From b52372f0d49336b16d6604014b2f66401b1ce017 Mon Sep 17 00:00:00 2001
From: Jacob Haip <jhaip@users.noreply.github.com>
Date: Sun, 23 Jul 2023 09:24:16 -0400
Subject: add support for layered drawing and use to mask tags

---
 virtual-programs/mask-tags.folk | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)
 create mode 100644 virtual-programs/mask-tags.folk

(limited to 'virtual-programs')

diff --git a/virtual-programs/mask-tags.folk b/virtual-programs/mask-tags.folk
new file mode 100644
index 00000000..4f0ae4b2
--- /dev/null
+++ b/virtual-programs/mask-tags.folk
@@ -0,0 +1,16 @@
+When tag /something/ has corners /corners/ {
+    set tagCorners [lmap p $corners {::cameraToProjector $p}]
+
+    set vecBottom [sub [lindex $tagCorners 1] [lindex $tagCorners 0]]
+    set vecRight [sub [lindex $tagCorners 2] [lindex $tagCorners 1]]
+
+    set offsets {{-0.5 -0.5} {0.5 -0.5} {0.5 0.5} {-0.5 0.5}}
+    set scales [matmul $offsets [list $vecBottom $vecRight]]
+    set corners [add $tagCorners $scales]
+
+    set p0 [lindex $corners 0]
+    set p1 [lindex $corners 1]
+    set p2 [lindex $corners 2]
+    set p3 [lindex $corners 3]
+    Display::drawOnTop Display::fillQuad $p0 $p1 $p2 $p3 black
+}
\ No newline at end of file
-- 
cgit v1.2.3


From ffa09456af9674a4dd2645b2067e9c2c3e379df3 Mon Sep 17 00:00:00 2001
From: Omar Rizwan <omar@omar.website>
Date: Thu, 10 Aug 2023 21:21:43 -0400
Subject: Move display to virtual program

Mostly to make it easier to debug the error spam, but it's nice that
it's more consistent too
---
 virtual-programs/display.folk | 83 +++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 83 insertions(+)
 create mode 100644 virtual-programs/display.folk

(limited to 'virtual-programs')

diff --git a/virtual-programs/display.folk b/virtual-programs/display.folk
new file mode 100644
index 00000000..ce7c0c2c
--- /dev/null
+++ b/virtual-programs/display.folk
@@ -0,0 +1,83 @@
+if {$::isLaptop} return
+
+namespace eval Display {
+    variable WIDTH
+    variable HEIGHT
+    variable LAYER 0
+    regexp {mode "(\d+)x(\d+)"} [exec fbset] -> WIDTH HEIGHT
+
+    proc drawOnTop {func args} {
+        set Display::LAYER 1
+        uplevel [list $func {*}$args]
+        set Display::LAYER 0
+    }
+
+    proc stroke {points width color} {
+        uplevel [list Wish display runs [list Display::stroke $points $width $color] on layer $Display::LAYER]
+    }
+
+    proc circle {x y radius thickness color} {
+        uplevel [list Wish display runs [list Display::circle $x $y $radius $thickness $color] on layer $Display::LAYER]
+    }
+
+    proc text args {
+        uplevel [list Wish display runs [list Display::text {*}$args] on layer $Display::LAYER]
+    }
+
+    proc fillTriangle args {
+        uplevel [list Wish display runs [list Display::fillTriangle {*}$args] on layer $Display::LAYER]
+    }
+
+    proc fillQuad args {
+        uplevel [list Wish display runs [list Display::fillQuad {*}$args] on layer $Display::LAYER]
+    }
+
+    proc fillPolygon args {
+        uplevel [list Wish display runs [list Display::fillPolygon {*}$args] on layer $Display::LAYER]
+    }
+
+    variable displayTime none
+}
+
+On process {
+    source pi/Display.tcl
+    Display::init
+    puts "Display tid: [getTid]"
+
+    # TODO: Clean this up. We retract these so that we don't bounce
+    # statements back to the main Folk process that it sends us.
+    Retract /anyone/ wishes $::thisProcess shares all wishes
+    Retract /anyone/ wishes $::thisProcess shares all claims
+    Wish $::thisProcess shares statements like \
+        [list /someone/ wishes /process/ receives statements like /pattern/]
+    Wish $::thisProcess shares statements like \
+        [list /someone/ claims $::thisProcess has pid /pid/]
+    Wish $::thisProcess receives statements like \
+        [list /someone/ wishes display runs /command/ on layer /layer/]
+    Wish $::thisProcess receives statements like \
+        [list /someone/ wishes display runs /command/]
+
+    forever {
+        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]]
+        }
+        foreach match [Statements::findMatches {/someone/ wishes display runs /command/}] {
+            lappend displayList [list 0 [dict get $match command]]
+        }
+
+        proc lcomp {a b} {
+            set layerA [lindex $a 0]
+            set layerB [lindex $b 0]
+            if {$layerA == $layerB} {
+                expr {[lindex $a 1 0] == "Display::text"}
+            } else {
+                expr {$layerA - $layerB}
+            }
+        }
+
+        set displayCommands [join [lmap sublist [lsort -command lcomp $displayList] {lindex $sublist 1}] "\n"]
+        append displayCommands "\ncommitThenClearStaging"
+        set displayTime [time $displayCommands]
+    }
+}
-- 
cgit v1.2.3


From 6635ab4466548a2f9e370424f17cf68c1799605d Mon Sep 17 00:00:00 2001
From: Omar Rizwan <omar@omar.website>
Date: Thu, 10 Aug 2023 21:25:17 -0400
Subject: Report display time

---
 virtual-programs/display.folk | 7 +++++++
 1 file changed, 7 insertions(+)

(limited to 'virtual-programs')

diff --git a/virtual-programs/display.folk b/virtual-programs/display.folk
index ce7c0c2c..a771b045 100644
--- a/virtual-programs/display.folk
+++ b/virtual-programs/display.folk
@@ -56,6 +56,8 @@ On process {
         [list /someone/ wishes display runs /command/ on layer /layer/]
     Wish $::thisProcess receives statements like \
         [list /someone/ wishes display runs /command/]
+    Wish $::thisProcess shares statements like \
+        [list /someone/ claims the display time is /displayTime/]
 
     forever {
         set displayList [list]
@@ -79,5 +81,10 @@ On process {
         set displayCommands [join [lmap sublist [lsort -command lcomp $displayList] {lindex $sublist 1}] "\n"]
         append displayCommands "\ncommitThenClearStaging"
         set displayTime [time $displayCommands]
+        Commit { Claim the display time is $displayTime }
     }
 }
+# TODO: remove this compatibility hack
+When the display time is /displayTime/ {
+    set ::Display::displayTime $displayTime
+}
-- 
cgit v1.2.3


From 1b887d8b53637e9c6a85a901e4e4ea3294bdddf2 Mon Sep 17 00:00:00 2001
From: Omar Rizwan <omar@omar.website>
Date: Fri, 11 Aug 2023 16:50:38 -0400
Subject: Add timestamps to camera frames

---
 virtual-programs/apriltags.folk | 61 ++++++++++++++++++++++++++++++++---------
 virtual-programs/camera.folk    | 11 ++++++--
 2 files changed, 56 insertions(+), 16 deletions(-)

(limited to 'virtual-programs')

diff --git a/virtual-programs/apriltags.folk b/virtual-programs/apriltags.folk
index 01377b78..3e95ee64 100644
--- a/virtual-programs/apriltags.folk
+++ b/virtual-programs/apriltags.folk
@@ -9,29 +9,64 @@ On process {
     Retract /anyone/ wishes $::thisProcess shares all wishes
     Retract /anyone/ wishes $::thisProcess shares all claims
     Wish $::thisProcess receives statements like \
-        [list /someone/ claims the camera frame is /grayFrame/]
+        [list /someone/ claims the camera frame is /grayFrame/ at /timestamp/]
     Wish $::thisProcess shares statements like \
         [list /someone/ wishes /process/ receives statements like /pattern/]
     Wish $::thisProcess shares statements like \
-        [list /someone/ claims tag /tag/ has center /center/ size /size/]
-    Wish $::thisProcess shares statements like \
-        [list /someone/ claims tag /tag/ has corners /corners/]
-    Wish $::thisProcess shares statements like \
-        [list /someone/ claims the AprilTag time is /aprilTime/]
+        [list /someone/ claims /process/ detects tags /tags/ at /timestamp/ in time /aprilTime/]
     Wish $::thisProcess shares statements like \
         [list /someone/ claims $::thisProcess has pid /pid/]
 
-    When the camera frame is /grayFrame/ {
+    When the camera frame is /grayFrame/ at /timestamp/ {
         set aprilTime [time {
             set tags [AprilTags::detect $grayFrame]
         }]
         Commit {
-            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]
-            }
+            Claim $::thisProcess detects tags $tags at $timestamp in time $aprilTime
         }
     }
 }
+
+When /someone/ detects tags /tags/ at /timestamp/ in time /aprilTime/ {
+    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]
+    }
+}
+
+# On process {
+#     source pi/AprilTags.tcl
+#     AprilTags::init
+
+#     # TODO: Clean this up. We retract these so that we don't bounce
+#     # statements back to the main Folk process that it sends us.
+#     Retract /anyone/ wishes $::thisProcess shares all wishes
+#     Retract /anyone/ wishes $::thisProcess shares all claims
+#     Wish $::thisProcess receives statements like \
+#         [list /someone/ claims the camera frame is /grayFrame/]
+#     Wish $::thisProcess shares statements like \
+#         [list /someone/ wishes /process/ receives statements like /pattern/]
+#     Wish $::thisProcess shares statements like \
+#         [list /someone/ claims tag /tag/ has center /center/ size /size/]
+#     Wish $::thisProcess shares statements like \
+#         [list /someone/ claims tag /tag/ has corners /corners/]
+#     Wish $::thisProcess shares statements like \
+#         [list /someone/ claims the AprilTag time is /aprilTime/]
+#     Wish $::thisProcess shares statements like \
+#         [list /someone/ claims $::thisProcess has pid /pid/]
+
+#     When the camera frame is /grayFrame/ {
+#         set aprilTime [time {
+#             set tags [AprilTags::detect $grayFrame]
+#         }]
+#         Commit {
+#             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]
+#             }
+#         }
+#     }
+# }
diff --git a/virtual-programs/camera.folk b/virtual-programs/camera.folk
index d9dab784..4f59a576 100644
--- a/virtual-programs/camera.folk
+++ b/virtual-programs/camera.folk
@@ -18,15 +18,20 @@ On process {
     source pi/Camera.tcl
     Camera::init $width $height
 
-    puts "Camera tid: [getTid]"
-    
+    puts "Camera tid: [getTid] booting at [clock milliseconds]"
+
     forever {
         set cameraTime [time {
             set grayFrame [Camera::grayFrame]
         }]
         Commit {
             Claim the camera time is $cameraTime
-            Claim the camera frame is $grayFrame
+            Claim the camera frame is $grayFrame at [clock milliseconds]
         }
     }
 }
+
+# For backward compatibility.
+When the camera frame is /grayFrame/ at /timestamp/ {
+    Claim the camera frame is $grayFrame
+}
-- 
cgit v1.2.3


From 55f9cd4cc30e4fe157419315945d083184ecb871 Mon Sep 17 00:00:00 2001
From: Omar Rizwan <omar@omar.website>
Date: Fri, 11 Aug 2023 19:47:04 -0400
Subject: Measure display fps

---
 virtual-programs/display.folk | 19 +++++++++++++++----
 1 file changed, 15 insertions(+), 4 deletions(-)

(limited to 'virtual-programs')

diff --git a/virtual-programs/display.folk b/virtual-programs/display.folk
index a771b045..b1d16be7 100644
--- a/virtual-programs/display.folk
+++ b/virtual-programs/display.folk
@@ -59,6 +59,7 @@ On process {
     Wish $::thisProcess shares statements like \
         [list /someone/ claims the display time is /displayTime/]
 
+    set ::frames [list]
     forever {
         set displayList [list]
         foreach match [Statements::findMatches {/someone/ wishes display runs /command/ on layer /layer/}] {
@@ -78,10 +79,20 @@ On process {
             }
         }
 
-        set displayCommands [join [lmap sublist [lsort -command lcomp $displayList] {lindex $sublist 1}] "\n"]
-        append displayCommands "\ncommitThenClearStaging"
-        set displayTime [time $displayCommands]
-        Commit { Claim the display time is $displayTime }
+        set displayCommands [lmap sublist [lsort -command lcomp $displayList] {lindex $sublist 1}]
+        lappend displayCommands "commitThenClearStaging"
+        set displayTime [baretime [list foreach command $displayCommands { {*}$command }]]
+
+        set inLastSecond 0
+        set now [clock milliseconds]
+        lappend frames $now
+        foreach frame $frames {
+            if {$frame > $now - 1000} {
+                incr inLastSecond
+            }
+        }
+        set frames [lreplace $frames 0 end-$inLastSecond]
+        Commit { Claim the display time is "$displayTime us ($inLastSecond fps)" }
     }
 }
 # TODO: remove this compatibility hack
-- 
cgit v1.2.3


From 13dac3dd6b3ddbd926bf240fdf9061ae7d2a4758 Mon Sep 17 00:00:00 2001
From: Omar Rizwan <omar@omar.website>
Date: Sun, 13 Aug 2023 08:34:21 -0400
Subject: Add clock time for animation

---
 virtual-programs/time.folk | 3 +++
 1 file changed, 3 insertions(+)
 create mode 100644 virtual-programs/time.folk

(limited to 'virtual-programs')

diff --git a/virtual-programs/time.folk b/virtual-programs/time.folk
new file mode 100644
index 00000000..8ce4c028
--- /dev/null
+++ b/virtual-programs/time.folk
@@ -0,0 +1,3 @@
+When $::thisProcess has step count /t/ {
+  Claim $::thisProcess has clock time [clock milliseconds]
+}
-- 
cgit v1.2.3


From bc1fc7ecb1718abb556408db88e53743df754bae Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Andr=C3=A9s=20Cuervo?= <andrescuervor@gmail.com>
Date: Sun, 13 Aug 2023 09:36:36 -0400
Subject: Update global node time to seconds

---
 virtual-programs/time.folk | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'virtual-programs')

diff --git a/virtual-programs/time.folk b/virtual-programs/time.folk
index 8ce4c028..961b1863 100644
--- a/virtual-programs/time.folk
+++ b/virtual-programs/time.folk
@@ -1,3 +1,3 @@
 When $::thisProcess has step count /t/ {
-  Claim $::thisProcess has clock time [clock milliseconds]
+  Claim the clock time is [/ [clock milliseconds] 1000.0]
 }
-- 
cgit v1.2.3


From 1484ed78971e1c6bdc0fa7995ef659bab0df027c Mon Sep 17 00:00:00 2001
From: Omar Rizwan <omar@omar.website>
Date: Sun, 13 Aug 2023 12:06:47 -0400
Subject: Region helper

---
 virtual-programs/regions.folk | 5 +++++
 1 file changed, 5 insertions(+)

(limited to 'virtual-programs')

diff --git a/virtual-programs/regions.folk b/virtual-programs/regions.folk
index 5de19b98..945fcd20 100644
--- a/virtual-programs/regions.folk
+++ b/virtual-programs/regions.folk
@@ -1,3 +1,8 @@
 When when the distance between /p1/ and /p2/ is /distanceVar/ /body/ with environment /e/ & /p1/ has region /r1/ & /p2/ has region /r2/ {
     Claim the distance between $p1 and $p2 is [region distance $r1 $r2]
 }
+
+When /someone/ wishes region /r/ is /verbed/ /x/ {
+  Claim $r has region $r
+  Wish $r is $verbed $x
+}
-- 
cgit v1.2.3


From 7d462c3bd10b29da1063c338ae66ab253a1e71d8 Mon Sep 17 00:00:00 2001
From: Omar Rizwan <omar@omar.website>
Date: Sun, 13 Aug 2023 19:26:00 -0400
Subject: display: Show render/commit split

---
 virtual-programs/display.folk | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

(limited to 'virtual-programs')

diff --git a/virtual-programs/display.folk b/virtual-programs/display.folk
index b1d16be7..d5623d10 100644
--- a/virtual-programs/display.folk
+++ b/virtual-programs/display.folk
@@ -80,8 +80,8 @@ On process {
         }
 
         set displayCommands [lmap sublist [lsort -command lcomp $displayList] {lindex $sublist 1}]
-        lappend displayCommands "commitThenClearStaging"
-        set displayTime [baretime [list foreach command $displayCommands { {*}$command }]]
+        set renderTime [baretime [list foreach command $displayCommands { {*}$command }]]
+        set commitTime [baretime commitThenClearStaging]
 
         set inLastSecond 0
         set now [clock milliseconds]
@@ -92,7 +92,7 @@ On process {
             }
         }
         set frames [lreplace $frames 0 end-$inLastSecond]
-        Commit { Claim the display time is "$displayTime us ($inLastSecond fps)" }
+        Commit { Claim the display time is "render $renderTime us + commit $commitTime us ($inLastSecond fps)" }
     }
 }
 # TODO: remove this compatibility hack
-- 
cgit v1.2.3


From 3ddc9e924e7e747f3d75501eaa8cd731d67f5e7c Mon Sep 17 00:00:00 2001
From: Omar Rizwan <omar@omar.website>
Date: Sun, 13 Aug 2023 23:07:57 -0400
Subject: More small monitoring improvements. Remote flamegraph tid

---
 virtual-programs/display.folk | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

(limited to 'virtual-programs')

diff --git a/virtual-programs/display.folk b/virtual-programs/display.folk
index d5623d10..5e16797f 100644
--- a/virtual-programs/display.folk
+++ b/virtual-programs/display.folk
@@ -80,19 +80,20 @@ On process {
         }
 
         set displayCommands [lmap sublist [lsort -command lcomp $displayList] {lindex $sublist 1}]
+
         set renderTime [baretime [list foreach command $displayCommands { {*}$command }]]
         set commitTime [baretime commitThenClearStaging]
 
-        set inLastSecond 0
+        set framesInLastSecond 0
         set now [clock milliseconds]
         lappend frames $now
         foreach frame $frames {
             if {$frame > $now - 1000} {
-                incr inLastSecond
+                incr framesInLastSecond
             }
         }
-        set frames [lreplace $frames 0 end-$inLastSecond]
-        Commit { Claim the display time is "render $renderTime us + commit $commitTime us ($inLastSecond fps)" }
+        set frames [lreplace $frames 0 end-$framesInLastSecond]
+        Commit { Claim the display time is "render $renderTime us + commit $commitTime us ($framesInLastSecond fps)" }
     }
 }
 # TODO: remove this compatibility hack
-- 
cgit v1.2.3


From 11cdb9051327c873b334284ad8409be64fc6b3e7 Mon Sep 17 00:00:00 2001
From: Omar Rizwan <omar@omar.website>
Date: Sun, 13 Aug 2023 23:08:28 -0400
Subject: WIP: Start on incremental detector. Fix stride in AprilTags

---
 virtual-programs/apriltags.folk | 107 ++++++++++++++++++++++++++++------------
 1 file changed, 75 insertions(+), 32 deletions(-)

(limited to 'virtual-programs')

diff --git a/virtual-programs/apriltags.folk b/virtual-programs/apriltags.folk
index 3e95ee64..f8b94da2 100644
--- a/virtual-programs/apriltags.folk
+++ b/virtual-programs/apriltags.folk
@@ -35,38 +35,81 @@ When /someone/ detects tags /tags/ at /timestamp/ in time /aprilTime/ {
     }
 }
 
-# On process {
-#     source pi/AprilTags.tcl
-#     AprilTags::init
+On process {
+    source pi/AprilTags.tcl
+    AprilTags::init
+
+    # TODO: Clean this up. We retract these so that we don't bounce
+    # statements back to the main Folk process that it sends us.
+    Retract /anyone/ wishes $::thisProcess shares all wishes
+    Retract /anyone/ wishes $::thisProcess shares all claims
+    Wish $::thisProcess receives statements like \
+        [list /someone/ claims the camera frame is /grayFrame/ at /timestamp/]
+    Wish $::thisProcess receives statements like \
+        [list /someone/ claims /process/ detects tags /tags/ at /timestamp/ in time /aprilTime/]
+    Wish $::thisProcess shares statements like \
+        [list /someone/ wishes /process/ receives statements like /pattern/]
+    Wish $::thisProcess shares statements like \
+        [list /someone/ claims $::thisProcess has pid /pid/]
+    Wish $::thisProcess shares statements like \
+        [list /someone/ claims $::thisProcess detects tags /tags/ at /timestamp/ in time /aprilTime/]
+    Wish $::thisProcess shares statements like \
+        [list /someone/ wishes /something/ is labelled /text/]
+    Wish $::thisProcess shares statements like \
+        [list /someone/ wishes /something/ displays camera slice /slice/]
+
+    proc subimage {im x y subwidth subheight} {
+	dict with im {
+	    set x [expr {int($x)}]
+	    set y [expr {int($y)}]
+	    set subdata [expr {$data + ($y*$width + $x) * $components}]
+	    dict create \
+		width [int $subwidth] \
+		height [int $subheight] \
+		components $components \
+		bytesPerRow $bytesPerRow \
+		data [format 0x%x $subdata]
+	}
+    }
 
-#     # TODO: Clean this up. We retract these so that we don't bounce
-#     # statements back to the main Folk process that it sends us.
-#     Retract /anyone/ wishes $::thisProcess shares all wishes
-#     Retract /anyone/ wishes $::thisProcess shares all claims
-#     Wish $::thisProcess receives statements like \
-#         [list /someone/ claims the camera frame is /grayFrame/]
-#     Wish $::thisProcess shares statements like \
-#         [list /someone/ wishes /process/ receives statements like /pattern/]
-#     Wish $::thisProcess shares statements like \
-#         [list /someone/ claims tag /tag/ has center /center/ size /size/]
-#     Wish $::thisProcess shares statements like \
-#         [list /someone/ claims tag /tag/ has corners /corners/]
-#     Wish $::thisProcess shares statements like \
-#         [list /someone/ claims the AprilTag time is /aprilTime/]
-#     Wish $::thisProcess shares statements like \
-#         [list /someone/ claims $::thisProcess has pid /pid/]
+    When the camera frame is /grayFrame/ at /timestamp/ & \
+         /process/ detects tags /prevTags/ at /something/ in time /something/ {
 
-#     When the camera frame is /grayFrame/ {
-#         set aprilTime [time {
-#             set tags [AprilTags::detect $grayFrame]
-#         }]
-#         Commit {
-#             Claim the AprilTag time is $aprilTime
+        if {$process eq $::thisProcess} { return }
 
-#             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]
-#             }
-#         }
-#     }
-# }
+        set tags [list]
+        set frameWidth [dict get $grayFrame width]
+        set frameHeight [dict get $grayFrame height]
+        set aprilTime 0
+        foreach prevTag $prevTags {
+            set size [dict get $prevTag size]
+            set corners [dict get $prevTag corners]
+            set x [min {*}[lmap corner $corners {lindex $corner 0}]]
+            set y [min {*}[lmap corner $corners {lindex $corner 1}]]
+            set x1 [max {*}[lmap corner $corners {lindex $corner 0}]]
+            set y1 [max {*}[lmap corner $corners {lindex $corner 1}]]
+            
+            set x [max [- $x $size] 0]
+            set y [max [- $y $size] 0]
+            set x1 [min [+ $x1 $size] $frameWidth]
+            set y1 [min [+ $y1 $size] $frameHeight]
+
+            set subimage [subimage $grayFrame $x $y [- $x1 $x] [- $y1 $y]]
+            Wish 6 displays camera slice $subimage
+            set aprilTime [+ $aprilTime [baretime {
+                lappend tags {*}[AprilTags::detect $subimage]
+            }]]
+        }
+
+        Wish 6 is labelled "[llength $prevTags] -> [llength $tags] ($aprilTime us)"
+
+        # Commit {
+        #     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]
+        #     }
+        # }
+    }
+}
-- 
cgit v1.2.3


From f5f8719a3d13e6dcd5efe6fac1c9d52f0d891135 Mon Sep 17 00:00:00 2001
From: Omar Rizwan <omar@omar.website>
Date: Mon, 14 Aug 2023 21:03:45 -0400
Subject: apriltags: WIP: First working incremental detector

---
 virtual-programs/apriltags.folk | 60 ++++++++++++++++++++++++-----------------
 1 file changed, 36 insertions(+), 24 deletions(-)

(limited to 'virtual-programs')

diff --git a/virtual-programs/apriltags.folk b/virtual-programs/apriltags.folk
index f8b94da2..d9557644 100644
--- a/virtual-programs/apriltags.folk
+++ b/virtual-programs/apriltags.folk
@@ -1,6 +1,7 @@
 if {$::isLaptop} return
 
-On process {
+# Plain detector. Runs on entire camera frame.
+set mainDetectorProcess [On process {
     source pi/AprilTags.tcl
     AprilTags::init
 
@@ -21,20 +22,12 @@ On process {
         set aprilTime [time {
             set tags [AprilTags::detect $grayFrame]
         }]
-        Commit {
-            Claim $::thisProcess detects tags $tags at $timestamp in time $aprilTime
-        }
+        Claim $::thisProcess detects tags $tags at $timestamp in time $aprilTime
     }
-}
-
-When /someone/ detects tags /tags/ at /timestamp/ in time /aprilTime/ {
-    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]
-    }
-}
+}]
 
+# Incremental detector. Looks at regions where there were tags in the
+# old camera frame.
 On process {
     source pi/AprilTags.tcl
     AprilTags::init
@@ -46,7 +39,7 @@ On process {
     Wish $::thisProcess receives statements like \
         [list /someone/ claims the camera frame is /grayFrame/ at /timestamp/]
     Wish $::thisProcess receives statements like \
-        [list /someone/ claims /process/ detects tags /tags/ at /timestamp/ in time /aprilTime/]
+        [list /someone/ claims $mainDetectorProcess detects tags /tags/ at /timestamp/ in time /aprilTime/]
     Wish $::thisProcess shares statements like \
         [list /someone/ wishes /process/ receives statements like /pattern/]
     Wish $::thisProcess shares statements like \
@@ -95,21 +88,40 @@ On process {
             set y1 [min [+ $y1 $size] $frameHeight]
 
             set subimage [subimage $grayFrame $x $y [- $x1 $x] [- $y1 $y]]
-            Wish 6 displays camera slice $subimage
             set aprilTime [+ $aprilTime [baretime {
-                lappend tags {*}[AprilTags::detect $subimage]
+                foreach tag [AprilTags::detect $subimage] {
+                    dict with tag {
+                        set center [vec2 add $center [list $x $y]]
+                        set corners [lmap corner $corners {vec2 add $corner [list $x $y]}]
+                    }
+                    lappend tags $tag
+                }
             }]]
         }
 
-        Wish 6 is labelled "[llength $prevTags] -> [llength $tags] ($aprilTime us)"
+        # Wish 6 is labelled "[llength $prevTags] -> [llength $tags] ($aprilTime us)"
 
-        # Commit {
-        #     Claim the AprilTag time is $aprilTime
+        Claim $::thisProcess detects tags $tags at $timestamp in time $aprilTime
+    }
+}
+
+When the collected matches for [list /someone/ detects tags /tags/ at /timestamp/ in time /aprilTime/] are /matches/ {
+    # Find all tag IDs, then find the latest for each ID.
+    # Sort by timestamp, earliest first.
+    proc mcomp {a b} {> [dict get $a timestamp] [dict get $b timestamp]}
+    set matches [lsort -command mcomp $matches]
+
+    set tagsSeen [dict create]
+    foreach match $matches {
+        set tags [dict get $match tags]
+        foreach tag $tags {
+            dict set tagsSeen [dict get $tag id] $tag
+        }
+    }
 
-        #     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]
-        #     }
-        # }
+    dict for {id tag} $tagsSeen {
+        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}]
 }
-- 
cgit v1.2.3


From cf16ae229066352c3194e8b225bdf9b996a40738 Mon Sep 17 00:00:00 2001
From: Omar Rizwan <omar@omar.website>
Date: Mon, 14 Aug 2023 22:56:16 -0400
Subject: Try to fix collect incremental

---
 virtual-programs/tags-and-calibration.folk | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

(limited to 'virtual-programs')

diff --git a/virtual-programs/tags-and-calibration.folk b/virtual-programs/tags-and-calibration.folk
index afb4aef4..b219b541 100644
--- a/virtual-programs/tags-and-calibration.folk
+++ b/virtual-programs/tags-and-calibration.folk
@@ -119,7 +119,8 @@ When (non-capturing) tag /tag/ has center /c/ size /size/ {
 }
 
 When (non-capturing) tag /tag/ is a tag {
-     puts "Added tag $tag"
+    puts "Added tag $tag"
+    On unmatch { puts "Removed tag $tag" }
 
     set tempPath "$::env(HOME)/folk-printed-programs/$tag.folk.temp"
 
-- 
cgit v1.2.3


From 986aa91a7483efa686eae99d218edaf2afbded42 Mon Sep 17 00:00:00 2001
From: Omar Rizwan <omar@omar.website>
Date: Mon, 14 Aug 2023 23:49:28 -0400
Subject: Use old positions so tags move 'monotonically'

---
 virtual-programs/apriltags.folk | 28 ++++++++++++++++++++--------
 1 file changed, 20 insertions(+), 8 deletions(-)

(limited to 'virtual-programs')

diff --git a/virtual-programs/apriltags.folk b/virtual-programs/apriltags.folk
index d9557644..1f38f29b 100644
--- a/virtual-programs/apriltags.folk
+++ b/virtual-programs/apriltags.folk
@@ -105,17 +105,29 @@ On process {
     }
 }
 
-When the collected matches for [list /someone/ detects tags /tags/ at /timestamp/ in time /aprilTime/] are /matches/ {
-    # Find all tag IDs, then find the latest for each ID.
-    # Sort by timestamp, earliest first.
-    proc mcomp {a b} {> [dict get $a timestamp] [dict get $b timestamp]}
-    set matches [lsort -command mcomp $matches]
+# This cache is used to remember the last seen position of each tag,
+# so that if the incremental detector blinks out, we still use the
+# tag's last-found position from it, instead of the older position
+# from the full detector, so as you move a tag its position doesn't
+# glitch backward.
+set ::tagsCache [dict create]
+# TODO: Garbage-collect this cache.
 
+When the collected matches for [list /someone/ detects tags /tags/ at /timestamp/ in time /aprilTime/] are /matches/ {
     set tagsSeen [dict create]
     foreach match $matches {
-        set tags [dict get $match tags]
-        foreach tag $tags {
-            dict set tagsSeen [dict get $tag id] $tag
+        set timestamp [dict get $match timestamp]
+        foreach tag [dict get $match tags] {
+            set id [dict get $tag id]
+            dict set tag timestamp $timestamp
+
+            if {[dict exists $::tagsCache $id] &&
+                [dict get $::tagsCache $id timestamp] > $timestamp} {
+                set tag [dict get $::tagsCache $id]
+            } else {
+                dict set ::tagsCache $id $tag
+            }
+            dict set tagsSeen $id $tag
         }
     }
 
-- 
cgit v1.2.3


From f42902b4cf694a4ec3f4f345699384ab53e32ece Mon Sep 17 00:00:00 2001
From: Omar Rizwan <omar@omar.website>
Date: Tue, 15 Aug 2023 17:14:19 -0400
Subject: WIP: Rewrite peering to use shm instead of websockets

Huge performance increases, but crashy.
---
 virtual-programs/apriltags.folk | 1 +
 virtual-programs/camera.folk    | 3 ++-
 virtual-programs/display.folk   | 6 ++++--
 virtual-programs/time.folk      | 2 +-
 4 files changed, 8 insertions(+), 4 deletions(-)

(limited to 'virtual-programs')

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]
 }
-- 
cgit v1.2.3


From 05a416ced03c9e77bf29d12f04f67d12338bfeb1 Mon Sep 17 00:00:00 2001
From: Omar Rizwan <omar@omar.website>
Date: Wed, 16 Aug 2023 13:55:23 -0400
Subject: Support wish to display images.

Make Folk allocator actually multiprocess-safe, make
drawImageTransparent support components=3, make saveAsJpeg support
components=3, add loadJpeg.
---
 virtual-programs/images.folk | 102 +++++++++++++++++++++++++++++++++++++------
 1 file changed, 89 insertions(+), 13 deletions(-)

(limited to 'virtual-programs')

diff --git a/virtual-programs/images.folk b/virtual-programs/images.folk
index 6846975e..d98c58d0 100644
--- a/virtual-programs/images.folk
+++ b/virtual-programs/images.folk
@@ -32,6 +32,7 @@ namespace eval ::image {
     defineImageType $cc
     $cc include <stdlib.h>
     $cc include <string.h>
+    $cc import ::Heap::cc folkHeapAlloc as folkHeapAlloc
 
     $cc code {
         #undef EXTERN
@@ -40,18 +41,30 @@ namespace eval ::image {
         #include <unistd.h>
 
         void 
-    jpeg(FILE* dest, uint8_t* rgb, uint32_t width, uint32_t height, int quality)
+    jpeg(FILE* dest, uint8_t* data, uint32_t components, uint32_t width, uint32_t height, int quality)
     {
-      JSAMPARRAY image;
-      image = calloc(height, sizeof (JSAMPROW));
-      for (size_t i = 0; i < height; i++) {
-        image[i] = calloc(width * 3, sizeof (JSAMPLE));
-        for (size_t j = 0; j < width; j++) {
-          image[i][j * 3 + 0] = rgb[(i * width + j)];
-          image[i][j * 3 + 1] = rgb[(i * width + j)];
-          image[i][j * 3 + 2] = rgb[(i * width + j)];
+        JSAMPARRAY image;
+        if (components == 1) {
+            image = calloc(height, sizeof (JSAMPROW));
+            for (size_t i = 0; i < height; i++) {
+                image[i] = calloc(width * 3, sizeof (JSAMPLE));
+                for (size_t j = 0; j < width; j++) {
+                    image[i][j * 3 + 0] = data[(i * width + j)];
+                    image[i][j * 3 + 1] = data[(i * width + j)];
+                    image[i][j * 3 + 2] = data[(i * width + j)];
+                }
+            }
+        } else if (components == 3) {
+            image = calloc(height, sizeof (JSAMPROW));
+            for (size_t i = 0; i < height; i++) {
+                image[i] = calloc(width * 3, sizeof (JSAMPLE));
+                for (size_t j = 0; j < width; j++) {
+                    image[i][j * 3 + 0] = data[(i * width + j) * 3];
+                    image[i][j * 3 + 1] = data[(i * width + j) * 3 + 1];
+                    image[i][j * 3 + 2] = data[(i * width + j) * 3 + 2];
+                }
+            }
         }
-      }
 
       struct jpeg_compress_struct compress;
       struct jpeg_error_mgr error;
@@ -79,9 +92,48 @@ namespace eval ::image {
     }
     $cc proc saveAsJpeg {image_t im char* filename} void {
         FILE* out = fopen(filename, "w");
-        jpeg(out, im.data, im.width, im.height, 100);
+        jpeg(out, im.data, im.components, im.width, im.height, 100);
         fclose(out);
     }
+    $cc proc loadJpeg {char* filename} image_t {
+        FILE* file = fopen(filename, "rb");
+        if (!file) {
+            fprintf(stderr, "Error opening file: %s\n", filename);
+            exit(1);
+        }
+        
+        struct jpeg_decompress_struct cinfo;
+        struct jpeg_error_mgr jerr;
+        
+        cinfo.err = jpeg_std_error(&jerr);
+        jpeg_create_decompress(&cinfo);
+        jpeg_stdio_src(&cinfo, file);
+        jpeg_read_header(&cinfo, TRUE);
+        jpeg_start_decompress(&cinfo);
+        
+        image_t ret;
+        ret.width = cinfo.output_width;
+        ret.height = cinfo.output_height;
+        ret.components = cinfo.output_components;
+        ret.bytesPerRow = ret.width * ret.components;
+        ret.data = folkHeapAlloc(ret.bytesPerRow * ret.height);
+        
+        JSAMPROW row_pointer[1];
+        while (cinfo.output_scanline < cinfo.output_height) {
+            row_pointer[0] = (JSAMPLE*)ret.data + cinfo.output_scanline * ret.bytesPerRow;
+            jpeg_read_scanlines(&cinfo, row_pointer, 1);
+        }
+        
+        jpeg_finish_decompress(&cinfo);
+        jpeg_destroy_decompress(&cinfo);
+        fclose(file);
+        
+        return ret;
+    }
+    $cc proc freeJpeg {image_t im} void {
+        // TODO: Free the JPEG.
+        // ckfree(im.data);
+    }
     $cc compile
 
     namespace export *
@@ -116,9 +168,33 @@ When when /p/ has camera slice /slice/ /lambda/ with environment /e/ {
 
 # Display a camera slice
 When /someone/ wishes /p/ displays camera slice /slice/ & /p/ has region /r/ {
-  set origin [lindex $r 0 0]
+  set center [region centroid $r]
   # set scale [expr {$Display::WIDTH / $Camera::WIDTH}]
   # Use 1x scale instead of $scale so the projected tag doesn't redetect.
   # TODO: Mask the tag out?
-  Wish display runs [list Display::image {*}$origin $slice 1]
+  Wish display runs [list Display::image {*}$center $slice 0 1]
+}
+
+When /someone/ wishes /p/ displays image /im/ {
+    # TODO: Download im if it starts with https?://
+    # Load im if it ends in .jpg or .png or .jpeg
+    if {[string match "*.jpg" $im] ||
+        [string match "*.jpeg" $im] ||
+        [string match "*.png" $im]} {
+        # TODO: Support .png
+        set path [expr {[file pathtype $im] eq "relative" ?
+                        "$::env(HOME)/folk-images/$im" :
+                        $im}]
+        set im [image loadJpeg $path]
+    }
+    When $p has region /r/ {
+        # Compute a scale for im that will fit in the region width/height
+        # Draw im with scale and rotation
+        set center [region centroid $r]
+        Wish display runs [list Display::image {*}$center $im 0 1]
+    }
+    On unmatch {
+        # HACK: Leaves time for the display to finish trying to display this.
+        after 5000 [list image freeJpeg $im]
+    }
 }
-- 
cgit v1.2.3


From 0a02f43f28cbedd7143e0855935e41f163fe9105 Mon Sep 17 00:00:00 2001
From: Omar Rizwan <omar@omar.website>
Date: Wed, 16 Aug 2023 14:26:15 -0400
Subject: Image display rotation. WIP: Breaks camera slice

---
 virtual-programs/images.folk | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'virtual-programs')

diff --git a/virtual-programs/images.folk b/virtual-programs/images.folk
index d98c58d0..09359ac6 100644
--- a/virtual-programs/images.folk
+++ b/virtual-programs/images.folk
@@ -191,7 +191,7 @@ When /someone/ wishes /p/ displays image /im/ {
         # Compute a scale for im that will fit in the region width/height
         # Draw im with scale and rotation
         set center [region centroid $r]
-        Wish display runs [list Display::image {*}$center $im 0 1]
+        Wish display runs [list Display::image {*}$center $im [region angle $r] 1]
     }
     On unmatch {
         # HACK: Leaves time for the display to finish trying to display this.
-- 
cgit v1.2.3


From b774f27f5d3b6b4b1376f586e92ee04f93b65cd4 Mon Sep 17 00:00:00 2001
From: Omar Rizwan <omar@omar.website>
Date: Wed, 16 Aug 2023 16:32:12 -0400
Subject: Fix rotation of camera slices (don't use stride)

---
 virtual-programs/images.folk | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'virtual-programs')

diff --git a/virtual-programs/images.folk b/virtual-programs/images.folk
index 09359ac6..3d5147d1 100644
--- a/virtual-programs/images.folk
+++ b/virtual-programs/images.folk
@@ -172,7 +172,7 @@ When /someone/ wishes /p/ displays camera slice /slice/ & /p/ has region /r/ {
   # set scale [expr {$Display::WIDTH / $Camera::WIDTH}]
   # Use 1x scale instead of $scale so the projected tag doesn't redetect.
   # TODO: Mask the tag out?
-  Wish display runs [list Display::image {*}$center $slice 0 1]
+    Wish display runs [list Display::image {*}$center $slice 0 1]
 }
 
 When /someone/ wishes /p/ displays image /im/ {
-- 
cgit v1.2.3


From 5c1e806009788e2fa168a63598fed549fc9550ce Mon Sep 17 00:00:00 2001
From: Omar Rizwan <omar@omar.website>
Date: Wed, 16 Aug 2023 17:43:50 -0400
Subject: Support getting images from internet, caching them

---
 virtual-programs/images.folk | 42 ++++++++++++++++++++++++++++--------------
 1 file changed, 28 insertions(+), 14 deletions(-)

(limited to 'virtual-programs')

diff --git a/virtual-programs/images.folk b/virtual-programs/images.folk
index 3d5147d1..72f62143 100644
--- a/virtual-programs/images.folk
+++ b/virtual-programs/images.folk
@@ -175,26 +175,40 @@ When /someone/ wishes /p/ displays camera slice /slice/ & /p/ has region /r/ {
     Wish display runs [list Display::image {*}$center $slice 0 1]
 }
 
+set ::imagesCache [dict create]
 When /someone/ wishes /p/ displays image /im/ {
-    # TODO: Download im if it starts with https?://
-    # Load im if it ends in .jpg or .png or .jpeg
-    if {[string match "*.jpg" $im] ||
-        [string match "*.jpeg" $im] ||
-        [string match "*.png" $im]} {
-        # TODO: Support .png
-        set path [expr {[file pathtype $im] eq "relative" ?
-                        "$::env(HOME)/folk-images/$im" :
-                        $im}]
-        set im [image loadJpeg $path]
+    if {[dict exists $::imagesCache $im]} {
+        set im [dict get $::imagesCache $im]
+    } else {
+        set impath $im
+        if {[string match "http*://*" $impath]} {
+            set im /tmp/[regsub -all {\W+} $impath "_"]
+            exec -ignorestderr curl -o$im $impath
+        }
+        if {[string match "*jpg" $im] ||
+            [string match "*jpeg" $im] ||
+            [string match "*png" $im]} {
+            # TODO: Support .png
+            set path [expr {[file pathtype $im] eq "relative" ?
+                            "$::env(HOME)/folk-images/$im" :
+                            $im}]
+            set im [image loadJpeg $path]
+            dict set ::imagesCache $impath $im
+        }
     }
     When $p has region /r/ {
         # Compute a scale for im that will fit in the region width/height
         # Draw im with scale and rotation
         set center [region centroid $r]
+        # set width [region width $r]
+        # set height [region height $r]
+        # set scale [expr {min($width / [image width $im],
+        #                      $height / [image height $im])}]
+        # Wish $p is labelled $im
         Wish display runs [list Display::image {*}$center $im [region angle $r] 1]
     }
-    On unmatch {
-        # HACK: Leaves time for the display to finish trying to display this.
-        after 5000 [list image freeJpeg $im]
-    }
+    # On unmatch {
+    #     # HACK: Leaves time for the display to finish trying to display this.
+    #     after 5000 [list image freeJpeg $im]
+    # }
 }
-- 
cgit v1.2.3


From 4a8ac7cad8176d3b508c9384408898b351c60f03 Mon Sep 17 00:00:00 2001
From: Omar Rizwan <omar@omar.website>
Date: Thu, 17 Aug 2023 11:52:46 -0400
Subject: Skip already-existing files

---
 virtual-programs/print.folk | 4 ++++
 1 file changed, 4 insertions(+)

(limited to 'virtual-programs')

diff --git a/virtual-programs/print.folk b/virtual-programs/print.folk
index badd191f..44a7d433 100644
--- a/virtual-programs/print.folk
+++ b/virtual-programs/print.folk
@@ -163,6 +163,10 @@ proc nextId {} {
         set id 0
     }
 
+    while {[file exists "$::env(HOME)/folk-printed-programs/$id.folk"]} {
+        incr id
+    }
+
     set fp [open "$::env(HOME)/folk-printed-programs/next-id.txt" w]
     puts $fp [expr {$id + 1}]
     close $fp
-- 
cgit v1.2.3


From 4fd01f6e8eacc3b63651efe3cd8e251d275f2fc9 Mon Sep 17 00:00:00 2001
From: Omar Rizwan <omar@omar.website>
Date: Thu, 17 Aug 2023 12:38:07 -0400
Subject: Factor out image load

---
 virtual-programs/images.folk | 48 ++++++++++++++++++++++++++------------------
 1 file changed, 28 insertions(+), 20 deletions(-)

(limited to 'virtual-programs')

diff --git a/virtual-programs/images.folk b/virtual-programs/images.folk
index 72f62143..c8e53951 100644
--- a/virtual-programs/images.folk
+++ b/virtual-programs/images.folk
@@ -136,6 +136,33 @@ namespace eval ::image {
     }
     $cc compile
 
+    variable imagesCache [dict create]
+    # Loads a URL or file path if passed. If passed a valid image_t,
+    # just returns that image_t.
+    proc load {im} {
+        variable imagesCache
+        if {[dict exists $imagesCache $im]} {
+            set im [dict get $imagesCache $im]
+        } else {
+            set impath $im
+            if {[string match "http*://*" $impath]} {
+                set im /tmp/[regsub -all {\W+} $impath "_"]
+                exec -ignorestderr curl -o$im $impath
+            }
+            if {[string match "*jpg" $im] ||
+                [string match "*jpeg" $im] ||
+                [string match "*png" $im]} {
+                # TODO: Support .png
+                set path [expr {[file pathtype $im] eq "relative" ?
+                                "$::env(HOME)/folk-images/$im" :
+                                $im}]
+                set im [image loadJpeg $path]
+                dict set imagesCache $impath $im
+            }
+        }
+        set im
+    }
+
     namespace export *
     namespace ensemble create
 }
@@ -175,27 +202,8 @@ When /someone/ wishes /p/ displays camera slice /slice/ & /p/ has region /r/ {
     Wish display runs [list Display::image {*}$center $slice 0 1]
 }
 
-set ::imagesCache [dict create]
 When /someone/ wishes /p/ displays image /im/ {
-    if {[dict exists $::imagesCache $im]} {
-        set im [dict get $::imagesCache $im]
-    } else {
-        set impath $im
-        if {[string match "http*://*" $impath]} {
-            set im /tmp/[regsub -all {\W+} $impath "_"]
-            exec -ignorestderr curl -o$im $impath
-        }
-        if {[string match "*jpg" $im] ||
-            [string match "*jpeg" $im] ||
-            [string match "*png" $im]} {
-            # TODO: Support .png
-            set path [expr {[file pathtype $im] eq "relative" ?
-                            "$::env(HOME)/folk-images/$im" :
-                            $im}]
-            set im [image loadJpeg $path]
-            dict set ::imagesCache $impath $im
-        }
-    }
+    set im [image load $im]
     When $p has region /r/ {
         # Compute a scale for im that will fit in the region width/height
         # Draw im with scale and rotation
-- 
cgit v1.2.3


From 42b780fd3aeb8ad6541de05eacb4e7202ccfca5e Mon Sep 17 00:00:00 2001
From: Zach Potter <zspotting@gmail.com>
Date: Sun, 20 Aug 2023 23:26:55 -0700
Subject: Rework keyboard and implement global terminal

---
 virtual-programs/terminal.folk | 170 +++++++++++++++++++++++++++++++++++++++++
 1 file changed, 170 insertions(+)
 create mode 100644 virtual-programs/terminal.folk

(limited to 'virtual-programs')

diff --git a/virtual-programs/terminal.folk b/virtual-programs/terminal.folk
new file mode 100644
index 00000000..df333d28
--- /dev/null
+++ b/virtual-programs/terminal.folk
@@ -0,0 +1,170 @@
+# Terminal
+#
+# Claim $this is a terminal
+#
+
+set cc [c create]
+$cc cflags -I./vendor/libtmt ./vendor/libtmt/tmt.c
+
+# TODO: find the right libutil.so for the system
+c loadlib /lib/aarch64-linux-gnu/libutil.so
+$cc cflags -lutil
+
+$cc include <sys/types.h>
+$cc include <stdio.h>
+$cc include <stdlib.h>
+$cc include <unistd.h>
+$cc include <pty.h>
+$cc include <fcntl.h>
+$cc include <string.h>
+$cc include <sys/time.h> ;# For gettimeofday()
+
+$cc code {
+  #include "tmt.h"
+
+  #define SHELL "/bin/bash"
+
+  #define ROWS 12
+  #define COLS 43
+  char screen[ROWS][COLS + 1];
+  int curs_r = 0;
+  int curs_c = 0;
+
+
+  #define PTYBUF 4096
+  char iobuf[PTYBUF];
+
+  TMT *vt;
+  int pty_fd;
+
+  void callback(tmt_msg_t m, TMT *vt, const void *a, void *p) {
+      const TMTSCREEN *s = tmt_screen(vt);
+
+      if (m == TMT_MSG_UPDATE) {
+        for (size_t r = 0; r < s->nline; r++){
+            if (s->lines[r]->dirty){
+                for (size_t c = 0; c < s->ncol; c++){
+                  screen[r][c] = s->lines[r]->chars[c].c;
+                }
+            }
+        }
+        tmt_clean(vt);
+      }
+  }
+
+  void initScreen() {
+    for (int r = 0; r < ROWS - 1; r++) {
+      screen[r][COLS] = '\n';
+    }
+    screen[ROWS - 1][COLS] = '\0';
+  }
+
+  void updateCursor() {
+    // Restore char under old cursor
+    const TMTSCREEN *s = tmt_screen(vt);
+    screen[curs_r][curs_c] = s->lines[curs_r]->chars[curs_c].c;
+
+    // Update new cursor
+    const TMTPOINT *c = tmt_cursor(vt);
+    curs_r = c->r;
+    curs_c = c->c;
+
+    // Replace char with cursor every other second
+    struct timeval tv;
+    gettimeofday(&tv, NULL);
+    if (tv.tv_sec % 2 == 0) {
+      screen[curs_r][curs_c] = 0xDB; // block char: █
+    }
+  }
+}
+
+$cc proc termInit {} bool {
+  if (vt != NULL) {
+    return false;
+  }
+
+  initScreen();
+  vt = tmt_open(ROWS, COLS, callback, NULL, NULL);
+
+  struct winsize ws = {.ws_row = ROWS, .ws_col = COLS};
+  pid_t pid = forkpty(&pty_fd, NULL, NULL, &ws);
+  if (pid < 0){
+    return false;
+  } else if (pid == 0){
+    setenv("TERM", "ansi", 1);
+    execl(SHELL, SHELL, NULL);
+    return true;
+  }
+
+  fcntl(pty_fd, F_SETFL, O_NONBLOCK);
+  return true;
+}
+
+$cc proc termRead {} char* {
+  ssize_t r = read(pty_fd, iobuf, PTYBUF);
+  if (r > 0) {
+    tmt_write(vt, iobuf, r);
+  }
+
+  updateCursor();
+  return (char*)screen;
+}
+
+$cc proc termWrite {char* key} void {
+  write(pty_fd, key, strlen(key));
+}
+
+$cc compile
+
+# Folk stuff...
+
+# From `man console_codes`
+set keymap [dict create \
+  ENTER     "\x0d" \
+  TAB       "\x09" \
+  BACKSPACE "\x08" \
+  DELETE    "\x7f" \
+  ESC       "\x1b" \
+  UP        "\x1b\[A" \
+  DOWN      "\x1b\[B" \
+  RIGHT     "\x1b\[C" \
+  LEFT      "\x1b\[D" \
+]
+
+proc remap {key modifiers} {
+  upvar keymap keymap
+  if {[string length $key] == 1} {
+    # Convert ctrl-A through ctrl-Z and others to terminal control characters
+    if {"ctrl" in $modifiers} {
+      set charCode [scan [string toupper $key] %c]
+      if {$charCode >= 64 && $charCode <= 95} {
+        set charCode [expr {$charCode - 64}]
+        return [format %c $charCode]
+      }
+    }
+    # All other single char keys can be passed through
+    return $key
+  }
+  if {[dict exists $keymap $key]} {
+    return [dict get $keymap $key]
+  }
+  return ""
+}
+
+When /anyone/ claims /thing/ is a terminal {
+  termInit
+
+  When /anyone/ claims key /key/ is /direction/ with modifiers /modifiers/ {
+    if {$direction != "up"} {
+      set key [remap $key $modifiers]
+      if {[string length $key] > 0} {
+        termWrite $key
+      }
+    }
+  }
+
+  When $thing has region /r/ & /node/ has step count /c/ {
+    set display [region move $r up 180px]
+    Wish region $display is labelled [termRead]
+  }
+}
-- 
cgit v1.2.3


From 18a9be88eea6ee48232ab89f1ef7b12c5e0f817b Mon Sep 17 00:00:00 2001
From: Zach Potter <zspotting@gmail.com>
Date: Mon, 21 Aug 2023 21:10:40 -0700
Subject: Move virtual terminal to lib/terminal.tcl

---
 virtual-programs/terminal.folk | 162 +++--------------------------------------
 1 file changed, 9 insertions(+), 153 deletions(-)

(limited to 'virtual-programs')

diff --git a/virtual-programs/terminal.folk b/virtual-programs/terminal.folk
index df333d28..0d4d9a7f 100644
--- a/virtual-programs/terminal.folk
+++ b/virtual-programs/terminal.folk
@@ -3,168 +3,24 @@
 # Claim $this is a terminal
 #
 
-set cc [c create]
-$cc cflags -I./vendor/libtmt ./vendor/libtmt/tmt.c
-
-# TODO: find the right libutil.so for the system
-c loadlib /lib/aarch64-linux-gnu/libutil.so
-$cc cflags -lutil
-
-$cc include <sys/types.h>
-$cc include <stdio.h>
-$cc include <stdlib.h>
-$cc include <unistd.h>
-$cc include <pty.h>
-$cc include <fcntl.h>
-$cc include <string.h>
-$cc include <sys/time.h> ;# For gettimeofday()
-
-$cc code {
-  #include "tmt.h"
-
-  #define SHELL "/bin/bash"
-
-  #define ROWS 12
-  #define COLS 43
-  char screen[ROWS][COLS + 1];
-  int curs_r = 0;
-  int curs_c = 0;
-
-
-  #define PTYBUF 4096
-  char iobuf[PTYBUF];
-
-  TMT *vt;
-  int pty_fd;
-
-  void callback(tmt_msg_t m, TMT *vt, const void *a, void *p) {
-      const TMTSCREEN *s = tmt_screen(vt);
-
-      if (m == TMT_MSG_UPDATE) {
-        for (size_t r = 0; r < s->nline; r++){
-            if (s->lines[r]->dirty){
-                for (size_t c = 0; c < s->ncol; c++){
-                  screen[r][c] = s->lines[r]->chars[c].c;
-                }
-            }
-        }
-        tmt_clean(vt);
-      }
-  }
-
-  void initScreen() {
-    for (int r = 0; r < ROWS - 1; r++) {
-      screen[r][COLS] = '\n';
-    }
-    screen[ROWS - 1][COLS] = '\0';
-  }
-
-  void updateCursor() {
-    // Restore char under old cursor
-    const TMTSCREEN *s = tmt_screen(vt);
-    screen[curs_r][curs_c] = s->lines[curs_r]->chars[curs_c].c;
-
-    // Update new cursor
-    const TMTPOINT *c = tmt_cursor(vt);
-    curs_r = c->r;
-    curs_c = c->c;
-
-    // Replace char with cursor every other second
-    struct timeval tv;
-    gettimeofday(&tv, NULL);
-    if (tv.tv_sec % 2 == 0) {
-      screen[curs_r][curs_c] = 0xDB; // block char: █
-    }
-  }
-}
-
-$cc proc termInit {} bool {
-  if (vt != NULL) {
-    return false;
-  }
-
-  initScreen();
-  vt = tmt_open(ROWS, COLS, callback, NULL, NULL);
-
-  struct winsize ws = {.ws_row = ROWS, .ws_col = COLS};
-  pid_t pid = forkpty(&pty_fd, NULL, NULL, &ws);
-  if (pid < 0){
-    return false;
-  } else if (pid == 0){
-    setenv("TERM", "ansi", 1);
-    execl(SHELL, SHELL, NULL);
-    return true;
-  }
-
-  fcntl(pty_fd, F_SETFL, O_NONBLOCK);
-  return true;
-}
-
-$cc proc termRead {} char* {
-  ssize_t r = read(pty_fd, iobuf, PTYBUF);
-  if (r > 0) {
-    tmt_write(vt, iobuf, r);
-  }
-
-  updateCursor();
-  return (char*)screen;
-}
-
-$cc proc termWrite {char* key} void {
-  write(pty_fd, key, strlen(key));
-}
-
-$cc compile
-
-# Folk stuff...
-
-# From `man console_codes`
-set keymap [dict create \
-  ENTER     "\x0d" \
-  TAB       "\x09" \
-  BACKSPACE "\x08" \
-  DELETE    "\x7f" \
-  ESC       "\x1b" \
-  UP        "\x1b\[A" \
-  DOWN      "\x1b\[B" \
-  RIGHT     "\x1b\[C" \
-  LEFT      "\x1b\[D" \
-]
-
-proc remap {key modifiers} {
-  upvar keymap keymap
-  if {[string length $key] == 1} {
-    # Convert ctrl-A through ctrl-Z and others to terminal control characters
-    if {"ctrl" in $modifiers} {
-      set charCode [scan [string toupper $key] %c]
-      if {$charCode >= 64 && $charCode <= 95} {
-        set charCode [expr {$charCode - 64}]
-        return [format %c $charCode]
-      }
-    }
-    # All other single char keys can be passed through
-    return $key
-  }
-  if {[dict exists $keymap $key]} {
-    return [dict get $keymap $key]
-  }
-  return ""
-}
+source lib/terminal.tcl
 
 When /anyone/ claims /thing/ is a terminal {
-  termInit
+  Terminal::create
+
+  # When /nobody/ claims $thing has term /x/ {
+  #   Assert $thing has term $term
+  # }
 
   When /anyone/ claims key /key/ is /direction/ with modifiers /modifiers/ {
     if {$direction != "up"} {
-      set key [remap $key $modifiers]
-      if {[string length $key] > 0} {
-        termWrite $key
-      }
+      set ctrlPressed [expr {"ctrl" in $modifiers}]
+      Terminal::write $key $ctrlPressed
     }
   }
 
   When $thing has region /r/ & /node/ has step count /c/ {
     set display [region move $r up 180px]
-    Wish region $display is labelled [termRead]
+    Wish region $display is labelled [Terminal::read]
   }
 }
-- 
cgit v1.2.3


From 00fe52037991e4a3747791518bc4968247a2c079 Mon Sep 17 00:00:00 2001
From: Zach Potter <zspotting@gmail.com>
Date: Mon, 21 Aug 2023 22:05:23 -0700
Subject: multiple terminal instances

---
 virtual-programs/terminal.folk | 28 +++++++++++++++-------------
 1 file changed, 15 insertions(+), 13 deletions(-)

(limited to 'virtual-programs')

diff --git a/virtual-programs/terminal.folk b/virtual-programs/terminal.folk
index 0d4d9a7f..ae13a080 100644
--- a/virtual-programs/terminal.folk
+++ b/virtual-programs/terminal.folk
@@ -6,21 +6,23 @@
 source lib/terminal.tcl
 
 When /anyone/ claims /thing/ is a terminal {
-  Terminal::create
-
-  # When /nobody/ claims $thing has term /x/ {
-  #   Assert $thing has term $term
-  # }
+  # First time init, so that we don't get a new instance each time the $thing is detected
+  When /nobody/ claims $thing has term /t/ {
+    Assert terminal claims $thing has term [Terminal::create]
+  }
 
-  When /anyone/ claims key /key/ is /direction/ with modifiers /modifiers/ {
-    if {$direction != "up"} {
-      set ctrlPressed [expr {"ctrl" in $modifiers}]
-      Terminal::write $key $ctrlPressed
+  When terminal claims $thing has term /term/ {
+    # TODO: all terminals share the same keyboard!
+    When /anyone/ claims key /key/ is /direction/ with modifiers /modifiers/ {
+      if {$direction != "up"} {
+        set ctrlPressed [expr {"ctrl" in $modifiers}]
+        Terminal::write $term $key $ctrlPressed
+      }
     }
-  }
 
-  When $thing has region /r/ & /node/ has step count /c/ {
-    set display [region move $r up 180px]
-    Wish region $display is labelled [Terminal::read]
+    When $thing has region /r/ & /node/ has step count /c/ {
+      set display [region move $r up 180px]
+      Wish region $display is labelled [Terminal::read $term]
+    }
   }
 }
-- 
cgit v1.2.3


From b29dbf7b3a288890ceb114d48d4ed77cdc070929 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Andr=C3=A9s=20Cuervo?= <andrescuervor@gmail.com>
Date: Thu, 24 Aug 2023 13:15:54 -0400
Subject: Left whisker color, red -> gold

---
 virtual-programs/points-at.folk | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'virtual-programs')

diff --git a/virtual-programs/points-at.folk b/virtual-programs/points-at.folk
index 1472b379..a037f98f 100644
--- a/virtual-programs/points-at.folk
+++ b/virtual-programs/points-at.folk
@@ -19,7 +19,7 @@ When /someone/ wishes /rect/ points /direction/ with length /l/ & /rect/ has reg
         set whiskerRegion [region scale $region height 0.01px width $scale]
         set whiskerRegion [region move $whiskerRegion left \
                                [vec2 distance [region right $whiskerRegion] [region left $region]]px]
-        set color red
+        set color gold
     } elseif {$direction eq "right"} {
         set whiskerRegion [region scale $region height 0.01px width $scale]
         set whiskerRegion [region move $whiskerRegion right \
-- 
cgit v1.2.3


From 7590f4424917e34c01caac722bd97ac28587bcbc Mon Sep 17 00:00:00 2001
From: Zach Potter <zspotting@gmail.com>
Date: Thu, 24 Aug 2023 22:33:57 -0700
Subject: cleanup and todos

---
 virtual-programs/terminal.folk | 27 ++++++++++++++-------------
 1 file changed, 14 insertions(+), 13 deletions(-)

(limited to 'virtual-programs')

diff --git a/virtual-programs/terminal.folk b/virtual-programs/terminal.folk
index ae13a080..4cbf6339 100644
--- a/virtual-programs/terminal.folk
+++ b/virtual-programs/terminal.folk
@@ -1,28 +1,29 @@
 # Terminal
 #
-# Claim $this is a terminal
+# Wish $this is a terminal
+# Claim $this has keyboard input
 #
 
 source lib/terminal.tcl
 
-When /anyone/ claims /thing/ is a terminal {
-  # First time init, so that we don't get a new instance each time the $thing is detected
-  When /nobody/ claims $thing has term /t/ {
-    Assert terminal claims $thing has term [Terminal::create]
+When /anyone/ wishes /thing/ is a terminal {
+  # Create a new terminal instance for this $thing only once
+  When /nobody/ claims $thing has terminal instance /term/ {
+    Assert terminal claims $thing has terminal instance [Terminal::create]
   }
 
-  When terminal claims $thing has term /term/ {
-    # TODO: all terminals share the same keyboard!
-    When /anyone/ claims key /key/ is /direction/ with modifiers /modifiers/ {
+  When terminal claims $thing has terminal instance /term/ {
+    When $thing has region /r/ & /node/ has step count /c/ {
+      set display [region move $r up 180px]
+      Wish region $display is labelled [Terminal::read $term]
+    }
+
+    When /anyone/ claims $thing has keyboard input & \
+      /anyone/ claims key /key/ is /direction/ with modifiers /modifiers/ {
       if {$direction != "up"} {
         set ctrlPressed [expr {"ctrl" in $modifiers}]
         Terminal::write $term $key $ctrlPressed
       }
     }
-
-    When $thing has region /r/ & /node/ has step count /c/ {
-      set display [region move $r up 180px]
-      Wish region $display is labelled [Terminal::read $term]
-    }
   }
 }
-- 
cgit v1.2.3


From e4af18885d38613c55b6b5928af851732e931fa7 Mon Sep 17 00:00:00 2001
From: Jacob Haip <jhaip@users.noreply.github.com>
Date: Sat, 26 Aug 2023 00:06:19 -0400
Subject: add warp image function

---
 virtual-programs/images.folk | 26 ++++++++++++++++++++++++++
 1 file changed, 26 insertions(+)

(limited to 'virtual-programs')

diff --git a/virtual-programs/images.folk b/virtual-programs/images.folk
index c8e53951..ee3988ea 100644
--- a/virtual-programs/images.folk
+++ b/virtual-programs/images.folk
@@ -95,6 +95,32 @@ namespace eval ::image {
         jpeg(out, im.data, im.components, im.width, im.height, 100);
         fclose(out);
     }
+    # Given the four corners of a region in an image, warp it to a new image of a given width and height
+    $cc proc warp {image_t im uint32_t tl_x uint32_t tl_y uint32_t tr_x uint32_t tr_y uint32_t br_x uint32_t br_y uint32_t bl_x uint32_t bl_y uint32_t output_width uint32_t output_height} image_t {
+        image_t ret;
+        ret.width = output_width;
+        ret.height = output_height;
+        ret.components = im.components;
+        ret.bytesPerRow = ret.width * ret.components;
+        ret.data = folkHeapAlloc(ret.bytesPerRow * ret.height);
+
+        for (int y = 0; y < output_height; y++) {
+            for (int x = 0; x < output_width; x++) {
+                // calculate the position in the input image
+                float u = (float)x / (float)(output_width - 1);
+                float v = (float)y / (float)(output_height - 1);
+                int input_x = tl_x + u * (int)(tr_x - tl_x) + v * (int)(bl_x - tl_x);
+                int input_y = tl_y + u * (int)(tr_y - tl_y) + v * (int)(bl_y - tl_y);
+
+                if (input_x >= 0 && input_x < im.width && input_y >= 0 && input_y < im.height) {
+                    memcpy(&ret.data[y * ret.bytesPerRow + x * ret.components],
+                        &im.data[input_y * im.bytesPerRow + input_x * im.components],
+                        im.components);
+                }
+            }
+        }
+        return ret;
+    }
     $cc proc loadJpeg {char* filename} image_t {
         FILE* file = fopen(filename, "rb");
         if (!file) {
-- 
cgit v1.2.3


From 43382a5be93b606346d5a55ab604a5d4edd08992 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Andr=C3=A9s=20Cuervo?= <andrescuervor@gmail.com>
Date: Wed, 30 Aug 2023 21:31:06 -0400
Subject: Fix esc-restart program

---
 virtual-programs/esc-restart.folk | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

(limited to 'virtual-programs')

diff --git a/virtual-programs/esc-restart.folk b/virtual-programs/esc-restart.folk
index 01a6dd94..02d66f63 100644
--- a/virtual-programs/esc-restart.folk
+++ b/virtual-programs/esc-restart.folk
@@ -1,5 +1,3 @@
-When the keyboard character log is /k/ {
-	foreach press $k {
-		if {$press eq "esc"} {exec sudo systemctl restart folk}
-	}
+When keyboard claims key /key/ is /t/ with modifiers /m/ {
+	if {[string tolower $key] == "esc"} {exec sudo systemctl restart folk}
 }
\ No newline at end of file
-- 
cgit v1.2.3


From d540c5f990b75ed80acfd0c323da052672b8bb4c Mon Sep 17 00:00:00 2001
From: Omar Rizwan <omar@omar.website>
Date: Sun, 3 Sep 2023 17:28:07 -0400
Subject: Use ::Display instead of Display for safety

---
 virtual-programs/display.folk | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

(limited to 'virtual-programs')

diff --git a/virtual-programs/display.folk b/virtual-programs/display.folk
index b0b878ca..c73b354c 100644
--- a/virtual-programs/display.folk
+++ b/virtual-programs/display.folk
@@ -1,39 +1,39 @@
 if {$::isLaptop} return
 
-namespace eval Display {
+namespace eval ::Display {
     variable WIDTH
     variable HEIGHT
     variable LAYER 0
     regexp {mode "(\d+)x(\d+)"} [exec fbset] -> WIDTH HEIGHT
 
     proc drawOnTop {func args} {
-        set Display::LAYER 1
+        set ::Display::LAYER 1
         uplevel [list $func {*}$args]
-        set Display::LAYER 0
+        set ::Display::LAYER 0
     }
 
     proc stroke {points width color} {
-        uplevel [list Wish display runs [list Display::stroke $points $width $color] on layer $Display::LAYER]
+        uplevel [list Wish display runs [list Display::stroke $points $width $color] on layer $::Display::LAYER]
     }
 
     proc circle {x y radius thickness color} {
-        uplevel [list Wish display runs [list Display::circle $x $y $radius $thickness $color] on layer $Display::LAYER]
+        uplevel [list Wish display runs [list Display::circle $x $y $radius $thickness $color] on layer $::Display::LAYER]
     }
 
     proc text args {
-        uplevel [list Wish display runs [list Display::text {*}$args] on layer $Display::LAYER]
+        uplevel [list Wish display runs [list Display::text {*}$args] on layer $::Display::LAYER]
     }
 
     proc fillTriangle args {
-        uplevel [list Wish display runs [list Display::fillTriangle {*}$args] on layer $Display::LAYER]
+        uplevel [list Wish display runs [list Display::fillTriangle {*}$args] on layer $::Display::LAYER]
     }
 
     proc fillQuad args {
-        uplevel [list Wish display runs [list Display::fillQuad {*}$args] on layer $Display::LAYER]
+        uplevel [list Wish display runs [list Display::fillQuad {*}$args] on layer $::Display::LAYER]
     }
 
     proc fillPolygon args {
-        uplevel [list Wish display runs [list Display::fillPolygon {*}$args] on layer $Display::LAYER]
+        uplevel [list Wish display runs [list Display::fillPolygon {*}$args] on layer $::Display::LAYER]
     }
 
     variable displayTime none
-- 
cgit v1.2.3


From b8b397be679c4c8329aa4a5465ad3c0e70743bb2 Mon Sep 17 00:00:00 2001
From: Zach Potter <zspotting@gmail.com>
Date: Mon, 4 Sep 2023 13:51:31 -0700
Subject: Proper escaping of keyboard keys; change esc-restart modifiers

1. Escape words in `subst` by wrapping them in a list! I took this tip from the "Generating Scripts and Lists" section of https://wiki.tcl-lang.org/page/subst

2. Change the esc-restart key from plain ESC to alt-ESC, so you can use the escape key in vim terminals.
---
 virtual-programs/esc-restart.folk | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

(limited to 'virtual-programs')

diff --git a/virtual-programs/esc-restart.folk b/virtual-programs/esc-restart.folk
index 02d66f63..ee8aa847 100644
--- a/virtual-programs/esc-restart.folk
+++ b/virtual-programs/esc-restart.folk
@@ -1,3 +1,3 @@
-When keyboard claims key /key/ is /t/ with modifiers /m/ {
-	if {[string tolower $key] == "esc"} {exec sudo systemctl restart folk}
-}
\ No newline at end of file
+When keyboard claims key ESC is down with modifiers alt {
+	exec sudo systemctl restart folk
+}
-- 
cgit v1.2.3


From 2d3b518e8db13b6cc534836d8a4125e9d49b7a25 Mon Sep 17 00:00:00 2001
From: Zach Potter <zspotting@gmail.com>
Date: Sat, 2 Sep 2023 22:00:30 -0700
Subject: A more reactive terminal

The terminal can now
- spawn with specific commands
- kill their children and clean up resources
- have dynamic rows/cols
- draw text on any region

And I added some docs, with a simple editor program!
---
 virtual-programs/terminal.folk | 89 ++++++++++++++++++++++++++++++++++--------
 1 file changed, 73 insertions(+), 16 deletions(-)

(limited to 'virtual-programs')

diff --git a/virtual-programs/terminal.folk b/virtual-programs/terminal.folk
index 4cbf6339..16741e9c 100644
--- a/virtual-programs/terminal.folk
+++ b/virtual-programs/terminal.folk
@@ -1,29 +1,86 @@
 # Terminal
 #
-# Wish $this is a terminal
-# Claim $this has keyboard input
+# Spawn terminals with any command (default "bash"):
+#   Wish $this is a terminal
+#   Wish $this is a terminal spawning "any command"
+#
+# Send keyboard events to the terminal:
+#   Claim $thing has keyboard input
+#
+# Optionally, draw the terminal on an arbitrary region:
+#   Claim $thing has terminal region $region
+#
+#
+# Example program: Tie it all together with a simple vim editor...
+#
+#   When $this points up at /target/ & /target/ has program /anything/ {
+#     Wish $this is a terminal spawning "vim ~/folk-printed-programs/$target.folk"
+#     When $this has region /r/ {
+#       Claim $this has terminal region [region move $r right 350px]
+#     }
+#     Claim $this has keyboard input
+#   }
+#
+#
+# Note: Terminals are killed after ::termExpireMs of being unmatched.
 #
 
 source lib/terminal.tcl
 
-When /anyone/ wishes /thing/ is a terminal {
-  # Create a new terminal instance for this $thing only once
-  When /nobody/ claims $thing has terminal instance /term/ {
-    Assert terminal claims $thing has terminal instance [Terminal::create]
+set ::termExpireMs [expr {10*60*1000}] ;# 10 minutes
+set ::termInstances [dict create]
+set ::termTimeouts [dict create]
+
+proc ::matchTerminal {id cmd} {
+  set termKey "$id $cmd"
+  if {$termKey ni $::termInstances} {
+    dict set ::termInstances $termKey [Terminal::create 12 43 $cmd]
   }
+  if {$termKey in $::termTimeouts} {
+    after cancel [dict get $::termTimeouts $termKey]
+    dict unset ::termTimeouts $termKey
+  }
+  dict get $::termInstances $termKey
+}
 
-  When terminal claims $thing has terminal instance /term/ {
-    When $thing has region /r/ & /node/ has step count /c/ {
-      set display [region move $r up 180px]
-      Wish region $display is labelled [Terminal::read $term]
+proc ::unmatchTerminal {id cmd} {
+  set termKey "$id $cmd"
+  dict set ::termTimeouts $termKey [
+    after $::termExpireMs "::destroyTerminal [list $termKey]"
+  ]
+}
+
+proc ::destroyTerminal {termKey} {
+  Terminal::destroy [dict get $::termInstances $termKey]
+  dict unset ::termInstances $termKey
+  dict unset ::termTimeouts $termKey
+}
+
+When /anyone/ wishes /thing/ is a terminal {
+  Wish $thing is a terminal spawning bash
+}
+
+When /thing/ has terminal region /r/ & /r/ has keyboard input {
+  Claim $thing has keyboard input
+}
+
+When /anyone/ wishes /thing/ is a terminal spawning /cmd/ {
+  set term [::matchTerminal $thing $cmd]
+  On unmatch { ::unmatchTerminal $thing $cmd }
+
+  When $::thisProcess has step count /c/ {
+    set lambda {
+      Wish region $region is labelled [Terminal::read $term]
     }
+    When $thing has terminal region /region/ $lambda
+    When /nobody/ claims $thing has terminal region /x/ & $thing has region /region/ $lambda
+  }
 
-    When /anyone/ claims $thing has keyboard input & \
-      /anyone/ claims key /key/ is /direction/ with modifiers /modifiers/ {
-      if {$direction != "up"} {
-        set ctrlPressed [expr {"ctrl" in $modifiers}]
-        Terminal::write $term $key $ctrlPressed
-      }
+  When /anyone/ claims $thing has keyboard input \
+    & /anyone/ claims key /key/ is /direction/ with modifiers /modifiers/ {
+    if {$direction != "up"} {
+      set ctrlPressed [expr {"ctrl" in $modifiers}]
+      Terminal::write $term $key $ctrlPressed
     }
   }
 }
-- 
cgit v1.2.3


From 2afdf58664d2aa2fd583115aa3d5ebb046ca6c0d Mon Sep 17 00:00:00 2001
From: Omar Rizwan <omar@omar.website>
Date: Wed, 6 Sep 2023 00:45:43 -0400
Subject: terminal: lambda -> body

---
 virtual-programs/terminal.folk | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

(limited to 'virtual-programs')

diff --git a/virtual-programs/terminal.folk b/virtual-programs/terminal.folk
index 16741e9c..3fb335b5 100644
--- a/virtual-programs/terminal.folk
+++ b/virtual-programs/terminal.folk
@@ -69,11 +69,11 @@ When /anyone/ wishes /thing/ is a terminal spawning /cmd/ {
   On unmatch { ::unmatchTerminal $thing $cmd }
 
   When $::thisProcess has step count /c/ {
-    set lambda {
+    set body {
       Wish region $region is labelled [Terminal::read $term]
     }
-    When $thing has terminal region /region/ $lambda
-    When /nobody/ claims $thing has terminal region /x/ & $thing has region /region/ $lambda
+    When $thing has terminal region /region/ $body
+    When /nobody/ claims $thing has terminal region /x/ & $thing has region /region/ $body
   }
 
   When /anyone/ claims $thing has keyboard input \
-- 
cgit v1.2.3


From 6b426aa5853d8aa4d389a36f076a8cf416a3c91c Mon Sep 17 00:00:00 2001
From: Omar Rizwan <omar@omar.website>
Date: Wed, 6 Sep 2023 02:11:46 -0400
Subject: Some peering cleanup (receive before Step); build in FPS counting

---
 virtual-programs/camera.folk  |  9 +++------
 virtual-programs/display.folk | 13 +------------
 2 files changed, 4 insertions(+), 18 deletions(-)

(limited to 'virtual-programs')

diff --git a/virtual-programs/camera.folk b/virtual-programs/camera.folk
index 225a5880..0a95c8f0 100644
--- a/virtual-programs/camera.folk
+++ b/virtual-programs/camera.folk
@@ -20,15 +20,12 @@ On process {
 
     puts "Camera tid: [getTid] booting at [clock milliseconds]"
 
-    while true {
-        set cameraTime [time {
-            set grayFrame [Camera::grayFrame]
-        }]
+    When $::thisProcess has step count /c/ {
+        set grayFrame [Camera::grayFrame]
         Commit {
-            Claim the camera time is $cameraTime
+            Claim the camera time is $::stepTime
             Claim the camera frame is $grayFrame at [clock milliseconds]
         }
-        Step
     }
 }
 
diff --git a/virtual-programs/display.folk b/virtual-programs/display.folk
index c73b354c..d3f6b610 100644
--- a/virtual-programs/display.folk
+++ b/virtual-programs/display.folk
@@ -59,7 +59,6 @@ On process {
     Wish $::thisProcess shares statements like \
         [list /someone/ claims the display time is /displayTime/]
 
-    set ::frames [list]
     while true {
         set displayList [list]
         foreach match [Statements::findMatches {/someone/ wishes display runs /command/ on layer /layer/}] {
@@ -84,17 +83,7 @@ On process {
         set renderTime [baretime [list foreach command $displayCommands { {*}$command }]]
         set commitTime [baretime commitThenClearStaging]
 
-        set framesInLastSecond 0
-        set now [clock milliseconds]
-        lappend frames $now
-        foreach frame $frames {
-            if {$frame > $now - 1000} {
-                incr framesInLastSecond
-            }
-        }
-        set frames [lreplace $frames 0 end-$framesInLastSecond]
-
-        Commit { Claim the display time is "render $renderTime us + commit $commitTime us ($::stepTime) ($framesInLastSecond fps)" }
+        Commit { Claim the display time is "render $renderTime us + commit $commitTime us ($::stepTime)" }
         Step
     }
 }
-- 
cgit v1.2.3