Merge pull request #42 from FolkComputer/osnr/camera-pipeline

Run Camera in subprocess

6 files changed, 146 insertions, 98 deletions

diff --git a/virtual-programs/camera.folk b/virtual-programs/camera.folk
new file mode 100644
index 00000000..b865392e
--- /dev/null
+++ b/virtual-programs/camera.folk
@@ -0,0 +1,37 @@
+if {$::isLaptop} return
+
+namespace eval ::Camera {
+    variable WIDTH 1280
+    variable HEIGHT 720
+}
+
+On process {
+    source pi/Camera.tcl
+    source pi/AprilTags.tcl
+    Camera::init 1280 720
+    AprilTags::init
+
+    puts "Camera tid: [getTid]"
+    
+    while true {
+        set cameraTime [time {
+            set grayFrame [Camera::grayFrame]
+        }]
+        set aprilTime [time {
+            set tags [AprilTags::detect $grayFrame]
+        }]
+        
+        Commit {
+            Claim the camera frame is $grayFrame
+
+            Claim the camera time is $cameraTime
+            Claim the AprilTag time is $aprilTime
+
+            foreach tag $tags {
+                Claim tag [dict get $tag id] has center [dict get $tag center] size [dict get $tag size]
+                Claim tag [dict get $tag id] has corners [dict get $tag corners]
+            }
+        }
+        Step
+    }
+}
diff --git a/virtual-programs/new-program-web-editor.folk b/virtual-programs/new-program-web-editor.folk
index 692b00e0..5797365b 100644
--- a/virtual-programs/new-program-web-editor.folk
+++ b/virtual-programs/new-program-web-editor.folk
@@ -113,9 +113,9 @@ Wish the web server handles route "/new" with handler {
 	    ws.close();
 	  }
 	  ws.onmessage = (msg) => {
-	    if (msg.data.startsWith("ERROR:")) {
+	    if (msg.data.startsWith("Error:")) {
 	      const errorEl = document.getElementById("error");
-	      if (msg.data == "ERROR: {}") {
+	      if (msg.data === "Error:") {
 		errorEl.style.backgroundColor = "";
 		errorEl.innerText = "";
 	      } else {
@@ -153,7 +153,10 @@ Wish the web server handles route "/new" with handler {
 	    if {$::isLaptop} { Step }
 	  `);
 	  setTimeout(() => {
-	    send(`list ERROR: [Statements::findMatches [list {${program}} has error /err/ with info /errorInfo/]]`);
+	    send(`
+set errors [Statements::findMatches [list {${program}} has error /err/ with info /errorInfo/]]
+join [list "Error:" {*}[lmap e $errors {dict get $e errorInfo}]] "\n"
+`);
 	  }, 500);
 	}
 	let jobid;
diff --git a/virtual-programs/regions.folk b/virtual-programs/regions.folk
index 1702bbfa..8f320b42 100644
--- a/virtual-programs/regions.folk
+++ b/virtual-programs/regions.folk
@@ -1,5 +1,4 @@
 namespace eval ::vec2 {
-    namespace import ::tcl::mathop::+ ::tcl::mathop::- ::tcl::mathop::*
     proc add {a b} {
         list [+ [lindex $a 0] [lindex $b 0]] [+ [lindex $a 1] [lindex $b 1]]
     }
@@ -21,8 +20,6 @@ namespace eval ::vec2 {
     proc dot {a b} {
         expr {[lindex $a 0]*[lindex $b 0] + [lindex $a 1]*[lindex $b 1]}
     }
-    namespace import ::tcl::mathfunc::max ::tcl::mathfunc::min
-    namespace import ::tcl::mathop::/
     proc distanceToLineSegment {a v w} {
         set l2 [vec2 distance $v $w]
         if {$l2 == 0.0} {
diff --git a/virtual-programs/shapes.folk b/virtual-programs/shapes.folk
index 25c615c5..e5a67fe5 100644
--- a/virtual-programs/shapes.folk
+++ b/virtual-programs/shapes.folk
@@ -68,6 +68,8 @@ When /someone/ wishes /p/ draws a /color/ /shape/ offset /offsetVector/ & /p/ ha
     set y [expr {$y + $offsetY}]
   }
 
+  # puts "drawing $shape at $x $y"
+
   set adjustedWidth [expr {$width * 0.25}]
   set x [expr { $x * 1.3}]
   set y [expr { $y * 1.25}]
diff --git a/virtual-programs/tags-and-calibration.folk b/virtual-programs/tags-and-calibration.folk
index f3155612..cf252de6 100644
--- a/virtual-programs/tags-and-calibration.folk
+++ b/virtual-programs/tags-and-calibration.folk
@@ -1,5 +1,10 @@
 if {$::isLaptop} { return }
 
+namespace eval ::Camera {
+    variable WIDTH 1280
+    variable HEIGHT 720
+}
+
 package require math::linearalgebra
 namespace import ::math::linearalgebra::add \
 	::math::linearalgebra::sub \
diff --git a/virtual-programs/web-editor.folk b/virtual-programs/web-editor.folk
index 6669d9fa..ae14f9b4 100644
--- a/virtual-programs/web-editor.folk
+++ b/virtual-programs/web-editor.folk
@@ -1,117 +1,121 @@
 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 filename "../folk-printed-programs/$program_id.folk" 
         set fp [open $filename r]
         set file_data [read $fp]
         close $fp
     } elseif {[regexp -all {/page/(.*)$} $path whole_match program_id]} {
-	set filename "virtual-programs/$program_id.folk" 
+        set filename "virtual-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] 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');
+        <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');
 
-	  if (isVirtualProgram) {
-	      document.getElementById("print").disabled = true;
-	  }
+          if (isVirtualProgram) {
+              document.getElementById("print").disabled = true;
+          }
 
-	  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)
-	    );
-	  }
+          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)
+            );
+          }
 
-	  // 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);
+          // 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);
 
-	  let ws;
-	  let send;
-	  function wsConnect() {
-	    ws = new WebSocket(window.location.origin.replace("http", "ws") + "/ws");
-	    send = function(s) { ws.send(s); }
+          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();
+            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"
-	    `);
+          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>
+            setTimeout(() => {
+              send(`
+set errors [Statements::findMatches [list program_id has error /err/ with info /errorInfo/]]
+join [list "Error:" {*}[lmap e $errors {dict get $e errorInfo}]] "\n"
+`);
+            }, 500);
+          }
+
+          let jobid;
+          function handlePrint() {
+            const code = document.getElementById("code").value;
+            jobid = String(Math.random());
+            send(`Assert web wishes to print program program_id with code {${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>
     }]
 }