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cfry committed Sep 8, 2023
1 parent 43038f0 commit aba4795
Showing 11 changed files with 405 additions and 198 deletions.
255 changes: 127 additions & 128 deletions core/dexter_defaults.js

Large diffs are not rendered by default.

4 changes: 2 additions & 2 deletions core/index.js
Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
global.dde_version = "3.8.14" //require("../package.json").version
global.dde_release_date = "Mar 24, 2022" //require("../package.json").release_date
global.dde_version = "3.8.15" //require("../package.json").version
global.dde_release_date = "Sep 24, 2023" //require("../package.json").release_date

console.log("dde_version: " + global.dde_version + " dde_release_date: " + global.dde_release_date +
"\nRead electron_dde/core/job_engine_doc.txt for how to use the Job Engine.\n")
16 changes: 15 additions & 1 deletion core/socket.js
Original file line number Diff line number Diff line change
@@ -200,7 +200,7 @@ var Socket = class Socket{
}

static string_to_array_buffer(str){
var arr_buff = Buffer.alloc(128) //dexter code expecting fixed length buf of 128
var arr_buff = Buffer.alloc(256) //was 128 but no reason not to have it 256
//var view1 = new Uint8Array(arr_buff)
for(var i = 0; i < str.length; i++){
let char = str[i]
@@ -337,6 +337,13 @@ var Socket = class Socket{
Math.round(instruction_array_copy[Instruction.INSTRUCTION_ARG5] * 3600)
return instruction_array_copy
}
else if (name.startsWith("Joint")){ //JointSpeed, JointAcceleration
let instruction_array_copy = instruction_array.slice()
let old_val = instruction_array_copy[Instruction.INSTRUCTION_ARG2]
let new_val = old_val * 3600
instruction_array_copy[Instruction.INSTRUCTION_ARG2] = new_val
return instruction_array_copy
}
else { return instruction_array }
}
else if (oplet == "T") { //move_to_straight
@@ -449,6 +456,13 @@ var Socket = class Socket{
instruction_array_copy[Instruction.INSTRUCTION_ARG5] / 3600 //orig in arcsecs
return instruction_array_copy
}
else if (name.startsWith("Joint")){ //JointSpeed, JointAcceleration
let instruction_array_copy = instruction_array.slice()
let old_val = instruction_array_copy[Instruction.INSTRUCTION_ARG2]
let new_val = old_val / 3600
instruction_array_copy[Instruction.INSTRUCTION_ARG2] = new_val
return instruction_array_copy
}
else { return instruction_array }
}
else if (oplet == "T") { //move_to_straight
4 changes: 2 additions & 2 deletions doc/guide.html
Original file line number Diff line number Diff line change
@@ -8,8 +8,8 @@

<details class="doc_details"><summary>About</summary>
This is <a href="http://hdrobotic.com/" target="_blank">Dexter</a> Development Environment<br/>
version: <span id="dde_version_id">3.8.14</span><br/>
released: <span id="dde_release_date_id">Mar 24, 2022</span>
version: <span id="dde_version_id">3.8.15</span><br/>
released: <span id="dde_release_date_id">Sep 9, 2023</span>
<p></p>
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,
14 changes: 14 additions & 0 deletions doc/release_notes.html
Original file line number Diff line number Diff line change
@@ -6,6 +6,20 @@
.doc_details summary { font-weight: 600; }
</style>

<details class="doc_details"><summary>v 3.8.15, Sep 8, 2023</summary>
Highlights: defaults.makeins and Calibrate Dexter dialog improved.
<ul>
<li>Its now possible to close the dde window if you've replace
the whole ui (the body_id dom element).</li>
<li>The packet size for sending instructions to Dexter has been increased from 128 to 256 bytes.</li>
<li> defaults.makeins handling has been improved, including support for
S params: <code>JointSpeed</code>, <code>JointAcceleration</code>,
<code>MotorMode</code>.</li>
<li>Calibrate Dexter dialog has been updated with a new footer legend
and 5 properties across the bottom.</li>
</ul>
</details>

<details class="doc_details"><summary>v 3.8.14, Mar 24, 2023</summary>
Highlights mathjs installed, fixes and extensions for class Vector that uses mathjs.
Fix and extension for Defaults.make_ins processing.
5 changes: 4 additions & 1 deletion doc_code.js
Original file line number Diff line number Diff line change
@@ -245,7 +245,10 @@ function doc_pane_showing(){
}

function output_pane_showing(){
return !$('#left_splitter_id').jqxSplitter('panels')[1].collapsed
if(globalThis.left_splitter_id) {
return !$('#left_splitter_id').jqxSplitter('panels')[1].collapsed
}
else { return false }
}

function misc_pane_showing(){
1 change: 0 additions & 1 deletion editor.js
Original file line number Diff line number Diff line change
@@ -672,7 +672,6 @@ handle_open_system_file = function(vals){
else if (vals.clicked_button_value == "show dde_persistent.json"){
let content = read_file("dde_persistent.json")
content = replace_substrings(content, "\n", "<br/>")
out(content)
}
else if (vals.clicked_button_value.endsWith("Defaults.make_ins")){
let path = vals.clicked_button_value.split(" ")[1]
55 changes: 53 additions & 2 deletions low_level_dexter/ViewEyeRealTime.js
Original file line number Diff line number Diff line change
@@ -201,6 +201,50 @@ function display_center_guess(){
append_in_ui("svg_id", thehtml)
}

var old_point_color = "#dedede"

var cal_saved_points_old

function DisplayOldEyePoints(J_num)
{
let thehtml = ""

read_file_async("Dexter.default:/srv/samba/share/cal_data/OldEyeData.json", "utf-8",
function(err, data)
{
if(err) { //only call the callback for the read IF there's a read error.
out("No previous eye to read from! This is normal if this robot is new or was last calibrated before May 5, 2022.")
}
else {
out("DisplayOldEyePoints(): " + data)
if (!data.startsWith("Error"))
{
cal_saved_points_old = JSON.parse(data)


if (cal_saved_points_old) // Noah: Need to officially define cal_saved_points_old from exported file
{
let points_old = cal_saved_points_old[J_num-1]
if (points_old[0]) //Plots old points from last calibration
{
let num_points_old = points_old[0].length
for(let i = 0; i < num_points_old; i++)
{
thehtml = (svg_circle({html_class: "cal_svg_circle", cx: points_old[0][i], cy: flip_point_y(points_old[1][i]), r: 1, border_color: old_point_color, color: old_point_color}))
append_in_ui("svg_id", thehtml)
}
}
}
}
else
{
out("No previous eye to read from! This is normal if this robot is new or was last calibrated before May 5, 2022.")
}
}
}
)
}

function init_view_eye(){
//this table has to be here rather than top level in the file even though it is static,
//because _nbits_cf and the other units cause errors if referenced at top level.
@@ -215,7 +259,13 @@ function init_view_eye(){
new Job({name: "CalSensors", keep_history: true, show_instructions: false,
inter_do_item_dur: .5 * _ms,
robot: cal_get_robot(),
do_list: [ Dexter.move_all_joints(0, 0, 0, 0, 0),
do_list: [
function()
{
let J_num = window.cal_working_axis+1
DisplayOldEyePoints(J_num)
},
Dexter.move_all_joints(0, 0, 0, 0, 0),
Robot.label("loop_start"),
make_ins("w", 42, 64),
make_ins("S", "J1BoundryHigh",648000*_arcsec),
@@ -255,7 +305,8 @@ function init_view_eye(){
let start_button_dom_elt = window["Start_J_" + J_num + "_id"]
start_button_dom_elt.style.backgroundColor = "rgb(230, 179, 255)"
cal_instructions_id.innerHTML =
"Click in the center of the dot_pattern circle.<br/>"}
"Click in the center of the dot_pattern circle."
}
]})
cal_init_view_eye_state = false
}
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