From 9322f1a4aa6eb11c9982fb66ba914ccf34332792 Mon Sep 17 00:00:00 2001
From: Jake <jake.read@cba.mit.edu>
Date: Fri, 14 Dec 2018 19:58:29 -0500
Subject: [PATCH] big UI elements refactor
---
README.md | 6 ++
client/divtools.js | 7 +-
client/ui/threeCanvas.js | 4 +-
client/ui/uiButton.js | 11 ++-
modules/flowcontrol/and.js | 12 ++-
modules/hardware/atkbreadboardboard.js | 25 ++++--
modules/hardware/atkmrobot.js | 17 ++--
modules/hardware/atkseriallink.js | 13 ++--
modules/hardware/atkstepper.js | 12 ++-
modules/motion/planner.js | 26 ++++---
modules/ui/button.js | 12 ++-
modules/ui/multiline.js | 93 +++++++++++++++-------
modules/ui/robotCanvas.js | 69 ++++++++++++++++
modules/ui/stest.js | 13 ++--
modules/ui/string.js | 12 ++-
modules/util/andgate.js | 12 ++-
modules/util/array.js | 12 ++-
modules/util/collector.js | 12 ++-
modules/util/gate.js | 12 ++-
modules/util/gateCounter.js | 17 ++--
modules/util/number.js | 12 ++-
modules/util/parallelContencator.js | 12 ++-
programs/temp.json | 55 ++++++-------
py/leastSquares.py | 4 +-
robot.js | 12 ++-
src/atkunit.js | 104 +++++++++++++------------
src/jsui.js | 58 +++++++++-----
src/ui/multiline.js | 55 -------------
src/ui/threeCanvas.js | 46 -----------
src/ui/uiButton.js | 34 --------
30 files changed, 442 insertions(+), 347 deletions(-)
create mode 100644 modules/ui/robotCanvas.js
delete mode 100644 src/ui/multiline.js
delete mode 100644 src/ui/threeCanvas.js
delete mode 100644 src/ui/uiButton.js
diff --git a/README.md b/README.md
index f0b96be..05eb066 100644
--- a/README.md
+++ b/README.md
@@ -267,6 +267,11 @@ View.assignProgram(program)
## Immediately
+- go for generic ui class like remote hardware: subscribes etc
+
+- three robot canvas
+- set module display width
+
- saved program doesn't save state booleans
- ui objects ... refresh ... use state model ?
@@ -281,6 +286,7 @@ View.assignProgram(program)
- tuning:
- mrobot having PI, PID terms
+ - probably good to do a remote-get ...
- having position-set input (also gets output?)
- having position-actual output
- graphing these things
diff --git a/client/divtools.js b/client/divtools.js
index 60ea797..dc8f3cd 100644
--- a/client/divtools.js
+++ b/client/divtools.js
@@ -265,13 +265,13 @@ function loadUIScript(container, rep, key) {
}
ui.script.onload = function(msg) {
- console.log('UI script loaded')
+ console.log('UI script loaded and - ')
// each ui script writes this function to
// window. (global scope) on load,
// so we can use it now to get hooks
registerNewModule(rep.description.id, key)
// that function will be used to append to
- console.log('UI script hooked, having lump at', program.modules[rep.description.id].ui[key].lump)
+ console.log('hooked, having lump at', program.modules[rep.description.id].ui[key].lump)
container.appendChild(program.modules[rep.description.id].ui[key].lump.domElem)
}
}
@@ -279,8 +279,7 @@ function loadUIScript(container, rep, key) {
function writeUiElement(container, rep, key) {
// pull the representation object from what we were sent
var ui = rep.ui[key]
- console.log('write ui', ui)
- console.log('at rep', rep)
+ console.log('write ui', ui.clientPath, 'at rep', rep.description.id)
// first, check if ui also has lib to load
if (ui.libPath != null) {
diff --git a/client/ui/threeCanvas.js b/client/ui/threeCanvas.js
index dd5868b..0beeaf0 100644
--- a/client/ui/threeCanvas.js
+++ b/client/ui/threeCanvas.js
@@ -97,7 +97,9 @@
var data = {
id: threeCanvas.parentId,
key: threeCanvas.key,
- msg: 'onload'
+ msg: {
+ key: 'onload'
+ }
}
socketSend('put ui change', data)
}
diff --git a/client/ui/uiButton.js b/client/ui/uiButton.js
index 82d0935..1a032d0 100644
--- a/client/ui/uiButton.js
+++ b/client/ui/uiButton.js
@@ -12,7 +12,9 @@
var data = {
id: btn.parentId,
key: btn.key,
- msg: 'onclick'
+ msg: {
+ key: 'onclick'
+ }
}
socketSend('put ui change', data)
})
@@ -29,8 +31,7 @@
// upstream, and besides, wouldn't be able to get anything from
// the server
btn.onMessage = function(msg){
- console.log('got message in client side ui object', msg)
- if(msg.call == 'setText'){
+ if(msg.calls == 'setText'){
btn.domElem.innerHTML = msg.argument
}
}
@@ -48,7 +49,9 @@
var data = {
id: btn.parentId,
key: btn.key,
- msg: 'onload'
+ msg: {
+ key: 'onload'
+ }
}
socketSend('put ui change', data)
}
diff --git a/modules/flowcontrol/and.js b/modules/flowcontrol/and.js
index 15db836..8c27a7e 100644
--- a/modules/flowcontrol/and.js
+++ b/modules/flowcontrol/and.js
@@ -29,10 +29,14 @@ function AndFlow() {
andFlow.ui = UI()
var ui = andFlow.ui
- ui.addElement('btnReset', './ui/uiButton.js', onReset)
- ui.btnReset.onload = function() {
- ui.btnReset.setText('reset')
- }
+ ui.addElement('btnReset', 'ui/uiButton.js')
+ ui.btnReset.subscribe('onload', function(msg){
+ ui.btnReset.send({
+ calls: 'setText',
+ argument: 'reset'
+ })
+ })
+ ui.btnReset.subscribe('onclick', onReset)
andFlow.inputs = {
reset: Input('any', onReset),
diff --git a/modules/hardware/atkbreadboardboard.js b/modules/hardware/atkbreadboardboard.js
index ae00978..2f2a76c 100644
--- a/modules/hardware/atkbreadboardboard.js
+++ b/modules/hardware/atkbreadboardboard.js
@@ -37,14 +37,23 @@ function ATKBreadBoardBoard() {
state.onUiChange('servoVal', onServoValChange)
var ui = atkbbb.ui
- ui.addElement('servoButton', './ui/uiButton.js', onServoValChange)
- ui.servoButton.onload = function(){
- ui.servoButton.setText('click to send servo value')
- }
- ui.addElement('adcReqButton', './ui/uiButton.js', onADCRequest)
- ui.adcReqButton.onload = function(){
- ui.adcReqButton.setText('click to request adc conversion')
- }
+ ui.addElement('servoButton', 'ui/uiButton.js')
+ ui.servoButton.subscribe('onload', function(msg){
+ ui.servoButton.send({
+ calls: 'setText',
+ argument: 'click to send servo value'
+ })
+ })
+ ui.servoButton.subscribe('onclick', onServoValChange)
+
+ ui.addElement('adcReqButton', 'ui/uiButton.js')
+ ui.adcReqButton.subscribe('onload', function(msg){
+ ui.adcReqButton.send({
+ calls: 'setText',
+ argument: 'click to request adc conversion'
+ })
+ })
+ ui.adcReqButton.subscribe('onclick', onADCRequest)
// to send things down the well, we can use
// atkbbb.route.send(packet)
diff --git a/modules/hardware/atkmrobot.js b/modules/hardware/atkmrobot.js
index eae2766..34215a9 100644
--- a/modules/hardware/atkmrobot.js
+++ b/modules/hardware/atkmrobot.js
@@ -49,14 +49,15 @@ function ATKMathRobot() {
state.enc_cnt = 16384
state.enc_offset = 0
state.enc_reverse = false
+ state.pc_r = 0
state.pc_t = 2048
state.onUiChange('pc_t', onPositionTargetUserChange)
- state.pKp = 4.5
+ state.pKp = 10
state.onUiChange('pKp', onKValsUpdate)
- state.pKi = 0.0
+ state.pKi = 0.005
state.onUiChange('pKi', onKValsUpdate)
- state.pKd = 0.0
+ state.pKd = 40.0
state.onUiChange('pKd', onKValsUpdate)
state.cKp = 4.0
state.onUiChange('cKp', onKValsUpdate)
@@ -67,10 +68,11 @@ function ATKMathRobot() {
atkmr.ui = UI()
var ui = atkmr.ui
- ui.addElement('walkValButton', './ui/uiButton.js', onPositionTickTock)
- ui.walkValButton.onload = function() {
- ui.walkValButton.setText('walk value')
- }
+ ui.addElement('walkValButton', 'ui/uiButton.js')
+ ui.walkValButton.subscribe('onload', function(msg){
+ ui.walkValButton.call('setText', 'click to walk val')
+ })
+ ui.walkValButton.subscribe('onclick', onPositionTickTock)
// to send things down the well, we can use
// atkmr.route.send(packet)
@@ -94,6 +96,7 @@ function ATKMathRobot() {
atkmr.route.subscribe(145, function(msg){
var pos = PCKT.unPack32(msg.slice(1))
+ state.pc_r = pos
if(state.enc_reverse){
pos = state.enc_cnt - pos
}
diff --git a/modules/hardware/atkseriallink.js b/modules/hardware/atkseriallink.js
index dd541a5..6427385 100644
--- a/modules/hardware/atkseriallink.js
+++ b/modules/hardware/atkseriallink.js
@@ -34,11 +34,14 @@ function ATKSerialLink() {
atkSerialLink.ui = UI()
var ui = atkSerialLink.ui
- ui.addElement('kickButton', './ui/uiButton.js', findSerialPort)
-
- ui.kickButton.onload = function(){
- ui.kickButton.setText('click to find and connect')
- }
+ ui.addElement('kickButton', 'ui/uiButton.js')
+ ui.kickButton.subscribe('onload', function(msg){
+ ui.kickButton.send({
+ calls: 'setText',
+ argument: 'click to find and connect'
+ })
+ })
+ ui.kickButton.subscribe('onclick', findSerialPort)
atkSerialLink.init = function(){
//findSerialPort()
diff --git a/modules/hardware/atkstepper.js b/modules/hardware/atkstepper.js
index e17e81c..22e86c5 100644
--- a/modules/hardware/atkstepper.js
+++ b/modules/hardware/atkstepper.js
@@ -51,10 +51,14 @@ function Stepper() {
state.rawMove = -10
var ui = stepper.ui
- ui.addElement('rawButton', './ui/uiButton.js', onRawMove)
- ui.rawButton.onload = function(){
- ui.rawButton.setText('click to send test move')
- }
+ ui.addElement('rawButton', 'ui/uiButton.js')
+ ui.rawButton.subscribe('onload', function(msg){
+ ui.rawButton.send({
+ calls: 'setText',
+ argument: 'click to send test move'
+ })
+ })
+ ui.rawButton.subscribe('onclick', onRawMove)
state.lead = 0
state.position = 0 // in steps
diff --git a/modules/motion/planner.js b/modules/motion/planner.js
index 5c38c75..1430809 100644
--- a/modules/motion/planner.js
+++ b/modules/motion/planner.js
@@ -47,15 +47,23 @@ function Planner() {
planner.ui = UI()
var ui = planner.ui
- ui.addElement('resetButton', './ui/uiButton.js', onPlannerReset)
- ui.resetButton.onload = function(){
- ui.resetButton.setText('reset planner')
- }
-
- ui.addElement('startStopButton', './ui/uiButton.js', onStartStop)
- ui.startStopButton.onload = function(){
- ui.startStopButton.setText('start / stop planner')
- }
+ ui.addElement('resetButton', 'ui/uiButton.js')
+ ui.resetButton.subscribe('onload', function(msg){
+ ui.resetButton.send({
+ calls: 'setText',
+ argument: 'reset planner'
+ })
+ })
+ ui.resetButton.subscribe('onclick', onPlannerReset)
+
+ 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),
diff --git a/modules/ui/button.js b/modules/ui/button.js
index cc0151e..935c3de 100644
--- a/modules/ui/button.js
+++ b/modules/ui/button.js
@@ -25,10 +25,14 @@ function uiButton() {
button.ui = UI()
var ui = button.ui
- ui.addElement('btn', './ui/uiButton.js', onButtonPress)
- ui.btn.onload = function(){
- ui.btn.setText('click!')
- }
+ ui.addElement('btn', 'ui/uiButton.js')
+ ui.btn.subscribe('onload', function(msg){
+ ui.btn.send({
+ calls: 'setText',
+ argument: 'click!'
+ })
+ })
+ ui.btn.subscribe('onclick', onButtonPress)
button.inputs = {
thru: Input('any', onButtonPress) // makes anything into '1' event
diff --git a/modules/ui/multiline.js b/modules/ui/multiline.js
index 9c7e687..ba14cc0 100644
--- a/modules/ui/multiline.js
+++ b/modules/ui/multiline.js
@@ -6,13 +6,19 @@ let State = JSUnit.State
// interface elements
const JSUI = require('../../src/jsui.js')
-let UI = JSUI.UI
+let UI = JSUI.UI
+
+/* WARN
+not refactored since UI API refactor
+*/
const fs = require('fs')
// a constructor, a fn, a javascript mess
function MultiLineIn() {
+ console.log("WARNING - LOADING MULTILINE - not refactored since UI API refactor")
+
var multilinein = {
// descriptions are used in UI
description: {
@@ -26,33 +32,61 @@ function MultiLineIn() {
var state = multilinein.state
multilinein.ui = UI()
- var ui = multilinein.ui
- ui.addElement('thruButton', './ui/uiButton.js', lineThru)
- ui.thruButton.onload = function(){
- ui.thruButton.setText('click to advance line-by-line')
- }
-
- ui.addElement('previously', './ui/multiline.js', null)
- ui.previously.onload = function(){
- ui.previously.setContents('-')
- ui.previously.setLabel('previously:')
- ui.previously.setRows(15)
- }
+ var ui = multilinein.ui
+ ui.addElement('thruButton', 'ui/uiButton.js')
+ ui.thruButton.subscribe('onload', function(msg) {
+ ui.thruButton.send({
+ calls: 'setText',
+ argument: 'click to advance line-by-line'
+ })
+ })
+ ui.thruButton.subscribe('onclick', lineThru)
+
+ ui.addElement('previously', './ui/multiline.js')
+ ui.previously.subscribe('onload', function(msg) {
+ ui.previously.send({
+ calls: 'setContents',
+ argument: '-'
+ })
+ ui.previously.send({
+ calls: 'setLabel',
+ argument: 'previously:'
+ })
+ ui.previously.send({
+ calls: 'setRows',
+ argument: 15
+ })
+ })
- ui.addElement('justNow', './ui/multiline.js', null)
- ui.justNow.onload = function(){
- ui.justNow.setContents('-')
- ui.justNow.setLabel('just now:')
- ui.justNow.setRows(1)
- }
+ ui.addElement('justNow', './ui/multiline.js')
+ ui.justNow.subscribe('onload', function(msg) {
+ ui.justNow.send({
+ calls: 'setContents',
+ argument: '-'
+ })
+ ui.justNow.send({
+ calls: 'setlabel',
+ argument: 'just now:'
+ })
+ ui.justNow.send({
+ calls: 'setRows',
+ argument: 1
+ })
+ })
- ui.addElement('incoming', './ui/multiline.js', null)
- ui.incoming.onload = function(){
+ ui.addElement('incoming', './ui/multiline.js')
+ ui.incoming.subscribe('onload', function(msg) {
//ui.incoming.setContents('G0 F50 X10Y10Z10\nG0 X20Y20Z0\nG0 X0\nG0 Y10\nG0 F50 X10Y10Z10\nG0 X20Y20Z0\nG0 X0\nG0 Y10\nG0 F50 X10Y10Z10\nG0 X20Y20Z0\nG0 X0\nG0 Y10\nG0 F50 X10Y10Z10\nG0 X20Y20Z0\nG0 X0\nG0 Y10\n')
- ui.incoming.setLabel('incoming:')
- ui.incoming.setRows(50)
+ ui.incoming.send({
+ calls: 'setLabel',
+ argument: 'incoming:'
+ })
+ ui.incoming.send({
+ calls: 'setRows',
+ argument: 50
+ })
onLoadFile('./files/dogbone.gcode')
- }
+ })
multilinein.inputs = {
req: Input('number', onLineRequest),
@@ -68,7 +102,7 @@ function MultiLineIn() {
function lineThru() {
// get all as arrays with linebreak as delimiter
-
+
var outBox = ui.previously.contents.split('\n')
var box = ui.justNow.contents
var inBox = ui.incoming.contents.split('\n')
@@ -88,8 +122,8 @@ function MultiLineIn() {
}
}
- function checkContent(string){
- if(typeof string == 'string'){
+ function checkContent(string) {
+ if (typeof string == 'string') {
return string
} else {
return '-'
@@ -108,7 +142,10 @@ function MultiLineIn() {
if (err) throw err;
console.log('Loading:')
console.log(data);
- ui.incoming.setContents(data)
+ ui.incoming.send({
+ calls: 'setContents',
+ argument: data
+ })
})
}
diff --git a/modules/ui/robotCanvas.js b/modules/ui/robotCanvas.js
new file mode 100644
index 0000000..1250f4b
--- /dev/null
+++ b/modules/ui/robotCanvas.js
@@ -0,0 +1,69 @@
+// 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
+
+// a constructor, a fn, a javascript mess
+function RobotCanvas() {
+
+ var rbtCanvas = {
+ // descriptions are used in UI
+ description: {
+ name: 'ThreeJS-Canvas',
+ alt: 'graphix'
+ }
+ }
+
+ rbtCanvas.state = State()
+ // alias !
+ var state = rbtCanvas.state
+
+ rbtCanvas.inputs = {
+ xy1: Input('array', onNewXY1),
+ xy2: Input('array', onNewXY2),
+ // do some canvas stuff
+ }
+
+ rbtCanvas.outputs = {
+ //log: Output('string')
+ }
+
+ rbtCanvas.ui = UI()
+ var ui = rbtCanvas.ui
+ ui.addElement('threeCanvas', 'ui/threeCanvas.js')
+ // add bonus lib path
+ ui.threeCanvas.libPath = 'ui/libs/three.js'
+ ui.threeCanvas.subscribe('onload', function(msg){
+ console.log('catch canvas load', msg)
+ })
+
+ /*
+ ui.threeCanvas.onload = function() {
+ console.log('canvas is loaded')
+ }
+ */
+
+ function onNewXY1(array) {
+ ui.threeCanvas.send({
+ calls: "updateXY1",
+ argument: [array[0], 0, array[1]]
+ })
+ }
+
+ function onNewXY2(array){
+ ui.threeCanavs.send({
+ calls: "updateXY2",
+ argument: [array[0], 0, array[1]]
+ })
+ }
+
+ return rbtCanvas
+}
+
+// exports
+module.exports = RobotCanvas
\ No newline at end of file
diff --git a/modules/ui/stest.js b/modules/ui/stest.js
index 4f43d49..2add0b7 100644
--- a/modules/ui/stest.js
+++ b/modules/ui/stest.js
@@ -48,15 +48,18 @@ function STest() {
// other items for interaction are explicitly UI
stest.ui = UI()
var ui = stest.ui
- ui.addElement('btnex', './ui/uiButton.js', onButtonData)
-
- ui.btnex.onload = function(){
+ ui.addElement('btnex', 'ui/uiButton.js')
+ ui.btnex.subscribe('onload', function(msg){
console.log('ok, yes, loaded')
- }
+ })
+ ui.btnex.subscribe('onclick', onButtonData)
function onButtonData(evt){
console.log('on module callback', evt)
- ui.btnex.setText('hello from ss')
+ ui.btnex.send({
+ calls: 'setText',
+ argument: 'hello from stest'
+ })
}
return stest
diff --git a/modules/ui/string.js b/modules/ui/string.js
index 1b47b82..c33ae8a 100644
--- a/modules/ui/string.js
+++ b/modules/ui/string.js
@@ -31,10 +31,14 @@ function uiString() {
uistring.ui = UI()
var ui = uistring.ui
- ui.addElement('onNumberButton', './ui/uiButton.js', onStringDesire)
- ui.onNumberButton.onload = function() {
- ui.onNumberButton.setText('number out ->')
- }
+ ui.addElement('onNumberButton', 'ui/uiButton.js')
+ ui.onNumberButton.subscribe('onload', function(msg){
+ ui.onNumberButton.send({
+ calls: 'setText',
+ argument: 'number out ->'
+ })
+ })
+ ui.onNumberButton.subscribe('onclick', onStringDesire)
// inputs are required, and must be Input('type', callback)
uistring.inputs = {
diff --git a/modules/util/andgate.js b/modules/util/andgate.js
index 1c970f6..16ba69f 100644
--- a/modules/util/andgate.js
+++ b/modules/util/andgate.js
@@ -29,10 +29,14 @@ function AndFlowControl() {
andGate.ui = UI()
var ui = andGate.ui
- ui.addElement('openButton', './ui/uiButton.js', onButtonPress)
- ui.openButton.onload = function() {
- ui.openButton.setText('open / close')
- }
+ ui.addElement('openButton', 'ui/uiButton.js')
+ ui.openButton.subscribe('onload', function(msg){
+ ui.openButton.send({
+ calls: 'setText',
+ argument: 'open / close'
+ })
+ })
+ ui.openButton.subscribe('onclick', onButtonPress)
andGate.inputs = {
thru: Input('any', andGateKeeper) // makes anything into '1' event
diff --git a/modules/util/array.js b/modules/util/array.js
index 9de3e74..52df7ed 100644
--- a/modules/util/array.js
+++ b/modules/util/array.js
@@ -31,10 +31,14 @@ function UIArray() {
uiArray.ui = UI()
var ui = uiArray.ui
- ui.addElement('onArrayButton', './ui/uiButton.js', onArrayDesire)
- ui.onArrayButton.onload = function() {
- ui.onArrayButton.setText('array out ->')
- }
+ ui.addElement('onArrayButton', 'ui/uiButton.js')
+ ui.onArrayButton.subscribe('onload', function(msg){
+ ui.onArrayButton.send({
+ calls: 'setText',
+ argument: 'array out ->'
+ })
+ })
+ ui.onArrayButton.subscribe('onclick', onArrayDesire)
// inputs are required, and must be Input('type', callback)
uiArray.inputs = {
diff --git a/modules/util/collector.js b/modules/util/collector.js
index a5cb44a..6425fca 100644
--- a/modules/util/collector.js
+++ b/modules/util/collector.js
@@ -42,10 +42,14 @@ function Collector() {
collector.ui = UI()
var ui = collector.ui
- ui.addElement('onDumpButton', './ui/uiButton.js', onDumpDesire)
- ui.onDumpButton.onload = function() {
- ui.onDumpButton.setText('array out ->')
- }
+ ui.addElement('onDumpButton', 'ui/uiButton.js')
+ ui.onDumpButton.subscribe('onload', function(msg){
+ ui.onDumpButton.send({
+ calls: 'setText',
+ argument: 'array out ->'
+ })
+ })
+ ui.onDumpButton.subscribe('onclick', onDumpDesire)
// inputs are required, and must be Input('type', callback)
collector.inputs = {
diff --git a/modules/util/gate.js b/modules/util/gate.js
index 7a24c4b..d4e5f17 100644
--- a/modules/util/gate.js
+++ b/modules/util/gate.js
@@ -27,10 +27,14 @@ function Gate() {
gate.ui = UI()
var ui = gate.ui
- ui.addElement('openButton', './ui/uiButton.js', onButtonPress)
- ui.openButton.onload = function() {
- ui.openButton.setText('click to open gate')
- }
+ ui.addElement('openButton', 'ui/uiButton.js')
+ ui.openButton.subscribe('onload', function(msg){
+ ui.openButton.send({
+ calls: 'setText',
+ argument: 'click to open gate'
+ })
+ })
+ ui.openButton.subscribe('onclick', onButtonPress)
// yikes
gate.isOpen = false
diff --git a/modules/util/gateCounter.js b/modules/util/gateCounter.js
index b367b56..0e356c0 100644
--- a/modules/util/gateCounter.js
+++ b/modules/util/gateCounter.js
@@ -28,13 +28,20 @@ function GateCounter() {
gateCounter.ui = UI()
var ui = gateCounter.ui
- ui.addElement('openButton', './ui/uiButton.js', onButtonPress)
- ui.openButton.onload = function() {
- ui.openButton.setText('click to add ' + state.addThis.toString() + ' to count')
- }
+ ui.addElement('openButton', 'ui/uiButton.js')
+ ui.openButton.subscribe('onload', function(msg){
+ ui.openButton.send({
+ calls: 'setText',
+ argument: 'click to add ' + state.addThis.toString() + ' to count'
+ })
+ })
+ ui.openButton.subscribe('onclick', onButtonPress)
state.onUiChange('addThis', function(){
- ui.openButton.setText('click to add ' + state.addThis.toString() + ' to count')
+ ui.openButton.send({
+ calls: 'setText',
+ argument: 'click to add ' + state.addThis.toString() + ' to count'
+ })
})
// yikes
diff --git a/modules/util/number.js b/modules/util/number.js
index 6f429bd..650d66b 100644
--- a/modules/util/number.js
+++ b/modules/util/number.js
@@ -31,10 +31,14 @@ function uiNum() {
uinum.ui = UI()
var ui = uinum.ui
- ui.addElement('onNumberButton', './ui/uiButton.js', onNumberDesire)
- ui.onNumberButton.onload = function() {
- ui.onNumberButton.setText('number out ->')
- }
+ ui.addElement('onNumberButton', 'ui/uiButton.js')
+ ui.onNumberButton.subscribe('onload', function(msg){
+ ui.onNumberButton.send({
+ calls: 'setText',
+ argument: 'number out ->'
+ })
+ })
+ ui.onNumberButton.subscribe('onclick', onNumberDesire)
// inputs are required, and must be Input('type', callback)
uinum.inputs = {
diff --git a/modules/util/parallelContencator.js b/modules/util/parallelContencator.js
index 14647e2..894866e 100644
--- a/modules/util/parallelContencator.js
+++ b/modules/util/parallelContencator.js
@@ -31,10 +31,14 @@ function ParallelContencator() {
parallelContencator.ui = UI()
var ui = parallelContencator.ui
- ui.addElement('onOutputButton', './ui/uiButton.js', doThroughput)
- ui.onOutputButton.onload = function() {
- ui.onOutputButton.setText('array out ->')
- }
+ ui.addElement('onOutputButton', 'ui/uiButton.js')
+ ui.onOutputButton.subscribe('onload', function(msg){
+ ui.onOutputButton.send({
+ calls: 'setText',
+ argument: 'array out ->'
+ })
+ })
+ ui.onOutputButton.subscribe('onclick', doThroughput)
// inputs are required, and must be Input('type', callback)
parallelContencator.inputs = {
diff --git a/programs/temp.json b/programs/temp.json
index a8a8a11..d0a0eec 100644
--- a/programs/temp.json
+++ b/programs/temp.json
@@ -20,9 +20,9 @@
"inputs": {},
"outputs": {},
"state": {
- "portName": "COM18",
- "portStatus": "open",
- "log": false
+ "portName": "---",
+ "portStatus": "closed",
+ "log": true
},
"ui": {
"kickButton": {
@@ -81,8 +81,9 @@
"message": "no packet yet",
"route": "0,0",
"enc_cnt": 16384,
- "enc_offset": 13500,
+ "enc_offset": 13390,
"enc_reverse": true,
+ "pc_r": 0,
"pc_t": 2048,
"pKp": 4.5,
"pKi": 0,
@@ -106,8 +107,8 @@
"id": "atk-math-robot-joint-2",
"path": "./modules/hardware/atkmrobot.js",
"position": {
- "left": 604,
- "top": 492
+ "left": 596,
+ "top": 515
}
},
"inputs": {
@@ -148,8 +149,9 @@
"message": "no packet yet",
"route": "0,1",
"enc_cnt": 16384,
- "enc_offset": 1350,
+ "enc_offset": 1700,
"enc_reverse": false,
+ "pc_r": 0,
"pc_t": 2048,
"pKp": 4.5,
"pKi": 0,
@@ -301,7 +303,7 @@
},
"state": {
"prefix": "JTN1:",
- "message": "6.069578482466511"
+ "message": "6.026243525208741"
},
"ui": {}
},
@@ -341,8 +343,8 @@
"id": "collector-8",
"path": "./modules/util/collector.js",
"position": {
- "left": 1649,
- "top": 1157
+ "left": 1629,
+ "top": 954
}
},
"inputs": {
@@ -365,7 +367,8 @@
}
},
"state": {
- "count": 1
+ "count": 0,
+ "dumpOnGo": true
},
"ui": {
"onDumpButton": {
@@ -381,8 +384,8 @@
"id": "gateCounter-9",
"path": "./modules/util/gateCounter.js",
"position": {
- "left": 732,
- "top": 976
+ "left": 723,
+ "top": 994
}
},
"inputs": {
@@ -425,8 +428,8 @@
"id": "parallelContencator-11",
"path": "./modules/util/parallelContencator.js",
"position": {
- "left": 1193,
- "top": 1147
+ "left": 1192,
+ "top": 969
}
},
"inputs": {
@@ -468,8 +471,8 @@
"id": "gateCounter-12",
"path": "./modules/util/gateCounter.js",
"position": {
- "left": 726,
- "top": 1174
+ "left": 724,
+ "top": 1187
}
},
"inputs": {
@@ -512,8 +515,8 @@
"id": "number-output-13",
"path": "./modules/util/number.js",
"position": {
- "left": 168,
- "top": 1045
+ "left": 177,
+ "top": 1028
}
},
"inputs": {
@@ -573,7 +576,7 @@
},
"state": {
"prefix": "JTN2:",
- "message": "0.14802914603096437"
+ "message": "0.28148547457701517"
},
"ui": {}
},
@@ -584,8 +587,8 @@
"id": "forwardTransform Parser-15",
"path": "./modules/robot/forwardTransform.js",
"position": {
- "left": 1323,
- "top": 718
+ "left": 1208,
+ "top": 678
}
},
"inputs": {
@@ -639,8 +642,8 @@
"id": "leastSquares Parser-16",
"path": "./modules/robot/leastSquares.js",
"position": {
- "left": 1823,
- "top": 991
+ "left": 1648,
+ "top": 793
}
},
"inputs": {
@@ -669,8 +672,8 @@
}
},
"state": {
- "c": 1,
- "d": -2
+ "c": 0,
+ "d": -0.113
},
"ui": {}
}
diff --git a/py/leastSquares.py b/py/leastSquares.py
index 0840679..efbfd6c 100644
--- a/py/leastSquares.py
+++ b/py/leastSquares.py
@@ -37,7 +37,7 @@ def constructmatA(C, theta1s, theta2s):
#print theta1s[i]
theta1 = float(theta1s[i])
theta2 = float(theta2s[i])
- a.append([cfloat*m.cos(theta1)-m.sin(theta1), cfloat*m.cos(theta2)-m.sin(theta2)])
+ a.append([cfloat*m.cos(theta1)-m.sin(theta1), cfloat*m.cos(theta1+theta2)-m.sin(theta1+theta2)])
return a
def constructmatb(D, theta1s):
@@ -64,7 +64,7 @@ fullRes = np.linalg.lstsq(A,b, rcond=None)
lengths = [fullRes[0][0][0], fullRes[0][1][0]]
-print lengths
+print (lengths)
sys.stdout.flush()
'''
diff --git a/robot.js b/robot.js
index 6ec40ee..e33085d 100644
--- a/robot.js
+++ b/robot.js
@@ -18,6 +18,7 @@ var program = Programs.new('new program')
*/
+
var link = Programs.loadModuleFromSource(program, './modules/hardware/atkseriallink.js')
link.startUp()
link.state.log = false
@@ -26,7 +27,14 @@ Programs.setUI(link, 1050, 50)
var mrbotone = Programs.loadModuleFromSource(program, './modules/hardware/atkmrobot.js')
Programs.setUI(mrbotone, 600, 50)
var mrbottwo = Programs.loadModuleFromSource(program, './modules/hardware/atkmrobot.js')
-Programs.setUI(mrbottwo, 600, 450)
+Programs.setUI(mrbottwo, 600, 550)
+var mrbotthree = Programs.loadModuleFromSource(program, './modules/hardware/atkmrobot.js')
+Programs.setUI(mrbotthree, 600, 1050)
+
+var rbtcanvas = Programs.loadModuleFromSource(program, './modules/ui/robotCanvas.js')
+Programs.setUI(rbtcanvas, 1200, 50)
+
+/*
var button = Programs.loadModuleFromSource(program, './modules/ui/button.js')
var delay = Programs.loadModuleFromSource(program, './modules/util/delay.js')
@@ -56,6 +64,8 @@ Programs.setUI(collector, 1050, 800)
var gateCounter = Programs.loadModuleFromSource(program, './modules/util/gateCounter.js')
Programs.setUI(gateCounter, 600, 850)
+*/
+
/*
var stest = Programs.loadModuleFromSource(program, './modules/ui/stest.js')
diff --git a/src/atkunit.js b/src/atkunit.js
index b3b355b..2b328d5 100644
--- a/src/atkunit.js
+++ b/src/atkunit.js
@@ -9,65 +9,71 @@ let Button = JSUnit.Button
// interface elements
const JSUI = require('./jsui.js')
-let UI = JSUI.UI
+let UI = JSUI.UI
let ATKRoute = require('./atkroute.js')
-function Hardware(){
- var hardware = {
- description:{
- name: 'hardwareUnit',
- alt: 'software representation of networked hardware object',
- isHardware: true
- },
- route: ATKRoute('0,0')
- }
-
- hardware.state = State()
- var state = hardware.state
-
- state.message = 'click below to test network'
- state.route = '0,0' // default
-
- hardware.ui = UI()
- var ui = hardware.ui
-
- ui.addElement('resetButton', './ui/uiButton.js', onReset)
- ui.resetButton.onload = function(){
- ui.resetButton.setText('reset hardware')
+function Hardware() {
+ var hardware = {
+ description: {
+ name: 'hardwareUnit',
+ alt: 'software representation of networked hardware object',
+ isHardware: true
+ },
+ route: ATKRoute('0,0')
}
- ui.addElement('testButton', './ui/uiButton.js', onNetworkTest)
- ui.testButton.onload = function(){
- ui.testButton.setText('test network')
+ hardware.state = State()
+ var state = hardware.state
+
+ state.message = 'click below to test network'
+ state.route = '0,0' // default
+
+ hardware.ui = UI()
+ var ui = hardware.ui
+
+ ui.addElement('resetButton', 'ui/uiButton.js')
+ ui.resetButton.subscribe('onload', function(msg) {
+ ui.resetButton.send({
+ calls: 'setText',
+ argument: 'reset hardware'
+ })
+ })
+
+ ui.addElement('testButton', 'ui/uiButton.js')
+ ui.testButton.subscribe('onload', function(msg) {
+ ui.testButton.send({
+ calls: 'setText',
+ argument: 'test network'
+ })
+ })
+
+ state.onUiChange('route', function() {
+ hardware.route.route = state.route
+ })
+
+ function onReset() {
+ var rstpck = new Array()
+ rstpck.push(128)
+ state.message = 'reset command issued'
+ hardware.route.send(rstpck)
}
- state.onUiChange('route', function(){
- hardware.route.route = state.route
- })
-
- function onReset(){
- var rstpck = new Array()
- rstpck.push(128)
- state.message = 'reset command issued'
- hardware.route.send(rstpck)
- }
-
- function onNetworkTest(){
- var tstpck = new Array()
- tstpck.push(127)
- state.message = 'test packet out'
- hardware.route.send(tstpck)
- }
+ function onNetworkTest() {
+ var tstpck = new Array()
+ tstpck.push(127)
+ state.message = 'test packet out'
+ hardware.route.send(tstpck)
+ }
- hardware.route.subscribe(127, testReturn)
+ hardware.route.subscribe(127, testReturn)
- function testReturn(msg){
- state.message = 'test OK'
- console.log('test returns with msg', msg)
- }
+ function testReturn(msg) {
+ state.message = 'test OK'
+ console.log('test returns with msg', msg)
+ }
- return hardware
+ return hardware
}
module.exports = Hardware
\ No newline at end of file
diff --git a/src/jsui.js b/src/jsui.js
index 9e3a99a..ad5ae61 100644
--- a/src/jsui.js
+++ b/src/jsui.js
@@ -1,35 +1,56 @@
function UI() {
var ui = {}
- ui.addElement = function(keyName, srcPath, callback){
- var src = require(srcPath)
- ui[keyName] = new src()
- ui[keyName].keyName = keyName
- ui[keyName].callback = callback
- ui[keyName].sendToUi = function(msg){
- var data = {
- id: ui.parentId,
- key: keyName,
- msg: msg
- }
- ui.socket.send('put ui change', data)
- }
+ ui.addElement = function(keyName, clientPath){
+ ui[keyName] = UIElement(keyName, clientPath, this)
}
ui.init = function(parentModId, socket){
// get hookups from top level program
this.parentId = parentModId
this.socket = socket
- for (key in this) {
- if (isUiKey(key)) {
- // see if they have init functions?
- }
- }
}
return ui
}
+function UIElement(keyName, clientPath, ui){
+ var element = {
+ clientPath: clientPath,
+ calls: {}
+ }
+
+ element.call = function(functionName, argument){
+ this.send({
+ calls: functionName,
+ argument: argument
+ })
+ }
+
+ element.send = function(msg){
+ var data = {
+ id: ui.parentId,
+ key: keyName,
+ msg: msg
+ }
+ ui.socket.send('put ui change', data)
+ }
+
+ element.subscribe = function(msgKey, callback){
+ this.calls[msgKey] = callback
+ }
+
+ element.onMessage = function(msg){
+ if(this.calls[msg.key] != null){
+ this.calls[msg.key](msg)
+ } else {
+ console.log('UI Element from ID', ui.parentId, 'calls for msg having no callback:', msg)
+ }
+ }
+
+ return element
+}
+
function isUiKey(key) {
if (key == 'parentId' || key == 'socket' || key == 'init' || key == 'addElement' || key == 'pushToUI' || key == 'emitters') {
return false
@@ -40,6 +61,7 @@ function isUiKey(key) {
module.exports = {
UI: UI,
+ UIElement: UIElement,
isUiKey: isUiKey
}
diff --git a/src/ui/multiline.js b/src/ui/multiline.js
deleted file mode 100644
index 98c2de9..0000000
--- a/src/ui/multiline.js
+++ /dev/null
@@ -1,55 +0,0 @@
-function Multiline() {
- // server-side button object
- var multiline = {
- type: 'button',
- clientPath: 'ui/multiline.js',
- callback: null, // this is loaded into our scope on load
- contents: null, // current value of multiline obj
- label: null,
- rows: null
- }
-
- // hook to recv messages from the ui counterpart
- multiline.onMessage = function(msg) {
- //console.log('message into server side object', msg)
- if(msg == 'onload'){
- this.onload()
- } else {
- this.contents = msg
- }
- }
-
- multiline.setLabel = function(string){
- this.label = string
- var msg = {
- call: 'setLabel',
- argument: string
- }
- this.sendToUi(msg)
- }
-
- multiline.setRows = function(num){
- this.rows = num
- var msg = {
- call: 'setRows',
- argument: num
- }
- this.sendToUi(msg)
- }
-
- // example of a function to use within the module
- multiline.setContents = function(string) {
- this.contents = string
- // ex. of how to send data up to client
- var msg = {
- call: 'setContents',
- argument: string
- }
- // this.sendToUi is given to us during load
- this.sendToUi(msg)
- }
-
- return multiline
-}
-
-module.exports = Multiline
\ No newline at end of file
diff --git a/src/ui/threeCanvas.js b/src/ui/threeCanvas.js
deleted file mode 100644
index 0f5d098..0000000
--- a/src/ui/threeCanvas.js
+++ /dev/null
@@ -1,46 +0,0 @@
-function ThreeCanvasUIElement() {
- // server-side button object
- var threeCanvasUIElement = {
- type: 'threeCanvas',
- clientPath: 'ui/threeCanvas.js',
- libPath: 'ui/libs/three.js',
- callback: null // this is loaded into our scope on load
- }
-
- // hook to recv messages from the ui counterpart
- threeCanvasUIElement.onMessage = function(msg) {
- //console.log('message into server side object', msg)
- if (msg == 'onload') {
- this.onload()
- } else {
- // do other message stuff?
- // is this why callback ?
- this.callback(msg)
- console.log('unhandled message from server to ui element', this.type, msg)
- }
- }
-
- threeCanvasUIElement.updateXY1 = function(arary) {
- // ex. of how to send data up to client
- var msg = {
- call: 'setXY1',
- argument: arary
- }
- // this.sendToUi is given to us during load
- this.sendToUi(msg)
- }
-
- threeCanvasUIElement.updateXY2 = function(arary) {
- // ex. of how to send data up to client
- var msg = {
- call: 'setXY2',
- argument: arary
- }
- // this.sendToUi is given to us during load
- this.sendToUi(msg)
- }
-
- return threeCanvasUIElement
-}
-
-module.exports = ThreeCanvasUIElement
\ No newline at end of file
diff --git a/src/ui/uiButton.js b/src/ui/uiButton.js
deleted file mode 100644
index e85b937..0000000
--- a/src/ui/uiButton.js
+++ /dev/null
@@ -1,34 +0,0 @@
-function UIButton() {
- // server-side button object
- var uiButton = {
- type: 'button',
- clientPath: 'ui/uiButton.js',
- callback: null, // this is loaded into our scope on load
- isPressed: false
- }
-
- // hook to recv messages from the ui counterpart
- uiButton.onMessage = function(msg) {
- //console.log('message into server side object', msg)
- if(msg == 'onload'){
- this.onload()
- } else {
- this.callback(msg)
- }
- }
-
- // example of a function to use within the module
- uiButton.setText = function(text) {
- // ex. of how to send data up to client
- var msg = {
- call: 'setText',
- argument: text
- }
- // this.sendToUi is given to us during load
- this.sendToUi(msg)
- }
-
- return uiButton
-}
-
-module.exports = UIButton
\ No newline at end of file
--
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