tpmkms 9.6.1 → 9.6.2

package/common/drone_v1.instance.json

@@ -6,7 +6,7 @@
     "point is a concept",
     "points are nameable orderable and memorable",
     {
-      "apply": "(args) => {\n      askForCalibrationDistance(args)\n      askForEndTime(args)\n      askForStartTime(args)\n\n      expectDirection(args)\n      expectDistanceForCalibration(args)\n      expectCalibrationCompletion(args)\n\n      args.config.addSemantic({\n        match: ({context, isA}) => isA(context.marker, 'quantity') && isA(context.unit.marker, 'unitPerUnit'),\n        apply: async ({context, objects, api, fragments, e}) => {\n          // send a command to the drone\n          const instantiation = await fragments(\"quantity in meters per second\", { quantity: context })\n          const result = await e(instantiation)\n          const desired_speed = result.evalue.amount.evalue.evalue\n          const desired_power = objects.current.power * (desired_speed / objects.calibration.speed)\n          objects.runCommand = true\n          objects.current.power = desired_power \n        }\n      })\n\n      args.config.addSemantic({\n        match: ({context, objects, isA}) => objects.current.direction && objects.isCalibrated && context.marker == 'controlStart',\n        apply: ({context, objects, api}) => {\n          objects.runCommand = false  \n        }\n      })\n\n      args.config.addSemantic({\n        // match: ({context, objects, isA}) => objects.current.direction && objects.isCalibrated && (context.marker == 'controlEnd' || context.marker == 'controlBetween'),\n        match: ({context, objects, isA}) => objects.current.direction && objects.isCalibrated && context.marker == 'controlEnd',\n        apply: ({context, objects, api}) => {\n          // send a command to the drone\n          if (objects.runCommand) {\n            // debugger\n            api.sendCommand()\n          }\n        }\n      })\n    }"
+      "apply": "(args) => {\n      askForCalibrationDistance(args)\n      askForEndTime(args)\n      askForStartTime(args)\n\n      expectDirection(args)\n      expectDistanceForCalibration(args)\n      expectCalibrationCompletion(args)\n\n      args.config.addSemantic({\n        match: ({context, isA}) => isA(context.marker, 'quantity') && isA(context.unit.marker, 'unitPerUnit'),\n        apply: async ({context, objects, api, fragments, e}) => {\n          // send a command to the drone\n          const instantiation = await fragments(\"quantity in meters per second\", { quantity: context })\n          const result = await e(instantiation)\n          const desired_speed = result.evalue.amount.evalue.evalue\n          const desired_power = objects.current.power * (desired_speed / objects.calibration.speed)\n          objects.runCommand = true\n          objects.current.power = desired_power \n        }\n      })\n\n      args.config.addSemantic({\n        match: ({context, objects, isA}) => objects.current.direction && objects.isCalibrated && context.marker == 'controlStart',\n        apply: ({context, objects, api}) => {\n          objects.runCommand = false  \n        }\n      })\n\n      args.config.addSemantic({\n        // match: ({context, objects, isA}) => objects.current.direction && objects.isCalibrated && (context.marker == 'controlEnd' || context.marker == 'controlBetween'),\n        match: ({context, objects, isA}) => objects.current.direction && objects.isCalibrated && context.marker == 'controlEnd',\n        apply: async ({context, objects, api}) => {\n          // send a command to the drone\n          if (objects.runCommand) {\n            // debugger\n            await api.sendCommand()\n          }\n        }\n      })\n    }"
     },
     {
       "operators": [
@@ -62,7 +62,7 @@
             "1": "{ marker: 'drone' }"
           },
           "bridge": "{ ...next(operator), object: after[0], interpolate: [{ context: operator }, { property: 'object' }] }",
-          "semantic": "({mentioned, context, objects, api, say}) => {\n            if (!objects.calibration.startTime) {\n              return // ignore\n            }\n            if (objects.calibration.speed) {\n              /*\n              const stopTime = api.stop()\n              const ordinal = api.nextOrdinal()\n              const point = api.currentPoint()\n              mentioned({ marker: 'point', ordinal, point })\n              objects.current.ordinal = ordinal\n              */\n              api.stop()\n              api.markCurrentPoint()\n            } else {\n              const stopTime = api.stop()\n              objects.calibration.endTime = stopTime\n              objects.calibration.duration = (objects.calibration.endTime - objects.calibration.startTime)/1000\n            }\n          }"
+          "semantic": "async ({mentioned, context, objects, api, say}) => {\n            if (!objects.calibration.startTime) {\n              return // ignore\n            }\n            if (objects.calibration.speed) {\n              /*\n              const stopTime = api.stop()\n              const ordinal = api.nextOrdinal()\n              const point = api.currentPoint()\n              mentioned({ marker: 'point', ordinal, point })\n              objects.current.ordinal = ordinal\n              */\n              api.stop()\n              await api.markCurrentPoint()\n            } else {\n              const stopTime = api.stop()\n              objects.calibration.endTime = stopTime\n              objects.calibration.duration = (objects.calibration.endTime - objects.calibration.startTime)/1000\n            }\n          }"
         }
       ],
       "generators": [
@@ -532,6 +532,11 @@
           "unit_length",
           false
         ],
+        [
+          "forQuantity",
+          "preposition",
+          false
+        ],
         [
           "forVariable",
           "preposition",
@@ -3405,6 +3410,11 @@
           "unit_length",
           false
         ],
+        [
+          "forQuantity",
+          "preposition",
+          false
+        ],
         [
           "forVariable",
           "preposition",
@@ -6111,20 +6121,6 @@
             0
           ]
         ],
-        [
-          [
-            "is",
-            0
-          ],
-          [
-            "list",
-            1
-          ],
-          [
-            "unknown",
-            0
-          ]
-        ],
         [
           [
             "is",
@@ -8291,6 +8287,11 @@
           "unit_length",
           false
         ],
+        [
+          "forQuantity",
+          "preposition",
+          false
+        ],
         [
           "forVariable",
           "preposition",
@@ -11545,6 +11546,11 @@
           "unit_length",
           false
         ],
+        [
+          "forQuantity",
+          "preposition",
+          false
+        ],
         [
           "forVariable",
           "preposition",
@@ -14763,6 +14769,11 @@
           "unit_length",
           false
         ],
+        [
+          "forQuantity",
+          "preposition",
+          false
+        ],
         [
           "forVariable",
           "preposition",
@@ -17771,7 +17782,7 @@
       }
     },
     {
-      "apply": "(args) => {\n      askForCalibrationDistance(args)\n      askForEndTime(args)\n      askForStartTime(args)\n\n      expectDirection(args)\n      expectDistanceForCalibration(args)\n      expectCalibrationCompletion(args)\n\n      args.config.addSemantic({\n        match: ({context, isA}) => isA(context.marker, 'quantity') && isA(context.unit.marker, 'unitPerUnit'),\n        apply: async ({context, objects, api, fragments, e}) => {\n          // send a command to the drone\n          const instantiation = await fragments(\"quantity in meters per second\", { quantity: context })\n          const result = await e(instantiation)\n          const desired_speed = result.evalue.amount.evalue.evalue\n          const desired_power = objects.current.power * (desired_speed / objects.calibration.speed)\n          objects.runCommand = true\n          objects.current.power = desired_power \n        }\n      })\n\n      args.config.addSemantic({\n        match: ({context, objects, isA}) => objects.current.direction && objects.isCalibrated && context.marker == 'controlStart',\n        apply: ({context, objects, api}) => {\n          objects.runCommand = false  \n        }\n      })\n\n      args.config.addSemantic({\n        // match: ({context, objects, isA}) => objects.current.direction && objects.isCalibrated && (context.marker == 'controlEnd' || context.marker == 'controlBetween'),\n        match: ({context, objects, isA}) => objects.current.direction && objects.isCalibrated && context.marker == 'controlEnd',\n        apply: ({context, objects, api}) => {\n          // send a command to the drone\n          if (objects.runCommand) {\n            // debugger\n            api.sendCommand()\n          }\n        }\n      })\n    }"
+      "apply": "(args) => {\n      askForCalibrationDistance(args)\n      askForEndTime(args)\n      askForStartTime(args)\n\n      expectDirection(args)\n      expectDistanceForCalibration(args)\n      expectCalibrationCompletion(args)\n\n      args.config.addSemantic({\n        match: ({context, isA}) => isA(context.marker, 'quantity') && isA(context.unit.marker, 'unitPerUnit'),\n        apply: async ({context, objects, api, fragments, e}) => {\n          // send a command to the drone\n          const instantiation = await fragments(\"quantity in meters per second\", { quantity: context })\n          const result = await e(instantiation)\n          const desired_speed = result.evalue.amount.evalue.evalue\n          const desired_power = objects.current.power * (desired_speed / objects.calibration.speed)\n          objects.runCommand = true\n          objects.current.power = desired_power \n        }\n      })\n\n      args.config.addSemantic({\n        match: ({context, objects, isA}) => objects.current.direction && objects.isCalibrated && context.marker == 'controlStart',\n        apply: ({context, objects, api}) => {\n          objects.runCommand = false  \n        }\n      })\n\n      args.config.addSemantic({\n        // match: ({context, objects, isA}) => objects.current.direction && objects.isCalibrated && (context.marker == 'controlEnd' || context.marker == 'controlBetween'),\n        match: ({context, objects, isA}) => objects.current.direction && objects.isCalibrated && context.marker == 'controlEnd',\n        apply: async ({context, objects, api}) => {\n          // send a command to the drone\n          if (objects.runCommand) {\n            // debugger\n            await api.sendCommand()\n          }\n        }\n      })\n    }"
     },
     {
       "extraConfig": true,
@@ -18470,6 +18481,11 @@
           "unit_length",
           false
         ],
+        [
+          "forQuantity",
+          "preposition",
+          false
+        ],
         [
           "forVariable",
           "preposition",
@@ -21630,6 +21646,11 @@
           "unit_length",
           false
         ],
+        [
+          "forQuantity",
+          "preposition",
+          false
+        ],
         [
           "forVariable",
           "preposition",
@@ -24649,20 +24670,6 @@
         0
       ]
     ],
-    [
-      [
-        "is",
-        0
-      ],
-      [
-        "list",
-        1
-      ],
-      [
-        "unknown",
-        0
-      ]
-    ],
     [
       [
         "is",

package/common/drone_v1.js

@@ -141,12 +141,12 @@ class API {
     return this._objects.ordinal += 1
   }
 
-  currentPoint() {
+  async currentPoint() {
     if (!this._objects.current.endTime) {
       return null // in motion
     }
     const ordinal = this._objects.current.ordinal
-    const lastPoint = this.args.mentions({ context: { marker: 'point' }, condition: (context) => context.ordinal == ordinal })
+    const lastPoint = await this.args.mentions({ context: { marker: 'point' }, condition: (context) => context.ordinal == ordinal })
 
     const durationInSeconds = (this._objects.current.endTime - this._objects.current.startTime) / 1000
     const speedInMetersPerSecond = (this._objects.current.power / this._objects.calibration.power) * this._objects.calibration.speed
@@ -159,9 +159,9 @@ class API {
     return { x: xPrime, y: yPrime }
   }
 
-  markCurrentPoint() {
+  async markCurrentPoint() {
     const ordinal = this.nextOrdinal()
-    const point = this.currentPoint()
+    const point = await this.currentPoint()
     this.args.mentioned({ marker: 'point', ordinal, point })
     this._objects.current.ordinal = ordinal
     this._objects.current.endTime = null
@@ -186,17 +186,17 @@ class API {
     this.testDate = new Date(this.testDate.getTime() + (duration_in_seconds-1)*1000)
   }
 
-  sendCommand() {
-    const stopAtDistance = (distanceMeters) => {
+  async sendCommand() {
+    const stopAtDistance = async (distanceMeters) => {
       const speed_meters_per_second = this._objects.calibration.speed
       const duration_seconds = distanceMeters / speed_meters_per_second
       this.pause(duration_seconds)
       this.stop()
-      this.markCurrentPoint()
+      await this.markCurrentPoint()
     }
 
     if (this._objects.current.destination) {
-      const currentPoint = this.args.mentions({ context: { marker: 'point' } })
+      const currentPoint = await this.args.mentions({ context: { marker: 'point' } })
       const polar = cartesianToPolar(currentPoint.point, this._objects.current.destination.point)
       const destinationAngleInDegrees = radiansToDegrees(polar.angle)
       let angleDelta = destinationAngleInDegrees - this._objects.current.angleInDegrees
@@ -207,7 +207,7 @@ class API {
       }
       this.rotate(angleDelta)
       this.forward(this._objects.current.power)
-      stopAtDistance(polar.radius)
+      await stopAtDistance(polar.radius)
       return
     }
 
@@ -232,7 +232,7 @@ class API {
 
     if (command.distance) {
       const distanceMeters = command.distance
-      stopAtDistance(distanceMeters)
+      await stopAtDistance(distanceMeters)
     }
   }
 
@@ -456,11 +456,11 @@ const template = {
       args.config.addSemantic({
         // match: ({context, objects, isA}) => objects.current.direction && objects.isCalibrated && (context.marker == 'controlEnd' || context.marker == 'controlBetween'),
         match: ({context, objects, isA}) => objects.current.direction && objects.isCalibrated && context.marker == 'controlEnd',
-        apply: ({context, objects, api}) => {
+        apply: async ({context, objects, api}) => {
           // send a command to the drone
           if (objects.runCommand) {
             // debugger
-            api.sendCommand()
+            await api.sendCommand()
           }
         }
       })
@@ -529,7 +529,7 @@ const template = {
             1: "{ marker: 'drone' }",
           },
           bridge: "{ ...next(operator), object: after[0], interpolate: [{ context: operator }, { property: 'object' }] }",
-          semantic: ({mentioned, context, objects, api, say}) => {
+          semantic: async ({mentioned, context, objects, api, say}) => {
             if (!objects.calibration.startTime) {
               return // ignore
             }
@@ -542,7 +542,7 @@ const template = {
               objects.current.ordinal = ordinal
               */
               api.stop()
-              api.markCurrentPoint()
+              await api.markCurrentPoint()
             } else {
               const stopTime = api.stop()
               objects.calibration.endTime = stopTime
@@ -576,7 +576,12 @@ knowledgeModule( {
     contents: droneV1_tests,
     checks: {
       context: [
-        defaultContextCheck({ marker: 'point', exported: true, extra: ['ordinal', { property: 'point', check: ['x', 'y'] }, 'description', { property: 'stm', check: ['id', 'names'] }] }),
+        defaultContextCheck({ marker: 'point', exported: true, extra: [
+          'ordinal', 
+          { property: 'point', check: ['x', 'y'] }, 
+          'description', 
+          { property: 'namespaced', check: [{ property: 'stm', check: ['id', 'names'] }] },
+        ] }),
         defaultContextCheck({ marker: 'turn', exported: true, extra: ['direction'] }),
         defaultContextCheck({ marker: 'history', exported: true, extra: ['pause', 'direction', 'power', 'turn', 'time'] }),
         defaultContextCheck(),