Merge main

lib/folk.js

@@ -24,8 +24,8 @@ const eatBrace = (str) => {
 
     if (bc === 0) {
       return [
-        str.slice(0, i+1),
-        str.slice(i+1),
+        str.slice(0, i + 1),
+        str.slice(i + 1),
       ];
     }
   }
@@ -118,8 +118,8 @@ const loadDict = (str) => {
   if (list.length % 2 !== 0) throw new Error('uneven element count in dict');
 
   const obj = {};
-  for (let i = 0; i < list.length; i+= 2)
-    obj[list[i]] = list[i+1];
+  for (let i = 0; i < list.length; i += 2)
+    obj[list[i]] = list[i + 1];
   return obj;
 };
 
@@ -141,7 +141,7 @@ const dump = (val) => {
     return dumpString(val.toString());
   } else if (typeof val == 'object') {
     const core = Object.entries(val)
-      .map(([k, v]) => dump(k) + ' ' + dump(v)); 
+      .map(([k, v]) => dump(k) + ' ' + dump(v));
     return '{' + core.join(' ') + '}';
   }
 
@@ -170,18 +170,21 @@ class FolkWSChannel {
     this.prefix = prefix;
     this.callback = callback;
     this.ws.channels[prefix] = this;
+    this.retractKey = null;
   }
 
   stop() {
+    this.ws.ws.send(`Retract ${this.retractKey}`);
     if (this.ws.channels[this.prefix] !== this) return;
     delete this.ws.channels[this.prefix];
   }
 }
 
 class FolkWS {
-  constructor(statusEl=null, url=null) {
+  constructor(statusEl = null, url = null) {
     this.channels = {};
     this.i = 0;
+    this.assertSeq = 0;
 
     this._connect(statusEl, url);
   }
@@ -247,7 +250,12 @@ class FolkWS {
   }
   // Evaluates inside a match context dependent on the WS connection:
   async send(message) {
-    await this.evaluate(tcl`Assert when websocket $chan is connected [list {this __seq} ${message}] with environment [list $chan [incr ::__seq]]`);
+    const seqNumber = this.assertSeq++;
+    const assertBody = tcl`when websocket $chan is connected [list {this __seq} ${message}] with environment [list $chan ${seqNumber}]`;
+    await this.evaluate(`Assert ${assertBody}`);
+
+    const retractKey = assertBody;
+    return retractKey;
   }
   // Evaluates inside a persistent match context that replaces any
   // previous hold with same key:
@@ -270,36 +278,67 @@ class FolkWS {
 
   async watch(statement, callbacks) {
     const channel = this.createChannel((message) => {
-      const [ action, match, matchId ] = loadList(message);
+      const [action, match, matchId] = loadList(message);
       const callback = callbacks[action];
       callback && callback(loadDict(match), matchId);
     });
 
-    await this.send(tcl`
-      set varNamesWillBeBound [list]
-      foreach word ${statement} {
-        if {[set varName [trie scanVariable $word]] != "false"} {
+    const retractKey = await this.send(tcl`
+      # for the top level Say
+      set outerVarNames [list]
+      # for inner When's
+      set innerVarNames [list]
+      set statement ${statement}
+      set body {
+        set matches [dict create]
+        foreach varName $names {
+          set val [set $varName]
+          dict append matches $varName $val
+        }
+        emit ${channel.prefix} [list add $matches $::matchId]
+        On unmatch {
+          emit ${channel.prefix} [list remove $matches $::matchId]
+        }
+      }
+      for {set i 0} {$i < [llength $statement]} {incr i} {
+        set word [lindex $statement $i]
+        if {$word eq "&"} {
+            # Desugar this join into nested Whens.
+            set remainingStatement [lrange $statement $i+1 end]
+            set statement [lrange $statement 0 $i-1]
+            for {set j 0} {$j < [llength $remainingStatement]} {incr j} {
+                set remainingWord [lindex $remainingStatement $j]
+                if {[set varName [trie scanVariable $remainingWord]] != "false"} {
+                  if {$varName ni $statement::blanks && $varName ni $statement::negations} {
+                    if {[string range $varName 0 2] eq "..."} {
+                      set varName [string range $varName 3 end]
+                    }
+                    lappend innerVarNames $varName
+                  }
+                }
+                if {[regexp {^/([^/ ]+)/$} $remainingWord -> remainingVarName] &&
+                    $remainingVarName in $outerVarNames} {
+                    lset remainingStatement $j \\$$remainingVarName
+                }
+            }
+            set body [list When {*}$remainingStatement $body]
+            break
+        } elseif {[set varName [trie scanVariable $word]] != "false"} {
           if {$varName ni $statement::blanks && $varName ni $statement::negations} {
             if {[string range $varName 0 2] eq "..."} {
               set varName [string range $varName 3 end]
             }
-            lappend varNamesWillBeBound $varName
+            lappend outerVarNames $varName
           }
         }
       }
 
-      Say when {*}${statement} {{this names args} {
-        set matches [dict create]
-        foreach varName $names val $args {
-          dict append matches $varName $val
-        }
-
-        emit ${channel.prefix} [list add $matches $::matchId]
-        On unmatch {
-          emit ${channel.prefix} [list remove $matches $::matchId]
-        }
-      }} with environment [list $this $varNamesWillBeBound]
+      # join both variable names to be sent along the websocket in the innermost When
+      set combinedVarNames [concat $outerVarNames $innerVarNames]
+      Say when {*}$statement [list [list this names {*}$outerVarNames] $body] with environment [list $this $combinedVarNames]
     `);
+    channel.retractKey = retractKey;
+
     return channel;
   }
 }

setup.folk.default

@@ -1,6 +1,6 @@
 # Copy this file to ~/folk-live/setup.folk and edit it to make
 # changes.
 
-Assert $this wishes $::thisNode uses camera "/dev/video0" with width 1280 height 720 bufferCount 4
+Assert $this wishes $::thisNode uses camera "/dev/video0" with width 1280 height 720
 
-Assert $this wishes $::thisNode uses display 0 with swapchainPadding 1
+Assert $this wishes $::thisNode uses display 0

vendor/blobdetect/blobdetect.tcl

@@ -1,10 +1,10 @@
 namespace eval ::BlobDetect {
-    rename [c create] apc
-    apc cflags -I$::env(HOME)/apriltag $::env(HOME)/folk/vendor/blobdetect/hk.c
-    apc include <apriltag.h>
-    apc include <math.h>
-    apc include <assert.h>
-    apc code {
+    set cc [c create]
+    $cc cflags -I$::env(HOME)/apriltag $::env(HOME)/folk/vendor/blobdetect/hk.c
+    $cc include <apriltag.h>
+    $cc include <math.h>
+    $cc include <assert.h>
+    $cc code {
         int hoshen_kopelman(int **matrix, int m, int n);
 
         typedef struct {
@@ -36,6 +36,7 @@ namespace eval ::BlobDetect {
             // for(int i = 0; i < rows; i++)
             //     memset(matrix[i], 0, cols * sizeof(int));
 
+            // filter the raster into on or off
             for (int y = 0; y < im_orig->height; y++) {
                 for (int x = 0; x < im_orig->width; x++) {
                     int i = y * im_orig->stride + x;
@@ -54,6 +55,7 @@ namespace eval ::BlobDetect {
             int clusters = hoshen_kopelman(matrix,m,n);
             // printf("clusters: %d\n", clusters);
 
+            // initialize a structure 
             for (int i=0; i<clusters; i++) {
                 detected_blob_t *det = calloc(1, sizeof(detected_blob_t));
                 det->id = i;
@@ -120,9 +122,9 @@ namespace eval ::BlobDetect {
             zarray_destroy(detections);
         }
     }
-    defineImageType apc
+    defineImageType $cc
 
-    apc proc detect {image_t gray int threshold} Tcl_Obj* {
+    $cc proc detect {image_t gray int threshold} Tcl_Obj* {
         assert(gray.components == 1);
         image_u8_t im = (image_u8_t) { .width = gray.width, .height = gray.height, .stride = gray.bytesPerRow, .buf = gray.data };
 
@@ -134,7 +136,7 @@ namespace eval ::BlobDetect {
             detected_blob_t *det;
             zarray_get(detections, i, &det);
 
-            // printf("detection %3d: id %-4d\n cx %f cy %f size %d\n", i, det->id, det->c[0], det->c[1], det->size);
+            printf("detection %3d: id %-4d\n cx %f cy %f size %d\n", i, det->id, det->c[0], det->c[1], det->size);
 
             // int size = sqrt((det->p[0][0] - det->p[1][0])*(det->p[0][0] - det->p[1][0]) + (det->p[0][1] - det->p[1][1])*(det->p[0][1] - det->p[1][1]));
             int size = det->size;
@@ -154,5 +156,5 @@ namespace eval ::BlobDetect {
         return result;
     }
 
-    apc compile
+    $cc compile
 }

virtual-programs/calibrate/calibrate.folk

@@ -384,6 +384,9 @@ Wish the web server handles route "/calibrate$" with handler [list apply {{UNIT_
                                            [list /someone/ claims the default program geometry is /defaultGeom/]] 0] defaultGeom]
     fn defaultGeomGet {key} { return [string map {mm ""} [dict get $defaultGeom $key]] }
 
+    set camera [dict get [lindex [Statements::findMatches \
+                                      [list /someone/ claims camera /camera/ has width /cameraWidth/ height /cameraHeight/]] 0] camera]
+
     upvar ^html ^html
     html [csubst {
       <html>
@@ -464,15 +467,15 @@ Wish the web server handles route "/calibrate$" with handler [list apply {{UNIT_
               });
             </script>
 
-            <p>Once you start calibration, you'll see some AprilTags get automatically projected on your table. Move your board to the projected tags <strong>so that at least one projected tag sits inside the gap between printed AprilTags</strong>, wait a second for the projected tags to refit into the grid,
+            <p>Once you start calibration, you'll see some AprilTags get automatically projected on your table. Move your board to the projected tags <em>so that at least one projected tag sits inside the gap between printed AprilTags</em>, wait a second for the projected tags to refit into the grid,
           then <strong>hold the board still for a few seconds until
               the pose is recorded.</strong></p>
 
             <iframe width="560" height="315" src="https://www.youtube-nocookie.com/embed/l1liP4_yiVM?si=DqgfNKq05EPBT3hT" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" referrerpolicy="strict-origin-when-cross-origin" allowfullscreen></iframe>
 
-            <p style="font-style: italic; width: 100%; text-align: center;">Example video of Andr&eacute;s calibration the Folk0 system (playing at 2x speed).</p>
+            <p style="font-style: italic; width: 100%; text-align: center;">Example video of Andr&eacute;s calibrating the folk0 system (2x speed)</p>
 
-            <p>Are the projected tags too big to fit in the gaps between printed tags? Adjust this slider to reset & adjust the default projected tag size:
+            <p><strong>Are the projected tags too big to fit in the gaps between printed tags?</strong> Adjust this slider to reset & adjust the default projected tag size:
               <input type="range" min="10" max="100" value="100" class="slider" id="projected-tag-slider">
             </p>
             <script>
@@ -482,11 +485,69 @@ Wish the web server handles route "/calibrate$" with handler [list apply {{UNIT_
                   {*}\$::HoldDefaultModel \${scale}
                 `);
               });
+
+              function advanceCamera() {
+                cameraFrame.src = cameraFrame.src + '0'
+              }
+            </script>
+
+            <p>Use this camera preview to debug why printed and/or projected tags aren't being recognized (maybe overexposure, maybe your camera isn't in a good position): <button id="refreshButton" onclick="advanceCamera()">Refresh Preview</button> <input type="checkbox" value="true" id="auto-refresh-checkbox" checked>
+  <label for="auto-refresh-checkbox">Automatically refresh preview (May not work well during calibration)</label> </p><br> <img src="/camera-frame?0" id="cameraFrame" style="max-width: 100%"> 
+
+            <script>
+                const refreshButton = document.getElementById('refreshButton');
+                const autoRefreshCheckbox = document.getElementById('auto-refresh-checkbox');
+                setInterval(() => {
+                     if (autoRefreshCheckbox.checked) {
+                        refreshButton.click()
+                     } 
+                     console.log("checked?", autoRefreshCheckbox.checked)
+                }, 100)
             </script>
 
-          <p>Use this camera preview to debug why printed and/or projected tags aren't being recognized (maybe overexposure, maybe your camera isn't in a good position): <button onclick="cameraFrame.src = cameraFrame.src + '0'">Refresh Preview</button></p><br> <img src="/camera-frame?0" id="cameraFrame" style="max-width: 100%"> 
 
-          <p>Once you've recorded the first pose, <strong>slowly drag the board around your space</strong>, going slow enough for the projected AprilTags to catch up with the printed AprilTags and fit into the gaps on your board. When you've moved the board at least a full board-length away from the first pose, try to slant it 45 degrees or so off the table and hold it still again to capture another pose.</p>
+            <p><strong>Is the projection too bright and washing out the camera?</strong>
+            <br/>
+            Adjust camera exposure:
+                <input type="range" min="10" max="3200" value="100" class="slider" id="camera-exposure-slider">
+                <input type="number" min="1000" max="320000" step="100" value="10000" id="camera-exposure-number">μs
+            </p>
+
+            <script>
+            const slider = document.getElementById('camera-exposure-slider');
+            const numberInput = document.getElementById('camera-exposure-number');
+            let lastRefreshTimeout = null;
+
+            function updateExposure(valueInMicroseconds) {
+                const sliderValue = valueInMicroseconds / 100;
+
+                slider.value = sliderValue;
+                numberInput.value = valueInMicroseconds;
+
+                ws.hold('exposure', tcl`
+                    Wish camera $camera uses exposure time \${valueInMicroseconds} us
+                `, 'virtual-programs/calibrate/calibrate.folk');
+
+                if (lastRefreshTimeout != null) {
+                    window.clearTimeout(lastRefreshTimeout);
+                }
+                lastRefreshTimeout = setTimeout(() => { advanceCamera() }, 500);
+            }
+
+            slider.addEventListener('input', (e) => {
+                const exposureValue = Math.round(e.target.value * 100);
+                updateExposure(exposureValue);
+            });
+
+            numberInput.addEventListener('input', (e) => {
+                const exposureValue = parseInt(e.target.value);
+                updateExposure(exposureValue);
+            });
+
+            updateExposure(10000);
+            </script>
+
+          <p>Once you've recorded the first pose, <em>slowly drag the board around your space</em>, going slow enough for the projected AprilTags to catch up with the printed AprilTags and fit into the gaps on your board. When you've moved the board at least a full board-length away from the first pose, try to slant it 45 degrees or so off the table and hold it still again to capture another pose.</p>
 
           <p>Repeat this process of dragging the board around and
           capturing a new pose. You'll need to record 10 different
@@ -498,7 +559,7 @@ Wish the web server handles route "/calibrate$" with handler [list apply {{UNIT_
             <details>
               <summary>Troubleshooting</summary>
               <p>Look at ~/folk-calibration-poses to see images of the captured poses (maybe tags are distorted or washed out?).</p>
-              <p>You can try manually adjusting webcam settings if your poses are bad. (They should be immediately reflected in the camera preview once you refresh.) Folk tries to turn off autofocus by default, but you might also want to turn off autoexposure and set a manual exposure time. For example:</p>
+              <p>You can try manually adjusting webcam settings if your poses are bad. (They should be immediately reflected in the camera preview once you refresh.) Folk tries to turn off autofocus by default, and you might also want to check that your camera actually has an exposure setting and focus setting. For example:</p>
               <pre>
 \$ v4l2-ctl --device=/dev/video0 --list-ctrls
 
@@ -524,9 +585,10 @@ Camera Controls
                  focus_absolute 0x009a090a (int)    : min=0 max=250 step=5 default=0 value=30
      focus_automatic_continuous 0x009a090c (bool)   : default=1 value=0
                   zoom_absolute 0x009a090d (int)    : min=100 max=500 step=1 default=100 value=100
-\$ v4l2-ctl --device=/dev/video0 --set-ctrl=auto_exposure=1
+\$ v4l2-ctl --device=/dev/video0 --set-ctrl=auto_exposure=1 # to set them manually from terminal
 \$ v4l2-ctl --device=/dev/video0 --set-ctrl=exposure_time_absolute=25
               </pre>
+              <p>Camera needs to have auto_exposure and exposure_time_absolute settings listed for Folk to be able to set them.</p>
             </details>
           </li>
 
@@ -671,10 +733,6 @@ When camera /camera/ has width /cameraWidth/ height /cameraHeight/ &\
         # TODO: restore old camera resolution later
     }
 
-    # HACK: hard-coded for now; assumes dark room. Won't work on USB
-    # webcams yet, either (just Pi).
-    Wish camera $camera uses exposure time 16000 us
-
     set tagSideLength 1.0
     set tagOuterLength [expr {$tagSideLength * 10/6}]
     set pad $tagSideLength
@@ -793,7 +851,12 @@ When camera /camera/ has width /cameraWidth/ height /cameraHeight/ &\
                          model /anything/ version /anything/ timestamp /anything/ {
         HoldDefaultModel 1.0
     }
-    On unmatch { Hold H_modelToDisplay {} }
+    On unmatch {
+        Hold H_modelToDisplay {}
+        Hold exposure {
+            Wish camera $camera uses exposure time auto us
+        }
+    }
 
     When main-detector detects tags /tags/ on $camera at /timestamp/ in time /something/ & \
          the calibration model-to-display homography is /H_modelToDisplay/ with \