release

core/dextersim.js

@@ -182,7 +182,10 @@ DexterSim = class DexterSim{
                 "<br/>from the queue. They will never be run.")
             this.instruction_queue = []
         }
-        else { this.instruction_queue.push(instruction_array) }
+        else {
+            this.instruction_queue.push(instruction_array)
+            //if(instruction_array[4] == "a"){ out("sim J2: " + instruction_array[6] / 3600 + "<br/>_____________")} //debugging statement only
+        }
     }
 
     //hardware side methods below
@@ -223,8 +226,6 @@ DexterSim = class DexterSim{
         }
     }
 
-
-
     process_next_instruction(){
         let dur = 10 // in ms
         this.now_processing_instruction = this.instruction_queue.shift() //pop off next inst from front of the list
@@ -343,7 +344,7 @@ DexterSim = class DexterSim{
         if (job_instance){
             let job_name = "Job." + job_instance.name
             let rob_name = "Dexter." + this.robot_name
-            if(window["sim_graphics_pane_id"]) { //window.platform == "dde") //even if we're inn dde, unless the sim pane is up, don't attempt to render
+            if(window["sim_graphics_pane_id"]) { //window.platform == "dde") //even if we're in dde, unless the sim pane is up, don't attempt to render
                 //SimUtils.render_once(robot_status, job_name, rob_name) //renders after dur, ie when the dexter move is completed.
                 SimUtils.render_multi(robot_status, job_name, rob_name, undefined, dur)
             }
@@ -369,9 +370,11 @@ DexterSim = class DexterSim{
             let j3 = robot_status[Dexter.J3_MEASURED_ANGLE]
             let j4 = robot_status[Dexter.J4_MEASURED_ANGLE]
             let j5 = robot_status[Dexter.J5_MEASURED_ANGLE]
+            let j6 = robot_status[Dexter.J6_MEASURED_ANGLE]
+            let j7 = robot_status[Dexter.J7_MEASURED_ANGLE]
             j1 = j1 * -1 //fix for j1 wrong sign
             j5 = j5 * -1 //fix for j5 wrong sign
-            out("DexterSim " + job_name + " " + robot_name + " J1: " + j1 + ", J2: " + j2 + ", J3: " + j3 + ", J4: " + j4 + ", J5: " + j5,
+            out("DexterSim " + job_name + " " + robot_name + " J1: " + j1 + ", J2: " + j2 + ", J3: " + j3 + ", J4: " + j4 + ", J5: " + j5 + ", J6: " + j6 + ", J7: " + j7,
                 "#95444a", //brown,
                 true) //temp output
         }
@@ -521,5 +524,4 @@ var {shouldnt}      = require("./utils.js")
 var {make_folder, make_full_path}   = require("./storage")
 
 var Kin = require("../math/Kin.js")
-var Vector = require("../math/Vector.js")
-
+var Vector = require("../math/Vector.js")

core/index.js

@@ -119,10 +119,14 @@ var {sind, cosd, tand, asind, acosd, atand, atan2d} = require("../math/Trig_in_D
 var Job    = require("./job.js")
 
 var {Robot, Brain, Dexter, Human, Serial}  = require("./robot.js")
+var {RobotStatus} = require("./robot_status.js")
 var {Instruction, make_ins, human_task_handler, human_enter_choice_handler,
     human_enter_filepath_handler, human_enter_number_handler, human_enter_position_handler,
     human_enter_instruction_handler,
-    human_enter_text_handler, human_show_window_handler} = require("./instruction.js")
+    human_enter_text_handler,
+    human_notify_handler,
+    human_show_window_handler,
+    } = require("./instruction.js")
 var {Control} = require("./instruction_control.js")
 var {IO}      = require("./instruction_io.js")
 require("./je_and_browser_code.js") // must be before loading out.js as it defines SW used by out.js
@@ -139,6 +143,7 @@ global.Brain    = Brain
 global.Dexter   = Dexter
 global.Human    = Human
 global.Robot    = Robot
+global.RobotStatus = RobotStatus
 
 global.make_ins = Dexter.make_ins
 global.speak    = speak
@@ -154,6 +159,8 @@ global.human_enter_number_handler = human_enter_number_handler
 global.human_enter_position_handler = human_enter_position_handler
 global.human_enter_instruction_handler = human_enter_instruction_handler
 global.human_enter_text_handler = human_enter_text_handler
+global.human_notify_handler = human_notify_handler
+
 global.human_show_window_handler = human_show_window_handler
 
 global.Control  = Control

core/out.js

@@ -242,19 +242,22 @@ function show_window({content = `<input type="submit" value="Done"/>`,
     //if(arguments[0]) {the_instruction_id =  arguments[0].the_instruction_id}
     //Warning: do not put newlines in the html for show_window as that will result in <br/> tags that
     //replace the newlines and thus screw up the html for the show_window.
+    if(SW.window_index === null) { SW.window_index = 0 }
+    else { SW.window_index += 1 }
+    let the_sw_elt_id = 'show_window_' + SW.window_index + '_id'
     content = '<div class="show_window_content" contentEditable="false" draggable="false" style="font-size:15px; padding:5px;">' +
         '<input name="window_callback_string" type="hidden" value="' + callback + '"/>' +
         '<input name="trim_strings" type="hidden" value="' + trim_strings + '"/>' +
         '<input name="job_name" type="hidden" value="' + job_name + '"/>' +
+        '<input name="show_window_elt_id" type="hidden" value="' + the_sw_elt_id + '"/>' +
         content +
         '</div>' //to allow selection and copying of window content
 
-    if(SW.window_index === null) { SW.window_index = 0 }
-    else { SW.window_index += 1 }
+
     var show_window_html =
         '<dialog class="show_window"' +
         ' data-window_index="' + SW.window_index +
-        '" id="' + 'show_window_' + SW.window_index + '_id' +
+        '" id="' + the_sw_elt_id +
         //'" data-show_window_title="' + title +
         // '" ondragstart="sw_dragstart(event)' +
         '" style="padding:0px; right:none; margin:0px; position:fixed; z-index:100;' +
@@ -266,9 +269,10 @@ function show_window({content = `<input type="submit" value="Done"/>`,
         sw_make_title_html(title, show_close_button, show_collapse_button) +
         '<div draggable="false" style="overflow:auto; background-color:' + background_color + ';">' + content + '</div>' +
         '</dialog>'
-
+    //onsole.log("show_window produced html: " + show_window_html)
     let props = {job_name: job_name, kind: "show_window", html: show_window_html, draggable: draggable,
-                 is_modal: is_modal, init_elt_id: init_elt_id, window_index: SW.window_index, close_same_titled_windows: close_same_titled_windows}
+                 is_modal: is_modal, init_elt_id: init_elt_id, window_index: SW.window_index,
+                 close_same_titled_windows: close_same_titled_windows}
     //Warning: evaling the below will cause 2 copies of the the show_window code to go to the browser.
     //then we get TWO such elements in the browser (one invisible) but that screws up
     //getting the right one and breaks dropping a dragged show_window dialog. Yikes!

core/robot.js

@@ -267,15 +267,17 @@ var Robot = class Robot {
                         content="webcam", //"webcam" or file_path
                         title=undefined,
                         x=200, y=40, width=320, height=240,
-                        play=true}={}) {
+                        play=true,
+                        visible=true}={}) {
         return new Instruction.show_video({video_id: video_id, //string of a video_id or video dom elt
                                                     content: content, //mat or file_path
                                                     title: title,
                                                     x: x,
                                                     y: y,
                                                     width: width,
                                                     height: height,
-                                                    play: true})
+                                                    play: play,
+                                                    visible: visible})
     }
     static take_picture({video_id="video_id", //string of a video_id or video dom elt
                          camera_id=undefined,
@@ -390,7 +392,9 @@ var Human = class Human extends Brain { /*no associated hardware */
 
 
     static task({task = "", dependent_job_names=[],
-                 title, x=200, y=200, width=400, height=400,  background_color = "rgb(238, 238, 238)"} = {}){
+                 title, x=200, y=200, width=400, height=400,
+                 background_color = "rgb(238, 238, 238)",
+                 add_stop_button=true} = {}){
         return new Instruction.human_task(arguments[0])
     }
 
@@ -420,6 +424,7 @@ var Human = class Human extends Brain { /*no associated hardware */
     static enter_instruction({task = "Enter a next instruction for this Job.",
         instruction_type = "Dexter.move_all_joints",
         instruction_args = "5000, 5000, 5000, 5000, 5000",
+        add_stop_button=true,
         dependent_job_names = [],
         title, x=200, y=200, width=400, height=400,  background_color = "rgb(238, 238, 238)"}={}){
         return new Instruction.human_enter_instruction(arguments[0])
@@ -463,6 +468,8 @@ var Human = class Human extends Brain { /*no associated hardware */
         output_pane=true,
         beep_count=0,
         speak=false,
+        add_stop_button=true,
+        dependent_job_names=[],
         title, x=200, y=200, width=400, height=400,  background_color = "rgb(238, 238, 238)"
     }={}){
         return new Instruction.human_notify(arguments[0])
@@ -475,8 +482,10 @@ var Human = class Human extends Brain { /*no associated hardware */
                         show_close_button = true,
                         show_collapse_button = true,
                         trim_strings = true,
+                        add_stop_button=true,
                         callback = window.show_window_values,
-                        user_data_variable_name="show_window_vals"
+                        user_data_variable_name="show_window_vals",
+                        dependent_job_names=[]
     }={}){
         return new Instruction.human_show_window({
             content: content,
@@ -487,8 +496,10 @@ var Human = class Human extends Brain { /*no associated hardware */
             show_close_button:       show_close_button,
             show_collapse_button:    show_collapse_button,
             trim_strings:            trim_strings,
+            add_stop_button:         add_stop_button,
             callback:                callback,
-            user_data_variable_name: user_data_variable_name
+            user_data_variable_name: user_data_variable_name,
+            dependent_job_names:     dependent_job_names
     })
     }
 }
@@ -746,21 +757,6 @@ Serial = class Serial extends Robot {
                 }
                 rob.perform_instruction_callback(job_instance) //job_instance.set_up_next_do()
             }
-           /* just for dexter
-             else if (ins_id == -1) { //this is the get_robot_status always called at the very beginning
-                if (job_instance.status_code === "starting") {
-                    job_instance.status_code = "running"
-                   // if(rob.enable_heartbeat && (rob.heartbeat_timeout_obj == null)) { //enabled but not already running
-                        //beware multiple jobs could be using this robot, and we only want at most 1 heartbeat going
-                   //     rob.run_heartbeat()
-                   // }
-                }
-                //before setting it should be "starting"
-                if (job_instance.status_code === "running") {
-                    rob.perform_instruction_callback(job_instance) //job_instance.set_up_next_do() //initial pc value is -1. this is the first call to
-                    //set_up_next_do (and do_next_item) in this job's life.
-                }
-            } */
             else { //the normal, no error, not initial case
                 if (job_instance.wait_until_instruction_id_has_run == ins_id){ //we've done it!
                     job_instance.wait_until_instruction_id_has_run = null
@@ -2206,6 +2202,14 @@ Dexter.LINK4 = 0.050801   //meters  2 inches
 Dexter.LINK5 = 0.082551   //meters  3.25 inches  // from pivot point to tip of the end-effector
 //Dexter.LINKS = [0, Dexter.LINK1, Dexter.LINK2, Dexter.LINK3, Dexter.LINK4, Dexter.LINK5]
 
+/*These are the HDI Link Lengths as of Jan 1, 2020:
+Dexter.LINK1 = 0.2352
+Dexter.LINK2 = 0.339092
+Dexter.LINK3 = 0.3075
+Dexter.LINK4 = 0.0595
+Dexter.LINK5 = 0.08244
+*/
+
 Dexter.LINK1_v1 = Dexter.LINK1 * 1000000 //in microns
 Dexter.LINK2_v1 = Dexter.LINK2 * 1000000 //in microns
 Dexter.LINK3_v1 = Dexter.LINK3 * 1000000 //in microns
@@ -2284,12 +2288,16 @@ Dexter.prototype.set_link_lengths = function(job_to_start_when_done = null){
                 the_robot.J3_angle_min = Dexter.J3_ANGLE_MIN
                 the_robot.J4_angle_min = Dexter.J4_ANGLE_MIN
                 the_robot.J5_angle_min = Dexter.J5_ANGLE_MIN
+                the_robot.J6_angle_min = Dexter.J6_ANGLE_MIN
+                the_robot.J7_angle_min = Dexter.J7_ANGLE_MIN
 
                 the_robot.J1_angle_max = Dexter.J1_ANGLE_MAX
                 the_robot.J2_angle_max = Dexter.J2_ANGLE_MAX
                 the_robot.J3_angle_max = Dexter.J3_ANGLE_MAX
                 the_robot.J4_angle_max = Dexter.J4_ANGLE_MAX
                 the_robot.J5_angle_max = Dexter.J5_ANGLE_MAX
+                the_robot.J6_angle_min = Dexter.J6_ANGLE_MAX
+                the_robot.J7_angle_min = Dexter.J7_ANGLE_MAX
             }
             the_robot.link_lengths_set_from_dde_computer = true
             the_robot.start_aux(job_to_start)
@@ -2904,6 +2912,7 @@ module.exports.Dexter = Dexter
 module.exports.Human  = Human
 module.exports.Serial = Serial
 
+var {RobotStatus} = require("./robot_status")
 var Job = require("./job.js")
 var {Instruction, make_ins} = require("./instruction.js")
 Dexter.make_ins = make_ins

robot_status.js → core/robot_status.js

@@ -1,8 +1,3 @@
-/*issues
-  measured_angles now returns array of 5. But might we want array of 6 or 7?
-     proposal takes 1 arg, # of angles to return. Default=5, but could be 6 or 7 (or 1 thru 4)
-*/
-
 //Robot Status Class (as distinguished from the robot_status 1D array of 60 elts.
 var RobotStatus = class RobotStatus{
     constructor({robot_status="required"}){
@@ -25,7 +20,6 @@ var RobotStatus = class RobotStatus{
         let result = this.robot_status[index]
         if(typeof(result) == "number") { return result}
         else {
-              inspect(this.robot_status)
               dde_error("RobotStatus.angle passed joint_number: " + joint_number +
                          "<br/> but the value of that is: " + result +
                          "<br/> when it should be a number." +
@@ -153,4 +147,7 @@ var RobotStatus = class RobotStatus{
         }
         return result
     }
-}
+}
+
+module.exports.RobotStatus = RobotStatus
+var {Dexter} = require('./robot.js')

core/socket.js

@@ -103,7 +103,10 @@ var Socket = class Socket{
                 else if (i == 6) { //J7
                     converted_val = Math.round(arg_val / Socket.DEGREES_PER_DYNAMIXEL_UNIT) //convert degrees to dynamixel units to get dynamixel integer from 0 through 1023 going from 0 to 296 degrees
                 }
-                else { converted_val = Math.round(arg_val * 3600) } //still might be a NaN
+                else {//J1 thru J5  for J1, i == 0
+                    converted_val = Math.round(arg_val * 3600) //still might be a NaN
+                    //if(i == 1) { out("soc J2: " + arg_val + " arcsec: " + converted_val) } //degugging statement only
+                }
                 instruction_array_copy[index] = converted_val
             }
             return instruction_array_copy

core/storage.js

@@ -359,7 +359,7 @@ function write_file(path, content, encoding="utf8"){
                 path)
         }
         else {
-            dde_error("Error writing file: " + path)
+            dde_error("Error writing file: " + path + "<br/>" + err.message)
         }
     }
 }
@@ -444,17 +444,19 @@ function make_folder(path){
     let path_array = path.split(folder_separator())
     let path_being_built = ""
     for(let path_part of path_array){
-        path_being_built += (folder_separator() + path_part)
-        path_being_built = adjust_path_to_os(path_being_built)
-
-        if(!file_exists(path_being_built)){
-           try{
-                fs.mkdirSync(path_being_built)
-           }
-           catch(err){
-               dde_error("In make_folder, could not make: " + path_being_built + "<br/>" +
-                         err.message)
-           }
+        if(path_part != ""){ //often the first and last path_part will be ""
+            path_being_built += (folder_separator() + path_part)
+            path_being_built = adjust_path_to_os(path_being_built)
+
+            if(!file_exists(path_being_built)){
+               try{
+                    fs.mkdirSync(path_being_built)
+               }
+               catch(err){
+                   dde_error("In make_folder, could not make: " + path_being_built + "<br/>" +
+                             err.message)
+               }
+            }
         }
     }
     return true