tpmkms_4wp 9.5.1-beta.33 → 9.5.1-beta.35

package/common/dimension.instance.json

@@ -1111,7 +1111,7 @@
             "end": 24
           },
           "dead": true,
-          "modifiers": [
+          "conceptModifiers": [
             {
               "value": "measurement",
               "unknown": true,
@@ -5444,7 +5444,7 @@
             "end": 21
           },
           "dead": true,
-          "modifiers": [
+          "conceptModifiers": [
             {
               "value": "metric",
               "unknown": true,
@@ -6889,7 +6889,7 @@
             "end": 23
           },
           "dead": true,
-          "modifiers": [
+          "conceptModifiers": [
             {
               "value": "imperial",
               "unknown": true,
@@ -8438,7 +8438,7 @@
             "end": 26
           },
           "dead": true,
-          "modifiers": [
+          "conceptModifiers": [
             {
               "value": "measurement",
               "number": "one",
@@ -14103,7 +14103,7 @@
             "end": 21
           },
           "dead": true,
-          "modifiers": [
+          "conceptModifiers": [
             {
               "value": "imperial",
               "number": "one",
@@ -15772,7 +15772,7 @@
             "end": 19
           },
           "dead": true,
-          "modifiers": [
+          "conceptModifiers": [
             {
               "value": "metric",
               "number": "one",

package/common/drone.instance.json

@@ -6,7 +6,7 @@
     "point is a concept",
     "points are nameable",
     {
-      "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.calibration.power * (desired_speed / objects.calibration.speed)\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 == 'controlEnd',\n        apply: ({context, objects, api}) => {\n          // send a command to the drone\n          api.sendCommand()\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.calibration.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            api.sendCommand()\n          }\n        }\n      })\n    }"
     },
     {
       "operators": [
@@ -26,7 +26,7 @@
             "verb"
           ],
           "bridge": "{ ...next(operator), direction: after[0], interpolate: [{ context: operator }, { property: 'direction' }] }",
-          "semantic": "({context, objects, api}) => {\n            objects.current.direction = context.direction.marker\n          }"
+          "semantic": "({context, objects, api}) => {\n            objects.runCommand = true\n            objects.current.direction = context.direction.marker\n          }"
         },
         {
           "id": "calibrate",
@@ -61,7 +61,8 @@
           "match": "({context}) => context.marker == 'help' && !context.paraphrase && context.isResponse",
           "apply": "() => ''"
         }
-      ]
+      ],
+      "semantics": []
     }
   ],
   "resultss": [
@@ -15079,7 +15080,7 @@
       }
     },
     {
-      "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.calibration.power * (desired_speed / objects.calibration.speed)\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 == 'controlEnd',\n        apply: ({context, objects, api}) => {\n          // send a command to the drone\n          api.sendCommand()\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.calibration.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            api.sendCommand()\n          }\n        }\n      })\n    }"
     },
     {
       "extraConfig": true,
@@ -15128,7 +15129,8 @@
       ],
       "generators": [
         {}
-      ]
+      ],
+      "semantics": []
     }
   ],
   "fragments": [

package/common/drone.js

@@ -151,27 +151,28 @@ class API {
   }
 
   pause(duration_seconds) {
-    this._objects.history.push({ pause: duration_seconds })
+    this._objects.history.push({ marker: 'history', pause: duration_seconds })
   }
 
   // subclass and override the remaining to call the car
 
   forward(power) {
-    this._objects.history.push({ direction: 'forward', power })
+    this._objects.history.push({ marker: 'history', direction: 'forward', power })
   }
 
   backward(power) {
-    this._objects.history.push({ direction: 'backward', power })
+    this._objects.history.push({ marker: 'history', direction: 'backward', power })
   }
 
   // -angle is counterclockwise
   // +angle is clockwise
 
   rotate(angle) {
-    this._objects.history.push({ turn: angle })
+    this._objects.history.push({ marker: 'history', turn: angle })
   }
 
   turn(angle) {
+    this._objects.runCommand = true
   }
 
   tilt_angle(angle) {
@@ -181,7 +182,7 @@ class API {
   }
 
   stop() {
-    this._objects.history.push({ power: 0 })
+    this._objects.history.push({ marker: 'history', power: 0 })
   }
 }
 
@@ -243,6 +244,7 @@ function expectDirection(args) {
   args.config.addSemantic({
     match: ({context, isA}) => isA(context.marker, 'direction'),
     apply: ({objects, context}) => {
+      objects.runCommand = true
       objects.current.direction = context.marker
     }
   })
@@ -268,6 +270,7 @@ function expectDistanceForMove(args) {
     apply: async ({context, objects, fragments, e}) => {
       const instantiation = await fragments("quantity in meters", { quantity: context })
       const result = await e(instantiation)
+      objects.runCommand = true
       objects.current.distance = result.evalue.amount.evalue.evalue
     }
   })
@@ -318,15 +321,26 @@ const template = {
           const result = await e(instantiation)
           const desired_speed = result.evalue.amount.evalue.evalue
           const desired_power = objects.calibration.power * (desired_speed / objects.calibration.speed)
+          objects.runCommand = true
           objects.current.power = desired_power 
         }
       })
 
       args.config.addSemantic({
+        match: ({context, objects, isA}) => objects.current.direction && objects.isCalibrated && context.marker == 'controlStart',
+        apply: ({context, objects, api}) => {
+          objects.runCommand = false  
+        }
+      })
+
+      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}) => {
           // send a command to the drone
-          api.sendCommand()
+          if (objects.runCommand) {
+            api.sendCommand()
+          }
         }
       })
     },
@@ -345,6 +359,7 @@ const template = {
           isA: ['verb'],
           bridge: "{ ...next(operator), direction: after[0], interpolate: [{ context: operator }, { property: 'direction' }] }",
           semantic: ({context, objects, api}) => {
+            objects.runCommand = true
             objects.current.direction = context.direction.marker
           },
           // check: { marker: 'turn', exported: true, extra: ['direction'] }
@@ -392,6 +407,9 @@ const template = {
           apply: () => ''
         },
       ],
+      semantics: [
+      
+      ],
     },
   ],
 }
@@ -408,8 +426,9 @@ knowledgeModule( {
     contents: drone_tests,
     checks: {
       context: [
-        defaultContextCheck({ marker: 'point', exported: true, extra: ['ordinal'] }),
+        defaultContextCheck({ marker: 'point', exported: true, extra: ['ordinal', { property: 'stm', check: ['id', 'names'] }] }),
         defaultContextCheck({ marker: 'turn', exported: true, extra: ['direction'] }),
+        defaultContextCheck({ marker: 'history', exported: true, extra: ['pause', 'direction', 'power', 'turn'] }),
         defaultContextCheck(),
       ],
       objects: [
@@ -417,7 +436,7 @@ knowledgeModule( {
         { path: ['calibration'] }, 
         { path: ['history'] },
         { path: ['current'] },
-        // defaultContextCheck(['calibration', 'history', 'current']),
+        { path: ['runCommand'] },
       ],
     }
   },