Merge branch 'main' into osnr/camera-pipeline

26 files changed, 360 insertions, 465 deletions

diff --git a/virtual-programs/archive/CPS-clock.folk b/virtual-programs/archive/CPS-clock.folk
deleted file mode 100644
index e7886157..00000000
--- a/virtual-programs/archive/CPS-clock.folk
+++ /dev/null
@@ -1,12 +0,0 @@
-Wish $this is outlined blue
-Wish $this has filename "CPS-clock.folk"
-#Wish $this is labelled "CPS clock"
-
-## Hmmmmm, how to do this in Tcl? Use `tcl
-
-When $::nodename has step count /c/ {
-}
-
-
-# Wish $this is outlined red
-# Claim firstname is "something"
diff --git a/virtual-programs/archive/hello-name.folk b/virtual-programs/archive/hello-name.folk
index bef035e2..be31ba5c 100644
--- a/virtual-programs/archive/hello-name.folk
+++ b/virtual-programs/archive/hello-name.folk
@@ -1,4 +1,3 @@
-Wish $this has filename "hello-name.folk"
 Wish $this is outlined blue
 
 When someone claims /firstName/ is /text/ {
diff --git a/virtual-programs/archive/highlight.folk b/virtual-programs/archive/highlight.folk
index 79cdb4db..768e4bc9 100644
--- a/virtual-programs/archive/highlight.folk
+++ b/virtual-programs/archive/highlight.folk
@@ -1,5 +1,3 @@
-Wish $this has filename "highlight.folk"
-
 When /someone/ wishes /thing/ is highlighted /color/ & /thing/ has region /region/ {
     # it's not really correct to just stick a side-effect in the
     # When handler like this. but we did it in Realtalk, and it
diff --git a/virtual-programs/archive/image.folk b/virtual-programs/archive/image.folk
deleted file mode 100644
index b3364d14..00000000
--- a/virtual-programs/archive/image.folk
+++ /dev/null
@@ -1,30 +0,0 @@
-Wish $this has filename "image.folk"
-
-namespace eval ::image {
-	proc width {im} { dict get $im width }
-	proc height {im} { dict get $im height }
-	proc subimage {im x y subwidth subheight} {
-		dict with im {
-			set x [expr {int($x)}]
-			set y [expr {int($y)}]
-			set subdata [expr {$data + ($y*$width + $x) * $components}]
-			dict create \
-				width $subwidth height $subheight \
-				components $components \
-				bytesPerRow $bytesPerRow \
-				data [format 0x%x $subdata]
-		}
-	}
-	namespace export *
-	namespace ensemble create
-}
-
-When the camera frame is /f/ & $this has region /r/ {
-	lassign [projectorToCamera [lindex $r 0 0]] x0 y0
-	lassign [projectorToCamera [lindex $r 0 2]] x1 y1
-	set thisimage [image subimage $f \
-		[expr {min($x0,$x1)}] [expr {min($y0,$y1)}] \
-		[expr {int(abs($x1-$x0))}] [expr {int(abs($y1-$y0))}]]
-	Wish display runs [list Display::image {*}[lindex $r 0 0] $thisimage]
-}
-Wish $this is outlined red
diff --git a/virtual-programs/archive/metrics.folk b/virtual-programs/archive/metrics.folk
index a1f52c61..b4f76fa0 100644
--- a/virtual-programs/archive/metrics.folk
+++ b/virtual-programs/archive/metrics.folk
@@ -1,5 +1,3 @@
-Wish $this has filename "metrics.folk"
-
 When $::nodename has step count /c/ {
 	Wish $this is labelled [string trim "
 step count: $c
diff --git a/virtual-programs/archive/welcome.folk b/virtual-programs/archive/welcome.folk
index 0d9e3f57..6c08ed47 100644
--- a/virtual-programs/archive/welcome.folk
+++ b/virtual-programs/archive/welcome.folk
@@ -1,2 +1 @@
-Wish $this has filename "welcome.folk"
 Wish $this is labelled "welcome 2!"
\ No newline at end of file
diff --git a/virtual-programs/camera-slice.folk b/virtual-programs/camera-slice.folk
deleted file mode 100644
index 5d36f2f1..00000000
--- a/virtual-programs/camera-slice.folk
+++ /dev/null
@@ -1,11 +0,0 @@
-Wish $this has filename "camera-slice.folk"
-
-return
-Wish $this has camera image
-Wish $this is outlined thick palegoldenrod
-
-When $this has camera image /im/ & $this has region /r/ {
-	set coords [lmap n [lindex $r 0 0] {expr $n * 1}]
-	Wish display runs [list Display::image {*}$coords $im]
-	Wish $this is labelled "$coords $im"
-}
diff --git a/virtual-programs/esc-restart.folk b/virtual-programs/esc-restart.folk
index 02f02c31..01a6dd94 100644
--- a/virtual-programs/esc-restart.folk
+++ b/virtual-programs/esc-restart.folk
@@ -1,5 +1,3 @@
-Wish $this has filename "esc-restart.folk"
-
 When the keyboard character log is /k/ {
 	foreach press $k {
 		if {$press eq "esc"} {exec sudo systemctl restart folk}
diff --git a/virtual-programs/intersect.folk b/virtual-programs/intersect.folk
index 351a293c..7755acbd 100644
--- a/virtual-programs/intersect.folk
+++ b/virtual-programs/intersect.folk
@@ -1,5 +1,3 @@
-Wish $this has filename "intersect.folk"
-
 #Wish $this is outlined white
 
 When $this has neighbor /n/ {
diff --git a/virtual-programs/keyboard.folk b/virtual-programs/keyboard.folk
index 8dc66ceb..a49ac29e 100644
--- a/virtual-programs/keyboard.folk
+++ b/virtual-programs/keyboard.folk
@@ -1,4 +1,3 @@
-Wish $this has filename "keyboard.folk"
 return
 if {!$::isLaptop} { return }
 Wish $this is outlined skyblue
diff --git a/virtual-programs/label.folk b/virtual-programs/label.folk
index 3a5f7f38..30787555 100644
--- a/virtual-programs/label.folk
+++ b/virtual-programs/label.folk
@@ -1,5 +1,3 @@
-Wish $this has filename "label.folk"
-
 When /thing/ has region /region/ {
     set bbox [regionToBbox $region]
     lassign [boxCentroid $bbox] x y
diff --git a/virtual-programs/music.folk b/virtual-programs/music.folk
index 5023a25b..d2c979b6 100644
--- a/virtual-programs/music.folk
+++ b/virtual-programs/music.folk
@@ -1,4 +1,3 @@
-Wish $this has filename "music.folk"
 if {$::isLaptop} { return }
 if {[catch {exec which sclang}]} { return }
 
diff --git a/virtual-programs/new-program-web-editor.folk b/virtual-programs/new-program-web-editor.folk
index 67a18832..692b00e0 100644
--- a/virtual-programs/new-program-web-editor.folk
+++ b/virtual-programs/new-program-web-editor.folk
@@ -1,177 +1,179 @@
 Wish the web server handles route "/new" with handler {
     html {
-        <html>
-        <head>
-        <style>
-        body { overflow: hidden; }
-        </style>
-        </head>
-        <body>
-        <span id="status">Status</span>
-        <div id="dragme" style="cursor: move; position: absolute; user-select: none; background-color: #ccc; padding: 1em">
-        <textarea id="code" cols="50" rows="20" style="font-family: monospace">Wish $this is outlined blue</textarea>
-        <p><button onclick="handleSave()">Save</button> <button onclick="handlePrint()">Print</button><button id="printback" style="font-size: 50%; display: none" onclick="handlePrintBack()">Print Back</button></p>
-        <pre id="error"></pre>
-        </div>
-
-        <script>
-// The current position of mouse
-let x = 0;
-let y = 0;
-
-// Query the element
-const ele = document.getElementById('dragme');
-const codeEle = document.getElementById("code");
-
-// Handle the mousedown event
-// that's triggered when user drags the element
-const mouseDownHandler = function (e) {
-if (e.target == codeEle) return;
-
-// Get the current mouse position
-x = e.clientX;
-y = e.clientY;
-
-// Attach the listeners to `document`
-document.addEventListener('pointermove', mouseMoveHandler);
-document.addEventListener('pointerup', mouseUpHandler);
-};
-
-const mouseMoveHandler = function (e) {
-if (e.target == codeEle) return;
-
-// How far the mouse has been moved
-const dx = e.clientX - x;
-const dy = e.clientY - y;
-
-// Set the position of element
-const [top, left] = [ele.offsetTop + dy, ele.offsetLeft + dx];
-ele.style.top = `${top}px`;
-ele.style.left = `${left}px`;
-handleDrag();
-
-// Reassign the position of mouse
-x = e.clientX;
-y = e.clientY;
-};
-
-const mouseUpHandler = function () {
-// Remove the handlers of `mousemove` and `mouseup`
-document.removeEventListener('pointermove', mouseMoveHandler);
-document.removeEventListener('pointerup', mouseUpHandler);
-};
-
-// Cmd + S || Ctrl + S => Save
-document.addEventListener('keydown', function(e) {
-if ((window.navigator.platform.match('Mac') ? e.metaKey : e.ctrlKey)  && e.keyCode == 83) {
-e.preventDefault();
-handleSave();
-}
-}, false);
-// Cmd + P || Ctrl + P => Print
-document.addEventListener('keydown', function(e) {
-if ((window.navigator.platform.match('Mac') ? e.metaKey : e.ctrlKey)  && e.keyCode == 80) {
-e.preventDefault();
-handlePrint();
-}
-}, false);
-
-ele.addEventListener('pointerdown', mouseDownHandler);
-</script>
-
-<script>
-function uuidv4() {
-return ([1e7]+-1e3+-4e3+-8e3+-1e11).replace(/[018]/g, c =>
-(c ^ crypto.getRandomValues(new Uint8Array(1))[0] & 15 >> c / 4).toString(16)
-);
-}
-const program = "web-program-" + uuidv4();
-
-let ws;
-let send;
-function wsConnect() {
-ws = new WebSocket(window.location.origin.replace("http", "ws") + "/ws");
-send = function(s) { ws.send(s); }
-
-ws.onopen = () => {
-    document.getElementById('status').innerHTML = "<span style=background-color:seagreen;color:white;>Connnected</span>";
-
-    handleDrag();
-};
-ws.onclose = window.onbeforeunload = () => {
-    document.getElementById('status').innerHTML = "<span style=background-color:red;color:white;>Disconnnected</span>";
-
-    send(`Retract web claims {${program}} has region /something/`);
-    send(`Retract web claims {${program}} has program code /something/`);
-    setTimeout(() => { wsConnect(); }, 1000);
-};
-ws.onerror = (err) => {
-    document.getElementById('status').innerText = "Error";
-    console.error('Socket encountered error: ', err.message, 'Closing socket');
-    ws.close();
-}
-ws.onmessage = (msg) => {
-if (msg.data.startsWith("ERROR:")) {
-    const errorEl = document.getElementById("error");
-    if (msg.data == "ERROR: {}") {
-    errorEl.style.backgroundColor = "";
-    errorEl.innerText = "";
-    } else {
-    errorEl.style.backgroundColor = "#f55";
-    errorEl.innerText = msg.data;
+<html>
+    <head>
+	<style>
+	    body { overflow: hidden; }
+	</style>
+    </head>
+    <body>
+	<span id="status">Status</span>
+	<div id="dragme" style="cursor: move; position: absolute; user-select: none; background-color: #ccc; padding: 1em">
+	    <textarea id="code" cols="50" rows="20" style="font-family: monospace">Wish $this is outlined blue</textarea>
+	    <p>
+	      <button onclick="handleSave()">Save</button>
+	      <button onclick="handlePrint()">Print</button>
+	      <button id="printback" style="font-size: 50%; display: none" onclick="handlePrintBack()">Print Back</button>
+	    </p>
+	    <pre id="error"></pre>
+	</div>
+
+	<script>
+	// The current position of mouse
+	let x = 0;
+	let y = 0;
+
+	// Query the element
+	const ele = document.getElementById('dragme');
+	const codeEle = document.getElementById("code");
+
+	// Handle the mousedown event
+	// that's triggered when user drags the element
+	const mouseDownHandler = function (e) {
+	  if (e.target == codeEle) return;
+
+	  // Get the current mouse position
+	  x = e.clientX;
+	  y = e.clientY;
+
+	  // Attach the listeners to `document`
+	  document.addEventListener('pointermove', mouseMoveHandler);
+	  document.addEventListener('pointerup', mouseUpHandler);
+	};
+
+	const mouseMoveHandler = function (e) {
+	  if (e.target == codeEle) return;
+
+	  // How far the mouse has been moved
+	  const dx = e.clientX - x;
+	  const dy = e.clientY - y;
+
+	  // Set the position of element
+	  const [top, left] = [ele.offsetTop + dy, ele.offsetLeft + dx];
+	  ele.style.top = `${top}px`;
+	  ele.style.left = `${left}px`;
+	  handleDrag();
+
+	  // Reassign the position of mouse
+	  x = e.clientX;
+	  y = e.clientY;
+	};
+
+	const mouseUpHandler = function () {
+	  // Remove the handlers of `mousemove` and `mouseup`
+	  document.removeEventListener('pointermove', mouseMoveHandler);
+	  document.removeEventListener('pointerup', mouseUpHandler);
+	};
+
+	// Cmd + S || Ctrl + S => Save
+	document.addEventListener('keydown', function(e) {
+	  if ((window.navigator.platform.match('Mac') ? e.metaKey : e.ctrlKey)  && e.keyCode == 83) {
+	    e.preventDefault();
+	    handleSave();
+	  }
+	}, false);
+	// Cmd + P || Ctrl + P => Print
+	document.addEventListener('keydown', function(e) {
+	  if ((window.navigator.platform.match('Mac') ? e.metaKey : e.ctrlKey)  && e.keyCode == 80) {
+	    e.preventDefault();
+	    handlePrint();
+	  }
+	}, false);
+
+	ele.addEventListener('pointerdown', mouseDownHandler);
+
+	function uuidv4() {
+	  return ([1e7]+-1e3+-4e3+-8e3+-1e11).replace(/[018]/g, c =>
+	    (c ^ crypto.getRandomValues(new Uint8Array(1))[0] & 15 >> c / 4).toString(16)
+	  );
+	  }
+	const program = "web-program-" + uuidv4();
+
+	let ws;
+	let send;
+	function wsConnect() {
+	  ws = new WebSocket(window.location.origin.replace("http", "ws") + "/ws");
+	  send = function(s) { ws.send(s); }
+
+	  ws.onopen = () => {
+	    document.getElementById('status').innerHTML = "<span style=background-color:seagreen;color:white;>Connnected</span>";
+
+	    handleDrag();
+	  };
+	  ws.onclose = window.onbeforeunload = () => {
+	    document.getElementById('status').innerHTML = "<span style=background-color:red;color:white;>Disconnnected</span>";
+
+	    send(`Retract web claims {${program}} has region /something/`);
+	    send(`Retract web claims {${program}} has program code /something/`);
+	    setTimeout(() => { wsConnect(); }, 1000);
+	  };
+	  ws.onerror = (err) => {
+	    document.getElementById('status').innerText = "Error";
+	    console.error('Socket encountered error: ', err.message, 'Closing socket');
+	    ws.close();
+	  }
+	  ws.onmessage = (msg) => {
+	    if (msg.data.startsWith("ERROR:")) {
+	      const errorEl = document.getElementById("error");
+	      if (msg.data == "ERROR: {}") {
+		errorEl.style.backgroundColor = "";
+		errorEl.innerText = "";
+	      } else {
+		errorEl.style.backgroundColor = "#f55";
+		errorEl.innerText = msg.data;
+	      }
+	    }
+	  }
+	};
+	wsConnect();
+
+	function handleDrag() {
+	  let [top, left, w, h] = [ele.offsetTop, ele.offsetLeft, ele.offsetWidth, ele.offsetHeight];
+	  send(`
+	    set top [expr {int(double(${(top + (top/window.innerHeight) * h)}) * (double($Display::HEIGHT) / ${window.innerHeight}))}]
+	    set left [expr {int(double(${(left + (left/window.innerWidth) * w)}) * (double($Display::WIDTH) / ${window.innerWidth}))}]
+	    proc handleConfigure {program x y w h} {
+		set vertices [list [list [expr {$x+$w}] $y] \
+				   [list $x $y] \
+				   [list $x [expr {$y+$h}]] \
+				   [list [expr {$x+$w}] [expr {$y+$h}]]]
+		set edges [list [list 0 1] [list 1 2] [list 2 3] [list 3 0]]
+		Retract web claims $program has region /something/
+		Assert web claims $program has region [list $vertices $edges]
+	    }
+	    handleConfigure {${program}} $left $top {${w}} {${h}}
+	    if {$::isLaptop} { Step }
+	`);
+	}
+	function handleSave() {
+	  const code = document.getElementById("code").value;
+	  send(`
+	    Retract web claims {${program}} has program code /something/
+	    Assert web claims {${program}} has program code {${code}}
+	    if {$::isLaptop} { Step }
+	  `);
+	  setTimeout(() => {
+	    send(`list ERROR: [Statements::findMatches [list {${program}} has error /err/ with info /errorInfo/]]`);
+	  }, 500);
+	}
+	let jobid;
+	function handlePrint() {
+	  const code = document.getElementById("code").value;
+	  jobid = String(Math.random());
+	  send(`Assert web wishes to print {${code}} with job id {${jobid}}`);
+	  setTimeout(500, () => {
+	    send(`Retract web wishes to print {${code}} with job id {${jobid}}`);
+	  });
+	  document.getElementById('printback').style.display = '';
+	}
+	function handlePrintBack() {
+	  send(`Assert web wishes to print the back of job id {${jobid}}`);
+	  setTimeout(500, () => {
+	    send(`Retract web wishes to print the back of job id {${jobid}}`);
+	  });
+	}
+	</script>
+    </body>
+</html>
     }
 }
-}
-};
-wsConnect();
-
-function handleDrag() {
-let [top, left, w, h] = [ele.offsetTop, ele.offsetLeft, ele.offsetWidth, ele.offsetHeight];
-send(`
-set top [expr {int(double(${(top + (top/window.innerHeight) * h)}) * (double($Display::HEIGHT) / ${window.innerHeight}))}]
-set left [expr {int(double(${(left + (left/window.innerWidth) * w)}) * (double($Display::WIDTH) / ${window.innerWidth}))}]
-proc handleConfigure {program x y w h} {
-    set vertices [list [list $x $y] \
-                        [list [expr {$x+$w}] $y] \
-                        [list [expr {$x+$w}] [expr {$y+$h}]] \
-                        [list $x [expr {$y+$h}]]]
-    set edges [list [list 0 1] [list 1 2] [list 2 3] [list 3 0]]
-    Retract web claims $program has region /something/
-    Assert web claims $program has region [list $vertices $edges]
-}
-handleConfigure {${program}} $left $top {${w}} {${h}}
-if {$::isLaptop} { Step }
-`);
-}
-function handleSave() {
-const code = document.getElementById("code").value;
-send(`
-Retract web claims {${program}} has program code /something/
-Assert web claims {${program}} has program code {${code}}
-if {$::isLaptop} { Step }
-`);
-setTimeout(() => {
-    send(`list ERROR: [Statements::findMatches [list {${program}} has error /err/ with info /errorInfo/]]`);
-}, 500);
-}
-let jobid;
-function handlePrint() {
-const code = document.getElementById("code").value;
-jobid = String(Math.random());
-send(`Assert web wishes to print {${code}} with job id {${jobid}}`);
-setTimeout(500, () => {
-    send(`Retract web wishes to print {${code}} with job id {${jobid}}`);
-});
-document.getElementById('printback').style.display = '';
-}
-function handlePrintBack() {
-send(`Assert web wishes to print the back of job id {${jobid}}`);
-setTimeout(500, () => {
-    send(`Retract web wishes to print the back of job id {${jobid}}`);
-});
-}
-</script>
-        </body>
-        </html>
-    }
-}
\ No newline at end of file
diff --git a/virtual-programs/outline.folk b/virtual-programs/outline.folk
index 4b9d31ac..f62ab0ba 100644
--- a/virtual-programs/outline.folk
+++ b/virtual-programs/outline.folk
@@ -1,5 +1,3 @@
-Wish $this has filename "outline.folk"
-
 proc loopRegion {edges vertices weight color} {
 	foreach edge $edges {
 		set from [lindex $vertices [lindex $edge 0]]
diff --git a/virtual-programs/points-at.folk b/virtual-programs/points-at.folk
new file mode 100644
index 00000000..eb5d942b
--- /dev/null
+++ b/virtual-programs/points-at.folk
@@ -0,0 +1,47 @@
+set pi 3.1415926535897931
+
+When when /rect/ points /direction/ at /someone/ /lambda/ with environment /e/ {
+  Wish $rect points $direction
+}
+
+When /someone/ wishes /rect/ points /direction/ & /rect/ has region /region/ {
+    lassign $region vertices edges
+    lassign $vertices a b c d
+
+    set cx [expr {([lindex $a 0] + [lindex $c 0])/2}]
+    set cy [expr {([lindex $a 1] + [lindex $c 1])/2}]
+
+    set width [vec2 distance $a $b]
+    set height [vec2 distance $a $d]
+
+    set radians [lindex $region 2]
+    if {$radians eq ""} {set radians 0}
+
+    set whisker_radians $radians
+    set fac -1.0
+    set whisker_size [expr {$width * $fac}]
+
+    if {$direction eq "up"} {
+        set whisker_radians [expr {$radians + $pi / 2}]
+        set whisker_size [expr {$height * $fac}]
+    } 
+    if {$direction eq "left"} {
+        set whisker_radians [expr {$radians + $pi}]
+    } 
+    if {$direction eq "down"} {
+        set whisker_radians [expr {$radians + $pi * 1.5}]
+        set whisker_size [expr {$height * $fac}]
+    } 
+
+    set wx [expr {$cx + $whisker_size * [::tcl::mathfunc::cos [expr {-1 * $whisker_radians}]] }]
+    set wy [expr {$cy + $whisker_size * [::tcl::mathfunc::sin [expr {-1 * $whisker_radians}]] }]
+
+    Display::stroke [list [list $cx $cy] [list $wx $wy] ] 2 green
+
+    When /target/ has region /r2/ {
+        if {$target != $rect && \
+                [region contains $r2 [list $wx $wy]]} {
+            Claim $rect points $direction at $target
+        }
+    }
+}
diff --git a/virtual-programs/print.folk b/virtual-programs/print.folk
index 60eb4331..badd191f 100644
--- a/virtual-programs/print.folk
+++ b/virtual-programs/print.folk
@@ -1,5 +1,3 @@
-Wish $this has filename "print.folk"
-
 source "pi/cUtils.tcl"
 
 set cc [c create]
diff --git a/virtual-programs/process.folk b/virtual-programs/process.folk
index 520d104b..c08659f1 100644
--- a/virtual-programs/process.folk
+++ b/virtual-programs/process.folk
@@ -1,4 +1,3 @@
-Wish $this has filename "process.folk"
 When /p/ is running process /process/ & process /process/ has standard output log /log/ {
      Wish $p is labelled [join $log "\n"]
 }
diff --git a/virtual-programs/regions.folk b/virtual-programs/regions.folk
index 0f20d260..169af718 100644
--- a/virtual-programs/regions.folk
+++ b/virtual-programs/regions.folk
@@ -1,5 +1,3 @@
-Wish $this has filename "regions.folk"
-
 namespace eval ::vec2 {
     namespace import ::tcl::mathop::+ ::tcl::mathop::- ::tcl::mathop::*
     proc add {a b} {
@@ -54,7 +52,23 @@ namespace eval ::region {
         }
         set minDist
     }
-    namespace export distance
+
+    proc contains {r1 p} {
+        lassign $r1 vertices edges
+        lassign $vertices a b c d
+
+        set ab [vec2 sub $b $a]
+        set ap [vec2 sub $p $a]
+        set bc [vec2 sub $c $b]
+        set bp [vec2 sub $p $b]
+        set dot_abap [vec2 dot $ab $ap]
+        set dot_bcbp [vec2 dot $bc $bp]
+
+        expr {0 <= $dot_abap && $dot_abap <= [vec2 dot $ab $ab] && \
+                0 <= $dot_bcbp && $dot_bcbp <= [vec2 dot $bc $bc]}
+    }
+
+    namespace export distance contains
     namespace ensemble create
 }
 
diff --git a/virtual-programs/rfid/rfid-fetcher.folk b/virtual-programs/rfid/rfid-fetcher.folk
deleted file mode 100644
index 4031d26e..00000000
--- a/virtual-programs/rfid/rfid-fetcher.folk
+++ /dev/null
@@ -1,97 +0,0 @@
-Wish $this has filename "rfid/rfid-fetcher.folk"
-
-return
-On process rfid-ib-fetcher {
-    set cc [c create]
-    $cc include <complex.h>
-    $cc include <stdlib.h>
-    $cc include <sys/socket.h>
-    $cc include <arpa/inet.h>
-    $cc include <netinet/tcp.h>
-    $cc include <unistd.h>
-    $cc include <string.h>
-    $cc code {
-        typedef struct { int16_t i; int16_t q; } int16_iq_t; // iq format from radio
-        typedef float complex iq_t;
-        typedef long long freq_t;
-        typedef long long counter_t;
-        typedef struct {
-            char id[100];
-            counter_t counter;
-            int64_t timestamp_ns;
-            freq_t freq;
-
-            size_t iqcount;
-            iq_t iqs[];
-        } signal_t;
-
-        counter_t counter_when_syncing_started;
-    }
-    $cc proc fetcher_fetch {int fd} void {
-        // The role of this thread is just to continuously ingest new
-        // frames and state updates from the network, not to process them
-        // or think too hard about them. It does the same thing regardless
-        // of whether we're in syncing mode or not.
-
-        counter_t counter_wss;
-        recv(fd, &counter_wss, sizeof(counter_wss), 0);
-        counter_when_syncing_started = counter_wss;
-
-        counter_t counter; recv(fd, &counter, sizeof(counter), 0);
-        int64_t timestamp_ns; recv(fd, &timestamp_ns, sizeof(timestamp_ns), 0);
-        freq_t freq; recv(fd, &freq, sizeof(freq), 0);
-
-        uint32_t len; recv(fd, &len, sizeof(len), 0);
-        int16_iq_t *buf = (int16_iq_t *) malloc(len * sizeof(int16_iq_t));
-        uint32_t expectedsize = len * sizeof(buf[0]);
-        uint32_t recvsize = 0;
-        while (recvsize < expectedsize) {
-            ssize_t ret = recv(fd, (uint8_t *) buf + recvsize, expectedsize - recvsize, 0);
-            if (ret < 0) { perror("recv"); exit(1); }
-            if (ret == 0) {
-                // Server probably terminated. TODO: handle
-                fprintf(stderr, "Server terminated\n"); exit(1);
-            }
-            recvsize += ret;
-        }
-
-        signal_t* sig = malloc(sizeof(signal_t) + len * sizeof(int16_iq_t));
-        sig->counter = counter;
-        sig->timestamp_ns = timestamp_ns;
-        sig->freq = freq;
-        snprintf(sig->id, sizeof(sig->id), "IB %lld Hz", freq);
-
-        // what to do with sig?
-    }
-    $cc proc fetcher_main {char* host uint16_t port void* buf} void {
-        // make TCP connection to radio
-        int fd = socket(AF_INET, SOCK_STREAM, 0);
-        if (fd == -1) { perror("socket"); exit(1); }
-
-        int one = 1; setsockopt(fd, IPPROTO_TCP, TCP_NODELAY, &one, sizeof(one));
-
-        struct sockaddr_in addr;
-        addr.sin_family = AF_INET;
-        addr.sin_port = htons(port);
-        addr.sin_addr.s_addr = inet_addr(host);
-        bzero(&addr.sin_zero, 8);
-        printf("Trying to connect\n");
-        if (connect(fd, (struct sockaddr *) &addr, sizeof(addr)) == -1) {
-            perror("connect"); close(fd); exit(1);
-        }
-        printf("Connected\n");
-
-        struct timeval tv; tv.tv_sec = 1; tv.tv_usec = 0; // 1-second timeout
-        setsockopt(fd, SOL_SOCKET, SO_RCVTIMEO, (const char *) &tv, sizeof tv);
-        setsockopt(fd, SOL_SOCKET, SO_SNDTIMEO, (const char *) &tv, sizeof tv);
-
-        while (1) {
-            fetcher_fetch(fd);
-        }
-    }
-    $cc compile
-
-    # Commit {
-    #     Claim the buffers are $p
-    # }
-}
diff --git a/virtual-programs/rfid/rfid-radios.folk b/virtual-programs/rfid/rfid-radios.folk
deleted file mode 100644
index 10953b4b..00000000
--- a/virtual-programs/rfid/rfid-radios.folk
+++ /dev/null
@@ -1,10 +0,0 @@
-Wish $this has filename "rfid/rfid-radios.folk"
-return
-
-set dir "/home/folk/tag-localization"
-set cc [join [list "/home/folk/gcc-linaro-7.2.1-" \
-                  "2017.11-x86_64_arm-linux-gnueabihf/bin/" \
-                  "arm-linux-gnueabihf-gcc"] ""]
-
-Wish $this runs Unix command \
-    "make -C $dir CC=$cc -j2 run-ib run-oob"
diff --git a/virtual-programs/shapes.folk b/virtual-programs/shapes.folk
index ce19fb98..b693220e 100644
--- a/virtual-programs/shapes.folk
+++ b/virtual-programs/shapes.folk
@@ -1,5 +1,3 @@
-Wish $this has filename "shapes.folk"
-
 set sizeDict [dict create small 1 medium 4 large 10]
 
 proc isSizeWord {word} {
diff --git a/virtual-programs/sounds.folk b/virtual-programs/sounds.folk
index 7719ded4..f127fa58 100644
--- a/virtual-programs/sounds.folk
+++ b/virtual-programs/sounds.folk
@@ -1,5 +1,3 @@
-Wish $this has filename "sounds.folk"
-
 When /someone/ wishes /p/ plays sound /sound/ {
 	if {[file exists "/home/folk/sounds/$sound"]} {
 		set sound "/home/folk/sounds/$sound"
diff --git a/virtual-programs/tags-and-calibration.folk b/virtual-programs/tags-and-calibration.folk
index 4cbe5e55..fc6a4d44 100644
--- a/virtual-programs/tags-and-calibration.folk
+++ b/virtual-programs/tags-and-calibration.folk
@@ -1,5 +1,3 @@
-Wish $this has filename "tags-and-calibration.folk"
-
 if {$::isLaptop} { return }
 
 namespace eval ::Camera {
@@ -68,13 +66,13 @@ proc ::cameraToProjector {cameraPoint} {
     set Hy [expr {$Hy / $Hz}]
     return [list $Hx $Hy]
 }
+
 proc ::projectorToCamera {projectorPoint} {
     lassign [::math::linearalgebra::matmul $::Hinv [list [lindex $projectorPoint 0] [lindex $projectorPoint 1] 1]] Hinvx Hinvy Hinvz
     set Hinvx [expr {$Hinvx / $Hinvz}]
     set Hinvy [expr {$Hinvy / $Hinvz}]
     return [list $Hinvx $Hinvy]
 }
-# Wish $this is highlighted white
 
 When (non-capturing) tag /tag/ has center /c/ size /size/ {
      Claim tag $tag is a tag
@@ -94,22 +92,25 @@ When (non-capturing) tag /tag/ is a tag {
      Claim $tag has program code $code
 }
 
-
 When (non-capturing) tag /tag/ has corners /corners/ {
-    set tagcorners [lmap p $corners {::cameraToProjector $p}]
-    # foreach tagcorner $tagcorners { Display::text fb {*}$tagcorner 10 "$tag" }
-    Display::fillQuad {*}$tagcorners white
+    set tagCorners [lmap p $corners {::cameraToProjector $p}]
+    # foreach tagCorner $tagCorners { Display::text fb {*}$tagCorner 1 $tagCorner }
+    # Display::fillQuad {*}$tagCorners white
 
-    set tagbottom [sub [lindex $tagcorners 1] [lindex $tagcorners 0]]
-    set tagright [sub [lindex $tagcorners 2] [lindex $tagcorners 1]]
+    set vecBottom [sub [lindex $tagCorners 1] [lindex $tagCorners 0]]
+    set vecRight [sub [lindex $tagCorners 2] [lindex $tagCorners 1]]
 
     set offsets {{-4.7 -2.6} {1 -2.6} {1 0.8} {-4.7 0.8}}
-    set corners [add $tagcorners [matmul $offsets [list $tagbottom $tagright]]]
+    set scales [matmul $offsets [list $vecBottom $vecRight]]
+    set corners [add $tagCorners $scales]
+
     set edges [list]
     for {set i 0} {$i < [llength $corners]} {incr i} {
         if {$i > 0} { lappend edges [list [expr {$i - 1}] $i] }
     }
     lappend edges [list [expr {[llength $corners] - 1}] 0]
-    set region [list $corners $edges [::tcl::mathfunc::atan2 {*}$tagright]] 
+
+    set region [list $corners $edges [::tcl::mathfunc::atan2 {*}$vecRight]] 
+
     Claim $tag has region $region
 }
diff --git a/virtual-programs/unix-commands.folk b/virtual-programs/unix-commands.folk
index c79d266c..814fdf3c 100644
--- a/virtual-programs/unix-commands.folk
+++ b/virtual-programs/unix-commands.folk
@@ -1,5 +1,3 @@
-Wish $this has filename "unix-commands.folk"
-
 set ::unixjobs [dict create]
 set ::nextunixjobid 0
 proc ::readline {jobid channel} {
diff --git a/virtual-programs/watchdog.folk b/virtual-programs/watchdog.folk
index e8afb6b5..7316ba08 100644
--- a/virtual-programs/watchdog.folk
+++ b/virtual-programs/watchdog.folk
@@ -1,5 +1,3 @@
-Wish $this has filename "watchdog.folk"
-
 # Temporarily disabling watchdog while we work out IPC.
 return
 
diff --git a/virtual-programs/web-editor.folk b/virtual-programs/web-editor.folk
index 5b68746d..6669d9fa 100644
--- a/virtual-programs/web-editor.folk
+++ b/virtual-programs/web-editor.folk
@@ -1,99 +1,117 @@
-Wish the web server handles route {/page/(\d*)$} with handler {
-    if {[regexp -all {/page/(\d*)$} $path whole_match pageNumber]} {
-        set fp [open "../folk-printed-programs/$pageNumber.folk" r]
+Wish the web server handles route {/page/(.*)$} with handler {
+    if {[regexp -all {/page/(\d*)$} $path whole_match program_id]} {
+	set filename "../folk-printed-programs/$program_id.folk" 
+        set fp [open $filename r]
         set file_data [read $fp]
         close $fp
-        html [string map [list file_data [htmlEscape $file_data] my_page_number $pageNumber] {
-            <html>
-            <body>
-            <div>
-                <span id="status">Status</span>
-                <button onclick="handleSave()">Save</button>
-                <button onclick="handlePrint()">Print</button>
-            </div>
-            <textarea id="code" style="width: 100%;height: 95vh;">file_data</textarea>
-            <pre id="error"></pre>
-<script>
-const codeEle = document.getElementById("code");
-function uuidv4() {
-  return ([1e7]+-1e3+-4e3+-8e3+-1e11).replace(/[018]/g, c =>
-    (c ^ crypto.getRandomValues(new Uint8Array(1))[0] & 15 >> c / 4).toString(16)
-  );
-}
+    } elseif {[regexp -all {/page/(.*)$} $path whole_match program_id]} {
+	set filename "virtual-programs/$program_id.folk" 
+        set fp [open $filename r]
+        set file_data [read $fp]
+        close $fp
+    }
 
-// Cmd + S || Ctrl + S => Save
-document.addEventListener('keydown', function(e) {
-  if ((window.navigator.platform.match('Mac') ? e.metaKey : e.ctrlKey)  && e.keyCode == 83) {
-    e.preventDefault();
-    handleSave();
-  }
-}, false);
-// Cmd + P || Ctrl + P => Print
-document.addEventListener('keydown', function(e) {
-  if ((window.navigator.platform.match('Mac') ? e.metaKey : e.ctrlKey)  && e.keyCode == 80) {
-    e.preventDefault();
-    handlePrint();
-  }
-}, false);
+    html [string map [list file_data [htmlEscape $file_data] program_id $program_id file_name $filename] {
+	<html>
+	<body>
+	<div>
+	    <span id="status">Status</span>
+	    <button onclick="handleSave()">Save</button>
+	    <button id="print" onclick="handlePrint()">Print</button>
+	</div>
+	<textarea id="code" style="width: 100%;height: 95vh;">file_data</textarea>
+	<pre id="error"></pre>
+	<script>
+	  const isVirtualProgram = 'file_name'.includes('virtual-programs');
 
-let ws;
-let send;
-function wsConnect() {
-    ws = new WebSocket(window.location.origin.replace("http", "ws") + "/ws");
-    send = function(s) { ws.send(s); }
+	  if (isVirtualProgram) {
+	      document.getElementById("print").disabled = true;
+	  }
 
-    ws.onopen = () => {
-        document.getElementById('status').innerHTML = "<span style=background-color:seagreen;color:white;>Connnected</span>";
-    };
-    ws.onclose = window.onbeforeunload = () => {
-        document.getElementById('status').innerHTML = "<span style=background-color:red;color:white;>Disconnnected</span>";
+	  const codeEle = document.getElementById("code");
+	  function uuidv4() {
+	    return ([1e7]+-1e3+-4e3+-8e3+-1e11).replace(/[018]/g, c =>
+	      (c ^ crypto.getRandomValues(new Uint8Array(1))[0] & 15 >> c / 4).toString(16)
+	    );
+	  }
 
-        setTimeout(() => { wsConnect(); }, 1000);
-    };
-    ws.onerror = (err) => {
-        document.getElementById('status').innerText = "Error";
-        console.error('Socket encountered error: ', err.message, 'Closing socket');
-        ws.close();
-    }
-  ws.onmessage = (msg) => {
-    if (msg.data.startsWith("ERROR:")) {
-      const errorEl = document.getElementById("error");
-      if (msg.data == "ERROR: {}") {
-        errorEl.style.backgroundColor = "";
-        errorEl.innerText = "";
-      } else {
-        errorEl.style.backgroundColor = "#f55";
-        errorEl.innerText = msg.data;
-      }
-    }
-  }
-};
-wsConnect();
+	  // Cmd + S || Ctrl + S => Save
+	  document.addEventListener('keydown', function(e) {
+	    if ((window.navigator.platform.match('Mac') ? e.metaKey : e.ctrlKey)  && e.keyCode == 83) {
+	      e.preventDefault();
+	      handleSave();
+	    }
+	  }, false);
+	  // Cmd + P || Ctrl + P => Print
+	  document.addEventListener('keydown', function(e) {
+	    if ((window.navigator.platform.match('Mac') ? e.metaKey : e.ctrlKey)  && e.keyCode == 80) {
+	      e.preventDefault();
+	      handlePrint();
+	    }
+	  }, false);
 
-function handleSave() {
-    const code = document.getElementById("code").value;
-  send(`
-set fp [open "../folk-printed-programs/my_page_number.folk" w]
-puts -nonewline $fp {${code}}
-close $fp
-puts "Saved my_page_number.folk"
-`);
-    setTimeout(() => {
-      send(`list ERROR: [Statements::findMatches [list my_page_number has error /err/ with info /errorInfo/]]`);
-    }, 500);
-}
-let jobid;
-function handlePrint() {
-    const code = document.getElementById("code").value;
-    jobid = String(Math.random());
-    send(`Assert web wishes to print program my_page_number with code {${code}} with job id {${jobid}}`);
-    setTimeout(500, () => {
-      send(`Retract web wishes to print program my_page_number with code {${code}} with job id {${jobid}}`);
-    });
+	  let ws;
+	  let send;
+	  function wsConnect() {
+	    ws = new WebSocket(window.location.origin.replace("http", "ws") + "/ws");
+	    send = function(s) { ws.send(s); }
+
+	    ws.onopen = () => {
+	      document.getElementById('status').innerHTML = "<span style=background-color:seagreen;color:white;>Connnected</span>";
+	    };
+	    ws.onclose = window.onbeforeunload = () => {
+	      document.getElementById('status').innerHTML = "<span style=background-color:red;color:white;>Disconnnected</span>";
+	      setTimeout(() => { wsConnect(); }, 1000);
+	    };
+	    ws.onerror = (err) => {
+	      document.getElementById('status').innerText = "Error";
+	      console.error('Socket encountered error: ', err.message, 'Closing socket');
+	      ws.close();
+	    }
+	    ws.onmessage = (msg) => {
+	      if (msg.data.startsWith("ERROR:")) {
+		const errorEl = document.getElementById("error");
+		if (msg.data == "ERROR: {}") {
+		  errorEl.style.backgroundColor = "";
+		  errorEl.innerText = "";
+		} else {
+		  errorEl.style.backgroundColor = "#f55";
+		  errorEl.innerText = msg.data;
+		}
+	      }
+	    }
+	  };
+	  wsConnect();
+
+	  function handleSave() {
+	    const code = document.getElementById("code").value;
+	    send(`
+	      set fp [open file_name w]
+	      puts -nonewline $fp {${code}}
+	      close $fp
+	      puts "Saved program_id.folk"
+	    `);
+
+              if (isVirtualProgram) {
+                send(`EditVirtualProgram file_name {${code}}`)
+	    }
+
+	    setTimeout(() => {
+	      send(`list ERROR: [Statements::findMatches [list program_id has error /err/ with info /errorInfo/]]`);
+	    }, 500);
+	  }
+
+	  let jobid;
+	  function handlePrint() {
+	    const code = document.getElementById("code").value;
+	    jobid = String(Math.random());
+	    send(`Assert web wishes to print program program_id with code {${code}} with job id {${jobid}}`);
+	    setTimeout(500, () => {
+	      send(`Retract web wishes to print program program_id with code {${code}} with job id {${jobid}}`);
+	    });
+	  }
+	</script>
+	</body>
+	</html>
+    }]
 }
-</script>
-            </body>
-            </html>
-        }]
-    }
-}
\ No newline at end of file