release

Author: cfry

core/dexter_defaults.js

@@ -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")

core/index.js

@@ -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

core/socket.js

@@ -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,

doc/guide.html

@@ -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.

doc/release_notes.html

@@ -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(){

doc_code.js

@@ -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]

editor.js

@@ -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
 }