Tree @printer-config (Download .tar.gz)
Note: Folk is in a pre-alpha state and isn't yet well-documented or well-exampled.
We're making Folk's source code free and available to the public in a read-only form, in case you're already excited about trying it, but we haven't formally announced it or made it ready for public use. We make no guarantee of support, of usability, or of continuing backward compatibility. Try at your own risk!
We're working on a more complete open-source release for 2024, which would open up our internal GitHub repository, document the installation process, and provide canonical examples/demos to show what's possible. If you don't know what this is, then you might want to wait for that release.
Folk
Hardware
You'll need to set up a dedicated PC to run Folk and connect to webcam+projector+printer+etc.
We tend to recommend a Beelink mini-PC (or maybe a Pi 4).
See https://folk.computer/pilot/
Linux tabletop installation using live USB
Experimental: If you have an amd64 PC, you can use the live USB image which has Folk and all dependencies pre-installed.
See https://github.com/FolkComputer/folk-live-build/releases to get the Linux live USB image.
You can update Folk by running git pull
in the folk
subfolder of
the FOLK-LIVE partition once you've flashed the live USB.
Manual Linux tabletop installation
Set up Ubuntu Server 23.04 Lunar Lobster.
(for a PC, get the amd64 version; for a Pi 4, use Raspberry Pi Imager and get the 64-bit version [also see this issue if flashing from a Mac])
- Install Linux with username
folk
, hostnamefolk-SOMETHING
? (check hosts.tcl in this repo to make sure you're not reusing one)
If no folk
user, then:
sudo useradd -m folk; sudo passwd folk;
sudo usermod -a -G adm,dialout,cdrom,sudo,audio,video,plugdev,games,users,input,render,netdev,lpadmin,gpio,i2c,spi folk
(If you get errors from usermod like group 'gpio' does not exist
,
try running again omitting the groups that don't exist from the
command.)
-
sudo apt update
-
Set up OpenSSH server if needed; connect to network. To ssh into
folk@folk-WHATEVER.local
by name,sudo apt install avahi-daemon
and then on your laptop:ssh-copy-id folk@folk-WHATEVER.local
-
sudo adduser folk video
&sudo adduser folk render
&sudo adduser folk input
(?) & log out and log back in (re-ssh) -
Install dependencies:
sudo apt install rsync tcl-thread tcl8.6-dev git libjpeg-dev libpng-dev fbset libdrm-dev pkg-config v4l-utils mesa-vulkan-drivers vulkan-tools libvulkan-dev libvulkan1 meson libgbm-dev glslc vulkan-validationlayers
(glslc may not be available if you're not on Ubuntu 23.04; on ARM like Pi 4 you need to build it from source; binaries are available otherwise)
-
Vulkan testing (optional):
- Try
vulkaninfo
and see if it works.- On a Pi 4, if vulkaninfo reports "Failed to detect any
valid GPUs in the current config", add
dtoverlay=vc4-fkms-v3d
ordtoverlay=vc4-kms-v3d
(I think this one is more recommended now?) to the bottom of/boot/firmware/config.txt
or/boot/config.txt
, whichever exists (https://raspberrypi.stackexchange.com/questions/116507/open-dev-dri-card0-no-such-file-or-directory-on-rpi4)
- On a Pi 4, if vulkaninfo reports "Failed to detect any
valid GPUs in the current config", add
-
Try
vkcube
:git clone https://github.com/krh/vkcube cd vkcube mkdir build; cd build; meson .. && ninja ./vkcube -m khr -k 0:0:0
If vkcube says
Assertion ``vc->image_count > 0' failed
, you might be able to still skip vkcube and continue the install process. See this bug 1. See notes and Naveen's notes.
- Try
-
sudo nano /etc/udev/rules.d/99-input.rules
. addSUBSYSTEM=="input", GROUP="input", MODE="0666"
.sudo udevadm control --reload-rules && sudo udevadm trigger
-
Get AprilTags:
cd ~ && git clone https://github.com/FolkComputer/apriltag.git && cd apriltag && make
(you can probably ignore errors at the end of this if they're just for the OpenCV demo) -
Add the systemd service so it starts on boot and can be managed when you run it from laptop. On Ubuntu Server or Raspberry Pi OS (as root) (from here):
# cat >/etc/systemd/system/folk.service [Unit] Description=Folk service After=network.target StartLimitIntervalSec=0
[Service] Type=simple Restart=always RestartSec=1 User=folk ExecStart=make -C /home/folk/folk
[Install] WantedBy=multi-user.target
# systemctl start folk # systemctl enable folk
Use visudo
to add folk ALL=(ALL) NOPASSWD: /usr/bin/systemctl
to
the bottom of /etc/sudoers
on the tabletop. (This lets the make
scripts from your laptop manage the Folk service by running
systemctl
without needing a password.)
Then, on your laptop, clone this repository:
$ git clone https://git.folk.computer/folk
And run make sync-restart FOLK_SHARE_NODE=folk-WHATEVER.local
. This
will rsync folk to the tabletop and run it there as well as running it
on your laptop.
How to control tabletop Folk from your laptop
On your laptop Web browser, go to http://folk-WHATEVER.local:4273 -- click New Program, hit Save, drag it around. You should see the program move on your table as you drag it around on your laptop.
Does it work? Add your tabletop to hosts.tcl! Send in a patch! Celebrate!
General debugging
You can run make journal
to see stdout/stderr output from the
tabletop machine. If you need to pass in a specific hostname, make
journal FOLK_SHARE_NODE=folk-whatever.local
.
make repl
will give you a dialed-in Tcl REPL.
Printer support
On the tabletop:
$ sudo apt update
$ sudo apt install cups cups-bsd
$ sudo usermod -a -G lpadmin folk
(cups-bsd
provides the lpr
command that we use to print)
ssh tunnel to get access to CUPS Web UI: run on your laptop ssh -L 6310:localhost:631
folk@folk-WHATEVER.local
, leave it open
Go to http://localhost:6310 on your computer, go to Printers, hopefully it shows up there automatically, try printing test page. I could not get that implicitclass:// automatically-added printer in CUPS to work for my printer at all, so I did the below:
If job is paused due to cups-browsed
issue or otherwise doesn't
work, try
https://askubuntu.com/questions/1128164/no-suitable-destination-host-found-by-cups-browsed :
remove cups-browsed
sudo apt-get purge --autoremove cups-browsed
then add printer manually via IPP in Add Printer in Administration tab
of CUPS Web UI (it might automatically show up under Discovered
Network Printers there using dnssd)
Once printer is working, go to Administration dropdown on printer page and Set as Server Default.
Try printing from Folk!
You can also test printing again with lpr
~/folk-printed-programs/SOMETHING.pdf
(you have to print the PDF and
not the PS for it to work, probably)
Projector-camera calibration
-
Print at least 4 AprilTags (either print throwaway programs from Folk or manually print tagStandard52h13 tags yourself).
-
Let's position the camera. Make sure Folk is running (ssh in,
cd ~/folk
,./folk.tcl start
). Go to your Folk server's Web page http://whatever.local:4273 and make a new program and save it:
When the camera frame is /im/ {
Wish the web server handles route "/frame-image/$" with handler [list apply {{im} {
# set width [dict get $im width]
# set height [dict get $im height]
set filename "/tmp/web-image-frame.jpg"
image saveAsJpeg $im $filename
set fsize [file size $filename]
set fd [open $filename r]
fconfigure $fd -encoding binary -translation binary
set body [read $fd $fsize]
close $fd
dict create statusAndHeaders "HTTP/1.1 200 OK\nConnection: close\nContent-Type: image/jpeg\nContent-Length: $fsize\n\n" body $body
}} $im]
}
Go to http://whatever.local:4273/frame-image/ to see the camera's current field of view. Reposition your camera to cover your table.
-
Place the 4 AprilTags around your table. On the tabletop, run
./folk.tcl calibrate
. Wait. -
You should see red triangles projected on each of your 4 tags. Then you're done! Run Folk! If not, rerun calibration until you do see a red triangle on each tag.
-
When you've successfully calibrated, start Folk back up with
./folk.tcl start
.
Connect a keyboard
Follow the instructions on this Folk wiki page to connect a new keyboard to your system.
Bluetooth keyboards
Install bluetoothctl
. Follow the instructions in
https://wiki.archlinux.org/title/bluetooth_keyboard to pair and trust
and connect.
(FIXME: Write down the Bluetooth MAC address of your keyboard. We'll proceed as though it's "f4:73:35:93:7f:9d" (it's important that you turn it into lowercase).)
Potentially useful
Potentially useful for graphs: graphviz
Potentially useful: gdb
, streamer
, cec-utils
,
file
, strace
Potentially useful: add folk-WHATEVER
shortcut to your laptop ~/.ssh/config
:
Host folk-WHATEVER
HostName folk-WHATEVER.local
User folk
Potentially useful: journalctl -f -u folk
to see log of folk service
For audio: https://askubuntu.com/questions/1349221/which-packages-should-be-installed-to-have-sound-output-working-on-minimal-ubunt
HDMI No signal on Pi 4
Edit /boot/cmdline.txt https://github.com/raspberrypi/firmware/issues/1647#issuecomment-971500256 (HDMI-A-1 or HDMI-A-2 depending on which port)
Ubuntu Server boots slowly
https://askubuntu.com/questions/1321443/very-long-startup-time-on-ubuntu-server-network-configuration
(add optional: true
to all netplan interfaces)
Troubleshooting
Why is my camera slow (why is tracking janky or laggy, why is camera time high)
Check that camera is plugged into a USB3 port
Turn off autoexposure and autofocus
for example, install v4l-utils
and:
v4l2-ctl -c auto_exposure=1
v4l2-ctl -c focus_automatic_continuous=0
v4l2-ctl -c white_balance_automatic=0
Tcl troubleshooting
You can build Tcl with TCL_MEM_DEBUG
. Download Tcl source code. (On
Mac, do not go to the macosx/ subdir; go to the unix/ subdir.) Do
./configure --enable-symbols=all
, do make
, make install
License
Folk is available under the Apache 2.0 license. See the LICENSE file for more information.
Language reference
Folk is built around Tcl. We don't add any additional syntax or
preprocessing to the basic Tcl language; all our 'language constructs'
like When
and Wish
are really just plain Tcl functions that we've
created. Therefore, it will eventually be useful for you to know
basic Tcl
syntax.
These are all implemented in main.tcl
. For most things, you'll
probably only need Wish
, Claim
, When
, and maybe Commit
.
Wish and Claim
Wish $this is labelled "Hello, world!"
Claim $this is cool
Claim Omar is cool
When
When /actor/ is cool {
Wish $this is labelled "$actor seems pretty cool"
Wish $actor is outlined red
}
The inside block (body) of the When
gets executed for each claim
that is being made that it matches. It will get reactively rerun
whenever a new matching claim is introduced.
Any wishes/claims you make in the body will get automatically revoked
if the claim that the When
was matching is revoked. (so if Omar stops
being cool, the downstream label Omar seems pretty cool
will go away
automatically)
The /actor/
in the When
binds the variable actor
to whatever is
at that position in the statement.
It's like variables in Datalog, or parentheses in regular expressions.
Non-capturing
/someone/
, /something/
, /anyone/
, /anything/
are special cases
if you want a wildcard that does not bind (you don't care about the
value, like non-capturing groups (?:)
in regex), so you don't get access
to $someone
or $something
inside the When.
Negation
/nobody/
, /nothing/
invert the polarity of the match, so it'll run
only when no statements exist that it would match.
This When will stop labelling if someone does Claim Omar is cool
:
When /nobody/ is cool {
Wish $this is labelled "nobody is cool"
}
&
joins
You can match multiple patterns at once:
Claim Omar is cool
Claim Omar is a person with 2 legs
When /x/ is cool & /x/ is a person with /n/ legs {
Wish $this is labelled "$x is a cool person with $n legs"
}
Notice that x
here will have to be the same in both arms of the
match.
You can join as many patterns as you want, separated by &
.
If you want to break your When
onto multiple lines, remember to
terminate each line with a \
so you can continue onto the next
line:
When /x/ is cool & \
/x/ is a person with /n/ legs {
Wish $this is labelled "$x is a cool person with $n legs"
}
Collecting matches
When the collected matches for [list /actor/ is cool] are /matches/ {
Wish $this is labelled [join $matches "\n"]
}
This gets you an array of all matches for the pattern /actor/ is
cool
.
(We use the Tcl list
function to construct a pattern as a
first-class object. You can use &
joins in that pattern as
well.)
Commit
Experimental: Commit
is used to register claims that will stick
around until you do another Commit
. You can use this to create the
equivalent of 'variables', stateful statements.
Commit { Claim $this has a ball at x 100 y 100 }
When $this has a ball at x /x/ y /y/ {
puts "ball at $x $y"
After 10 milliseconds {
Commit { Claim $this has a ball at x $x y [expr {$y+1}] }
if {$y > 115} { set ::done true }
}
}
Commit
will overwrite all statements made by the previous Commit
(scoped to the current $this
).
Notice that you should scope your claim: it's $this has a ball
, not there
is a ball
, so different programs with different values of $this
will not stomp over each other. Not scoping your claims will bite
you once you print your program and have both virtual & printed
instances of your program running.
If you want multiple state atoms, you can also provide a key -- you can be like
Commit ball position {
Claim $this has a ball at blahblah
}
and then future commits with that key, ball position
, will
overwrite this statement but not override different commits with
different keys
(there's currently no way to overwrite state from other pages, but we could probably add a way to provide an absolute key that would allow that if it was useful.)
Every time
Experimental: Every time
works almost like When
, but it's used to
commit when an 'event' happens without causing a reaction cascade.
You can't make Claims, Whens, or Wishes inside an Every time
block. You can only Commit.
Example:
Commit { Claim $this has seen 0 boops }
Every time there is a boop & $this has seen /n/ boops {
Commit { Claim $this has seen [expr {$n + 1}] boops }
}
If you had used When
here, it wouldn't terminate, since the new
$this has seen n+1 boops
commit would cause the When
to retrigger,
resulting in a $this has seen n+2 boops
commit, then another
retrigger, and so on.
Every time
, in contrast, will 'only react once' to the boop; nothing
in its body will run again unless the boop goes away and an entirely
new boop appears.
Animation
Getting time
Get the global clock time with:
When the clock time is /t/ {
Wish $this is labelled $t
}
Use it in an animation:
When the clock time is /t/ {
Wish $this draws a circle with offset [list [expr {sin($t) * 50}] 0]
}
You usually won't need these
When when
Lets you create statements only on demand, when someone is looking for that statement.
When /thing/ is cool {
Wish $this is labelled "$thing is cool"
}
When when /personVar/ is cool /lambda/ with environment /e/ {
Claim Folk is cool
}
On and Start
FIXME: General note: the On
and Start
blocks are used for weird
non-reactive behavior. Need to fill this out more.
Start process
Start process A {
while true {
puts "Hello! Another second has passed"
exec sleep 1
}
}
On unmatch
You should not use When
, Claim
, or Wish
directly inside an
On unmatch
block; those only make sense inside a normal reactive
context.
set pid [exec python3]
On unmatch {
kill $pid
}
Non-capturing
You can disable capturing of lexical context around a When with the
(non-capturing)
flag.
This is mostly to help runtime performance if a When is declared somewhere that has a lot of stuff in scope at declaration time.
set foo 3
When (non-capturing) /p/ is cool {
Claim $p is awesome
# can't access $foo from in here
}
Assert and Retract
General note: Assert
and Retract
are used for weird non-reactive
behavior.
You should generally not use Assert
and Retract
inside a When
block. Use Claim
, Wish
, and When
instead.
Tcl for JavaScripters
JS:
let names = ["64", "GameCube", "Wii", "Switch"];
names = names.map(name => `Nintendo ${name}`);
console.log(names);
function add(a, b) { return a + b; }
const numbers = [1, 2];
console.log(add(...numbers));
Tcl:
set names [list 64 GameCube Wii Switch]
set names [lmap name $names {expr {"Nintendo $name"}}]
puts $names
proc add {a b} { expr {$a + $b} }
set numbers [list 1 2]
puts [add {*}$numbers]
Style guide
Tcl code vs. virtual programs vs. printed programs
In general, avoid adding new .tcl files to the Git repo. Pure Tcl libraries are an antipattern; we should only need them for the hard core of the system.
Most new code (both libraries and applications) should be virtual programs (which ilve as .folk files in the virtual-programs/ subfolder) or printed programs.
Folk
- Use complete sentences when you word your claims and wishes.
Bad: Claim $this firstName Omar
Good: Claim $this has first name Omar
- Scope using
$this
where appropriate to prevent weird global interactions
Bad: Claim the value is 3
Good: Claim $this has value 3
- Style for joins across multiple lines -- use
&\
and align on the first token afterWhen
:
When the fox is out &\
the label is "Hello" &\
everything seems good {
...
}
Tcl
fn
Use fn
instead of proc
to get a lexically captured command.
Error handling
Use try
(and on error
) in new code. Avoid using catch
; it's
older and easier to get wrong.
apply
Use apply
instead of subst
to construct lambdas/code blocks,
except for one-liners (where you can use list
)
Tcl datatypes
Create a namespace for your datatype that is an ensemble command with operations on that datatype.
(Examples: statement
, c
, region
, point
, image
)
Call the constructor create
, as in dict create
and statement
create
.
Singletons
Capitalized namespace, like Statements
.
Commit History
@printer-config
git clone https://git.s-ol.nu/forks/folk.git
- dirty loadlib fix s-ol 5 months ago
- dirty apriltag fix s-ol 5 months ago
- Layout printed programs over multiple pages s-ol 5 months ago
- Statement-based printer configuration s-ol 5 months ago
- main: allow passing list of files to loadVirtualPrograms s-ol 5 months ago
- Publish april tag detector generator to db Naveen Michaud-Agrawal 5 months ago
- Crop images in image space (between 0 - 1) Naveen Michaud-Agrawal 5 months ago
- Merge pull request #139 from FolkComputer/osnr/cleanup Omar Rizwan (commit: GitHub) 5 months ago
- folk.tcl: Fix realtime output for calibrate, remove error Omar Rizwan 5 months ago
- Update docs/code Omar Rizwan 6 months ago