From f7df9057ceb536cb8e66b94554f7fa92d22592d5 Mon Sep 17 00:00:00 2001
From: Jake Read <jake.read@cba.mit.edu>
Date: Thu, 31 Oct 2019 14:26:42 -0400
Subject: [PATCH] path variety, arccos bounds catchers
---
hunks/adhoc/saturn.js | 92 ++++++------
hunks/adhoc/tpath.js | 25 ++--
hunks/interface/threejs_ghost.js | 7 +-
save/contexts/cuttlefish/dbg-25ms-ghost.json | 140 +++++++++++++++++++
4 files changed, 204 insertions(+), 60 deletions(-)
create mode 100644 save/contexts/cuttlefish/dbg-25ms-ghost.json
diff --git a/hunks/adhoc/saturn.js b/hunks/adhoc/saturn.js
index 2fb0562..f13733e 100644
--- a/hunks/adhoc/saturn.js
+++ b/hunks/adhoc/saturn.js
@@ -94,28 +94,33 @@ export default function Saturn() {
// run JD: calculate maximum allowable speeds at corners due to instantaneous turnaround limit
let jd = (speeds, debug) => {
//console.log('positions', positions)
- let calcJunctionSpeed = (p0, p1, p2, jd) => {
+ let calcJunctionSpeed = (p0, p1, p2, debug) => {
// junction speed at p1, arrival from p0 exit to p2
let v0 = math.subtract(p1, p0)
let v1 = math.subtract(p2, p1)
- //console.log('for\n', v0, v1)
+ if(debug) console.log('for\n', v0, v1)
let dotprod = math.dot(v0, v1) / (vLen(v0) * vLen(v1))
- //console.log('dotprod', dotprod)
+ if(debug) console.log('dotprod', dotprod)
+ // block for floating pt errors that drive this term past +/- 1
+ if(dotprod < 1) dotprod = -1
+ if(dotprod > 1) dotprod = 1
let omega = Math.PI - Math.acos(dotprod)
- //console.log('angle between', deg(omega))
- let r = jd / (1 / Math.cos(Math.PI / 2 - omega / 2) - 1)
- //console.log('rad', r)
+ if(debug) console.log('angle between', deg(omega))
+ let r = deviation / (1 / Math.cos(Math.PI / 2 - omega / 2) - 1)
+ if(debug) console.log('rad', r)
let v = Math.sqrt(accel * r)
- //console.log('permissible', v)
+ if(debug) console.log('permissible', v)
return v
}
// the ops,
for (let m = 0; m < positions.length; m++) {
if (m === 0) continue // noop for start: this is our current speed, should already be in speeds arr
if (m === positions.length - 1) continue // noop for last move, nothing to junction into, exit should be minspeed
- let jd = calcJunctionSpeed(positions[m - 1], positions[m], positions[m + 1], deviation, accel)
+ let jd = calcJunctionSpeed(positions[m - 1], positions[m], positions[m + 1])
if (Number.isNaN(jd)) {
- console.log(`NaN for ${m}`)
+ console.warn(`after jd, NaN for move at ${m}`, positions[m - 1], positions[m], positions[m + 1])
+ // run again w/ debug
+ calcJunctionSpeed(positions[m - 1], positions[m], positions[m + 1], true)
}
if (jd < speeds[m]) {
speeds[m] = jd
@@ -274,7 +279,7 @@ export default function Saturn() {
if (debug) console.log('/\\')
writeTriangle(ramps, vi, vf, pi, pf)
} else { // BEGIN TRAP SELECTIONS
- if (true) console.log('/--\\')
+ if (debug) console.log('/--\\')
let pa = math.add(pi, vScalar(vUnitBetween(pi, pf), acDist))
let pb = math.add(pf, vScalar(vUnitBetween(pf, pi), dcDist))
// ok,
@@ -307,7 +312,7 @@ export default function Saturn() {
}
} // end TRAP SELECTIONS
} // end BIGSWITCH
- if(ramps.length === numRampsBefore) console.warn('zero ramps written for', pi, pf, vi, vf)
+ if (ramps.length === numRampsBefore) console.warn('zero ramps written for', pi, pf, vi, vf)
} // end for-over-positions
return ramps
}
@@ -319,12 +324,12 @@ export default function Saturn() {
let vf = speeds[i + 1]
let t = 2 * d / (vi + vf)
if (false) console.log(`ap, ${t.toFixed(3)}`)
- if (t < (period - 0.001)) console.warning('small link in positions check')
+ if (t < (period - 0.001)) console.warn('small link in positions check')
}
}
let rampCheck = (ramps) => {
- for (let i = 0; i < ramps.length; i ++) {
+ for (let i = 0; i < ramps.length; i++) {
let r = ramps[i]
let d = vDist(r.pi, r.pf)
let t = 2 * d / (r.vi + r.vf)
@@ -333,14 +338,14 @@ export default function Saturn() {
let cruiseAbsMax = cruise + 0.15 * cruise
if (r.vi > cruiseAbsMax || r.vf > cruiseAbsMax) console.warn('troublesome ramp, high speed', r)
// check that ramps are continuous
- if(i < ramps.length - 2){
+ if (i < ramps.length - 2) {
let sep = vDist(r.pf, ramps[i + 1].pi)
- if(sep > 0.001) console.warn('troublesome ramp junction', r, ramps[i + 1])
+ if (sep > 0.001) console.warn('troublesome ramp junction', r, ramps[i + 1])
}
}
}
- let blockOnce = false
+ let debugRuntime = false
this.loop = () => {
// handle output to stepper, if we have any existing blocks to issue:
@@ -356,26 +361,28 @@ export default function Saturn() {
// 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])
// if we're within 10^-3 of the units, clear it out
- console.log(`at evt, dtp is ${dtp.toFixed(6)}`)
+ if(debugRuntime) console.log(`at evt, dtp is ${dtp.toFixed(6)}`)
if (dtp < 0.001) {
+ /*
console.log(`> complete position, had ${positions.length}`)
- for(let i = 0; i < 10; i ++){
+ for (let i = 0; i < 10; i++) {
console.log(`> position[${i}] ${positions[i][0].toFixed(3)}, ${positions[i][1].toFixed(3)}, ${positions[i][2].toFixed(3)}`)
}
- for(let i = 0; i < 10; i ++){
+ for (let i = 0; i < 10; i++) {
console.log(`> ramps[${i}].pi ${ramps[i].pi[0].toFixed(3)},${ramps[i].pi[1].toFixed(3)},${ramps[i].pi[2].toFixed(3)}`)
console.log(`> ramps[${i}].pf ${ramps[i].pf[0].toFixed(3)},${ramps[i].pf[1].toFixed(3)},${ramps[i].pf[2].toFixed(3)}`)
}
+ */
positions.shift()
ramps.shift()
- console.log(`> now position, have ${positions.length}`)
+ if(debugRuntime) console.log(`> complete position`)
// have to recalculate blocks now I think?
} else {
- console.log(`updating p[0]`)
+ if(debugRuntime) console.log(`> updating p[0]`)
positions[0] = ramps[0].pf
ramps.shift()
}
- console.log(`${ramps.length} ramps, ${positions.length} positions`)
+ if(debugRuntime) console.log(`${ramps.length} ramps, ${positions.length} positions`)
}
if (!outp.io() && posUpdated) {
@@ -388,26 +395,23 @@ export default function Saturn() {
// load new pts into the array,
if (positions.length < positionsBufferSize && inpts.io()) {
// get the new pt, adding it if it is of any appreciable distance
- if(!blockOnce){
- let np = inpts.get()
- try {
- if (vDist(np, positions[positions.length - 1]) < 0.001) {
- // dunk on 'em
- console.warn('zero length appendage rejected by planner')
- } else {
- positions.push(np) // end of queue
- console.log(`puts new position for ${positions.length}`)
- // THE BUSINESS:
- // ok, here's the lookahead routine:
- }
- } catch (err) {
- console.warn('error caught at saturn input', err)
+ let np = inpts.get()
+ try {
+ if (vDist(np, positions[positions.length - 1]) < 0.001) {
+ // dunk on 'em
+ console.warn('zero length appendage rejected by planner')
+ } else {
+ positions.push(np) // end of queue
+ if(debugRuntime) console.log(`puts new position for ${positions.length}`)
+ // THE BUSINESS:
+ // ok, here's the lookahead routine:
}
+ } catch (err) {
+ console.warn('error caught at saturn input', err)
}
- if (positions.length > positionsBufferSize - 2 && !blockOnce) {
- blockOnce = true
- console.log('lookahead')
+ if (positions.length > positionsBufferSize - 2) {
+ if(debugRuntime) console.log('lookahead')
// LOOKAHEAD BEGIN
if (logTimes) console.time('lookahead')
// positions[] is global, speeds is generated now
@@ -434,19 +438,11 @@ export default function Saturn() {
ramps.length = 0
ramps = rampPass(speeds)
// is this still conn. to our head?
- if (ramps.length > 0) console.log('new ramps', vDist(ramps[0].pi, positions[0]).toFixed(5))
+ if (ramps.length > 0 && debugRuntime) console.log('new ramps', vDist(ramps[0].pi, positions[0]).toFixed(5))
// and a check,
rampCheck(ramps)
if (logTimes) console.timeLog('lookahead')
if (logTimes) console.timeEnd('lookahead')
- for(let i = 0; i < 20; i ++){
- console.log(positions[i])
- }
- console.log(ramps[0].pi)
- for(let i = 0; i < 30; i ++){
- console.log(ramps[i].pf)
- }
- throw new Error('once')
//console.log('new pt\t', positions.length, np)
// LOOKAHEAD END
}
diff --git a/hunks/adhoc/tpath.js b/hunks/adhoc/tpath.js
index 92d00b2..b0a4628 100644
--- a/hunks/adhoc/tpath.js
+++ b/hunks/adhoc/tpath.js
@@ -14,7 +14,9 @@ import {
// example-path-long.js also exists...
// example-path-small.js ...
// example-path-sl2.js
-import * as expath from '../../test_files/example-path-small.js'//example-path-sl2.js'
+import * as longpath from '../../test_files/example-path-long.js'
+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
@@ -22,21 +24,24 @@ let dpi = 72
export default function TPFCOUT(){
Hunkify(this)
- // copy this in au manuel
- let ogpath = expath.default.arr
let path = []
let go = false
let outPosn = this.output('array', 'position')
- let outReset = this.state('boolean', 'reset', false)
- outReset.onChange = (value) => {
+ let longSet = this.state('boolean', 'longpath', false)
+ longSet.onChange = (value) => {
go = true
- path = JSON.parse(JSON.stringify(ogpath))
+ path = JSON.parse(JSON.stringify(longpath.default.arr))
}
-
- this.init = () => {
- path = JSON.parse(JSON.stringify(ogpath))
- console.log(path)
+ let shortSet = this.state('boolean', 'shortpath', false)
+ shortSet.onChange = (value) => {
+ go = true
+ path = JSON.parse(JSON.stringify(shortpath.default.arr))
+ }
+ let sl2pathSet = this.state('boolean', 'sl2path', false)
+ sl2pathSet.onChange = (value) => {
+ go = true
+ path = JSON.parse(JSON.stringify(sl2path.default.arr))
}
// copies out, one at a time, fc pressure
diff --git a/hunks/interface/threejs_ghost.js b/hunks/interface/threejs_ghost.js
index acd522d..4563531 100644
--- a/hunks/interface/threejs_ghost.js
+++ b/hunks/interface/threejs_ghost.js
@@ -16,6 +16,8 @@ import { OrbitControls } from '../../libs/three_orbitcontrols.module.js'
// really hacking the import here... apologies, works though!
import { MeshLine, MeshLineMaterial } from '../../libs/three_meshline.module.js'
+let numSegs = 100
+
export default function ThreeGhosts(){
Hunkify(this)
@@ -31,8 +33,9 @@ export default function ThreeGhosts(){
let height = 1000
let lineWidth = 10
let geometry = new THREE.Geometry()
- for(let i = 512; i > 0; i --){
- geometry.vertices.push(new THREE.Vector3(0.5*i, 0.5*i, 0.5*i))
+ let startSegLength = 100 / numSegs
+ for(let i = numSegs; i > 0; i --){
+ geometry.vertices.push(new THREE.Vector3(startSegLength*i, startSegLength*i, startSegLength*i))
}
let updatePts = []
diff --git a/save/contexts/cuttlefish/dbg-25ms-ghost.json b/save/contexts/cuttlefish/dbg-25ms-ghost.json
new file mode 100644
index 0000000..377bed8
--- /dev/null
+++ b/save/contexts/cuttlefish/dbg-25ms-ghost.json
@@ -0,0 +1,140 @@
+{
+ "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/tpath",
+ "name": "adhoc/tpath_2",
+ "outputs": [
+ {
+ "name": "position",
+ "type": "array",
+ "connections": [
+ {
+ "inHunkIndex": "3",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ],
+ "states": [
+ {
+ "name": "reset",
+ "type": "boolean",
+ "value": "false"
+ }
+ ]
+ },
+ {
+ "type": "adhoc/saturn",
+ "name": "adhoc/saturn_3",
+ "inputs": [
+ {
+ "name": "posn",
+ "type": "array"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "posn",
+ "type": "array",
+ "connections": [
+ {
+ "inHunkIndex": "5",
+ "inHunkInput": "0"
+ }
+ ]
+ },
+ {
+ "name": "outx",
+ "type": "number",
+ "connections": [
+ {
+ "inHunkIndex": "4",
+ "inHunkInput": "0"
+ }
+ ]
+ },
+ {
+ "name": "outy",
+ "type": "number"
+ },
+ {
+ "name": "outz",
+ "type": "number"
+ }
+ ]
+ },
+ {
+ "type": "adhoc/consumer",
+ "name": "adhoc/consumer_5",
+ "inputs": [
+ {
+ "name": "takes",
+ "type": "number"
+ }
+ ],
+ "states": [
+ {
+ "name": "period",
+ "type": "number",
+ "value": "25"
+ }
+ ]
+ },
+ {
+ "type": "interface/threejs_ghost",
+ "name": "interface/threejs_ghost_5",
+ "inputs": [
+ {
+ "name": "point",
+ "type": "array"
+ }
+ ]
+ }
+ ]
+}
\ No newline at end of file
--
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