From 7c21c261c7a1e591ae703aa4791055b2973f3f03 Mon Sep 17 00:00:00 2001
From: Jake Read <jake.read@cba.mit.edu>
Date: Thu, 31 Oct 2019 14:52:43 -0400
Subject: [PATCH] MDmseg
---
hunks/adhoc/saturn.js | 28 ++--
hunks/adhoc/tpath.js | 7 +-
save/contexts/cuttlefish/dbg-25ms-ghost.json | 17 ++-
save/contexts/cuttlefish/mdmsegtest.json | 136 +++++++++++++++++++
typeset.js | 17 +++
5 files changed, 187 insertions(+), 18 deletions(-)
create mode 100644 save/contexts/cuttlefish/mdmsegtest.json
diff --git a/hunks/adhoc/saturn.js b/hunks/adhoc/saturn.js
index f13733e..3125fe3 100644
--- a/hunks/adhoc/saturn.js
+++ b/hunks/adhoc/saturn.js
@@ -48,13 +48,7 @@ export default function Saturn() {
let outp = this.output('array', 'posn')
- let outx = this.output('number', 'outx')
- let outy = this.output('number', 'outy')
- let outz = this.output('number', 'outz')
-
- let allClear = () => {
- return (!outx.io() && !outy.io() && !outz.io())
- }
+ let mdmsegOut = this.output('MDmseg', 'motionSegment')
// settings,
let deviation = 0.1 // virtual radius to junction about
@@ -345,18 +339,24 @@ export default function Saturn() {
}
}
+ let writeMDmsegFromRamp = (ramp) => {
+ return {
+ p0: ramp.pi,
+ p1: ramp.pf,
+ t: ramp.t,
+ v0: ramp.vi,
+ a: (ramp.vf - ramp.vi) / ramp.t
+ }
+ }
+
let debugRuntime = false
this.loop = () => {
// handle output to stepper, if we have any existing blocks to issue:
- if (ramps.length > 0 && allClear()) {
- //console.log('op ramp', rpo.pf)
- outx.put(1)
- outy.put(1)
- outz.put(1)
- // our 'current position, from the end of the
- // last ramp we shipped, is rpo.pf
+ if (ramps.length > 0 && !mdmsegOut.io()) {
posUpdated = true
+ // multi-dimensional mseg,
+ mdmsegOut.put(writeMDmsegFromRamp(ramps[0]))
// this means we are either inside of two old positions,
// in which case we update p[0], or at the end of p[0], at p[1]
let dtp = vDist(ramps[0].pf, positions[1])
diff --git a/hunks/adhoc/tpath.js b/hunks/adhoc/tpath.js
index b0a4628..04f6794 100644
--- a/hunks/adhoc/tpath.js
+++ b/hunks/adhoc/tpath.js
@@ -19,8 +19,6 @@ import * as smallpath from '../../test_files/example-path-small.js'
import * as sl2path from '../../test_files/example-path-sl2.js'
import { vScalar } from '../../libs/smallvectors.js'
-let dpi = 72
-
export default function TPFCOUT(){
Hunkify(this)
@@ -28,6 +26,9 @@ export default function TPFCOUT(){
let go = false
let outPosn = this.output('array', 'position')
+
+ let mmPerPixel = this.state('number', 'mm/pix', (1/72)*25.4)
+
let longSet = this.state('boolean', 'longpath', false)
longSet.onChange = (value) => {
go = true
@@ -48,7 +49,7 @@ export default function TPFCOUT(){
this.loop = () => {
if(path.length > 0 && go){
if(!outPosn.io()){
- let op = vScalar(path.shift(), (1/dpi)*25.4)
+ let op = vScalar(path.shift(), mmPerPixel.value)
//console.log(op[1])
outPosn.put(op)
}
diff --git a/save/contexts/cuttlefish/dbg-25ms-ghost.json b/save/contexts/cuttlefish/dbg-25ms-ghost.json
index 377bed8..f9ae7ff 100644
--- a/save/contexts/cuttlefish/dbg-25ms-ghost.json
+++ b/save/contexts/cuttlefish/dbg-25ms-ghost.json
@@ -63,7 +63,22 @@
],
"states": [
{
- "name": "reset",
+ "name": "mm/pix",
+ "type": "number",
+ "value": "1"
+ },
+ {
+ "name": "longpath",
+ "type": "boolean",
+ "value": "false"
+ },
+ {
+ "name": "shortpath",
+ "type": "boolean",
+ "value": "false"
+ },
+ {
+ "name": "sl2path",
"type": "boolean",
"value": "false"
}
diff --git a/save/contexts/cuttlefish/mdmsegtest.json b/save/contexts/cuttlefish/mdmsegtest.json
new file mode 100644
index 0000000..2cf45e9
--- /dev/null
+++ b/save/contexts/cuttlefish/mdmsegtest.json
@@ -0,0 +1,136 @@
+{
+ "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": "posn",
+ "type": "array"
+ },
+ {
+ "name": "motionSegment",
+ "type": "MDmseg",
+ "connections": [
+ {
+ "inHunkIndex": "3",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "type": "data/logger",
+ "name": "data/logger_3",
+ "inputs": [
+ {
+ "name": "tolog",
+ "type": "reference"
+ }
+ ],
+ "states": [
+ {
+ "name": "prefix",
+ "type": "string",
+ "value": "LOG:"
+ },
+ {
+ "name": "console",
+ "type": "boolean",
+ "value": "true"
+ }
+ ]
+ },
+ {
+ "type": "adhoc/tpath",
+ "name": "adhoc/tpath_4",
+ "outputs": [
+ {
+ "name": "position",
+ "type": "array",
+ "connections": [
+ {
+ "inHunkIndex": "2",
+ "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"
+ }
+ ]
+ }
+ ]
+}
\ No newline at end of file
diff --git a/typeset.js b/typeset.js
index ca65b80..81608e5 100644
--- a/typeset.js
+++ b/typeset.js
@@ -520,6 +520,23 @@ const TSET = [
return arr
}
}
+ },
+ {
+ name: 'MDmseg',
+ copy: {
+ MDmseg: (mdmseg) => {
+ return {
+ p0: mdmseg.p0,
+ p1: mdmseg.p1,
+ t: mdmseg.t,
+ v0: mdmseg.v0,
+ a: mdmseg.a
+ }
+ },
+ reference: (mdmseg) => {
+ return mdmseg
+ }
+ }
}
// etc
] // end TSET
--
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