WIP: Rewrite peering to use shm instead of websockets

Huge performance increases, but crashy.

4 files changed, 8 insertions, 4 deletions

diff --git a/virtual-programs/apriltags.folk b/virtual-programs/apriltags.folk
index 1f38f29b..ac2c4f8b 100644
--- a/virtual-programs/apriltags.folk
+++ b/virtual-programs/apriltags.folk
@@ -102,6 +102,7 @@ On process {
         # Wish 6 is labelled "[llength $prevTags] -> [llength $tags] ($aprilTime us)"
 
         Claim $::thisProcess detects tags $tags at $timestamp in time $aprilTime
+        # Wish 6 is labelled "\n\nStep time $::stepTime\n[join [lmap s [dict values [Statements::all]] {statement short $s}] "\n"]"
     }
 }
 
diff --git a/virtual-programs/camera.folk b/virtual-programs/camera.folk
index 4f59a576..225a5880 100644
--- a/virtual-programs/camera.folk
+++ b/virtual-programs/camera.folk
@@ -20,7 +20,7 @@ On process {
 
     puts "Camera tid: [getTid] booting at [clock milliseconds]"
 
-    forever {
+    while true {
         set cameraTime [time {
             set grayFrame [Camera::grayFrame]
         }]
@@ -28,6 +28,7 @@ On process {
             Claim the camera time is $cameraTime
             Claim the camera frame is $grayFrame at [clock milliseconds]
         }
+        Step
     }
 }
 
diff --git a/virtual-programs/display.folk b/virtual-programs/display.folk
index 5e16797f..b0b878ca 100644
--- a/virtual-programs/display.folk
+++ b/virtual-programs/display.folk
@@ -60,7 +60,7 @@ On process {
         [list /someone/ claims the display time is /displayTime/]
 
     set ::frames [list]
-    forever {
+    while true {
         set displayList [list]
         foreach match [Statements::findMatches {/someone/ wishes display runs /command/ on layer /layer/}] {
             lappend displayList [list [dict get $match layer] [dict get $match command]]
@@ -93,7 +93,9 @@ On process {
             }
         }
         set frames [lreplace $frames 0 end-$framesInLastSecond]
-        Commit { Claim the display time is "render $renderTime us + commit $commitTime us ($framesInLastSecond fps)" }
+
+        Commit { Claim the display time is "render $renderTime us + commit $commitTime us ($::stepTime) ($framesInLastSecond fps)" }
+        Step
     }
 }
 # TODO: remove this compatibility hack
diff --git a/virtual-programs/time.folk b/virtual-programs/time.folk
index 961b1863..1dff734d 100644
--- a/virtual-programs/time.folk
+++ b/virtual-programs/time.folk
@@ -1,3 +1,3 @@
 When $::thisProcess has step count /t/ {
-  Claim the clock time is [/ [clock milliseconds] 1000.0]
+    Claim the clock time is [/ [clock milliseconds] 1000.0]
 }