+ stepper.outputs.packet.emit(machineTrap)
+ */
+ }
+
+ function onNewInstruction(move){
+ console.log('move to stepper', move)
+ // pick out axis (check if it's a wait move)
+
+ // write trapezoid
+
+ // machine trapezoid
+
+ // send and setup for ack ?
+ }
+
+
+ function calcDiscreteMoves(delta, entry, accel, aLength, dLength){
+ // steps, entryspeed, accel, accellength, deccellength
+ var dLength = watchRounding(Math.abs(delta * state.spu))
+ var dDelta = 0
+ if(delta < 0){
+ dDelta = - dLength
+ } else {
+ dDelta = dLength
+ }
+ var dEntry = watchRounding(entry * state.spu)
+ var dAccel = watchRounding(accel * state.spu)
+ var dALength = watchRounding(aLength * state.spu)
+ var dDLength = watchRounding(dLength * state.spu)
+
+ var discreteTrap = {
+ // HERE !
+ }
+ // from float to step conversions, watching for corner (haha) cases
+ }
+
+ function watchRounding(val){
+ var rounded = Math.round(val)
+ if(rounded < 0){
+ console.log('WATCH ZERO', val, rounded)
+ }
+ var error = Math.abs(val/rounded - 1)
+ if(error > 0.05){
+ console.log('WATCH ROUNDING', val, rounded, error)
+ }
+ }
+
+ function makeTrapezoidPacket(machineTrapezoid){
+ // make a packit
+ }
+
+ return stepper
+}
+
+module.exports = Stepper
\ No newline at end of file
diff --git a/src/motion/planner.js b/src/motion/planner.js
index ecf537333ed4ba701cc2e09fe57156754130c77c..328e5838bf3d7fab26b29f4d13e3e0a7b06c1120 100644
--- a/src/motion/planner.js
+++ b/src/motion/planner.js
@@ -1,88 +1,67 @@
// boilerplate atkapi header
-const InOut = require('./lib/inout.js')
+const InOut = require('../../lib/inout.js')
let Input = InOut.Input
let Output = InOut.Output
+let State = InOut.State
-function Gcode() {
-
- // state
- this.state = {
- mode: 'G0',
- speeds: {
- G0: 1200,
- G1: 400
- }
- }
-
- // local functions
- var 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))
- }
+function Planner() {
+ var planner = {
+ description: {
+ name: 'Lookahead Motion Planner',
+ alt: 'movements -> acceleration planned moves'
}
- return kv
}
- var parseGcode = (str) => {
- var instruction = {
- position: {},
- hasMove: false,
- speed: 0
- }
-
- kv = getKeyValues(str)
- // track modality
- if(kv.G == 0 | kv.G == 1){
- this.state.mode = 'G' + kv.G.toString()
- } else if (kv.G != null) {
- // no arcs pls
- console.log('unfriendly Gcode 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]')){
- this.state.speeds[this.state.mode] = kv.F
- }
- }
-
- instruction.speed = this.state.speeds[this.state.mode]
- // and this for help later?
- instruction.kv = kv
-
- return instruction
+ planner.state = State()
+ var state = planner.state // reference pass attempt?
+
+ state.axisIDs = 'X, Y, Z'
+
+ state.accel = 100 // units/s/s
+ state.jd = 1 // units to arc about
+ state.ms = 10 // units/s
+
+ planner.inputs = {
+ instruction: Input('move instruction', onNewInstruction)
}
- // input functions
- var lineIn = (str) => {
- var instruction = parseGcode(str)
- if (instruction.hasMove){
- this.outputs.instructionOut.emit(instruction)
- } else {
- this.outputs.modeChange.emit(this.state.mode)
- }
+ planner.outputs = {
+ move: Output('move instruction')
}
- // ins and outs
- this.inputs = {
- lineIn: new Input('string input', 'string', lineIn)
+ /*
+ ------------------------------------------------------
+ ENTRY POINTS
+ ------------------------------------------------------
+ */
+
+ function onNewInstruction(move){
+ console.log('move to planner', move)
}
- this.outputs = {
- instructionOut: new Output('move instruction', 'object'),
- modeChange: new Output('mode change', 'string')
+ /*
+ ------------------------------------------------------
+ JUNCTION DEVIATION
+ ------------------------------------------------------
+ */
+
+
+
+ /*
+ ------------------------------------------------------
+ TRAPEZOIDS FROM JUNCTION DEVIATION ENTRY / EXITS
+ ------------------------------------------------------
+ */
+
+ function calcTrap(p1, p2, entry, accel, cruise, exit){
+ // delta is signed ! important for writing direction later, we'll use delta for maths
+ var length = Math.abs(delta)
+
+ // min and max exits / entries based on entry / exit speeds, accel, respectively
+ // actually we sould really do this in the planner ?
}
-}
+ return planner
+}
-// export the module
-module.exports = Gcode
\ No newline at end of file
+module.exports = Planner
\ No newline at end of file