Faster (global var sampling, not reactive) metrics

4 files changed, 14 insertions, 9 deletions

diff --git a/virtual-programs/apriltags.folk b/virtual-programs/apriltags.folk
index ac2c4f8b..8bdd415a 100644
--- a/virtual-programs/apriltags.folk
+++ b/virtual-programs/apriltags.folk
@@ -114,6 +114,7 @@ On process {
 set ::tagsCache [dict create]
 # TODO: Garbage-collect this cache.
 
+set ::aprilTime none
 When the collected matches for [list /someone/ detects tags /tags/ at /timestamp/ in time /aprilTime/] are /matches/ {
     set tagsSeen [dict create]
     foreach match $matches {
@@ -136,5 +137,6 @@ When the collected matches for [list /someone/ detects tags /tags/ at /timestamp
         Claim tag $id has center [dict get $tag center] size [dict get $tag size]
         Claim tag $id has corners [dict get $tag corners]
     }
-    Claim the AprilTag time is [lmap m $matches {dict get $m aprilTime}]
+    set ::aprilTime [lmap m $matches {dict get $m aprilTime}]
+    Claim the AprilTag time is $::aprilTime
 }
diff --git a/virtual-programs/archive/metrics.folk b/virtual-programs/archive/metrics.folk
index fe6baebd..e5389512 100644
--- a/virtual-programs/archive/metrics.folk
+++ b/virtual-programs/archive/metrics.folk
@@ -1,13 +1,13 @@
-When $::thisNode has step count /c/ & the camera time is /cameraTime/ & the AprilTag time is /aprilTime/ {
+When $::thisNode has step count /c/ {
   Wish $this is labelled [string trim "
 
 Metrics
 ----
 step count: $c
 step time: $::stepTime
-camera time: $cameraTime
-AprilTag time: $aprilTime
-display time: $::Display::displayTime
+camera time: $::cameraTime
+AprilTag time: $::aprilTime
+display time: $::displayTime
 
 "]
 }
diff --git a/virtual-programs/camera.folk b/virtual-programs/camera.folk
index 0a95c8f0..428c4195 100644
--- a/virtual-programs/camera.folk
+++ b/virtual-programs/camera.folk
@@ -29,6 +29,10 @@ On process {
     }
 }
 
+set ::cameraTime none
+When the camera time is /cameraTime/ {
+    set ::cameraTime $cameraTime
+}
 # For backward compatibility.
 When the camera frame is /grayFrame/ at /timestamp/ {
     Claim the camera frame is $grayFrame
diff --git a/virtual-programs/display.folk b/virtual-programs/display.folk
index d3f6b610..75ad5cf1 100644
--- a/virtual-programs/display.folk
+++ b/virtual-programs/display.folk
@@ -35,8 +35,6 @@ namespace eval ::Display {
     proc fillPolygon args {
         uplevel [list Wish display runs [list Display::fillPolygon {*}$args] on layer $::Display::LAYER]
     }
-
-    variable displayTime none
 }
 
 On process {
@@ -87,7 +85,8 @@ On process {
         Step
     }
 }
-# TODO: remove this compatibility hack
+
+set ::displayTime none
 When the display time is /displayTime/ {
-    set ::Display::displayTime $displayTime
+    set ::displayTime $displayTime
 }