From 39831ae9872345f1d83c2fd02d0c754377343051 Mon Sep 17 00:00:00 2001
From: Jake Read <jake.read@cba.mit.edu>
Date: Mon, 28 Oct 2019 10:40:30 -0400
Subject: [PATCH] prototype planner skeleton
---
LOG.md | 2 +-
hunks/adhoc/consumer.js | 30 +
hunks/adhoc/saturn.js | 45 +
hunks/adhoc/tpath.js | 42 +
save/contexts/cuttlefish/stest.json | 173 ++
test_files/example-path.js | 3654 +++++++++++++++++++++++++++
test_files/example-path.json | 3652 ++++++++++++++++++++++++++
typeset.js | 2 +-
8 files changed, 7598 insertions(+), 2 deletions(-)
create mode 100644 hunks/adhoc/consumer.js
create mode 100644 hunks/adhoc/saturn.js
create mode 100644 hunks/adhoc/tpath.js
create mode 100644 save/contexts/cuttlefish/stest.json
create mode 100644 test_files/example-path.js
create mode 100644 test_files/example-path.json
diff --git a/LOG.md b/LOG.md
index f1bc187..2a6ad70 100644
--- a/LOG.md
+++ b/LOG.md
@@ -8,7 +8,7 @@ things that *should work* before MW
- don't have to push new outputs / inputs to the hunk manually (but cross compatible) - confusing if we make it, and it doesn't appear, wtf?
- err path cleanup ... i.e. cover cases of new hunk writing:
- syntax errors (in code, on load)
- - file naming errors
+ - file naming errors
## Dev Golf
diff --git a/hunks/adhoc/consumer.js b/hunks/adhoc/consumer.js
new file mode 100644
index 0000000..c9030ec
--- /dev/null
+++ b/hunks/adhoc/consumer.js
@@ -0,0 +1,30 @@
+/*
+
+mimic / prototype steppers downstream, consuming on known timestep
+
+*/
+
+import {
+ Hunkify,
+ Input,
+ Output,
+ State
+} from '../hunks.js'
+
+export default function Consumer(){
+ Hunkify(this)
+
+ let takeup = this.input('number', 'takes')
+ let taken = false
+ let period = this.state('number', 'period', 50)
+
+ this.loop = () => {
+ if(takeup.io() && !taken){
+ takeup.get()
+ taken = true
+ setTimeout(() => {
+ taken = false
+ }, period.value)
+ }
+ }
+}
diff --git a/hunks/adhoc/saturn.js b/hunks/adhoc/saturn.js
new file mode 100644
index 0000000..a5d1746
--- /dev/null
+++ b/hunks/adhoc/saturn.js
@@ -0,0 +1,45 @@
+/*
+
+accel planning for networked controllers
+
+*/
+
+import {
+ Hunkify,
+ Input,
+ Output,
+ State
+} from '../hunks.js'
+
+export default function Saturn(){
+ Hunkify(this)
+
+ let inpts = this.input('array', 'posn')
+ let outx = this.output('number', 'outx')
+ let outy = this.output('number', 'outy')
+ let outz = this.output('number', 'outz')
+ let outp = this.output('array', 'posn')
+ let period = this.state('number', 'period', 50) // in ms,
+
+ let allclear = () => {
+ return (!outx.io() && !outy.io() && !outz.io())
+ }
+
+ // our path (and num segs to plan over)
+ let opl = 64
+ let op = []
+
+ this.loop = () => {
+ if(op.length < opl && inpts.io()){
+ op.push(inpts.get())
+ }
+ if(allclear()){
+ if(op.length){
+ let np = op.shift()
+ outx.put(np[0])
+ outy.put(np[1])
+ outz.put(np[2])
+ }
+ }
+ }
+}
diff --git a/hunks/adhoc/tpath.js b/hunks/adhoc/tpath.js
new file mode 100644
index 0000000..81ff430
--- /dev/null
+++ b/hunks/adhoc/tpath.js
@@ -0,0 +1,42 @@
+/*
+
+testing path output -> saturn
+
+*/
+
+import {
+ Hunkify,
+ Input,
+ Output,
+ State
+} from '../hunks.js'
+
+import * as expath from '../../test_files/example-path.js'
+
+export default function TPFCOUT(){
+ Hunkify(this)
+
+ // copy this in au manuel
+ let ogpath = expath.default.arr
+ let path = []
+
+ let outPosn = this.output('array', 'position')
+ let outReset = this.state('boolean', 'reset', false)
+ outReset.onChange = (value) => {
+ path = JSON.parse(JSON.stringify(ogpath))
+ }
+
+ this.init = () => {
+ path = JSON.parse(JSON.stringify(ogpath))
+ console.log(path)
+ }
+
+ // copies out, one at a time, fc pressure
+ this.loop = () => {
+ if(path.length){
+ if(!outPosn.io()){
+ outPosn.put(path.shift())
+ }
+ }
+ }
+}
diff --git a/save/contexts/cuttlefish/stest.json b/save/contexts/cuttlefish/stest.json
new file mode 100644
index 0000000..7f9daee
--- /dev/null
+++ b/save/contexts/cuttlefish/stest.json
@@ -0,0 +1,173 @@
+{
+ "interpreterName": "cuttlefish",
+ "interpreterVersion": "v0.1",
+ "hunks": [
+ {
+ "type": "manager",
+ "name": "nrol",
+ "inputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "1",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "type": "view",
+ "name": "tlview",
+ "inputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "0",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "type": "adhoc/saturn",
+ "name": "adhoc/saturn_2",
+ "inputs": [
+ {
+ "name": "posn",
+ "type": "array"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "outx",
+ "type": "number",
+ "connections": [
+ {
+ "inHunkIndex": "4",
+ "inHunkInput": "0"
+ }
+ ]
+ },
+ {
+ "name": "outy",
+ "type": "number",
+ "connections": [
+ {
+ "inHunkIndex": "5",
+ "inHunkInput": "0"
+ }
+ ]
+ },
+ {
+ "name": "outz",
+ "type": "number",
+ "connections": [
+ {
+ "inHunkIndex": "6",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ],
+ "states": [
+ {
+ "name": "period",
+ "type": "number",
+ "value": "50"
+ }
+ ]
+ },
+ {
+ "type": "adhoc/tpath",
+ "name": "adhoc/tpath_3",
+ "outputs": [
+ {
+ "name": "position",
+ "type": "array",
+ "connections": [
+ {
+ "inHunkIndex": "2",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ],
+ "states": [
+ {
+ "name": "reset",
+ "type": "boolean",
+ "value": "false"
+ }
+ ]
+ },
+ {
+ "type": "adhoc/consumer",
+ "name": "adhoc/consumer_4",
+ "inputs": [
+ {
+ "name": "takes",
+ "type": "number"
+ }
+ ],
+ "states": [
+ {
+ "name": "period",
+ "type": "number",
+ "value": "50"
+ }
+ ]
+ },
+ {
+ "type": "adhoc/consumer",
+ "name": "adhoc/consumer_5",
+ "inputs": [
+ {
+ "name": "takes",
+ "type": "number"
+ }
+ ],
+ "states": [
+ {
+ "name": "period",
+ "type": "number",
+ "value": "50"
+ }
+ ]
+ },
+ {
+ "type": "adhoc/consumer",
+ "name": "adhoc/consumer_6",
+ "inputs": [
+ {
+ "name": "takes",
+ "type": "number"
+ }
+ ],
+ "states": [
+ {
+ "name": "period",
+ "type": "number",
+ "value": "50"
+ }
+ ]
+ }
+ ]
+}
\ No newline at end of file
diff --git a/test_files/example-path.js b/test_files/example-path.js
new file mode 100644
index 0000000..c13a41d
--- /dev/null
+++ b/test_files/example-path.js
@@ -0,0 +1,3654 @@
+export default {
+ arr: [
+ [
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+ 63,
+ 50
+ ],
+ [
+ 63,
+ 63,
+ -5
+ ],
+ [
+ 1791,
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+ ],
+ [
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+ 63,
+ -5
+ ],
+ [
+ 63,
+ 63,
+ 50
+ ],
+ [
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+ ],
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+ 135,
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diff --git a/typeset.js b/typeset.js
index 036129b..087e48d 100644
--- a/typeset.js
+++ b/typeset.js
@@ -514,7 +514,7 @@ const TSET = [
copy: {
array: (arr) => [...arr],
reference: (arr) => {
- return arr
+ return arr
}
}
}
--
GitLab