release

core/index.js

@@ -39,7 +39,8 @@ function node_on_ready() {
 
     persistent_initialize()
     dde_init_dot_js_initialize()
-    Job.init()
+    Job.class_init()
+    Dexter.class_init()
 }
 
 function run_node_command(args){

core/job.js

@@ -113,7 +113,7 @@ class Job{
     }
     } //end constructor
 
-    static init(){ //inits the Job class as a whole. called by ready
+    static class_init(){ //inits the Job class as a whole. called by ready
         this.job_default_params =
                {name: null, robot: Robot.dexter0, do_list: [],
                 keep_history: true, show_instructions: true,

core/robot.js

@@ -928,6 +928,18 @@ Dexter = class Dexter extends Robot {
         }
     }
 
+    static class_init(){  //inits Dexter class as a whole. called by ready
+        this.dexter_default_params =
+            {name: "dex1",
+             simulate: null,
+             ip_address: null,
+             port: null,
+             pose: Vector.identity_matrix(4),
+             enable_heartbeat: true,
+             instruction_callback: Job.prototype.set_up_next_do
+        }
+    }
+
     toString(){ return "Dexter." + this.name }
 
     dexter_filepath(){
@@ -1247,7 +1259,7 @@ Dexter = class Dexter extends Robot {
                 //let rfr_instance = Instruction.Dexter.read_file.find_read_file_instance_on_do_list(job_instance, ins_id)
                 // job_instance.user_data[ins.destination] = null //usually means "file not found"
                 //rfr_instance.is_done = true
-                this.perform_instruction_callback(job_instance) //calls set_up_next_do(1) but we want 0, becuase we want to give the Dexter.read_file instance code a chance to clean up before ending its loop
+                this.perform_instruction_callback(job_instance) //calls set_up_next_do(1) but we want 0, because we want to give the Dexter.read_file instance code a chance to clean up before ending its loop
                 //job_instance.set_up_next_do(0)
                 return
             }

core/socket.js

@@ -418,7 +418,8 @@ var {Robot} = require("./robot.js")
 var {Instruction, make_ins} = require("./instruction.js")
 var DexterSim = require("./dextersim.js")
 var {out} = require("./out.js")
-var {_nbits_cf, _arcsec, _um} = require("./units.js")
+//var {_nbits_cf, _arcsec, _um} = require("./units.js") //don't do this. These units and all the rest are
+//already global vars.
 
 
 

core/storage.js

@@ -93,6 +93,14 @@ function persistent_load(){
         const start_of_content = content.indexOf("{")
         if (start_of_content != -1) { content = content.substring(start_of_content) } //get rid of comment at top of file
         persistent_values = JSON.parse(content)
+        //just in case files got saved out with backslashes, change to only slashes.
+        let files = persistent_values.files_menu_paths
+        let slashified_files = []
+        for(let file of files){
+            file = convert_backslashes_to_slashes(file)
+            slashified_files.push(file)
+        }
+        persistent_values.files_menu_paths = files
     }
 }
 
@@ -317,7 +325,8 @@ module.exports.choose_file_and_get_content = choose_file_and_get_content
 
 function choose_save_file(show_dialog_options={}) { //todo document
     const dialog    = app.dialog;  //use {defaultPath: '~/foo.xml'} to set default file name
-    return dialog.showSaveDialog(app.getCurrentWindow(), show_dialog_options)
+    let result =  dialog.showSaveDialog(app.getCurrentWindow(), show_dialog_options)
+    return convert_backslashes_to_slashes(result)
 }
 module.exports.choose_save_file = choose_save_file
 

core/units.js

@@ -159,9 +159,9 @@ function init_units(){
     //don't put _nbits_cf into a series. Not for use by users.
     //it is used for converting S params: MaxSpeec StartSpeed, Accelleration
     //before sending this to Dexter hardware.
-    module.exports._nbits_cf = _nbits_cf
-    module.exports._arcsec   = _arcsec
-    module.exports._um       = _um
+   // module.exports._nbits_cf = _nbits_cf
+   // module.exports._arcsec   = _arcsec
+   // module.exports._um       = _um
     if(window.platform == "dde") {
         for(let series_name_core in units_data) {
             let ser = units_to_series(series_name_core, units_data[series_name_core])

doc/ref_man.html

@@ -4664,10 +4664,10 @@
 <details id="new_dexter_parameters_doc_id" class="doc_details"><summary>new Dexter parameters</summary>
 The parameters used to define an instance of Dexter are:
 <ul>
-    <li><b>name</b> Any string, but must be unique across all robots.
+    <li id="dexter_param_name_doc_id"><b>name</b> Any string, but must be unique across all robots.
     The instance of the robot is stored in
     <code title="unEVALable code fragment"> Robot.the_name</code></li>
-    <li id="simulate_doc_id"><b>simulate</b> Possible values:
+    <li id="dexter_param_simulate_doc_id"><b>simulate</b> Possible values:
          <ul>
              <li><b>true</b> Instructions will not be sent to the Dexter robot but rather
                to DDE's Dexter simulator, showing an image of Dexter in DDE's "Sim" pane.</li>
@@ -4681,14 +4681,14 @@
                  will be persistent accross DDE launches.</li>
           </ul>
     </li>
-    <li><b>ip_address</b> A string of an ip_address such as: <code>"192.168.1.1"</code>
+    <li id="dexter_param_ip_address_doc_id"><b>ip_address</b> A string of an ip_address such as: <code>"192.168.1.1"</code>
         Default null. You can use a Dexter without an ip_address, but only with
         <code title="unEVALable code fragment"> simulate: true</code></li>
-    <li><b>port</b> An integer. Default 50000. </li>
-    <li><b>pose</b> Indicates the position and orientation of a Dexter as a
+    <li id="dexter_param_port_doc_id"><b>port</b> An integer. Default 50000. </li>
+    <li id="dexter_param_pose_doc_id"><b>pose</b> Indicates the position and orientation of a Dexter as a
         4 x 4 matrix of numbers.
      </li>
-    <li><b>enable_heartbeat</b> A Dexter instance sends a "heartbeat" to a Dexter robot to
+    <li id="dexter_param_enable_heartbeat_doc_id"><b>enable_heartbeat</b> A Dexter instance sends a "heartbeat" to a Dexter robot to
       keep the connection alive. If true, the default, that heartbeat will be sent.</li>
 </ul>
      <i>Example:</i>
@@ -5028,7 +5028,7 @@
         J5_direction, then the config and workspace_pose arguments
         are ignored.
         <p></p>
-        <b>config</b> For most points within the reachability of Dexter, there are multiple
+        <b id="Dexter.move_to.config_doc_id">config</b> Default: <code>Dexter.RIGHT_UP_OUT</code> For most points within the reachability of Dexter, there are multiple
         ways in which Dexter can get there. config helps you specify your preference
         as to <i>how</i> Dexter configures its joints to get to the indicated x, y, z.
         There are 3 independent boolean values to determining this configuration.
@@ -5093,7 +5093,7 @@
     defaults to the containing Job's
     <a href="#" onclick="open_doc('job_param_default_workspace_pose_doc_id', event)">default_workspace_pose</a>
     which itself defaults to <code>Coor.Table</code> .
-    Determines the "offset" of the xyz arg.
+    Determines the "offset" of the xyz arg.<br/>
     <b>j6_angle</b>  Default: <code>[0]</code> The angle to move Joint 6 to.
     Wrapping it in an array makes the movement relative.
     The default of <code>[0]</code> causes Joint 6 not to move.<br/>
@@ -5150,16 +5150,16 @@
            move to. Same as move_to.<br/>
 <b>J5_direction</b> The ending direction that LINK5 will be pointing when
     the move is complete. Same as move_to.<br/>
-<b>config</b> The configuration of the joints at the end of the move.
+<b>config</b>  Default: <code>Dexter.RIGHT_UP_OUT</code> The configuration of the joints at the end of the move.
     Same as move_to.<br/>
 <b>tool_speed</b> The maximum speed that Dexter's end effector will move.
                   Default: 5 millimeters per second. Not in move_to.<br/>
 <b>resolution</b> How short to make the straight lines that connect the
 starting xyz to the ending xyz. Default: 0.5 millimeters.<br/>
 <b>j6_angle</b>  Default <code>[0]</code> The degrees move move Joint 6 to.
-If it is wrapped in an array, move relative by that amount.
+If it is wrapped in an array, move relative by that amount.<br/>
 <b>j7_angle</b>  Default <code>[0]</code> The degrees move move Joint 7 to.
-    If it is wrapped in an array, move relative by that amount.
+    If it is wrapped in an array, move relative by that amount.<br/>
 <b>single_instruction</b> Default: <code>false</code> False means generate
 many instructions within DDE to send to Dexter to cause it to
 move in a straight line.

doc/release_notes.html

@@ -6,6 +6,72 @@
     .doc_details summary { font-weight: 600; }
 </style>
 
+<details class="doc_details"><summary>v 3.3.6, May 19, 2019</summary>
+Highlights: Fixed bugs in: Linter/Editor, saving files, and
+            Dexter.set_parameter sending "NaN"s to Dexter.<br/>
+            Help for Dexter.set_parameter and Dexter.move_to improved.
+<ul>
+    <li>Fixed numerous problems with the linter, including
+        cases where it was:
+        <ul><li>causing an error in the Editor</li>
+            <li>warning about removed older options</li>
+            <li>some non-helpful warnings</li>
+        </ul>
+    </li>
+    <li> Fixed bug in <code>Dexter.set_parameter</code> that sent "NaN" instead of a number,
+          for the params of:<br/>
+           <code>"MaxSpeed"</code>,
+          <code>"StartSpeed"</code>,
+          <code>"Acceleration"</code><br/>
+        This also fixed the setting of ultra-low speeds inadvertently.
+    </li>
+
+    <li> Renamed Job.init to Job.class_init to make it less ambiguous.
+         Also consistent with the new Dexter.class_init</li>
+
+    <li> <code>new Dexter</code> params click help improved with links for each param,
+         just like was recently done for new Job.</li>
+
+
+    <li> MakeInstruction insert for new Dexter, and new Job always prints out the name property.</li>
+
+    <li> MakeInstruction insert for new Job, always prints out the do_list property, even if its the default.</li>
+
+    <li> MakeInstruction for <code>Dexter.set_parameter</code>  dialog,
+         has a menu of all the parameter names.</li>
+
+    <li> Ping dialog box now selects by default, Dexter0 in the select widget
+            at the bottom of the dialog automatically.</li>
+
+    <li> Ref Man/Robot/Dexter/Dexter Instruction for
+         <code>Dexter.move_to</code> and
+         <code>Dexter.move_to_straight</code> :
+         formatting improved.</li>
+
+    <li> <code>persistent_load</code> improved to convert backslashed file paths to slashed file paths.
+         Related: <code>choose_save_file</code>  now converts any backslashes to slashes.
+         These fix a bug with the Edit menu/Save as ... menu item.</li>
+
+    <li> <code>Dexter.move_to</code> instruction,
+         config param values of <code>Dexter.RIGHT_UP_OUT</code> and friends:
+         when you click on them in the editor, the doc pane scrolls to
+         Ref Man/Robot/Dexter/Dexter Instructions/move_to</li>
+
+    <li> <code>Dexter.move_to</code>, <code>Dexter.move_to_straight</code> <code>Dexter.pid_move_to</code>
+          instructions,  <i>config</i> param now has a combo box for the 18 possible
+          named values ( <code>Dexter.RIGHT_UP_OUT</code> and friends) as well as a type-in for
+          explicit values like <code>[1, 1, 1]</code></li>
+
+    <li> Dexter.move_to instruction now has the default for its config param
+    documented as: <code>Dexter.RIGHT_UP_OUT</code></li>
+
+
+    <li> New testsuite file named "file_system_testsuite.js"
+          minimally tests <code>Dexter.write_file</code> and <code>Dexter.read_file</code>
+    </li>
+</ul>
+</details>
+
 <details class="doc_details"><summary>v 3.3.5, May 8, 2019</summary>
 Highlights: Bug fixes for Job Engine, etc.
 <ul>
@@ -25,7 +91,7 @@
             <li>Globals bound: Dexter, Job, Robot, Vector, Kin
 </li>
         </ul>
     </li>
-    
+
     <li> If you have dde new buffer in the editor and it is empty,
         then when you choose open (to get an exiting file)
         you now don't DON'T get a up dialog asking to delete the new buffer,

editor.js

@@ -79,12 +79,14 @@ Editor.init_editor = function(){
 
     myCodeMirror.on("mousedown",
                     function(cm, mouse_event){
-                         if(mouse_event.altKey) {
+                         if(mouse_event.altKey){
                              var line_char = myCodeMirror.coordsChar({left: mouse_event.x, top: mouse_event.y})
                              myCodeMirror.getDoc().setCursor(line_char)
                              if (Editor.select_expr()){
-                                let sel = Editor.get_any_selection()
-                                if(sel != "") { MakeInstruction.show(sel) }
+                                setTimeout(function(){  //without setTimeout, the sel isn't really selected by the tme we call MakeInstruction.show
+                                            let sel = Editor.get_any_selection()
+                                            if(sel != "") { MakeInstruction.show(sel) }
+                                }, 200)
                                 mouse_event.preventDefault()
                              }
                          }
@@ -108,10 +110,10 @@ Editor.undo = function(){ myCodeMirror.getDoc().undo() }
 //returns null if path is not in menu. path expected to be a full path,
 //even the menu has partial paths.
 Editor.index_of_path_in_file_menu = function(path){
-    let inner_path = Editor.path_to_files_menu_path(path)
-    for(let i in file_name_id.children){
+    let files_menu_path = Editor.path_to_files_menu_path(path)
+    for(let i = 0; i < file_name_id.children.length; i++){
         let a_path = file_name_id.children[i].innerHTML
-        if (a_path == inner_path) { return parseInt(i) }
+        if (a_path == files_menu_path) { return i }
     }
     return null
 }
@@ -162,7 +164,7 @@ Editor.make_files_menu_path = function(folder, name) {
 // The returned folder always ends with slash or colon.
 Editor.path_to_folder_and_name = function(path){
     let file_name_start_index = path.lastIndexOf("/")
-    if(file_name_start_index == -1) { file_name_start_index = path.lastIndexOf(":") } //happens with dexter0:foo.js
+    if(file_name_start_index == -1) { file_name_start_index = path.lastIndexOf(":") } //happens with dexter0:foo.js and C:foo.js
     if(file_name_start_index == -1) { //happens with "foo.js"
         return[dde_apps_folder + "/", path]
     }
@@ -203,7 +205,6 @@ Editor.files_menu_path_to_path = function(menu_path){
 
 Editor.add_path_to_files_menu = function(path){
         let existing_index = Editor.index_of_path_in_file_menu(path)
-        let new_index = 0
         if (existing_index === null) {
             var opt     = document.createElement("OPTION")
             let inner_path = Editor.path_to_files_menu_path(path)
@@ -215,7 +216,7 @@ Editor.add_path_to_files_menu = function(path){
             else{
                 file_name_id.add(opt)
             }
-            file_name_id.selectedIndex = new_index
+            file_name_id.selectedIndex = 0
             if(path != "new buffer"){
                 let paths = persistent_get("files_menu_paths")
                 paths.unshift(path)
@@ -224,8 +225,7 @@ Editor.add_path_to_files_menu = function(path){
             }
         }
         else {
-            new_index = existing_index
-            file_name_id.selectedIndex = new_index
+            file_name_id.selectedIndex = existing_index
         }
 }
 

eslint-lint.js

@@ -105,7 +105,7 @@
         "no-bitwise": 0,
         "no-caller": 2,
         "no-catch-shadow": 2,
-        "no-comma-dangle": 2,
+        //"no-comma-dangle": 2, //cfry replaced by undocumented "comma-dangle"
         "no-cond-assign": 2,
         "no-console": 0,  //cfry default is 2, but that causes warnings when using it.
         "no-constant-condition": 2,
@@ -115,21 +115,22 @@
         "no-div-regex": 0,
         "no-dupe-keys": 2,
         "no-else-return": 0,
-        "no-empty": 2,
-        "no-empty-class": 2,
-        "no-empty-label": 2,
+        "no-empty": 0, //cfry default is 2, but that disallows empty for, if ,etc statements.
+        //"no-empty-class": 2,  //replaced by no-empty-character-class
+        //"no-empty-label": 2, //cfry replaced  by undocumnted "no-labels"
         "no-eq-null": 0,
-        "no-eval": 2,
+        "no-eval": 0, //cfry default is 2, but we want to allow eval calls.
         "no-ex-assign": 2,
         "no-extend-native": 2,
         "no-extra-bind": 2,
         "no-extra-boolean-cast": 2,
         "no-extra-parens": 0,
-        "no-extra-semi": 2,
-        "no-extra-strict": 2,
+        "no-extra-semi": 0, //cfry default is 2, but causes bad linter bug when you have a fn def that ends with its normal close curley brace followed by a semicolon.
+        //"no-extra-strict": 2,  //replaced by "strict"
         "no-fallthrough": 2,
         "no-floating-decimal": 0,
         "no-func-assign": 2,
+        "no-global-assign": 0, //cfry default is 2 but that causes lots of wrong errors.
         "no-implied-eval": 2,
         "no-inline-comments": 0,
         "no-inner-declarations": [2, "functions"],
@@ -174,7 +175,7 @@
         "no-sequences": 2,
         "no-shadow": 2,
         "no-shadow-restricted-names": 2,
-        "no-space-before-semi": 2,
+        //"no-space-before-semi": 2, //replaced by undocumented semi-spacing
         "no-spaced-func": 2,
         "no-sparse-arrays": 2,
         "no-sync": 0,
@@ -192,7 +193,7 @@
         "no-var": 0,
         "no-warning-comments": [0, { "terms": ["todo", "fixme", "xxx"], "location": "start" }],
         "no-with": 2,
-        "no-wrap-func": 2,
+        //"no-wrap-func": 2, //replaced by no-extra-parens
         "block-scoped-var": 0,
         "brace-style": [0, "1tbs"],
         "camelcase": 0, //cfry default of 2 requires fn names to be camel cased. yuck
@@ -209,7 +210,7 @@
         "func-names": 0,
         "func-style": [0, "declaration"],
         "generator-star": 0,
-        "global-strict": [2, "never"],
+       // "global-strict": [2, "never"], old rule, replaced by "strict", see below
         "guard-for-in": 0,
         "handle-callback-err": 0,
         "key-spacing": [2, { "beforeColon": false, "afterColon": true }],
@@ -234,7 +235,7 @@
         "space-in-brackets": [0, "never"],
         "space-in-parens": [0, "never"],
         "space-infix-ops": 2,
-        "space-return-throw-case": 2,
+       // "space-return-throw-case": 2, no longer a rule. It was replaced by "keyword-spacing" which is fundanemtally undocumented
         "space-unary-ops": [2, { "words": true, "nonwords": false }],
         "spaced-line-comment": [0, "always"],
         "strict": 0, //default 2, cfry changed to 0 because if I have "forOf": true as above to not warn on forOf, then if strict: 2, every line in programis underlined in red.