From 66ed7fb0a5d7c1b62dc8d306d637b09b2085ff8e Mon Sep 17 00:00:00 2001
From: Jake Read <jake.read@cba.mit.edu>
Date: Thu, 31 Oct 2019 17:15:08 -0400
Subject: [PATCH] close loop mseg -> cpp
---
save/systems/dbg-l0.json | 275 ++++++++++++++++++++++++
save/systems/dbg-l1.json | 439 +++++++++++++++++++++++++++++++++++++++
typeset.js | 37 ++++
3 files changed, 751 insertions(+)
create mode 100644 save/systems/dbg-l0.json
create mode 100644 save/systems/dbg-l1.json
diff --git a/save/systems/dbg-l0.json b/save/systems/dbg-l0.json
new file mode 100644
index 0000000..8950c35
--- /dev/null
+++ b/save/systems/dbg-l0.json
@@ -0,0 +1,275 @@
+{
+ "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": "link",
+ "name": "link_2",
+ "inputs": [
+ {
+ "name": "data",
+ "type": "byteArray"
+ },
+ {
+ "name": "mgrMsgs",
+ "type": "byteArray"
+ },
+ {
+ "name": "segs",
+ "type": "MDmseg"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "data",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "3",
+ "inHunkInput": "0"
+ }
+ ]
+ },
+ {
+ "name": "mgrMsgs",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "4",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ],
+ "states": [
+ {
+ "name": "isActive",
+ "type": "boolean",
+ "value": "false"
+ },
+ {
+ "name": "otherLink",
+ "type": "uint16",
+ "value": "0"
+ },
+ {
+ "name": "inputList",
+ "type": "string",
+ "value": "mgrMsgs (byteArray), segs (MDmseg)"
+ },
+ {
+ "name": "outputList",
+ "type": "string",
+ "value": "mgrMsgs (byteArray)"
+ }
+ ]
+ },
+ {
+ "type": "pipes/vfptc",
+ "name": "pipes/vfptc_3",
+ "inputs": [
+ {
+ "name": "data",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "data",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "2",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ],
+ "states": [
+ {
+ "name": "pipe status",
+ "type": "string",
+ "value": "open"
+ },
+ {
+ "name": "websocket port",
+ "type": "string",
+ "value": "2042"
+ },
+ {
+ "name": "usb product id",
+ "type": "string",
+ "value": "8022"
+ },
+ {
+ "name": "pipe reset",
+ "type": "boolean",
+ "value": "false"
+ },
+ {
+ "name": "serialport status",
+ "type": "string",
+ "value": "open"
+ }
+ ]
+ },
+ {
+ "type": "view",
+ "name": "view_4",
+ "inputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "2",
+ "inHunkInput": "1"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "type": "adhoc/tpath",
+ "name": "adhoc/tpath_5",
+ "outputs": [
+ {
+ "name": "position",
+ "type": "array",
+ "connections": [
+ {
+ "inHunkIndex": "6",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ],
+ "states": [
+ {
+ "name": "mm/pix",
+ "type": "number",
+ "value": "0.35277777777777775"
+ },
+ {
+ "name": "longpath",
+ "type": "boolean",
+ "value": "false"
+ },
+ {
+ "name": "shortpath",
+ "type": "boolean",
+ "value": "false"
+ },
+ {
+ "name": "sl2path",
+ "type": "boolean",
+ "value": "false"
+ }
+ ]
+ },
+ {
+ "type": "adhoc/saturn",
+ "name": "adhoc/saturn_6",
+ "inputs": [
+ {
+ "name": "posn",
+ "type": "array"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "posn",
+ "type": "array",
+ "connections": [
+ {
+ "inHunkIndex": "7",
+ "inHunkInput": "0"
+ }
+ ]
+ },
+ {
+ "name": "motionSegment",
+ "type": "MDmseg",
+ "connections": [
+ {
+ "inHunkIndex": "2",
+ "inHunkInput": "2"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "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/systems/dbg-l1.json b/save/systems/dbg-l1.json
new file mode 100644
index 0000000..211a227
--- /dev/null
+++ b/save/systems/dbg-l1.json
@@ -0,0 +1,439 @@
+{
+ "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": "link",
+ "name": "link_2",
+ "inputs": [
+ {
+ "name": "data",
+ "type": "byteArray"
+ },
+ {
+ "name": "mgrMsgs",
+ "type": "byteArray"
+ },
+ {
+ "name": "segs",
+ "type": "MDmseg"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "data",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "3",
+ "inHunkInput": "0"
+ }
+ ]
+ },
+ {
+ "name": "mgrMsgs",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "4",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ],
+ "states": [
+ {
+ "name": "isActive",
+ "type": "boolean",
+ "value": "true"
+ },
+ {
+ "name": "otherLink",
+ "type": "uint16",
+ "value": "1"
+ },
+ {
+ "name": "inputList",
+ "type": "string",
+ "value": "mgrMsgs (byteArray), segs (MDmseg)"
+ },
+ {
+ "name": "outputList",
+ "type": "string",
+ "value": "mgrMsgs (byteArray)"
+ }
+ ],
+ "contains": {
+ "interpreterName": "ponyo",
+ "interpreterVersion": "v0.1",
+ "hunks": [
+ {
+ "type": "manager",
+ "name": "ponyo_one",
+ "inputs": [
+ {
+ "name": "mgrMsgs_1024",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "mgrMsgs_1024",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "1",
+ "inHunkInput": "1"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "type": "link",
+ "name": "link_1",
+ "inputs": [
+ {
+ "name": "data_1024",
+ "type": "byteArray"
+ },
+ {
+ "name": "mgrMsgs_1024",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "data_1024",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "2",
+ "inHunkInput": "0"
+ }
+ ]
+ },
+ {
+ "name": "mgrMsgs_1024",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "0",
+ "inHunkInput": "0"
+ }
+ ]
+ },
+ {
+ "name": "segs",
+ "type": "MDmseg",
+ "connections": [
+ {
+ "inHunkIndex": "4",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ],
+ "states": [
+ {
+ "name": "isActive",
+ "type": "boolean",
+ "value": "true"
+ },
+ {
+ "name": "otherLink",
+ "type": "uint16",
+ "value": "2"
+ },
+ {
+ "name": "inputList",
+ "type": "string",
+ "value": "mgrMsgs (byteArray)"
+ },
+ {
+ "name": "outputList",
+ "type": "string",
+ "value": "mgrMsgs (byteArray), segs (MDmseg)"
+ }
+ ]
+ },
+ {
+ "type": "comm/COBS_USB",
+ "name": "comm/COBS_USB_2",
+ "inputs": [
+ {
+ "name": "data_1024",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "data_1024",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "1",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "type": "stepper",
+ "name": "step_driver",
+ "inputs": [
+ {
+ "name": "increment",
+ "type": "int32"
+ },
+ {
+ "name": "enable",
+ "type": "boolean"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "increment",
+ "type": "int32"
+ },
+ {
+ "name": "stallGuard",
+ "type": "uint32"
+ }
+ ],
+ "states": [
+ {
+ "name": "current (6-24)",
+ "type": "uint16",
+ "value": "16"
+ },
+ {
+ "name": "enable",
+ "type": "boolean",
+ "value": "true"
+ }
+ ]
+ },
+ {
+ "type": "control/MDtoDmseg",
+ "name": "control/MDtoDmseg_4",
+ "inputs": [
+ {
+ "name": "motionSegment",
+ "type": "MDmseg"
+ }
+ ]
+ }
+ ]
+ }
+ },
+ {
+ "type": "pipes/vfptc",
+ "name": "pipes/vfptc_3",
+ "inputs": [
+ {
+ "name": "data",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "data",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "2",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ],
+ "states": [
+ {
+ "name": "pipe status",
+ "type": "string",
+ "value": "open"
+ },
+ {
+ "name": "websocket port",
+ "type": "string",
+ "value": "2042"
+ },
+ {
+ "name": "usb product id",
+ "type": "string",
+ "value": "8022"
+ },
+ {
+ "name": "pipe reset",
+ "type": "boolean",
+ "value": "false"
+ },
+ {
+ "name": "serialport status",
+ "type": "string",
+ "value": "open"
+ }
+ ]
+ },
+ {
+ "type": "view",
+ "name": "view_4",
+ "inputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "2",
+ "inHunkInput": "1"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "type": "adhoc/tpath",
+ "name": "adhoc/tpath_5",
+ "outputs": [
+ {
+ "name": "position",
+ "type": "array",
+ "connections": [
+ {
+ "inHunkIndex": "6",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ],
+ "states": [
+ {
+ "name": "mm/pix",
+ "type": "number",
+ "value": "0.35277777777777775"
+ },
+ {
+ "name": "longpath",
+ "type": "boolean",
+ "value": "false"
+ },
+ {
+ "name": "shortpath",
+ "type": "boolean",
+ "value": "false"
+ },
+ {
+ "name": "sl2path",
+ "type": "boolean",
+ "value": "false"
+ }
+ ]
+ },
+ {
+ "type": "adhoc/saturn",
+ "name": "adhoc/saturn_6",
+ "inputs": [
+ {
+ "name": "posn",
+ "type": "array"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "posn",
+ "type": "array",
+ "connections": [
+ {
+ "inHunkIndex": "7",
+ "inHunkInput": "0"
+ }
+ ]
+ },
+ {
+ "name": "motionSegment",
+ "type": "MDmseg",
+ "connections": [
+ {
+ "inHunkIndex": "2",
+ "inHunkInput": "2"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "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/typeset.js b/typeset.js
index 81608e5..0de90e6 100644
--- a/typeset.js
+++ b/typeset.js
@@ -523,6 +523,43 @@ const TSET = [
},
{
name: 'MDmseg',
+ key: 88,
+ write: function(ms) {
+ // ok, bless up, we have:
+ /*
+ p0: 3-arr
+ p1: 3-arr
+ t: num
+ v0: num
+ a: num
+ // for simplicity, we should write one typedarray
+ */
+ let f32arr = Float32Array.from([
+ ms.p0[0], ms.p0[1], ms.p0[2],
+ ms.p1[0], ms.p1[1], ms.p1[2],
+ ms.t, ms.v0, ms.a]
+ )
+ // ok,
+ let btarr = new Uint8Array(f32arr.buffer)
+ let rtarr = Array.from(btarr)
+ rtarr.unshift(this.key)
+ console.log('MDseg bytes', rtarr)
+ return rtarr
+ },
+ read: function(arr, start) {
+ /*
+ if (arr[start] !== this.key)
+ throw new Error(`mismatched key on phy read: ${arr[start]}, ${this.key}`)
+ let rdarr = arr.slice(start + 1, start + 9)
+ let btarr = Uint8Array.from(rdarr)
+ if (tsdebug)
+ console.log('bts on read of float64', btarr)
+ let vlarr = new Float64Array(btarr.buffer)
+ if (tsdebug)
+ console.log('vlarr', vlarr)
+ return {item: vlarr[0], increment: 9}
+ */
+ },
copy: {
MDmseg: (mdmseg) => {
return {
--
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