many things

cfry · Mar 17, 2017 · 80e866f · 80e866f
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diff --git a/.idea/workspace.xml b/.idea/workspace.xml
diff --git a/doc/guide.html b/doc/guide.html
@@ -6,7 +6,7 @@
     DDE helps you create, debug, and send software to a Dexter robot.
     You can use any Javascript augmented with DDE-specific functions to help find out about,
     and manipulate, a robot.
-    <a href="http://hdrobotic.com/videos/">Videos on Dexter</a>
+    <a href="http://hdrobotic.com/videos/" target="_blank">Videos on Dexter</a>
     <span id="dde_overview_id" style="color:blue; text-decoration:underline;">DDE Overview Paper</span>
 </details>
 <details><summary>Why Use DDE?</summary>
@@ -58,7 +58,16 @@
         needs work
     </details>
     <details style="margin-left:20px;"><summary>Launch DDE</summary>
-        needs work
+        On Windows, the DDE application is installed in
+        <code>C:\Program Files\dexter_dev_env\dexter_dev_env.exe</code>
+        and on the desktop.<br/>
+        On Mac, <code>Macintosh HD/Applications/dever_dev_env.app</code>
+        <p/>
+        Double click on the file to launch DDE. If there is a file
+        <code>Documents/dde_apps/dde_init.js</code>, it will be
+        loaded automatically. Thus you can put any code in that file
+        that you want to be evaled at start-up, such as libraries you've
+        written, etc.
     </details>
 </details>
 <details><summary>Robot Configuration</summary>

diff --git a/doc/known_issues.html b/doc/known_issues.html
@@ -1,5 +1,13 @@
 <details style="padding-left:20px;"><summary>Known Issues</summary>
-<ul>
+This version is the first in the new Electron framework.
+It is made available only for testing purposes. It is not
+well tested.
+In general, users should not use it. Stick with the previous Chrome apps version
+a while longer. Sorry.
+<ul><li>Sending commands to hardware robot broken (but similation ok)</li>
+    <li>Speech recognition busted.</li>
+    <li>None of the apps for the 3 platforms are "signed", thus you get warnings
+        when installing them about being "untrusted".</li>
     <li>Dexter.draw_dxf needs extension to describe the drawing plane.</li>
     <li>Dexter.run_gcode needs many extensions.</li>
     <li>Some instructions lacking sections in the Reference Manual.</li>

diff --git a/doc/ref_man.html b/doc/ref_man.html
diff --git a/doc/release_notes.html b/doc/release_notes.html
@@ -1,6 +1,8 @@
-<details style="padding-left:20px;"><summary>v 1.0.0, Feb 20, 2017</summary>
+<details style="padding-left:20px;"><summary>v 1.0.4, Mar 16, 2017</summary>
 Highlights: New Electron Framework, New instruction Robot.grab_robot_status,
-Serial Port extensions, file access improved, dxf improvements.
+Serial Port extensions, file access improved, dxf improvements,
+go_to instruction and friends, better help in finding doc.
+Please read Known Issues.
 <ul>
     <li>Electron Framework replaces Google Chrome App. Facilitates
     single JavaScript environment and utilization of node.js packages.</li>
@@ -78,6 +80,9 @@
 
     <li> newObject now ignores "name" arg if it is null or undefined.
         But if it is some OTHER non-string, newObject errors.</li>
+    <li> <code>Root</code> is a new global variable that holds the
+       root of the object system. So all object systems paths should
+       now start with Root.</li>
 
     <li> Dexter.draw_dxf fixed bug that ignored the 3rd argument and always treated it as 2000</li>
     <li>Dexter.draw_dxf first argument is usually a string <= 512 long
@@ -100,6 +105,72 @@
     <li> Replaced the individual videos with
     just one url to the hdrobotic.com video page.
     </li>
+
+    <li> new instruction Robot.label("a string"), its a no-op but provides
+      target for go_to.</li>
+
+    <li> new instruction Robot.go_to(instruction_location)
+      "jumps" the program counter. Lots of functionality in ref man doc.</li>
+
+    <li> Now clicking on TestSuite gives you click help with an underlined
+    "TestSuite" that you can click on to see documentation.</li>
+
+    <li>job.start  now can take "program_counter" and its an instruction_location
+    to init the program_counter to something other than the first instruction.
+    The default is 0, meaning first instruction on do_list is the first one run.
+    Like "go_to" at the beginning of a job.</li>
+
+    <li> job.start now can take initial_instruction as an instruction to run first.
+    This replaces the old param to Job.start of "sent_from_job" which was
+    used when a non-started job was sent an instruction.
+    The new initial_instruction is much more general since it can be used
+    when creating a job, when calling Job.start or by send_to_job.
+    The default is "no instruction". When it exists and
+    a job is started, the initial_instruction is run just BEFORE the
+    instruction at the initialized program_counter (which defaults to 0).</li>
+
+    <li> The documentation "About" section now shows the release date of
+    the DDE version loaded.</li>
+
+    <li> load_files ref man documentation now has examples.</li>
+
+    <li> dde_init.js now documented (under "Installation/Launch DDE").</li>
+
+    <li>  start method now takes a program_counter
+       program_counter: allow a new items: "highest_completed_instruction"
+    and "highest_completed_instruction_or_zero"
+    So that if the job errors, and pc init is "highest_completed_instruction_or_zero"
+    we DON"T reset the do_list to the orig do_list,
+    but keep it the same, and go and grab the id of the
+    instruction that errored and use it.</li>
+
+
+    <li>  Instruction.Control.send_to_job no longer takes a "to_job_name"
+    as an explicit parameter, however,
+    the where_to_start param can be any instruction_location
+    used by Robot.go_to, or program_counter setting.
+    Can include a job property but defaults to "this job".</li>
+
+    <li>  New static method Job: Job.insert_instruction(instruction, location )
+      where location same format as go_to, setting program_counter.</li>
+
+    <li>  sent_from_job was documented but I've undocumented it.
+     Users should use new facilities in
+    new job and start's initial_instruction, Job.insert_instruction.</li>
+
+    <li>  Instruction Robot.wait_until extended to take new value for
+       its argument "new_instruction" meaning
+    when wait_until first gets called, it captures the
+    instruction after it (which could be none, if the wait_until is
+    the last instruction), then waits until
+    the next instruction is different,
+    then it unpauses.
+    Often put on the end of a do_list, or maybe the only thing
+    initially on a do_list, and waits until something gets on it.</li>
+
+    <li> If the search type-in box is empty when you click the doc "Find" button,
+    the selected text in the Doc, JavaScript, or Output pane is used,
+    as noted in the new tooltip for the Find type-in box.</li>
 </ul>
 </details>
 
diff --git a/index.html b/index.html
@@ -487,7 +487,7 @@
                         </div>
                         <div style="vertical-align:top;display:inline-block;line-height: 1.0;">font<br/>size:</div>
                         <input id="font_size_id"  type="number" style="vertical-align:top; width:30px;" value="17" min="6"/>
-                        <select id="file_name_id" style="width:360px;font-size:18px;"><option>new file</option></select>
+                        <select id="file_name_id" style="width:360px;font-size:14px;"><option>new file</option></select>
                         ROS url: <input id='dexter_url' value="localhost:9090" style="font-size:14px;"/>
                     </div>
                     <textarea id="js_textarea" wrap="off" style="width:98%; height:84%; font-size:17px; font-family:monospace;padding:4px;"
@@ -543,7 +543,7 @@
                 <div id="doc_pane_id" style="font-size:16px;background-color:#e1e1e1;padding-left:5px;">
                     <div class="pane_header_wrapper" style="height:30px;">
                         <span id="documentation_pane_help_id" class="pane_header">Doc</span>
-                        <input id="find_doc_input_id" placeholder="search string" style="width:100px;"/>
+                        <input id="find_doc_input_id" placeholder="search string" title="If this field is empty,&#013;the selection in the&#013;Doc, JavaScript, or Output&#013;pane is used." style="width:100px;"/>
                         <button id="find_doc_button_id">Find</button>
                         <button id="eval_doc_button_id" title="Evaluated the selected code&#013;in the Doc pane.&#013;Result goes in the Output pane.ƒ">Eval Doc</button>
                     </div>

diff --git a/instruction.js b/instruction.js
@@ -888,9 +888,7 @@ Instruction.Control.out = class Out extends Instruction.Control{
         out(message, this.color)
         job_instance.set_up_next_do(1)
     }
-    toString(){
-        return "" + this.val
-    }
+    toString() { return "Robot.out of: " + this.val }
 }
 
 Instruction.Control.send_to_job = class send_to_job extends Instruction.Control{
@@ -974,7 +972,7 @@ Instruction.Control.send_to_job = class send_to_job extends Instruction.Control{
                                                      where_to_insert: params.where_to_insert, //just for debugging
                                                      wait_until_done: params.wait_until_done //just for debugging
                                                     })
-        Job.insert_instruction_at_location(sfj_ins, params.where_to_insert) //must do before starting or unsuspending
+        Job.insert_instruction(sfj_ins, params.where_to_insert) //must do before starting or unsuspending
         if (to_job_instance.status_code == "not_started"){
             if(params.start){
                 to_job_instance.start({initial_instruction: sfj_ins})
@@ -1347,6 +1345,33 @@ Instruction.Control.wait_until = class wait_until extends Instruction.Control{
                 job_instance.set_up_next_do(0)
             }
         }
+        else if (this.fn_date_dur == "new_instruction"){
+            const pc               = job_instance.program_counter
+            const pc_on_last_instr = (pc == (job_instance.do_list.length - 1))
+            const next_instruction = (pc_on_last_instr ?
+                                       null : job_instance.do_list[pc + 1])
+            if (this.old_instruction === undefined){ //first time through only
+                this.old_instruction = next_instruction
+                job_instance.set_up_next_do(0)
+            }
+            else if (this.old_instruction === null){ //started with this instr as the last one
+                if (pc_on_last_instr) { job_instance.set_up_next_do(0) }
+                else                  { job_instance.set_up_next_do(1) } //got a neew last instr
+            }
+            else if (next_instruction == this.old_instruction){//no change so don't advance the pos
+                job_instance.set_up_next_do(0)
+            }
+            else { //got a new instruction since this instruction started running so execute it
+                job_instance.set_up_next_do(1)
+            }
+        }
+        else {
+            dde_error("In job: " + job_instance.name +
+                      ' in wait_until("new_instruction")<br/>' +
+                      " got fn_date_dur of: " + this.fn_date_dur +
+                      " which is invalid.<br/>" +
+                      ' It should be a function, a date, a number, or "new_instruction".')
+        }
     }
 }
 

diff --git a/job.js b/job.js
@@ -44,9 +44,7 @@ var Job = class Job{
                                      shallow_copy(this.orig_args.user_data)
             this.program_counter   = this.orig_args.program_counter //see robot_done_with_instruction as to why this isn't 0,
                                      //its because the robot.start effectively calls set_up_next_do(1), incremening the PC
-            this.initial_instruction = this.orig_args.initial_instruction
-            const sent_from_job    = options.sent_from_job
-            delete options.sent_from_job //even if this field is not present, that's ok, this is a oop
+            this.initial_instruction = this.orig_args.initial_instruction //also used by sent_from_job
 
             //first we set all the orig (above), then we over-ride them with the passed in ones
             for (let key in options){
@@ -92,7 +90,7 @@ var Job = class Job{
                                                   //where_to_insert="next_top_level"
             if (this.initial_instruction) {
                 //Instruction.Control.send_to_job.insert_sent_from_job(this, sent_from_job)
-                Job.insert_instruction_at_location(this.initial_instruction, {job: this, offset: "program_counter"})
+                Job.insert_instruction(this.initial_instruction, {job: this, offset: "program_counter"})
             }
             const added_items_initial_length =
             this.added_items_count = new Array(this.program_counter) //This array parallels and should be the same length as the run items on the do_list.
@@ -641,62 +639,18 @@ Job.prototype.do_next_item = function(){ //user calls this when they want the jo
             this.sent_from_job_instruction_queue = []
             this.set_up_next_do(0)
         }
-        else if (Array.isArray(cur_do_item) && (cur_do_item.length == 0)){ //nothing to do, just skip it.
-            this.set_up_next_do(1)
-        }
         else if (Instruction.is_control_instruction(cur_do_item)){
             cur_do_item.do_item(this)
         }
         else if (Instruction.is_instruction_array(cur_do_item)){
             this.wait_until_instruction_id_has_run = this.program_counter
             this.send(cur_do_item)
         }
-         /*   for (var i = 0; i <= this.max_contiguous_instructions; i++){
-                if(i > 0) {this.program_counter += 1}
-                if (i == this.max_contiguous_instructions){
-                    this.stop_for_reason("error", "Job: " + this.name + " has " + this.max_contiguous_instructions +
-                        " instructions on the do list.<br/>" +
-                        "That's too many. You might have an infinite loop.<br/>" +
-                        "If you legitimately put that many instruction in one fell swoop,<br/>" +
-                        "that prevents this job from getting proper feedback from Dexter.")
-                    break;
-                }
-                else if(this.program_counter >   this.do_list.length){ shouldnt("in do_next_item, instruction_array processing, pc is > doList.length")}
-                else if(this.program_counter === this.do_list.length){ //turn off heartbeat, but don't close socket until we've waited for the final instruction to be done
-                    //this will not hit on the first iteration of this for loop,
-                    //because this case would have been caught above.
-                    this.program_counter -= 1 //LET Dexter.robot_done_with_instruction increment the PC and let the top of do_next_item
-                    //catch that we're done and set the reason.
-                    this.wait_until_instruction_id_has_run = this.program_counter
-                    //even though we've sent out all the items on the do list, don't quit
-                    //until the last sent item is confirmed done and robot_done_with_instruction calls
-                    //set_up_next_do
-                    break;
-                }
-                else {
-                    var cur_do_item = this.do_list[this.program_counter] //for the first of a seq of instruction arrays, we end up retriveing it twice from the to do list but for non first, we need this each loop iteration
-                    if (Instruction.is_instruction_array(cur_do_item)){ //first one will get this check twice (first is above) but that's ok
-                        if ("gz".indexOf(cur_do_item[0]) != -1){
-                            this.wait_until_instruction_id_has_run = this.program_counter
-                            //this.set_up_next_do(1) //don't want to run this instruction again
-                            this.send(cur_do_item)
-                            break;
-                        }
-                        else {
-                            this.send(cur_do_item)
-                        }
-                    }
-                    else {//got non array so we finished the continuous arrays so done with do_next_item
-                        //we just put out a list of instructions so wait until they're run before
-                        //running any more do_list items
-                        //this will not hit the first iteration
-                        this.program_counter -= 1 //LET Dexter.robot_done_with_instruction increment the PC
-                        this.wait_until_instruction_id_has_run = this.program_counter
-                        break;
-                    }
-                }
-            }
-        } */
+        else if (Array.isArray(cur_do_item)){
+            this.handle_function_call_or_gen_next_result(cur_do_item, cur_do_item)
+            //note that a user normally wouldn't directly put an array on the do_list,
+            //but Job.insert_instruction very likely would to put > 1 instruction on
+        }
         else if (is_iterator(cur_do_item)){ //must be before "function" because an iterator is also of type "function".
             var next_obj = cur_do_item.next()
             var do_items = next_obj.value
@@ -1191,7 +1145,21 @@ Job.prototype.instruction_location_to_id = function(instruction_location, starti
         else if (inst_loc == "before_program_counter") { return job_instance.program_counter - 1 }
         else if (inst_loc == "after_program_counter")  { return job_instance.program_counter + 1 }
         else if (inst_loc == "end")                    { return job_instance.do_list.length } //bad for go_to but ok for insert instruction, ie a new last instruction
-        else if (inst_loc == "next_top_level")         { return "next_top_level" } //used only by insert_instruction_at_location
+        else if (inst_loc == "next_top_level")         { return "next_top_level" } //used only by insert_instruction
+        else if (inst_loc == "highest_completed_instruction") {
+            const hci = job_instance.highest_completed_instruction_id
+            if(!hci || (hci <= 0)) { return 0 }
+            else { return hci }
+        }
+        else if (inst_loc == "highest_completed_instruction_or_zero") {
+            const hci = job_instance.highest_completed_instruction_id
+            if(!hci || (hci <= 0) || (hci >= (this.do_list.length - 1)))  { return 0 }
+             //for the last cause above: if we completed the job the last time through, then start over again at zero
+            else { return hci } //else we are resuming at
+              //the highest completed instruction. But beware, you *might* not want
+              //to do that instruction twice, in which case the instruction_location should be
+              // ["zero_or_highest_completed_instruction", 1]
+        }
         else { // a label or a sync_point name search pc, then after, then before pc
            if (starting_id == null) { starting_id = this.program_counter }
            if      (process == "forward_then_backward") { return job_instance.ilti_forward_then_backward(inst_loc, starting_id, orig_instruction_location) }
@@ -1311,7 +1279,7 @@ Job.prototype.ilti_backward = function(inst_loc, starting_id){
         "<br/>in the original_instruction_location: " + orig_instruction_location)
 }
 
-Job.insert_instruction_at_location = function(instruction, location){
+Job.insert_instruction = function(instruction, location){
     const the_job = Job.job_of_instruction_location(location)
     if (the_job){
         const index = the_job.instruction_location_to_id(location)
@@ -1321,7 +1289,7 @@ Job.insert_instruction_at_location = function(instruction, location){
         else { the_job.do_list.splice(index, 0, instruction) }
     }
     else {
-        dde_error("insert_instruction_at_location passed location: " + insert_instruction_at_location +
+        dde_error("insert_instruction passed location: " + insert_instruction +
                   " which doesn't specify a job. Location should be an array with" +
             "a first element of a literal object of {job:'some-job'}")
     }

diff --git a/package.json b/package.json
@@ -1,8 +1,8 @@
 {
-  "name": "electron-dde",
-  "productName": "DDE",
-  "version": "1.0.3",
-  "release_date": "Mar 12, 2017",
+  "name": "dexter_dev_env",
+  "productName": "dexter_dev_env",
+  "version": "1.0.4",
+  "release_date": "Mar 16, 2017",
   "description": "Dexter Development Environment",
   "author": "Fry",
   "license": "GPL-3.0",