encodeNodeGraph encodes entire set of nodes and connections for sending to the robot. should be sent along with curvesets
parent
a47a5e6dae
commit
83710c095e
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@ -108,7 +108,7 @@ export class CurveEditor {
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this.setCurves([]); // fallback to empty
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}
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console.log("LOADED");
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this.setSelectedMotor(10)
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setSelectedMotor(10); // Global defined in script.js
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//this.selectAdjacentMotor(1);
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// Optional: update motor selector UI or redraw timeline
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//this.refreshMotorSelector?.(); // if you have a method for that
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@ -117,7 +117,7 @@ export class CurveEditor {
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setSelectedMotor(motorID) {
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selectMotor(motorID) {
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this.selectedMotorID = motorID;
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this.curves = this.curveSets[motorID] || [];
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this.draw();
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@ -499,7 +499,7 @@ export class CurveEditor {
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if (currentIndex === -1) return;
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const newIndex = (currentIndex + direction + ids.length) % ids.length;
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this.setSelectedMotor(ids[newIndex]);
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setSelectedMotor(ids[newIndex]); // Global defined in script.js
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}
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@ -204,6 +204,9 @@
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</div>
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<canvas id="nodeeditor" width="800" height="600"></canvas>
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<button id="sendNodes">Send Nodes</button>
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<textarea id="log" rows="10" cols="60" readonly></textarea><br>
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@ -0,0 +1,786 @@
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import { CanvasDropdown, CanvasTextInput } from "./canvastools.js"
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const NODE_TYPES = {
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Node: 0x01,
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Servo: 0x02,
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Curve: 0x03,
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Noise: 0x04
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};
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export class NodeEditor {
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constructor(canvas, options = {}) {
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this.canvas = canvas;
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this.ctx = canvas.getContext("2d");
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this.nodes = [];
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this.connections = [];
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this.draggingNode = null;
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this.draggingWire = null;
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this.motorIds = options.motorIds || []; // pass motor ID list here
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this._bindEvents();
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this._redraw();
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}
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generateDefaultNodes(curveSets, motorIDs) {
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console.log("Generating Default Nodes");
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console.log(curveSets, motorIDs);
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for (var i = 0; i < motorIDs.length; i++) {
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let inputNode = this.addCurveNode(200, 20 + i * 120, "Curve", motorIDs[i]);
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let outputNode = this.addServoNode(400, 20 + i * 120, "Servo Output", motorIDs[i]);
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this.connections.push({ from: inputNode, to: outputNode });
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}
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}
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encodeNodeGraph() {
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const bufferSize = 1024; // adjust based on expected graph size
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const buffer = new ArrayBuffer(bufferSize);
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const view = new DataView(buffer);
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let offset = 0;
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const nodes = this.nodes;
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// Node count (1 byte)
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view.setUint8(offset++, nodes.length);
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// Encode nodes
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nodes.forEach((node, index) => {
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const typeCode = NODE_TYPES[node.type];
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node.id = index;
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view.setUint8(offset++, node.type); // Node type
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view.setUint8(offset++, node.id); // Node ID
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switch (node.type) {
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case NODE_TYPES.Servo:
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view.setUint8(offset++, node.motorId);
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break;
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case NODE_TYPES.Curve:
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view.setUint8(offset++, node.curveId);
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break;
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case NODE_TYPES.Noise:
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view.setFloat32(offset, node.rate, true); offset += 4;
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view.setFloat32(offset, node.threshold, true); offset += 4;
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view.setFloat32(offset, node.pulseWidth, true); offset += 4;
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view.setFloat32(offset, node.amplitude, true); offset += 4;
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view.setUint8(offset++, node.seed);
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break;
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default:
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console.warn("Unknown node type:", node.type);
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}
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});
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// Connection count (1 byte)
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view.setUint8(offset++, this.connections.length);
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// Encode connections
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this.connections.forEach(conn => {
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view.setUint8(offset++, conn.from.id);
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view.setUint8(offset++, conn.to.id);
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});
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// Slice the buffer to actual used size
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return new Uint8Array(buffer.slice(0, offset));
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}
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addNode(x, y, label, options = {}) {
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const node = new Node(x, y, label, options);
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this.nodes.push(node);
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this._redraw();
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return node;
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}
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addServoNode(x, y, label = "Servo Output", motorID) {
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//console.log(motorID);
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const node = new ServoNode(x, y, label, motorID);
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this.nodes.push(node);
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this._redraw();
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return node;
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}
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addCurveNode(x, y, label = "Curve", motorID) {
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//console.log(motorID);
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const node = new CurveNode(x, y, label, motorID);
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this.nodes.push(node);
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this._redraw();
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return node;
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}
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addInputNode(x, y, label = "Input Node", options = { defaultValue: 1.0 }) {
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const node = new InputNode(x, y, label, options);
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this.nodes.push(node);
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this._redraw();
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return node;
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}
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addNoiseNode(x, y, label = "Noise Generator", options = {}) {
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const node = new NoiseNode(x, y, label, options);
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this.nodes.push(node);
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this._redraw();
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return node;
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}
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addVariableNode(x, y, label = "Variable") {
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const node = new VariableNode(x, y, label);
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this.nodes.push(node);
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this._redraw();
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return node;
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}
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_bindEvents() {
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this.canvas.addEventListener("mousedown", (e) => this._onMouseDown(e));
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this.canvas.addEventListener("mousemove", (e) => this._onMouseMove(e));
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this.canvas.addEventListener("mouseup", (e) => this._onMouseUp(e));
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this.canvas.addEventListener("dblclick", (e) => this._onDoubleClick(e));
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window.addEventListener("keydown", (e) => this._onKeyDown(e));
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}
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_onMouseDown(e) {
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const { x, y } = this._getMouse(e);
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for (const node of this.nodes) {
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if (node.contains(x, y)) {
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if (node.handleClick(x, y)) {
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this._redraw();
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return;
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}
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this.draggingNode = node;
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node.offsetX = x - node.x;
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node.offsetY = y - node.y;
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return;
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}
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if (node.hitOutput(x, y)) {
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this.draggingWire = { x1: node.output.x, y1: node.output.y, x2: x, y2: y, from: node };
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return;
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}
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}
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}
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_onMouseMove(e) {
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const { x, y } = this._getMouse(e);
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let needsRedraw = false;
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for (const node of this.nodes) {
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if (node instanceof ServoNode || node instanceof NoiseNode) {
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if (node.handleMouseMove(x, y)) {
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needsRedraw = true;
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}
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}
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}
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if (needsRedraw) this._redraw();
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if (this.draggingNode) {
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this.draggingNode.x = x - this.draggingNode.offsetX;
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this.draggingNode.y = y - this.draggingNode.offsetY;
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this.draggingNode.updatePorts();
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this._redraw();
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}
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if (this.draggingWire) {
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this.draggingWire.x2 = x;
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this.draggingWire.y2 = y;
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this._redraw();
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}
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}
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_onMouseUp(e) {
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const { x, y } = this._getMouse(e);
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if (this.draggingWire) {
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for (const node of this.nodes) {
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if (node.hitInput(x, y)) {
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this.connections.push({ from: this.draggingWire.from, to: node });
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break;
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}
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}
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this.draggingWire = null;
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this._redraw();
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}
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this.draggingNode = null;
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}
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_onDoubleClick(e) {
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const { x, y } = this._getMouse(e);
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for (let i = this.connections.length - 1; i >= 0; i--) {
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const conn = this.connections[i];
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if (this._isPointNearLine(x, y, conn.from.output.x, conn.from.output.y, conn.to.input.x, conn.to.input.y)) {
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this.connections.splice(i, 1);
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this._redraw();
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break;
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}
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}
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}
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_getMouse(e) {
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const rect = this.canvas.getBoundingClientRect();
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return {
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x: e.clientX - rect.left,
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y: e.clientY - rect.top
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};
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}
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_onKeyDown(e) {
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let needsRedraw = false;
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for (const node of this.nodes) {
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if (node.handleKey && node.handleKey(e)) {
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needsRedraw = true;
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}
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}
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if (needsRedraw) this._redraw();
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}
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_isPointNearLine(px, py, x1, y1, x2, y2, threshold = 10) {
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const dx = x2 - x1;
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const dy = y2 - y1;
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const lengthSquared = dx * dx + dy * dy;
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if (lengthSquared === 0) return false;
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const t = Math.max(0, Math.min(1, ((px - x1) * dx + (py - y1) * dy) / lengthSquared));
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const closestX = x1 + t * dx;
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const closestY = y1 + t * dy;
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const dist = Math.hypot(px - closestX, py - closestY);
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return dist < threshold;
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}
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_drawConnections() {
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this.ctx.strokeStyle = "#444";
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this.ctx.lineWidth = 2;
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for (const conn of this.connections) {
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this.ctx.beginPath();
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this.ctx.moveTo(conn.from.output.x, conn.from.output.y);
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this.ctx.lineTo(conn.to.input.x, conn.to.input.y);
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this.ctx.stroke();
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}
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}
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_redraw() {
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this.ctx.clearRect(0, 0, this.canvas.width, this.canvas.height);
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this._drawConnections();
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for (const node of this.nodes) {
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node.draw(this.ctx);
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}
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if (this.draggingWire) {
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this.ctx.strokeStyle = "#888";
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this.ctx.lineWidth = 2;
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this.ctx.beginPath();
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this.ctx.moveTo(this.draggingWire.x1, this.draggingWire.y1);
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this.ctx.lineTo(this.draggingWire.x2, this.draggingWire.y2);
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this.ctx.stroke();
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}
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}
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}
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class Node {
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constructor(x, y, label, options = {}) {
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this.type = NODE_TYPES.Node;
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this.x = x;
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this.y = y;
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this.width = 120;
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this.height = 60;
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this.label = label;
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this.input = { x: 0, y: 0 };
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this.output = { x: 0, y: 0 };
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//console.log(options.fill);
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// Customizable visual options
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this.color = options.fill || "#fef6e4"; // pastel fill default
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this.border = options.stroke || "#333"; // border color default
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this.updatePorts();
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}
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updatePorts() {
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this.input.x = this.x - 5;
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this.input.y = this.y + this.height / 2;
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this.output.x = this.x + this.width + 5;
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this.output.y = this.y + this.height / 2;
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}
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draw(ctx) {
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ctx.fillStyle = this.color;
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ctx.strokeStyle = this.border;
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ctx.lineWidth = 1;
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this.drawRoundedRect(ctx, this.x, this.y, this.width, this.height, 10);
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ctx.fill();
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ctx.stroke();
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ctx.fillStyle = "#000";
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ctx.font = "14px sans-serif";
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ctx.fillText(this.label, this.x + 10, this.y + 20);
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ctx.beginPath();
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ctx.arc(this.input.x, this.input.y, 6, 0, Math.PI * 2);
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ctx.fillStyle = "#888";
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ctx.fill();
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ctx.beginPath();
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ctx.arc(this.output.x, this.output.y, 6, 0, Math.PI * 2);
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ctx.fillStyle = "#888";
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ctx.fill();
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}
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drawRoundedRect(ctx, x, y, w, h, r) {
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ctx.beginPath();
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ctx.moveTo(x + r, y);
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ctx.lineTo(x + w - r, y);
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ctx.quadraticCurveTo(x + w, y, x + w, y + r);
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ctx.lineTo(x + w, y + h - r);
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ctx.quadraticCurveTo(x + w, y + h, x + w - r, y + h);
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ctx.lineTo(x + r, y + h);
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ctx.quadraticCurveTo(x, y + h, x, y + h - r);
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ctx.lineTo(x, y + r);
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ctx.quadraticCurveTo(x, y, x + r, y);
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ctx.closePath();
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}
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contains(x, y) {
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return x >= this.x && x <= this.x + this.width &&
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y >= this.y && y <= this.y + this.height;
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}
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hitOutput(x, y) {
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return Math.hypot(x - this.output.x, y - this.output.y) < 8;
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}
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hitInput(x, y) {
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return Math.hypot(x - this.input.x, y - this.input.y) < 8;
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}
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}
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export class ServoNode extends Node {
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constructor(x, y, label, motorId) {
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super(x, y, label);
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this.type = NODE_TYPES.Servo;
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this.motorId = motorId;
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this.width = 140;
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this.height = 80;
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}
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draw(ctx) {
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// Node box
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ctx.fillStyle = this.color || "#fff9d6";
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ctx.strokeStyle = this.border || "#333";
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ctx.lineWidth = 1;
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this.drawRoundedRect(ctx, this.x, this.y, this.width, this.height, 10);
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ctx.fill();
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ctx.stroke();
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// Label
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ctx.fillStyle = "#000";
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ctx.font = "14px sans-serif";
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ctx.fillText(this.label, this.x + 10, this.y + 20);
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// Motor ID display
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ctx.font = "12px sans-serif";
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ctx.fillText(`Motor ${this.motorId}`, this.x + 10, this.y + 40);
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// Ports
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this.updatePorts();
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ctx.beginPath();
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ctx.arc(this.input.x, this.input.y, 6, 0, Math.PI * 2);
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ctx.fillStyle = "#888";
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ctx.fill();
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ctx.beginPath();
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ctx.arc(this.output.x, this.output.y, 6, 0, Math.PI * 2);
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ctx.fillStyle = "#888";
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ctx.fill();
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}
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contains(x, y) {
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return super.contains(x, y);
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}
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handleClick(mx, my) {
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if (this.contains(mx, my)) {
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window.setSelectedMotor?.(this.motorId); // or this.selectedMotorId if using dropdown
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return false;
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}
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return false;
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}
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handleMouseMove(mx, my) {
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return false;
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}
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get selectedMotorId() {
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return this.motorId;
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}
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}
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export class CurveNode extends Node {
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constructor(x, y, label = "Curve", curveId = 0) {
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super(x, y, label);
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this.type = NODE_TYPES.Curve;
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this.curveId = curveId;
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this.width = 140;
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this.height = 80;
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}
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draw(ctx) {
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// Node box
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ctx.fillStyle = this.color || "#d6f0ff";
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ctx.strokeStyle = this.border || "#333";
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ctx.lineWidth = 1;
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this.drawRoundedRect(ctx, this.x, this.y, this.width, this.height, 10);
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ctx.fill();
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ctx.stroke();
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// Label
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ctx.fillStyle = "#000";
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||||
ctx.font = "14px sans-serif";
|
||||
ctx.fillText(this.label, this.x + 10, this.y + 20);
|
||||
|
||||
// Curve ID display
|
||||
ctx.font = "12px sans-serif";
|
||||
ctx.fillText(`Curve ${this.curveId}`, this.x + 10, this.y + 40);
|
||||
|
||||
// Output port only
|
||||
this.updatePorts();
|
||||
ctx.beginPath();
|
||||
ctx.arc(this.output.x, this.output.y, 6, 0, Math.PI * 2);
|
||||
ctx.fillStyle = "#888";
|
||||
ctx.fill();
|
||||
}
|
||||
|
||||
|
||||
contains(x, y) {
|
||||
return super.contains(x, y);
|
||||
}
|
||||
|
||||
handleClick(mx, my) {
|
||||
if (this.contains(mx, my)) {
|
||||
window.setSelectedMotor?.(this.curveId);
|
||||
return false;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
handleMouseMove(mx, my) {
|
||||
return false;
|
||||
}
|
||||
|
||||
update(dt) {
|
||||
// Placeholder: simulate curve output
|
||||
const t = Date.now() / 1000;
|
||||
this.lastValue = Math.sin(t + this.curveId); // simple sine curve
|
||||
return false;
|
||||
}
|
||||
|
||||
get outputValue() {
|
||||
return this.lastValue;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
export class InputNode extends Node {
|
||||
constructor(x, y, label, options) {
|
||||
super(x, y, label);
|
||||
console.log(options);
|
||||
this.inputField = new CanvasTextInput(
|
||||
this.x + 10,
|
||||
this.y + 35,
|
||||
this.width - 20,
|
||||
"1.0",
|
||||
"",
|
||||
{ defaultValue: 1.0, numericOnly: true, min: 0, max: 10 }
|
||||
);
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
draw(ctx) {
|
||||
// Node box
|
||||
ctx.fillStyle = this.color || "#e0f7ff";
|
||||
ctx.strokeStyle = this.border || "#333";
|
||||
ctx.lineWidth = 1;
|
||||
this.drawRoundedRect(ctx, this.x, this.y, this.width, this.height, 10);
|
||||
ctx.fill();
|
||||
ctx.stroke();
|
||||
|
||||
// Label
|
||||
ctx.fillStyle = "#000";
|
||||
ctx.font = "14px sans-serif";
|
||||
ctx.fillText(this.label, this.x + 10, this.y + 20);
|
||||
|
||||
// Input field
|
||||
this.inputField.x = this.x + 10;
|
||||
this.inputField.y = this.y + 35;
|
||||
this.inputField.draw(ctx);
|
||||
|
||||
// Output port
|
||||
ctx.beginPath();
|
||||
ctx.arc(this.output.x, this.output.y, 6, 0, Math.PI * 2);
|
||||
ctx.fillStyle = "#888";
|
||||
ctx.fill();
|
||||
}
|
||||
|
||||
contains(x, y) {
|
||||
return super.contains(x, y) || this.inputField.contains(x, y);
|
||||
}
|
||||
|
||||
handleClick(mx, my) {
|
||||
console.log(mx, my);
|
||||
return this.inputField.handleClick(mx, my);
|
||||
}
|
||||
|
||||
handleKey(e) {
|
||||
return this.inputField.handleKey(e);
|
||||
}
|
||||
|
||||
|
||||
get outputValue() {
|
||||
return this.inputField.numericValue;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
export class NoiseNode extends Node {
|
||||
constructor(x, y, label = "Noise Generator") {
|
||||
super(x, y, label);
|
||||
this.type = NODE_TYPES.Noise;
|
||||
this.width = 160;
|
||||
this.height = 280;
|
||||
|
||||
this.modeDropdown = new CanvasDropdown(
|
||||
10, 35, this.width - 20,
|
||||
["impulse", "pulse", "threshold", "smooth"],
|
||||
"impulse"
|
||||
);
|
||||
|
||||
const inputConfigs = [
|
||||
{ label: "Rate", value: "1.0", min: 0, max: 100 },
|
||||
{ label: "Threshold", value: "0.8", min: 0, max: 1 },
|
||||
{ label: "Pulse Width", value: "0.2", min: 0, max: 10 },
|
||||
{ label: "Amplitude", value: "1.0", min: 0, max: 10 },
|
||||
{ label: "Seed", value: "0", min: 0, max: 99999 }
|
||||
];
|
||||
this.inputs = [];
|
||||
|
||||
const inputSpacing = 42; // includes label + input height
|
||||
|
||||
for (let i = 0; i < inputConfigs.length; i++) {
|
||||
const cfg = inputConfigs[i];
|
||||
const inputY = 74 + i * inputSpacing;
|
||||
|
||||
this.inputs.push(new CanvasTextInput(
|
||||
10,
|
||||
inputY,
|
||||
undefined, // uses default width
|
||||
cfg.value,
|
||||
cfg.label,
|
||||
{
|
||||
numericOnly: true,
|
||||
min: cfg.min,
|
||||
max: cfg.max
|
||||
}
|
||||
));
|
||||
}
|
||||
|
||||
this.lastValue = 0;
|
||||
this.timer = 0;
|
||||
}
|
||||
|
||||
draw(ctx) {
|
||||
ctx.fillStyle = this.color || "#f0e6ff";
|
||||
ctx.strokeStyle = this.border || "#333";
|
||||
ctx.lineWidth = 1;
|
||||
this.drawRoundedRect(ctx, this.x, this.y, this.width, this.height, 10);
|
||||
ctx.fill();
|
||||
ctx.stroke();
|
||||
|
||||
|
||||
// Draw Label
|
||||
ctx.fillStyle = "#000";
|
||||
ctx.font = "14px sans-serif";
|
||||
ctx.fillText(this.label, this.x + 10, this.y + 20);
|
||||
|
||||
// Draw inputs
|
||||
for (let i = 0; i < this.inputs.length; i++) {
|
||||
const input = this.inputs[i];
|
||||
input.x = this.x + input.offsetX;
|
||||
input.y = this.y + input.offsetY; // 👈 vertical stacking
|
||||
input.draw(ctx);
|
||||
}
|
||||
|
||||
|
||||
// Draw output port
|
||||
this.updatePorts();
|
||||
ctx.beginPath();
|
||||
ctx.arc(this.output.x, this.output.y, 6, 0, Math.PI * 2);
|
||||
ctx.fillStyle = "#888";
|
||||
ctx.fill();
|
||||
|
||||
|
||||
// Draw dropdowns LAST
|
||||
this.modeDropdown.x = this.x + this.modeDropdown.offsetX;
|
||||
this.modeDropdown.y = this.y + this.modeDropdown.offsetY;
|
||||
this.modeDropdown.draw(ctx);
|
||||
}
|
||||
|
||||
contains(x, y) {
|
||||
return super.contains(x, y) ||
|
||||
this.modeDropdown.contains(x, y) ||
|
||||
this.inputs.some(input => input.contains(x, y));
|
||||
}
|
||||
|
||||
handleClick(mx, my) {
|
||||
return this.modeDropdown.handleClick(mx, my) ||
|
||||
this.inputs.some(input => input.handleClick(mx, my));
|
||||
}
|
||||
|
||||
handleKey(e) {
|
||||
return this.inputs.some(input => input.handleKey(e));
|
||||
}
|
||||
|
||||
|
||||
handleMouseMove(mx, my) {
|
||||
return this.modeDropdown.handleMouseMove(mx, my);
|
||||
}
|
||||
|
||||
update(dt) {
|
||||
let needsRedraw = this.modeDropdown.update(dt);
|
||||
for (const input of this.inputs) {
|
||||
if (input.update(dt)) needsRedraw = true;
|
||||
}
|
||||
|
||||
// Basic noise generation logic (placeholder)
|
||||
const mode = this.modeDropdown.selected;
|
||||
const rate = this.inputs[0].numericValue;
|
||||
const threshold = this.inputs[1].numericValue;
|
||||
const pulseWidth = this.inputs[2].numericValue;
|
||||
const amplitude = this.inputs[3].numericValue;
|
||||
const seed = this.inputs[4].numericValue;
|
||||
|
||||
// Simple impulse logic for now
|
||||
if (mode === "impulse") {
|
||||
this.lastValue = Math.random() < rate * (dt / 1000) ? amplitude : 0;
|
||||
}
|
||||
|
||||
return needsRedraw;
|
||||
}
|
||||
|
||||
get outputValue() {
|
||||
return this.lastValue;
|
||||
}
|
||||
}
|
||||
|
||||
export class VariableNode extends Node {
|
||||
constructor(x, y, label = "Variable") {
|
||||
super(x, y, label);
|
||||
this.width = 160;
|
||||
this.height = 100;
|
||||
|
||||
this.variableDropdown = new CanvasDropdown(
|
||||
10, 45, this.width - 20,
|
||||
["faceDetectX", "faceDetectY", "sine"],
|
||||
"faceDetectX"
|
||||
);
|
||||
|
||||
this.lastValue = 0;
|
||||
this.timer = 0;
|
||||
}
|
||||
|
||||
draw(ctx) {
|
||||
ctx.fillStyle = this.color || "#e6ffe6";
|
||||
ctx.strokeStyle = this.border || "#333";
|
||||
ctx.lineWidth = 1;
|
||||
this.drawRoundedRect(ctx, this.x, this.y, this.width, this.height, 10);
|
||||
ctx.fill();
|
||||
ctx.stroke();
|
||||
|
||||
// Label
|
||||
ctx.fillStyle = "#000";
|
||||
ctx.font = "14px sans-serif";
|
||||
ctx.fillText(this.label, this.x + 10, this.y + 20);
|
||||
|
||||
// Dropdown label
|
||||
ctx.fillText("Source", this.x + 10, this.y + 42);
|
||||
|
||||
// Dropdown
|
||||
this.variableDropdown.x = this.x + this.variableDropdown.offsetX;
|
||||
this.variableDropdown.y = this.y + this.variableDropdown.offsetY;
|
||||
this.variableDropdown.draw(ctx);
|
||||
|
||||
// Output port
|
||||
ctx.beginPath();
|
||||
ctx.arc(this.output.x, this.output.y, 6, 0, Math.PI * 2);
|
||||
ctx.fillStyle = "#888";
|
||||
ctx.fill();
|
||||
}
|
||||
|
||||
contains(x, y) {
|
||||
return super.contains(x, y) || this.variableDropdown.contains(x, y);
|
||||
}
|
||||
|
||||
handleClick(mx, my) {
|
||||
return this.variableDropdown.handleClick(mx, my);
|
||||
}
|
||||
|
||||
handleMouseMove(mx, my) {
|
||||
return this.variableDropdown.handleMouseMove(mx, my);
|
||||
}
|
||||
|
||||
update(dt) {
|
||||
const changed = this.variableDropdown.update(dt);
|
||||
|
||||
// Simulated variable values (replace with real data source)
|
||||
const selected = this.variableDropdown.selected;
|
||||
if (selected === "faceDetectX") {
|
||||
this.lastValue = Math.random() * 640; // simulate X position
|
||||
} else if (selected === "faceDetectY") {
|
||||
this.lastValue = Math.random() * 480; // simulate Y position
|
||||
} else if (selected === "sine") {
|
||||
this.timer += dt;
|
||||
this.lastValue = Math.sin(this.timer / 1000);
|
||||
}
|
||||
|
||||
return changed;
|
||||
}
|
||||
|
||||
get outputValue() {
|
||||
return this.lastValue;
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,210 @@
|
|||
export class CanvasTextInput {
|
||||
constructor(offsetX, offsetY, width = 120, value = "", label = "", options = {}) {
|
||||
this.x = 0;
|
||||
this.y = 0;
|
||||
this.offsetX = offsetX;
|
||||
this.offsetY = offsetY;
|
||||
this.width = width;
|
||||
this.height = 24;
|
||||
this.labelOffset = 16; // space above input for label
|
||||
this.value = String(value);
|
||||
//this.placeholder = placeholder;
|
||||
this.focused = false;
|
||||
this.cursorVisible = false;
|
||||
this.cursorTimer = 0;
|
||||
|
||||
this.numericOnly = options.numericOnly || false;
|
||||
this.min = options.min ?? -Infinity;
|
||||
this.max = options.max ?? Infinity;
|
||||
this.label = label || "";
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
draw(ctx) {
|
||||
if (this.label) {
|
||||
ctx.fillStyle = "#000";
|
||||
ctx.font = "13px sans-serif";
|
||||
ctx.fillText(this.label, this.x, this.y - this.labelOffset + 15);
|
||||
}
|
||||
|
||||
|
||||
ctx.fillStyle = "#fff";
|
||||
ctx.strokeStyle = "#666";
|
||||
ctx.fillRect(this.x, this.y, this.width, this.height);
|
||||
ctx.strokeRect(this.x, this.y, this.width, this.height);
|
||||
|
||||
ctx.fillStyle = "#000";
|
||||
ctx.font = "14px sans-serif";
|
||||
const text = this.value || this.placeholder;
|
||||
ctx.fillText(text, this.x + 5, this.y + 15);
|
||||
|
||||
if (this.focused && this.cursorVisible) {
|
||||
const textWidth = ctx.measureText(this.value).width;
|
||||
ctx.beginPath();
|
||||
ctx.moveTo(this.x + 5 + textWidth, this.y + 4);
|
||||
ctx.lineTo(this.x + 5 + textWidth, this.y + this.height - 4);
|
||||
ctx.strokeStyle = "#000";
|
||||
ctx.stroke();
|
||||
}
|
||||
}
|
||||
|
||||
contains(mx, my) {
|
||||
return mx >= this.x && mx <= this.x + this.width &&
|
||||
my >= this.y && my <= this.y + this.height;
|
||||
}
|
||||
|
||||
handleClick(mx, my) {
|
||||
console.log("HERE", mx, my);
|
||||
this.focused = this.contains(mx, my);
|
||||
return this.focused;
|
||||
}
|
||||
|
||||
handleKey(e) {
|
||||
if (!this.focused) return false;
|
||||
|
||||
if (e.key === "Backspace") {
|
||||
this.value = this.value.slice(0, -1);
|
||||
} else if (e.key === "Enter") {
|
||||
this.clampToRange(); // 👈 clamp on Enter
|
||||
this.focused = false;
|
||||
} else if (e.key.length === 1) {
|
||||
if (this.numericOnly) {
|
||||
if (/[\d.\-]/.test(e.key)) {
|
||||
this.value += e.key;
|
||||
|
||||
this.clampToRange(); // 👈 clamp on Enter
|
||||
}
|
||||
} else {
|
||||
this.value += e.key;
|
||||
|
||||
this.clampToRange(); // 👈 clamp on Enter
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
|
||||
update(dt) {
|
||||
this.cursorTimer += dt;
|
||||
if (this.cursorTimer > 500) {
|
||||
this.cursorVisible = !this.cursorVisible;
|
||||
this.cursorTimer = 0;
|
||||
}
|
||||
}
|
||||
|
||||
clampToRange() {
|
||||
let val = parseFloat(this.value);
|
||||
if (isNaN(val)) val = 0;
|
||||
val = Math.min(this.max, Math.max(this.min, val));
|
||||
this.value = String(val);
|
||||
}
|
||||
|
||||
|
||||
get numericValue() {
|
||||
let val = parseFloat(this.value);
|
||||
if (isNaN(val)) return 0;
|
||||
return Math.min(this.max, Math.max(this.min, val));
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
export class CanvasDropdown {
|
||||
constructor(offsetX, offsetY, width, items = [], selected = 0) {
|
||||
this.x = 0;
|
||||
this.y = 0
|
||||
this.offsetX = offsetX;
|
||||
this.offsetY = offsetY;
|
||||
this.width = width;
|
||||
this.height = 20;
|
||||
this.items = items;
|
||||
this.selectedIndex = 0;
|
||||
this.open = false;
|
||||
this.hoverIndex = -1;
|
||||
}
|
||||
|
||||
draw(ctx) {
|
||||
// Collapsed box
|
||||
ctx.fillStyle = "#eee";
|
||||
ctx.strokeStyle = "#666";
|
||||
ctx.fillRect(this.x, this.y, this.width, this.height);
|
||||
ctx.strokeRect(this.x, this.y, this.width, this.height);
|
||||
|
||||
ctx.fillStyle = "#000";
|
||||
ctx.font = "14px sans-serif";
|
||||
ctx.fillText(this.items[this.selectedIndex], this.x + 5, this.y + 15);
|
||||
|
||||
// Expanded list
|
||||
if (this.open) {
|
||||
for (let i = 0; i < this.items.length; i++) {
|
||||
const itemY = this.y + this.height + i * this.height;
|
||||
ctx.fillStyle = i === this.hoverIndex ? "#cce" : "#fff";
|
||||
ctx.fillRect(this.x, itemY, this.width, this.height);
|
||||
ctx.strokeRect(this.x, itemY, this.width, this.height);
|
||||
ctx.fillStyle = "#000";
|
||||
ctx.fillText(this.items[i], this.x + 5, itemY + 15);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
contains(mx, my) {
|
||||
const totalHeight = this.height + (this.open ? this.items.length * this.height : 0);
|
||||
return mx >= this.x && mx <= this.x + this.width &&
|
||||
my >= this.y && my <= this.y + totalHeight;
|
||||
}
|
||||
|
||||
handleClick(mx, my) {
|
||||
if (this.open) {
|
||||
for (let i = 0; i < this.items.length; i++) {
|
||||
const itemY = this.y + this.height + i * this.height;
|
||||
if (mx >= this.x && mx <= this.x + this.width &&
|
||||
my >= itemY && my <= itemY + this.height) {
|
||||
this.selectedIndex = i;
|
||||
this.open = false;
|
||||
this.hoverIndex = -1;
|
||||
return true;
|
||||
}
|
||||
}
|
||||
this.open = false;
|
||||
this.hoverIndex = -1;
|
||||
return true;
|
||||
}
|
||||
|
||||
if (mx >= this.x && mx <= this.x + this.width &&
|
||||
my >= this.y && my <= this.y + this.height) {
|
||||
this.open = true;
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
handleMouseMove(mx, my) {
|
||||
if (!this.open) return false;
|
||||
|
||||
let hovered = -1;
|
||||
for (let i = 0; i < this.items.length; i++) {
|
||||
const itemY = this.y + this.height + i * this.height;
|
||||
if (mx >= this.x && mx <= this.x + this.width &&
|
||||
my >= itemY && my <= itemY + this.height) {
|
||||
hovered = i;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (hovered !== this.hoverIndex) {
|
||||
this.hoverIndex = hovered;
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
get selectedValue() {
|
||||
return this.items[this.selectedIndex];
|
||||
}
|
||||
}
|
||||
68
script.js
68
script.js
|
|
@ -2,6 +2,8 @@ import { SerialManager } from './serial.js';
|
|||
import { ServoMotor, getModelType, writeData } from './feetechDefinitions.js';
|
||||
import { CurveEditor } from './curveEditor.js';
|
||||
import { Robot } from './robot.js';
|
||||
import { NodeEditor } from './nodeeditor/NodeEditor.js';
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
@ -57,11 +59,54 @@ window.onload = () => {
|
|||
let connectedRobot = GenerateTestRobot();
|
||||
|
||||
console.log(connectedRobot);
|
||||
let motorIDList = []
|
||||
for (const [position, motor] of connectedRobot.positionMap.entries()) {
|
||||
console.log(`Assigning ${position} motor with ID ${motor.ID}`);
|
||||
curveEditor.addChannel(motor.ID);
|
||||
motorIDList.push(motor.ID);
|
||||
}
|
||||
curveEditor.setSelectedMotor(10);
|
||||
setSelectedMotor(10);
|
||||
|
||||
const nodeCanvas = document.getElementById("nodeeditor");
|
||||
|
||||
const nodeEditor = new NodeEditor(nodeCanvas, {
|
||||
motorIds: motorIDList
|
||||
});
|
||||
|
||||
nodeEditor.generateDefaultNodes(curveEditor.curveSets, motorIDList);
|
||||
|
||||
//nodeEditor.addServoNode(400, 150, "Servo Output", 5 );
|
||||
// nodeEditor.addInputNode(100, 500, "Input Nod", { defaultValue: 3 });
|
||||
// nodeEditor.addNoiseNode(400, 450); // Adds a random generator node at (200, 150)
|
||||
// nodeEditor.addVariableNode(300, 250);
|
||||
|
||||
// nodeEditor.addNode(100, 100, "Time", { fill: "#e0f7e9", stroke: "#2e7d32" }); // mint green
|
||||
// nodeEditor.addNode(300, 200, "Output"); // uses default pastel
|
||||
|
||||
|
||||
|
||||
function setSelectedMotor(motorID) {
|
||||
console.log(motorID);
|
||||
curveEditor.selectMotor(motorID);
|
||||
selectedDial = motorID;
|
||||
|
||||
const dialElements = document.querySelectorAll('.dial');
|
||||
|
||||
dialElements.forEach((el, index) => {
|
||||
el.classList.remove('selected');
|
||||
|
||||
if (dials[index]?.motorID === motorID) {
|
||||
el.classList.add('selected');
|
||||
}
|
||||
});
|
||||
|
||||
console.log("Selected motor:", motorID);
|
||||
// Any other logic you want to run
|
||||
|
||||
|
||||
}
|
||||
window.setSelectedMotor = setSelectedMotor;
|
||||
|
||||
|
||||
// TODO: Info should all be loaded on connect from handshake packet
|
||||
function GenerateTestRobot() {
|
||||
|
|
@ -237,14 +282,10 @@ window.onload = () => {
|
|||
}
|
||||
|
||||
function syncDialsWithCurveEditor() {
|
||||
//let pos = curveEditor.getMotorPositionAtTime(11, currentFrame);
|
||||
for (let ch = 0; ch < dials.length; ch++) {
|
||||
console.log(dials[ch].motorID);
|
||||
dials[ch].value = curveEditor.getMotorPositionAtTime(dials[ch].motorID, currentFrame);
|
||||
//const value = dials[ch].value;
|
||||
//motorPayloads.push({ motorId: ch, position: value });
|
||||
|
||||
}
|
||||
//console.log(pos);
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -279,16 +320,14 @@ window.onload = () => {
|
|||
|
||||
document.querySelectorAll('.dial').forEach(el => {
|
||||
el.onclick = () => {
|
||||
selectedDial = parseInt(el.dataset.index);
|
||||
const selectedDial = parseInt(el.dataset.index);
|
||||
|
||||
document.querySelectorAll('.dial').forEach(d => d.classList.remove('selected'));
|
||||
el.classList.add('selected');
|
||||
console.log(dials[selectedDial].motorID);
|
||||
curveEditor.setSelectedMotor(dials[selectedDial].motorID);
|
||||
setSelectedMotor(dials[selectedDial].motorID);
|
||||
};
|
||||
});
|
||||
|
||||
|
||||
|
||||
// Connect button
|
||||
document.getElementById('connect').addEventListener('click', async () => {
|
||||
try {
|
||||
|
|
@ -607,8 +646,6 @@ window.onload = () => {
|
|||
view.setUint16(offset, seg.startTime, true); offset += 2;
|
||||
view.setUint16(offset, seg.endTime, true); offset += 2;
|
||||
view.setInt16(offset, curveEditor.yToExportRange(seg.startPointY), true); offset += 2;
|
||||
|
||||
console.log(curveEditor.yToExportRange(seg.startPointY));
|
||||
view.setUint16(offset, seg.startHandleX, true); offset += 2;
|
||||
view.setInt16(offset, curveEditor.yToExportRange(seg.startHandleY), true); offset += 2;
|
||||
view.setUint16(offset, seg.endHandleX, true); offset += 2;
|
||||
|
|
@ -673,6 +710,11 @@ window.onload = () => {
|
|||
document.getElementById('input').value = '';
|
||||
};
|
||||
|
||||
document.getElementById('sendNodes').onclick = async () => {
|
||||
console.log(nodeEditor.encodeNodeGraph());
|
||||
|
||||
};
|
||||
|
||||
|
||||
document.addEventListener('click', (e) => {
|
||||
const ignoredTags = ['BUTTON', 'INPUT', 'TEXTAREA', 'CANVAS'];
|
||||
|
|
|
|||
Loading…
Reference in New Issue