From 9ea36afd21fa17c1f4eef8a9162508ba01989e2b Mon Sep 17 00:00:00 2001
From: Amira Abdel-Rahman <amira-rahman@aucegypt.edu>
Date: Sun, 13 Sep 2020 23:39:51 -0400
Subject: [PATCH] DEM Integration

---
 .gitignore                                    |   3 +-
 .../assembly/app.js                           | 173 +++++++++++-------
 .../assembly/python-urx/setup.json            |  38 +---
 .../assembly/python-urx/ur10test.py           |   4 +-
 .../physical_computing_interface/json/json.js |   3 +-
 .../setup/serve.js                            |  37 +++-
 02_Presentation/assembly/json.png             | Bin 0 -> 55235 bytes
 02_Presentation/assembly/ur10.md              |   9 +-
 8 files changed, 146 insertions(+), 121 deletions(-)
 create mode 100644 02_Presentation/assembly/json.png

diff --git a/.gitignore b/.gitignore
index 3b26156..01104a7 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,4 @@
 node_modules
 .ipynb_checkpoints
-.DS_Store
\ No newline at end of file
+.DS_Store
+dice_firmware
\ No newline at end of file
diff --git a/01_Code/physical_computing_interface/assembly/app.js b/01_Code/physical_computing_interface/assembly/app.js
index e692e8e..770e61e 100644
--- a/01_Code/physical_computing_interface/assembly/app.js
+++ b/01_Code/physical_computing_interface/assembly/app.js
@@ -27,87 +27,105 @@ assembler.run();
 //////////////////////////////python-urx//////////////////
 
 
-
-var ur10Setup={
-    globals:{
-        run:true,
-        pythonFileName: "ur10test", //in ./assembly/python-urx/
-        ipNode: "192.168.1.52",
-        ipEdge: "192.168.1.53",
-        latticePitch:{
-            x:0.031,
-            y:0.031,
-            z:0.006,
-        },
-        nodePickupRobotHome:{
-            x: -1.5394771734820765,
-            y: -1.6685369650470179,
-            z: -2.495819155369894,
-            rx:-2.1159094015704554,
-            ry:-1.5422142187701624,
-            rz:-1.5874159971820276,
-        },
-        edgePickupRobotHome:{
-            x: -0.21965343156923467,
-            y: -1.5261443297015589,
-            z: 2.5553131103515625,
-            rx:-1.0277064482318323,
-            ry:1.3498035669326782,
-            rz:-1.5769990126239222,
-        },
-        programmingRelativeDistance:{
-            x: -0.203,
-            y: 0.0127,
-            z: 0.013,
-            rx:0,
-            ry:0,
-            rz:0,
-        },
-        nodeRelativeDistance:{
-            x: -0.4417,
-            y: 0.005,
-            z: 0.04,
-            rx:0,
-            ry:0,
-            rz:0
+var integratedSetup={
+    ur10Setup:{
+        parameters:{
+            run:true,
+            pythonFileName: "ur10test", //in ./assembly/python-urx/
+            ipNode: "192.168.1.52",
+            ipEdge: "192.168.1.53",
+            latticePitch:{
+                x:0.031,
+                y:0.031,
+                z:0.006,
+            },
+            nodePickupRobotHome:{
+                x: -1.5394771734820765,
+                y: -1.6685369650470179,
+                z: -2.495819155369894,
+                rx:-2.1159094015704554,
+                ry:-1.5422142187701624,
+                rz:-1.5874159971820276,
+            },
+            edgePickupRobotHome:{
+                x: -0.21965343156923467,
+                y: -1.5261443297015589,
+                z: 2.5553131103515625,
+                rx:-1.0277064482318323,
+                ry:1.3498035669326782,
+                rz:-1.5769990126239222,
+            },
+            programmingRelativeDistance:{
+                x: -0.203,
+                y: 0.0127,
+                z: 0.013,
+                rx:0,
+                ry:0,
+                rz:0,
+            },
+            nodeRelativeDistance:{
+                x: -0.4417,
+                y: 0.005,
+                z: 0.04,
+                rx:0,
+                ry:0,
+                rz:0
+            },
+            edgeRelativeDistance:{
+                x: 0,
+                y: 0,
+                z: 0.04,
+                rx:0,
+                ry:0,
+                rz:0
+            },
+            v:0.5,
+            a:0.5,
+            v1:0.05,
+            a1:0.05,
+            sleep:0.2,
+            sleep1:0.1,
+    
+    
         },
-        edgeRelativeDistance:{
-            x: 0,
-            y: 0,
-            z: 0.04,
-            rx:0,
-            ry:0,
-            rz:0
+        nodes:[ //relative to the pickup
+        ],
+        edges:[ //relative to the pickup
+        ],
+    },
+    DEMSetup:{
+        parameters: {
+            run:false,
+            make:false,
+            delta_t: 1e-4,
+            cutoff: 0.1,
+            spring_constant: 1000.0,
+            num_particles_per_node:3,
+            region_pitch:1.0,
+            save_every:20, //visualize every how much frames
+            save_max:200, //max num of files saved
         },
-        v:0.5,
-        a:0.5,
-        v1:0.05,
-        a1:0.05,
-        sleep:0.2,
-        sleep1:0.1,
-
+        particles:[],
+    }
+}
 
-    },
-    nodes:[ //relative to the pickup
-    ],
-    edges:[ //relative to the pickup
-    ],
-};
 
 
-GLOBALS.selectedjson=ur10Setup.globals;
+GLOBALS.selectedjson=integratedSetup;
 GLOBALS.editor.set(GLOBALS.selectedjson);
 
 document.addEventListener('runNode', function (e) { 
-    startAssembler(ur10Setup);
+    startAssembler(integratedSetup);
 }, false);
 
 document.addEventListener('addNode', function (e) { 
-    assembleNode(e,ur10Setup);
+    assembleNode(e,integratedSetup);
 }, false);
 
 
-function assembleNode(e,ur10Setup){
+function assembleNode(e,integratedSetup){
+
+    var ur10Setup=integratedSetup.ur10Setup;
     var x=e.detail.x;
     var y=e.detail.y;
     var z=e.detail.z;
@@ -133,7 +151,7 @@ function assembleNode(e,ur10Setup){
             ur10Setup.edges.push({
                 y: (x+0.5*(j1-y)),
                 x: (GLOBALS.gridSize-y-1+0.5*(i1-x)),
-                z: z*ur10Setup.globals.latticePitch.z,
+                z: z*ur10Setup.parameters.latticePitch.z,
                 rx:0,
                 ry:0,
                 rz:((j1-y)==0)? 0:Math.PI/2.0,
@@ -200,12 +218,27 @@ function assembleNode(e,ur10Setup){
     }
 
 
+    /////////////////////////////////////////////////
+    //add particles to the DEM simulator
+    for(var i=0;i<integratedSetup.DEMSetup.parameters.num_particles_per_node;i++){
+        integratedSetup.DEMSetup.particles.push({
+            position:[
+                (Math.random()+(GLOBALS.gridSize-y-1))*integratedSetup.DEMSetup.parameters.region_pitch ,
+                (Math.random()+(x))*integratedSetup.DEMSetup.parameters.region_pitch 
+            ],
+            velocity:[
+                Math.random()*2.0-1.0 , Math.random()*2.0-1.0 
+            ]
+        });
+    }
 }
 
-function startAssembler(ur10Setup){
+function startAssembler(integratedSetup){
+    var ur10Setup=integratedSetup.ur10Setup;
+
     console.log("Run Assembler to assemble "+ur10Setup.nodes.length+ " node(s) and "+ur10Setup.edges.length+ " edge(s)!");
     console.log(ur10Setup.edges)
-    $.post("/", { data : { setup : JSON.stringify(ur10Setup) } }, function(temp) {
+    $.post("/", { data : { setup : JSON.stringify(integratedSetup) } }, function(temp) {
     });
     //todo change that to message down 
 
diff --git a/01_Code/physical_computing_interface/assembly/python-urx/setup.json b/01_Code/physical_computing_interface/assembly/python-urx/setup.json
index f37b76a..46e67bc 100644
--- a/01_Code/physical_computing_interface/assembly/python-urx/setup.json
+++ b/01_Code/physical_computing_interface/assembly/python-urx/setup.json
@@ -1,6 +1,6 @@
 {
   "setup": {
-    "globals": {
+    "parameters": {
       "run": true,
       "pythonFileName": "ur10test",
       "ipNode": "192.168.1.52",
@@ -58,14 +58,6 @@
       "sleep1": 0.1
     },
     "nodes": [
-      {
-        "y": 0,
-        "x": 1,
-        "z": 0,
-        "rx": 0,
-        "ry": 0,
-        "rz": 0
-      },
       {
         "y": 0,
         "x": 0,
@@ -78,44 +70,20 @@
     "edges": [
       {
         "y": 0,
-        "x": 1.5,
+        "x": 0.5,
         "z": 0,
         "rx": 0,
         "ry": 0,
         "rz": 0
       },
-      {
-        "y": 0.5,
-        "x": 1,
-        "z": 0,
-        "rx": 0,
-        "ry": 0,
-        "rz": 1.5707963267948966
-      },
       {
         "y": -0.5,
-        "x": 1,
+        "x": 0,
         "z": 0,
         "rx": 0,
         "ry": 0,
         "rz": 1.5707963267948966
       },
-      {
-        "y": 0,
-        "x": 0.5,
-        "z": 0,
-        "rx": 0,
-        "ry": 0,
-        "rz": 0
-      },
-      {
-        "y": 0,
-        "x": 0.5,
-        "z": 0,
-        "rx": 0,
-        "ry": 0,
-        "rz": 0
-      },
       {
         "y": 0,
         "x": -0.5,
diff --git a/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py b/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py
index c31fa7e..8f0241d 100644
--- a/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py
+++ b/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py
@@ -11,7 +11,7 @@ import json
 
 print("")
 print("")
-print('Hello from python!')
+print('Hello from ur10test.py!')
 print("")
 
 
@@ -22,7 +22,7 @@ with open('../assembly/python-urx/setup.json') as f:
 
 # set values
 setup=data["setup"]
-globalSetup=data["setup"]["globals"]
+globalSetup=data["setup"]["parameters"]
 reference_roy=globalSetup["nodePickupRobotHome"]
 reference_siegfried=globalSetup["edgePickupRobotHome"]
 latticePitch=globalSetup["latticePitch"]
diff --git a/01_Code/physical_computing_interface/json/json.js b/01_Code/physical_computing_interface/json/json.js
index 4a4034a..e79d856 100644
--- a/01_Code/physical_computing_interface/json/json.js
+++ b/01_Code/physical_computing_interface/json/json.js
@@ -203,13 +203,12 @@ function initEditor(){
             if(json.ipNode === undefined){
                 GLOBALS.updateNode(json);
             }else{
-                ur10Setup.globals=json; //todo remove from here
+                integratedSetup=json; //todo remove from here
             }
             
         }
     };
     GLOBALS.editor = new JSONEditor(container, options);
-    GLOBALS.editor.set({bla:"hi"});
 
     document.addEventListener('selectNode', function (e) { 
         GLOBALS.editor.set(GLOBALS.selectedjson);
diff --git a/01_Code/physical_computing_interface/setup/serve.js b/01_Code/physical_computing_interface/setup/serve.js
index 7f08b54..77e2d63 100644
--- a/01_Code/physical_computing_interface/setup/serve.js
+++ b/01_Code/physical_computing_interface/setup/serve.js
@@ -19,7 +19,6 @@ app.use(express.urlencoded({limit: '50mb', extended: true}));
 //serve the html
 app.use(express.static(__dirname + '/../')); // exposes index.html, per below
 
-
 app.post("/", function(req, res) {
   // each key in req.body will match the keys in the data object that you passed in
   var myObject = req.body.data;
@@ -28,8 +27,6 @@ app.post("/", function(req, res) {
   console.log("run python_urx!");
   runPython_urx(setup);
 
-  
-
   res.send("I am done");
 });
 
@@ -46,20 +43,46 @@ function runPython_urx(setup){
   var root="../assembly/python-urx/";
 
   let outputFile = editJsonFile(`${__dirname}/`+root+`setup.json`);
-  outputFile.set("setup", setup);
+  outputFile.set("setup", setup.ur10Setup);
   outputFile.save();
-  console.log("saved the setup in ../assembly/python-urx/setup.json");
+  console.log("saved the UR10 setup in ../assembly/python-urx/setup.json");
   console.log();
 
-  if(setup.globals.run){
+  if(setup.ur10Setup.parameters.run){
     console.log("Call python script:")
     var commands=[];
-    commands.push("python " + root+setup.globals.pythonFileName +".py");
+    commands.push("python " + root+setup.ur10Setup.parameters.pythonFileName +".py");
     runListCommand(commands,0);
     
   }else{
     console.log("didn't run the UR10");
   }
+
+  if(integratedSetup.DEMSetup.parameters.run){
+    var root="../simulation/dice_firmware/build/x86/src/sim/vis/";
+    let outputFile = editJsonFile(`${__dirname}/`+root+`sim_config.json`);
+    outputFile.set("setup", setup.DEMSetup);
+    outputFile.save();
+    console.log("saved the DEM setup in ../simulation/dice_firmware/build/x86/src/sim/vis/");
+    console.log();
+    console.log("Compile and run the DEM simulator:")
+    var commands=[];
+    if(integratedSetup.DEMSetup.parameters.make){
+      //make first
+      commands.push("cd " + "../simulation/dice_firmware/build/x86");
+      commands.push("make");
+      commands.push("cd " + "src/sim/vis/");
+
+    }else{
+      commands.push("cd " + root);
+    }
+    
+    commands.push("./sim_vis_executable");
+    runListCommand(commands,0);
+
+  }else{
+    console.log("didn't run DEM simulation");
+  }
 }
 
 function runListCommand(commands,index){
diff --git a/02_Presentation/assembly/json.png b/02_Presentation/assembly/json.png
new file mode 100644
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HcmV?d00001

diff --git a/02_Presentation/assembly/ur10.md b/02_Presentation/assembly/ur10.md
index 9033f5a..136597e 100644
--- a/02_Presentation/assembly/ur10.md
+++ b/02_Presentation/assembly/ur10.md
@@ -13,7 +13,8 @@
 5. Now you can run the node.js server by running
    - `node server.js` 
 6. this will show you instructions to navigate to `http://localhost:8080/demos/indexUR10.html` on your browser
-7. There you can **first** change the settings in the json editor in the bottom right, these are the global settings:
+7. There you can **first** change the settings in the json editor in the bottom right, these are under ur10Setup parameters settings:
+   -  ![](./json.png)
     ```javascript
     {
         run:true, // if true it will call the python script to move the UR10s, if false it will just save the setup ../assembly/python-urx/setup.json
@@ -75,7 +76,7 @@
     ```
 8. If the settings are correct you can place the nodes in the assembly 3d grid, for now place them in the bottom right corner
    - ![](./nodes.png)
-9. You can run after placing one node or after placing both nodes by pressing right click while the cursor is on the node; then the radial menu will appear, you can then press play.
+9.  You can run after placing one node or after placing both nodes by pressing right click while the cursor is on the node; then the radial menu will appear, you can then press play.
    - ![](./run.png)
-10. This will save the current setup to `./physical-computing-design-tools/01_Code/physical_computing_interface/assembly/python-urx/setup.json` and if `run:true` it will run the python file that is in `./physical-computing-design-tools/01_Code/physical_computing_interface/assembly/python-urx/` for example `ur10test.py`
-11. `./physical-computing-design-tools/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py` uses `python-urx` library to communicate with the UR10s and it uses the settings in `./physical-computing-design-tools/01_Code/physical_computing_interface/assembly/python-urx/setup.json`, you can debug this independently.
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+11. This will save the current setup to `./physical-computing-design-tools/01_Code/physical_computing_interface/assembly/python-urx/setup.json` and if `run:true` it will run the python file that is in `./physical-computing-design-tools/01_Code/physical_computing_interface/assembly/python-urx/` for example `ur10test.py`
+12. `./physical-computing-design-tools/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py` uses `python-urx` library to communicate with the UR10s and it uses the settings in `./physical-computing-design-tools/01_Code/physical_computing_interface/assembly/python-urx/setup.json`, you can debug this independently.
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