From 42c0d46b29f92c478ee923801ea4aaf0d3cbf371 Mon Sep 17 00:00:00 2001
From: Jake Read <jake.read@cba.mit.edu>
Date: Wed, 30 Oct 2019 14:16:53 -0400
Subject: [PATCH] add dpi to images
---
hunks/adhoc/saturn.js | 84 +++----
hunks/adhoc/tpath.js | 9 +-
hunks/image/readpng.js | 84 +++++--
hunks/interface/threejs_ghost.js | 4 +-
save/contexts/cuttlefish/ghost-50ms.json | 212 ++++++++++++++++++
save/contexts/cuttlefish/sat-baretest.json | 198 ++++++++++++++++
save/contexts/cuttlefish/saturn-purebare.json | 117 ++++++++++
7 files changed, 635 insertions(+), 73 deletions(-)
create mode 100644 save/contexts/cuttlefish/ghost-50ms.json
create mode 100644 save/contexts/cuttlefish/sat-baretest.json
create mode 100644 save/contexts/cuttlefish/saturn-purebare.json
diff --git a/hunks/adhoc/saturn.js b/hunks/adhoc/saturn.js
index 9412772..1c5f937 100644
--- a/hunks/adhoc/saturn.js
+++ b/hunks/adhoc/saturn.js
@@ -37,9 +37,9 @@ export default function Saturn() {
let outy = this.output('number', 'outy')
let outz = this.output('number', 'outz')
let outp = this.output('array', 'posn')
- let period = 0.050 // his.state('number', 'period', 50) // in ms,
+ let period = 0.100 // his.state('number', 'period', 50) // in ms,
- let allclear = () => {
+ let allClear = () => {
return (!outx.io() && !outy.io() && !outz.io())
}
@@ -51,14 +51,17 @@ export default function Saturn() {
// settings,
let deviation = 0.1 // virtual radius to junction about
- let accel = 10 // units/s/s
+ let accel = 980 // units/s/s (9.8m/s/s, 9800mm/s/s is 1G)
let minSpeed = 0.01 // conspicuous, to debug for tails (indexing)
// current states,
- let cruise = 10 // target, (units/s)
+ let cruise = 200 // target, (units/s)
let speed = minSpeed // currently
let posUpdated = false
+ // we nasty,
+ let spmm = 200
+
let jd = (speeds, debug) => {
//console.log('positions', positions)
let calcJunctionSpeed = (p0, p1, p2, jd) => {
@@ -437,33 +440,9 @@ export default function Saturn() {
return blocks
}
- /*
- let calculateNextIncrement = () => {
- // for now, straightforward: current position w/r/t positions,
- // increment is this posn -> next target, at rate ...
- // for simplicity, we can assume that we're always going from where we're at to the [1]th point in the positions,
- let vect = [0, 0, 0]
- let dist = vDist(position, positions[0])
- vect.forEach((axis, i) => {
- vect[i] = (positions[0][i] - position[i]) / dist
- })
- // easy increment is just this vector * rate / period
- let timeSeg = [0, 0, 0]
- timeSeg.forEach((axis, i) => {
- timeSeg[i] = vect[i] * (cruise / period)
- })
- // now, is this a step-over ? some fast-slow-math for this:
- let np = vSum(position, timeSeg)
- if (vDist(np, position) > vDist(position, positions[0])) {
- // ts is just to get us exactly to it ..
- timeSeg.forEach((axis, i) => {
- timeSeg[i] = positions[0][i] - position[i]
- })
- positions.shift()
- }
- return timeSeg
- }
- */
+ let blockOnce = true
+ let blocks = []
+ let posNow = []
this.loop = () => {
// loading new points,
@@ -482,10 +461,11 @@ export default function Saturn() {
console.warn('error caught at saturn input', err)
}
}
- //if (allclear() && positions.length > 32) {
+ //if (allClear() && positions.length > 32) {
// first we get all move final v's by jd:
// we jd,
- if (positions.length > 63) {
+ if (positions.length > positionsBufferSize - 1 && blockOnce) {
+ blockOnce = false
// ok, here's the lookahead routine:
console.time('lookahead')
// positions[] is global, speeds is generated now
@@ -521,37 +501,33 @@ export default function Saturn() {
console.timeLog('lookahead')
console.log(`have ${ramps.length} ramps for ${positions.length} positions`)
// should see about writing out motion blocks:
- let blocks = blockPass(ramps, true)
+ blocks = blockPass(ramps, true)
console.log(`have ${blocks.length} blocks for ${ramps.length} ramps`)
- console.timeEnd('lookahead') // 49ms ... to write ~ 3k blocks from 145 ramps from 64 positions
+ console.timeEnd('lookahead') // 49ms ... to write ~ 3k blocks from 145 ramps from 64 positions
// OK: I think this is it... I'll wrap the loop again to do this once, then write those blocks out at the
// flowcontrol'd interval... and see how it looks. this is maybe even enough: if steppers just make these counts
// of steps, distance is preserved, but some jerk every 50ms... interpolation next
// run once,
- throw new Error('halt')
+ //throw new Error('halt')
}
- /*
- // this is our major timestep, and should happen only once-every-segment
- // positions length reads @ 26, but NaN ??
- // do check ... if anything is NaN, print all positions, OK. maybe reference problem?
- console.log(positions.length)
- // we have items in the positions,
- // we should calculate an ideal trajectory from our current position and speed
- // probably recalculating the whole thing, and then send that out...
- let ts = calculateNextIncrement()
- //console.log('time seg\t', ts)
- position = vSum(position, ts)
+
+ if(blocks.length > 0 && allClear()){
+ let bl = blocks.shift()
+ //console.log('block', bl)
+ let dist = vDist(bl[0], bl[1])
+ console.log(dist.toFixed(4))
+ // to gate,
+ outx.put(1)
+ outy.put(1)
+ outz.put(1)
+ // and,
+ posNow = vScalar(bl[0], spmm)
posUpdated = true
- // send 'em
- outx.put(ts[0])
- outy.put(ts[1])
- outz.put(ts[2])
}
+
if (!outp.io() && posUpdated) {
- outp.put(position)
+ outp.put(posNow)
posUpdated = false
}
- */
- //}
}
}
diff --git a/hunks/adhoc/tpath.js b/hunks/adhoc/tpath.js
index 67af260..5ed840a 100644
--- a/hunks/adhoc/tpath.js
+++ b/hunks/adhoc/tpath.js
@@ -14,7 +14,10 @@ import {
// example-path-long.js also exists...
// example-path-small.js ...
// example-path-sl2.js
-import * as expath from '../../test_files/example-path-sl2.js'
+import * as expath from '../../test_files/example-path-sl2.js'
+import { vScalar } from '../../libs/smallvectors.js'
+
+let dpi = 600
export default function TPFCOUT(){
Hunkify(this)
@@ -22,7 +25,7 @@ export default function TPFCOUT(){
// copy this in au manuel
let ogpath = expath.default.arr
let path = []
- let go = true
+ let go = false
let outPosn = this.output('array', 'position')
let outReset = this.state('boolean', 'reset', false)
@@ -40,7 +43,7 @@ export default function TPFCOUT(){
this.loop = () => {
if(path.length > 0 && go){
if(!outPosn.io()){
- outPosn.put(path.shift())
+ outPosn.put(vScalar(path.shift(), 600 / 25.4))
}
}
}
diff --git a/hunks/image/readpng.js b/hunks/image/readpng.js
index bdab6a7..a1d5358 100644
--- a/hunks/image/readpng.js
+++ b/hunks/image/readpng.js
@@ -13,12 +13,14 @@ export default function UploadPNG() {
let idealWidth = 395; // (want to pull width out of some API for this.dom - element width .. have resize..)
let localImageInfo = null;
let imageUpdated = false;
+ let localDpi = null
+ let dpiUpdated = false
// it looks like 'RGBA' types are actually ImageData objects,
// https://developer.mozilla.org/en-US/docs/Web/API/ImageData
// since we will be using these in canvas-contexts, makes sense to just use these types
- const imageOut = new Output("ImageData", "image", this);
- this.outputs.push(imageOut);
+ let imageOut = this.output("ImageData", "image")
+ let dpiOut = this.output('number', 'dpi')
// as a hack, we can use boolean state variables as a button: they have handy callbacks...
const trig = new State("boolean", "release", false);
@@ -26,7 +28,8 @@ export default function UploadPNG() {
trig.onChange = (value) => {
// I'll set this flag so that we will release image info on the next loop
// if any is available,
- imageUpdated = true;
+ imageUpdated = true
+ dpiUpdated = true
};
// names for elements,
@@ -40,16 +43,16 @@ export default function UploadPNG() {
//import
const png_read_handler = e => {
- const reader = new FileReader();
-
+ const imageReader = new FileReader();
const files = e.target.files;
const file = files[0];
-
const img = new Image();
img.file = file;
-
- const loader = aImg => e => {
- aImg.src = e.target.result;
+ const imageLoader = aImg => e => {
+ // binary:
+ let raw = e.target.result
+ // useful:
+ aImg.src = raw;
aImg.onload = () => {
// OK: sometimes this image is *way too big* to dump into the DOM,
// so we write it into a new and virtual canvas that we won't render:
@@ -61,7 +64,6 @@ export default function UploadPNG() {
// great, now we can use this to pull normalized ImageData information, this is what we pass around:
localImageInfo = vContext.getImageData(0, 0, aImg.width, aImg.height);
imageUpdated = true;
-
// now we can draw something:
const canvas = document.getElementById(`${canvasUid}`);
// we'll want to shrink the whole thing ... or enlarge,
@@ -76,8 +78,58 @@ export default function UploadPNG() {
ctx.drawImage(aImg, 0, 0);
};
};
- reader.onload = loader(img);
- reader.readAsDataURL(file);
+ imageReader.onload = imageLoader(img);
+ imageReader.readAsDataURL(file);
+ // and ah data version...
+ const headerLoader = (event) => {
+ console.log('e', event.target.result)
+ // https://gitlab.cba.mit.edu/pub/mods/blob/master/modules/read/png
+ //
+ // get DPI
+ //
+ // 8 header
+ // 4 len, 4 type, data, 4 crc
+ // pHYs 4 ppx, 4 ppy, 1 unit: 0 ?, 1 meter
+ // IEND
+ //
+ var units = 0
+ var ppx = 0
+ var ppy = 0
+ var dpi = 0
+ var buf = event.target.result
+ var view = new DataView(buf)
+ var ptr = 8
+ if (!((view.getUint8(1) == 80) && (view.getUint8(2) == 78) && (view.getUint8(3) == 71))) {
+ console.warn("error: PNG header not found")
+ return
+ }
+ while (1) {
+ var length = view.getUint32(ptr)
+ ptr += 4
+ var type = String.fromCharCode(
+ view.getUint8(ptr), view.getUint8(ptr + 1),
+ view.getUint8(ptr + 2), view.getUint8(ptr + 3))
+ ptr += 4
+ if (type == "pHYs") {
+ ppx = view.getUint32(ptr)
+ ppy = view.getUint32(ptr + 4)
+ units = view.getUint8(ptr + 8)
+ }
+ if (type == "IEND")
+ break
+ ptr += length + 4
+ }
+ if (units == 0) {
+ console.warn("no PNG units not found, assuming 72 DPI")
+ ppx = 72 * 1000 / 25.4
+ }
+ localDpi = ppx * 25.4 / 1000
+ dpiUpdated = true
+ console.log('dpi', localDpi)
+ }
+ let headerReader = new FileReader()
+ headerReader.onload = headerLoader
+ headerReader.readAsArrayBuffer(file)
};
this.onload = () => {
@@ -85,7 +137,7 @@ export default function UploadPNG() {
$(this.dom).append(target);
// to name unique DOM elements, if we want to access them later using 'get element' methods,
// we can prepend the hunk's name (which is unique)
- const view = html`
+ const view = html `
<style>
#${inputItemUid} {
margin: 5px;
@@ -113,9 +165,13 @@ export default function UploadPNG() {
this.loop = () => {
// we release data if we have any, if it's been updated, and if the output is clear:
if (localImageInfo && imageUpdated && !imageOut.io()) {
- console.log(`${this.name} puts:`, localImageInfo);
+ //console.log(`${this.name} puts:`, localImageInfo);
imageUpdated = false;
imageOut.put(localImageInfo);
}
+ if(localDpi && dpiUpdated && !dpiOut.io()){
+ dpiUpdated = false
+ dpiOut.put(localDpi)
+ }
};
}
diff --git a/hunks/interface/threejs_ghost.js b/hunks/interface/threejs_ghost.js
index cd38fdd..acd522d 100644
--- a/hunks/interface/threejs_ghost.js
+++ b/hunks/interface/threejs_ghost.js
@@ -31,8 +31,8 @@ export default function ThreeGhosts(){
let height = 1000
let lineWidth = 10
let geometry = new THREE.Geometry()
- for(let i = 32; i > 0; i --){
- geometry.vertices.push(new THREE.Vector3(10*i, 10*i, 10*i))
+ for(let i = 512; i > 0; i --){
+ geometry.vertices.push(new THREE.Vector3(0.5*i, 0.5*i, 0.5*i))
}
let updatePts = []
diff --git a/save/contexts/cuttlefish/ghost-50ms.json b/save/contexts/cuttlefish/ghost-50ms.json
new file mode 100644
index 0000000..5833f31
--- /dev/null
+++ b/save/contexts/cuttlefish/ghost-50ms.json
@@ -0,0 +1,212 @@
+{
+ "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"
+ }
+ ]
+ },
+ {
+ "name": "posn",
+ "type": "array",
+ "connections": [
+ {
+ "inHunkIndex": "7",
+ "inHunkInput": "0"
+ },
+ {
+ "inHunkIndex": "8",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "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"
+ }
+ ]
+ },
+ {
+ "type": "data/logger",
+ "name": "data/logger_7",
+ "inputs": [
+ {
+ "name": "tolog",
+ "type": "reference"
+ }
+ ],
+ "states": [
+ {
+ "name": "prefix",
+ "type": "string",
+ "value": "LOG:"
+ },
+ {
+ "name": "console",
+ "type": "boolean",
+ "value": "false"
+ }
+ ]
+ },
+ {
+ "type": "interface/threejs_ghost",
+ "name": "interface/threejs_ghost_9",
+ "inputs": [
+ {
+ "name": "point",
+ "type": "array"
+ }
+ ]
+ }
+ ]
+}
\ No newline at end of file
diff --git a/save/contexts/cuttlefish/sat-baretest.json b/save/contexts/cuttlefish/sat-baretest.json
new file mode 100644
index 0000000..f84a645
--- /dev/null
+++ b/save/contexts/cuttlefish/sat-baretest.json
@@ -0,0 +1,198 @@
+{
+ "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"
+ }
+ ]
+ },
+ {
+ "name": "posn",
+ "type": "array",
+ "connections": [
+ {
+ "inHunkIndex": "7",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "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"
+ }
+ ]
+ },
+ {
+ "type": "data/logger",
+ "name": "data/logger_7",
+ "inputs": [
+ {
+ "name": "tolog",
+ "type": "reference"
+ }
+ ],
+ "states": [
+ {
+ "name": "prefix",
+ "type": "string",
+ "value": "LOG:"
+ },
+ {
+ "name": "console",
+ "type": "boolean",
+ "value": "false"
+ }
+ ]
+ }
+ ]
+}
\ No newline at end of file
diff --git a/save/contexts/cuttlefish/saturn-purebare.json b/save/contexts/cuttlefish/saturn-purebare.json
new file mode 100644
index 0000000..f9ffddf
--- /dev/null
+++ b/save/contexts/cuttlefish/saturn-purebare.json
@@ -0,0 +1,117 @@
+{
+ "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"
+ },
+ {
+ "name": "outy",
+ "type": "number"
+ },
+ {
+ "name": "outz",
+ "type": "number"
+ },
+ {
+ "name": "posn",
+ "type": "array",
+ "connections": [
+ {
+ "inHunkIndex": "4",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "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": "interface/threejs_ghost",
+ "name": "interface/threejs_ghost_9",
+ "inputs": [
+ {
+ "name": "point",
+ "type": "array"
+ }
+ ]
+ }
+ ]
+}
\ No newline at end of file
--
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