release

core/dexter_defaults.js

@@ -24,20 +24,25 @@ Dexter.prototype.defaults_url = function(){
     return "Dexter." + this.name + ":/srv/samba/share/Defaults.make_ins"
 }
 
+Dexter.prototype.defaults_alt_url = function(){
+    return "Dexter." + this.name + ":/srv/samba/share/make_ins/Defaults.make_ins"
+}
 
-/*Gets the Defaults.make_ins file from Dexter and
-sets this.defaults_lines with an array of strings (1 string per line)
-Dexter.dexter0.defaults_read()
-Dexter.dexter0.defaults_lines
+
+/*Obsolete, pre apr 4 2024 version
+//Gets the Defaults.make_ins file from Dexter and
+// sets this.defaults_lines with an array of strings (1 string per line)
+// Dexter.dexter0.defaults_read()
+// Dexter.dexter0.defaults_lines
 //the callback is optional.
 //when set_link_lengths called defaults_read,
 //it has the callback call Dexter.prototype.start_aux
-*/
+
 Dexter.prototype.defaults_read = function(callback = null){
     let the_url = this.defaults_url()
     let the_dex_inst = this
     let normal_defaults_read_cb = (function(err, content){
-                        if(err) { //Often becuse Defaults.make_ins isn't on the Dexter.
+                        if(err) { //Often because Defaults.make_ins isn't on the Dexter.
                                   //so print a warning and use Dexter.defaults instead
                                   //and let the Job proceed
                             if (typeof(err) !== "string"){
@@ -57,11 +62,11 @@ Dexter.prototype.defaults_read = function(callback = null){
                             if (callback) {
                                 callback.call(the_dex_inst, null)
                             }
-                            /*dde_error("Dexter." + the_dex_inst.name + ".defaults_read errored with url: " +
-                                             the_url + "<br/>and error message: " +
-                                             err.message +
-                                             "<br/>You can set a Job's robot to the idealized defaults values by<br/>passing in a Job's 'get_dexter_defaults' to true.")
-                            */
+                            //dde_error("Dexter." + the_dex_inst.name + ".defaults_read errored with url: " +
+                            //                 the_url + "<br/>and error message: " +
+                            //                 err.message +
+                            //                 "<br/>You can set a Job's robot to the idealized defaults values by<br/>passing in a Job's 'get_dexter_defaults' to true.")
+
                         }
                         else {
                             try {
@@ -84,6 +89,81 @@ Dexter.prototype.defaults_read = function(callback = null){
         })
     read_file_async(the_url, undefined, normal_defaults_read_cb)
 }
+*/
+
+/* Apr 4, 2024 version
+   defaults_read: populate Dexter.defaults with the right values.
+   Never errors.
+   //Its signature is the same as pre apr 4, 2024 version
+   //except for the name of the arg.
+Algorithm:
+first try to get /s/s/s/Defaults.make_ins.
+If that doesn't exist, try to get /s/s/s/make_ins/Defaults.make_ins
+If that doesn't exist, use "default_defaults".
+If parsing one of the Defaults.make_ins files fails,
+  use the default_default.
+Once we finally set Dexter.defaults with the right values,
+call the callback to defaults_read with args: the_dex_inst, null.
+
+The 1 existing call to defaults_read is in robot.js line 2731 in
+set_link_lengths_using_node_server
+stays exactly the same: the_dexter.defaults_read(callback)
+*/
+Dexter.prototype.defaults_read = function(the_defaults_read_cb = null){
+    //the below 5 are all closed over in read_file_async_callback
+    out("Now attempting to read file: Defaults.make_ins for initializing Dexter.")
+    let make_ins_urls = [this.defaults_url(), this.defaults_alt_url()]
+    let orig_make_ins_urls = make_ins_urls.slice()//make a copy for warning messages
+    let the_dex_inst = this
+    let read_file_async_callback_container = [] //for closure self reference
+    let now_trying_make_ins_url = null
+
+    let read_file_async_callback = function(err, content) {
+        if(err){
+            warning("Failed to find: " + now_trying_make_ins_url + " due to: " + err)
+            if(make_ins_urls.length > 0){ //more urls to try
+                now_trying_make_ins_url = make_ins_urls.shift()
+                read_file_async(now_trying_make_ins_url, undefined, read_file_async_callback_container[0])
+            }
+            else { //no more urls to try so use default_defaults
+                the_dex_inst.defaults = JSON.parse(JSON.stringify(Dexter.defaults))
+                warning("Could not read any of: " + orig_make_ins_urls +
+                    "<br/>so Dexter." + the_dex_inst.name +
+                    ".defaults has been set to a copy of Dexter.defaults, the 'default defaults'."
+                )
+                if (the_defaults_read_cb) {
+                    the_defaults_read_cb.call(the_dex_inst, null)
+                }
+            }
+        }
+        else { //got good content
+            out("Found: " + now_trying_make_ins_url, "green")
+            try{
+                the_dex_inst.defaults_set_lines_from_string(content)
+                the_dex_inst.defaults_lines_to_high_level()
+            }
+            catch(err){
+                let defaults_copy = JSON.parse(JSON.stringify(Dexter.defaults))
+                the_dex_inst.defaults = defaults_copy
+                warning("Could not parse " + orig_make_ins_urls[0] +
+                        " due to:<br/>" + err.message +
+                        "<br/>so Dexter." + the_dex_inst.name +
+                        ".defaults has been set to a copy of Dexter.defaults."
+                )
+            }//end catch
+            if (the_defaults_read_cb) {
+                the_defaults_read_cb.call(the_dex_inst, null)
+            }
+        }//end else
+    } //end of read_file_async_callback def.
+
+    read_file_async_callback_container[0] = read_file_async_callback
+
+    //do the first call to read_file_async_callback
+    //the 2nd call is made within read_file_async_callback
+    now_trying_make_ins_url = make_ins_urls.shift()
+    read_file_async(now_trying_make_ins_url, undefined, read_file_async_callback)
+} //end defaults_read
 
 Dexter.prototype.defaults_write_return_string = function(){
     this.defaults_high_level_to_defaults_lines()

core/index.js

@@ -1,5 +1,5 @@
-global.dde_version = "3.9.1" //require("../package.json").version
-global.dde_release_date = "Mar 23, 2024" //require("../package.json").release_dat9
+global.dde_version = "3.9.2" //require("../package.json").version
+global.dde_release_date = "Apr 5, 2024" //require("../package.json").release_dat9
 console.log("dde_version: " + global.dde_version + " dde_release_date: " + global.dde_release_date +
             "\nRead electron_dde/core/job_engine_doc.txt for how to use the Job Engine.\n")
 
@@ -121,6 +121,7 @@ function run_shell_cmd(cmd_string, options={}, cb=run_shell_cmd_default_cb){
 var child_process = require("child_process")
 var WebSocket = require('ws')
 var fs = require('fs')
+var mathjs = require('mathjs')
 
 var Socket = require("./socket.js")
 
@@ -141,6 +142,8 @@ var {Root} = require("./object_system.js")
 var Coor   = require("../math/Coor.js")
 var Kin    = require("../math/Kin.js")
 var Vector = require("../math/Vector.js")
+var DH     = require("../math/DH.js")
+
 var {sind, cosd, tand, asind, acosd, atand, atan2d} = require("../math/Trig_in_Degrees.js")
 var Job    = require("./job.js")
 
@@ -188,6 +191,7 @@ var {Py} = require("./py.js")
 global.child_process = child_process
 global.WebSocket = WebSocket
 global.fs       = fs
+global.mathjs   = mathjs
 global.Socket   = Socket
 global.to_source_code = to_source_code
 global.keep_alive_value = false
@@ -222,6 +226,7 @@ global.Control  = Control
 global.IO       = IO
 global.Job      = Job
 global.Vector   = Vector
+global.DH       = DH
 global.Kin      = Kin
 global.FPGA     = FPGA
 

core/instruction_dexter.js

@@ -372,6 +372,60 @@ Instruction.Dexter.move_to = class move_to extends Instruction.Dexter{
     }
 }
 
+Dexter.prototype.get_dh_last_angles = function() {
+    if (!this.dh_last_angles){
+        this.dh_last_angles = [0, 0, 90, 0, 0, 0] //the default initial angles
+    }
+    return this.dh_last_angles
+}
+
+Dexter.prototype.set_dh_last_angles = function(new_last_angles) {
+    this.dh_last_angles = new_last_angles
+}
+
+Instruction.Dexter.move_to_DH = class move_to_DH extends Instruction.Dexter{
+    constructor (xyz           = [],
+                 orientation  = [
+                             [-1, 0, 0],
+                             [0, 0, 1],
+                             [0, 1, 0]
+                            ],
+                 dh_mat,
+                 robot
+    ){
+        super()
+        this.xyz         = xyz
+        this.orientation = orientation
+        this.dh_mat      = dh_mat
+        this.robot       = robot
+    }
+    do_item (job_instance){
+        if(!this.robot) { this.set_instruction_robot_from_job(job_instance) }
+        if(!this.dh_mat){
+            //total hack to make my code work:
+            //var folder = "C:/Users/james/Documents/dde_apps/2021/Code/MoveWithForce/data_set_HDI_000047/"
+            //var dh_mat = DH.parse_dh_mat_file(folder + "dh_mat.out")
+            if(this.robot.defaults && this.robot.defaults.dh_mat) {
+                this.dh_mat = this.robot.defaults.dh_mat
+            }
+            else {
+                this.dh_mat = Dexter.defaults.dh_mat
+            }
+        }
+        let old_last_angles = this.robot.get_dh_last_angles()
+        let new_last_angles = DH.inverse_kinematics(this.xyz, this.orientation, this.dh_mat, old_last_angles) //Also kind of a hack to get the code to work
+        if(Vector.max(Vector.abs(new_last_angles)) > 180){
+           //Vector.max(Vector.abs(old_last_angles))){  //in place of 180, this returns something more than Vector.max(Vector.abs(new_last_angles)) so it cauess an error. Asj James W.
+            dde_error("Dexter.move_to_DH: Kinematics Failure")
+        }
+        else {
+            this.robot.set_dh_last_angles(new_last_angles)
+            //return this.robot.move_all_joints(new_last_angles)
+            job_instance.send(make_ins("a", ...new_last_angles), this.robot)
+        }
+    }
+}
+
 Instruction.Dexter.pid_move_to = class pid_move_to extends Instruction.Dexter{
     constructor (xyz           = [],
                  J5_direction  = [0, 0, -1],

core/robot.js

@@ -2062,19 +2062,44 @@ Dexter.prototype.move_to = function(xyz            = [],
                          j7_angle,
                          this)
 }
-
-//note that a workspace_pose = null, will default to the job's default workspace_pose
 Dexter.move_to = function(xyz            = [],
-                          J5_direction   = [0, 0, -1],
-                          config         = Dexter.RIGHT_UP_OUT,
-                          workspace_pose = null,
-                          j6_angle       = [0],
-                          j7_angle       = [0],
-                          robot
-                         ){
-       return new Instruction.Dexter.move_to(xyz, J5_direction, config, workspace_pose, j6_angle, j7_angle, robot)
+                             J5_direction   = [0, 0, -1],
+                             config         = Dexter.RIGHT_UP_OUT,
+                             workspace_pose = null,
+                             j6_angle       = [0],
+                             j7_angle       = [0],
+                             robot
+){
+    return new Instruction.Dexter.move_to(xyz, J5_direction, config, workspace_pose, j6_angle, j7_angle, robot)
+}
+
+
+Dexter.prototype.move_to_DH = function(xyz              = [],
+                                       orientation = [[-1, 0, 0],
+                                                                 [0, 0, 1],
+                                                                 [0, 1, 0]
+                                                                ],
+                                       dh_mat,
+                                       robot
+                                    ) {
+    return Dexter.move_to_DH(xyz,
+        orientation,
+        dh_mat,
+        this)
+}
+
+Dexter.move_to_DH = function(xyz   = [],
+                             orientation = [[-1, 0, 0],
+                                 [0, 0, 1],
+                                 [0, 1, 0]
+                             ],
+                             dh_mat,
+                             robot
+){
+    return new Instruction.Dexter.move_to_DH(xyz, orientation, dh_mat, robot)
 }
 
+
 //the same as move_to but generates a "P" oplet
 Dexter.prototype.pid_move_to = function(xyz        = [],
                                     J5_direction   = [0, 0, -1],
@@ -2619,13 +2644,14 @@ Dexter.prototype.set_link_lengths = function(job_to_start_when_done = null) {
                 this.set_link_lengths_using_node_server(job_to_start_when_done)
             }
             else {
+                /*replaced Apr 3, 2024 with the below 2 lines. Requested by James W to help with
+                   his proxy server.
                 job_to_start_when_done.stop_for_reason("errored_from_dexter_connect",
                     "While attempting to set_link_lengths, " +
                            " can't connect to Dexter." + this.name)
-                //dde_error("Dexter." + this.name + "'s node server is not responding.<br/>" +
-                //    "Set the Job's 'get_dexter_defaults' param to false to avoid looking for Defaults.makeins file and<br/>" +
-                //    "initialize Dexter defaults to their idealized values.")
-                //this.set_link_lengths_using_job(job_to_start_when_done)
+                */
+                this.defaults = Dexter.defaults
+                this.start_aux(job_to_start_when_done)
             }
         } else { //simulating, so set to idealized values
             this.defaults = Dexter.defaults

core/storage.js

@@ -306,6 +306,7 @@ module.exports.file_content = file_content //depricated
 //and just returns the string if data happens to be a string
 //for referencing a file on dexter, path example 'Dexter.dexter0:/srv/samba/share/errors
 function read_file_async(path, encoding="utf8", callback){
+    console.log("top of read_file_async passed path of: " + path)
     let dex_instance = path_to_dexter_instance(path)
     if(dex_instance){
            //if(node_server_supports_editor(dex_instance)) {

doc/guide.html

@@ -8,8 +8,8 @@
 
 <details class="doc_details"><summary>About</summary>
     This is <a href="http://hdrobotic.com/" target="_blank">Dexter</a> Development Environment<br/>
-    version: <span id="dde_version_id">3.9.1</span><br/>
-    released: <span id="dde_release_date_id">Mar 23, 2024</span>
+    version: <span id="dde_version_id">3.9.2</span><br/>
+    released: <span id="dde_release_date_id">Apr 5, 2024</span>
     <p></p>
     DDE helps you create, debug, and send software to a Dexter robot.
     You can use any JavaScript augmented with DDE-specific functions to help find out about,

doc/known_issues.html

@@ -12,7 +12,6 @@
 <ul>
   <li>EZTeach_base.js, <code>Init_Run()</code> has not been updated yet as this is tricky.
     It is accessible from DDE menu/Insert/ezTeach, but is now broken.</li>
-  <li>Defaults.make_ins processing in DDE is new and may have some bugs in it.</li>
   <li>Sometimes, on Windows 10 computers, the editor pane won't accept typed in characters.
       Workaround: Shrink and expand the DDE window or click outside the DDE window
       then click back in it.</li>

doc/ref_man.html

@@ -6883,6 +6883,38 @@
 )  </code></pre>
 </details> <!--end move_to -->
 
+<details id="Dexter.move_to_DHdoc_id" class="doc_details"><summary>move_to_DH</summary>
+    Like <code>Dexter.move_to</code> in functionality but more acccurate since its
+    customized to the particular Dexter used.
+    <br/>
+    <i>Parameters</i><br/>
+    <b>xyz</b> An array of 3 numbers, x, y and z in meters. Required.
+    The numbers are floating point, can be negative or positive.
+    The possible range of each number depends on the other numbers.
+    The numbers will generally be > -1 and < 1.<br/>
+    <b>orientation</b> An array of length 3 whose elements are also an
+      array of length 3. The inner arrays contain elements that are either
+      -1, 0, or 1. Default:<br>
+    <code>[[-1, 0, 0],[0, 0, 1],[0, 1, 0]]</code><br/>
+    <b>dh_mat</b> An array of length 6. The elements are each arrays
+      of length 4 of floating point numbers. Normally this is automatically
+      retrieved from the Defaults.make_ins file for the specific robot.
+      This matrix is made during the calibration of the robot. It differs
+      from Dexter to Dexter because Dexters differ (very slightly) in their
+      link lengths and joint positions.<br/>
+    <i>Examples:</i>
+    <pre><code>
+new Job({name: "my_job",
+         do_list: [
+           Dexter.move_to_DH([0.1, 0.2, 0.2])
+       ]}) </code></pre>
+    <pre><code>
+new Job({name: "my_job",
+         do_list: [
+           Dexter.dexter0.move_to_DH([0.1, 0.2, 0.2])
+       ]}) </code></pre>
+</details>
+
 <details id="Dexter.move_to_relative_doc_id" class="doc_details"><summary>move_to_relative</summary>
     This instruction is similar to <code>Dexter.move_to</code> except that the passed in
     xyz array values (in meters) that are ADDED to Dexter's
@@ -8827,8 +8859,9 @@
 
 <details id="servo_doc_id" class="doc_details"><summary>Servo</summary>
     Dexter's, as of March 2024, typically have 7 joints, each with its own motor.
-    Joints 6 and 7 are different than the others. The Servo class helps
-    control the fine points of these motors.<br/>
+    Joints 6 and 7 are different than the others. They use Dynamixel servos whereas
+    the other joints use stepper motors paired with Haddongton's own optical encorders.
+    The Servo class helps control the fine points of Dynamixel servos.<br/>
     For more typical control via Job instructions, see
     <a href="#" onclick="open_doc(end_effector_instructions_doc_id)">End Effector Instructions</a>
    <!-- Here's an article comparing the two: