b16f26e6ab
The operator's call: "there should be one default learning rate and one
default max iterations and they should both be configurable at runtime."
There were SIX copies, not the four the audit described, and they did not
agree:
nisps/ml/mlp.hpp no-arg train() hardcoding 1.f / 1000u / 0.001f —
and firmware's ONLY training path calls exactly
this, so firmware had no runtime knob at all
wasm-iml.ts train() and trainAsync() TS default params (x2)
engine-api.ts learningRate ?? 1.0, with no maxIterations knob
vcv/src/iml.hpp 200 / 0.1 / 0.00001 — silently divergent
external_synth_midi.hpp its own kDefaultLearningRate/kDefaultMaxIterations
schemas/modes/*.json x9, identical, read by nobody at runtime
Now: schemas/ml_defaults.json is the single declaration (validated against a
sibling meta-schema, matching the midi_device.schema.json convention), codegen
emits it to C++ and TS in the same run, and MLPCore carries a TrainConfig whose
default member initialisers read the generated constant.
set_train_config()/nisps_ml_set_train_config() make it runtime-overridable on
every target; the explicit-argument train() overload is untouched. min_error
joins the tuple — it was duplicated identically and belongs with the other two.
The per-mode ml block loses default_learning_rate/default_max_iterations.
default_spread stays (genuinely wired on both targets) and input_channels stays
(codegen-time validated, real information for sound_analysis_midi).
VCV BEHAVIOUR CHANGE, deliberate: MEMLNaut.cpp constructs IML positionally and
relies on those defaults, so the module moves to 1000/1.0/0.001 — 5x the max
iterations, 10x the learning rate, and a 100x looser early-stop threshold. The
old values were never justified anywhere; they arrived with fbc68eb alongside
an unrelated module rewrite and no tuning rationale. Firmware and WASM have
shipped 1.0/1000 all along. It is now runtime-settable if this turns out worse.
The generated header lands in nisps/ml/generated/, not nisps/modes/generated/
where the rest of codegen output lives: training hyperparameters are an ML
fact, and nisps/ml sits below nisps/modes, so emitting them there would make
mlp.hpp include upward. The agent that built this flagged the directory-crossing
rather than hiding it; this is the fix. CI's generated-freshness gate learns the
new directory.
Gates: run-all-tests.sh ALL GREEN — 4/4 ctest, parity PASS (max delta 2.38e-7),
lint clean, manifold typecheck + 17 unit + 33 e2e (which exercise train() and
trainAsync() through a real browser).
177 lines
24 KiB
Markdown
177 lines
24 KiB
Markdown
# MAP
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MEMLNaut-NISPS — Neural Interactive Shaping of Parameter Spaces. One C++20 codebase (`nisps/`) compiles to two targets: (1) Arduino/RP2350 firmware for the MEMLNaut hardware, (2) WASM in the Manifold React browser app that runs the same engines + ML through an AudioWorklet. (The former SolidJS playground was retired 2026-07-13 — branch `archive/playground-solidjs`, tag `playground-solidjs-final`; the browser-only C15 engine lives only there for now.) See `CLAUDE.md` for the long-form architecture narrative and `ALIGNMENT.md` for current strategic gaps.
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## Layout
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### `nisps/` — platform-agnostic C++20 library (the only ML/DSP/engine code)
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- `nisps/core/` — `perf.hpp` (hot-path/inlining attrs), `types.hpp`, `concepts.hpp` (`MLEngine`, `AudioEngine`, `Mode`), `ring_buffer.hpp` (SPSC lock-free cross-core channel, replaces pico/util/queue), `event_queue.hpp` (single-threaded in-engine event FIFO — deliberately NOT RingBuffer, which is an atomics-based cross-thread channel), `rng.hpp` (xoshiro256+ deterministic), `math.hpp` (fast_sigmoid, `Curve` enum + `apply_curve`).
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- `nisps/ml/` — the MLP core, written once against a storage policy (`mlp.hpp` `MLPCore<Storage>`): `storage.hpp` (`FixedStorage` — template-sized `std::array`, zero heap; `MLP<NIn,NH1,NH2,NH3,NOut>` alias preserves the classic compile-time surface) and `dynamic_storage.hpp` (`DynamicStorage` — runtime dims, single arena alloc at construction; `#error`s on RP2350 builds, sole lint heap-allowlist entry). Fixed↔dynamic bit-parity enforced by `tests/cpp/test_mlp_storage_parity.cpp`. Files: `mlp.hpp`, `activations.hpp`, `loss.hpp` (MSE, no double-scaling), `training.hpp` (SGD + grad clipping), `init.hpp` (spread-aware uniform↔Xavier), `rl.hpp` (`move_weights` with output pin mask + per-layer scaling + weight decay), `jolt.hpp` (`Jolt` — held continuous weight-morph over the flat weight buffer + post-release LR ramp; ported from upstream InterfaceRL), `ou_noise.hpp` (`OUNoise<N>` — Ornstein-Uhlenbeck exploration walk on the output vector; ported from upstream InterfaceRL), `feedback.hpp` (`FeedbackControllerCore<FbStorage>` — the "Down Action" state machine: Avoid (geometric push-away default / Diffuse legacy) / RandomiseOutputs / RandomiseMlp / ExploreAndPlace; storage-policied like the MLP, own deterministic RNG, exposed via `nisps_ml_feedback_*` C API), `replay.hpp` (`ReplayView` — reward-tagged memory: dedup/deepen, k-NN positive centroid with deterministic tie-break, proportional decay+eviction), `geo_push.hpp` (push-away target computation, upstream InterfaceRL @ 0a541cc), `warm_start.hpp` (overlapping-weights copy for reshape), `stats.hpp`. `generated/ml_defaults.hpp` is codegen output (do not edit): `nisps::ml::generated::kMlTrainDefaults`, the ONE learning-rate / max-iterations / min-error default shared by firmware, WASM and VCV (source `schemas/ml_defaults.json`); `MLPCore::set_train_config()` and `nisps_ml_set_train_config()` override it at runtime. It lives under `ml/` rather than `modes/generated/` because `nisps/ml` sits below `nisps/modes` — mlp.hpp must not include upward. Jolt + OU are inert by default and wired into `ModeBase`, so every mode exposes `jolt_press/jolt_release`, `jolt_lr_scale`, and `set_explore_intensity`.
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- `nisps/pipeline/` — the control-rate input/output processing chains (P4): `input_chain.hpp` (`InputChain` — invert→deadzone→circular clamp→momentum-modulated zoom→centred power→EMA→momentum; caller-supplied dt, internal clock, fixed velocity ring, serialisable state) and `output_chain.hpp` (`OutputChain<NMax>` — curve→EMA→slew→freeze(+mask), capacity-templated). Behaviour contract = the retired manifold TS pipelines, pinned by `manifold/tests/fixtures/` and parity stage 7.
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- `nisps/dsp/` — `biquad.hpp`, `delay.hpp`, `reverb.hpp`, `filter.hpp`, `env.hpp`, `osc.hpp`, `pitch_shift.hpp`, `dc_blocker.hpp`, plus the sequencer primitives shared by the sequencer engines: `ratio_seq.hpp` and `seq_clock.hpp` (bar phasor + MIDI clock + bpm). Lean primitives extracted from maximilian; daisysp PitchShifter replaced with custom granular impl.
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- `nisps/engines/` — eight audio engines, each satisfying `AudioEngine`: `paf_synth.hpp`, `channel_strip.hpp`, `xiasri.hpp`, `verb_fx.hpp`, `memlcelium.hpp`, `breakor.hpp` (sequencer, NoOp audio), `elysiamorf.hpp` (sequencer, NoOp audio), `analysis.hpp` (input-side spectral features). Plus `base.hpp` (`NoOpEngine`, engine_id "thru").
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- `nisps/modes/` — platform-agnostic modes binding `{ML config, engine, voice space lambdas, abstract I/O channels}`. Files: `paf_synth.hpp`, `channel_strip.hpp`, `xiasri.hpp`, `verb_fx.hpp`, `memlcelium.hpp`, `slp_workshop.hpp` (`SLPWorkshopMode` — the Synth Library Portland workshop build; reuses the MEMLCelium engine + MLP shape, foregrounds the Jolt + OU explore gestures), `breakor.hpp`, `elysiamorf.hpp`, `sound_analysis_midi.hpp`, `external_synth_midi.hpp` (`ExternalSynthMIDIMode<const MidiDevice&, NOut>` — joystick→MLP→MIDI CC for an external synth; compile-time device from `nisps/midi`; `consteval pick_cc_slots` curates which params fill the NOut slots; NoOpEngine, `kRouteOutputsToEngine=false`). `base.hpp` provides a CRTP scaffold eliminating the duplication that previously plagued firmware modes. `generated/` contains codegen output (do not edit by hand): per-mode `k<Mode>Schema` ParamSchema instances, the `<Mode>MLP` type aliases built from the schema's own dims, and `schema_types.hpp` which now owns the `ParamSchema` struct itself. Mode headers no longer hand-write either their schema aggregate or their net shape.
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- `nisps/wasm/bindings.cpp` — flat C API exported to WASM (Emscripten target only).
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- `nisps/midi/generated/midi_devices.hpp` — codegen output: no-heap `constexpr` external-MIDI-synth templates (`nisps::midi::generated`; `MidiParam`/`MidiDevice` + `kMidiDevices` registry). Source = `schemas/midi_devices/`; do not edit by hand.
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- `nisps/CMakeLists.txt` + `nisps/build/` — host-target builds + ctest.
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### `firmware/` — Arduino sketch + hardware glue
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- `firmware/MEMLNaut-NISPS/MEMLNaut-NISPS.ino` — entry point. Selects active mode at compile time via `#define MEMLNAUT_MODE_TYPE`. Forks on `NISPS_SELFTEST`: normal modes run the engine/ML path; the `SelfTest` variant delegates all four entry points to `glue/selftest.hpp`.
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- `firmware/MEMLNaut-NISPS/glue/` — hardware bindings:
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- `audio_driver.hpp` — bridges memllib `AudioDriver` callback → `Mode::process(stereosample_t)`.
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- `peripherals.hpp` — joystick / pots / buttons → `Mode::set_input` and ML primitives. Wires the shared `FeedbackController` ExploreAndPlace lifecycle (MomA1 = enter/exit explore, MomA2 = freeze/place, TogB2 = commit; MomB1/MomB2 = reroll/nudge while exploring **or** grab/drop *reposition* while idle) plus the adaptive-learning gestures: **TogB1** = Jolt (held weight morph), **RVX1** = exploration amount (OU output walk). Reposition relocates an existing positive example's output to a new input position (`feedback.hpp` `begin_reposition`/`commit_reposition`) — no scratchpad, no weight restore.
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- `midi_io.hpp` — MIDI in → mode `note_on`/`update_bpm`/`set_playing`; drains `ControlEvent` ring → MIDI UART.
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- `mode_select.hpp` — type aliases mapping firmware mode identifiers to `nisps::modes::*Mode` C++ types. Build script rewrites the active line. Includes the six `MEMLNautModeExtSynth*` external-synth variants (one per device template in `nisps/midi`, e.g. `MEMLNautModeExtSynthSub37`). Also defines the `MEMLNautModeSelfTest` pseudo-variant (tag type) + the `NISPS_ST_*`/`NISPS_ST_CAT` token-paste macros the `.ino` uses to compute `NISPS_SELFTEST`. Note: `src/nisps/` exposes each referenced top-level nisps subdir as a symlink — `midi` was added alongside `core/dsp/engines/ml/modes`.
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- `selftest.hpp` — standalone guided hardware self-test rig (`SelfTest` variant; no engine/ML). Step-driven state machine on a `SelfTestView`: TFT prompts the operator through every control, auto-advances on detection, encoder-press skips. Ends with optional L/R/BOTH sine-sweep headphone check (core 1 block callback) + MIDI loopback-cable test. Lives firmware-side (touches TFT + raw pins) so it stays out of platform-agnostic `nisps/`.
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- `output_router.hpp` — top-level `drain_outputs()` entry point. (Inputs are wired directly by `peripherals.hpp`'s `bind_peripherals()`.)
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- `settings_view.hpp` — `wire_settings(mode)`: adds on-device settings views to the MEMLNaut display carousel (TFT + rotary encoder). Joystick Dual/Single toggle for the 4-input ("two 2-D joystick") modes — "Single" pins ML input channels 2,3 to neutral via `ModeBase::set_input_pinned` (no net rebuild). Registered in the `.ino` after `addSystemInfoView()`.
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- `firmware/MEMLNaut-NISPS/src/{memllib,nisps}` — symlinks (Arduino-CLI requires sketch-tree includes; preprocessor refuses `..` in headers).
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- `firmware/README.md` — structure + build instructions.
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- `firmware/useq-celium/` — standalone RP2040 firmware (PlatformIO, Arduino-Pico core) that turns a uSEQ module + CV expander into a USB→CV/gate converter driven by the manifold `cvgate` backend. `shared/protocol.h` is the v2 wire-protocol single source of truth (mirrored by `manifold/src/backends/useq-protocol.ts`); `main/` (USB serial → CV1–3 + GATE1–3, I2C → expander) and `expander/` (I2C slave → CV4–11). Wire spec: `docs/specs/useq-cv-protocol.md`. Restored from the April-2026 "uSEQ-Celium" mode.
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### `manifold/` — Vite + React + TS convertible-mode app (the sole browser app)
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The Manifold "convertible" Console on the real engine, deployed at `meml.lnfinitemonkeys.org/next` (staging,
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alongside the live vanilla a-immersive at `/`). Built 2026-06-27/28; see `docs/specs/plans/BUILD-PLAN.md` (resume
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anchor + locked decisions) and the `docs/specs/*-spec.md` set.
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- `manifold/src/engine/` — the parity-tested TS engine (same `nisps.wasm`), made
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framework-neutral: `wasm-iml.ts` (rewired off Solid stores onto an injected `EngineSink`), `engine-host.ts` +
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`worklet/nisps-processor.ts` (audio), thin WASM wrappers over the core pipelines + curve catalog (the TS
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`input-pipeline`/`output-pipeline`/`curves` implementations died at P4), `wasm-worker.ts`,
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`spine.ts` (the reactive spine BELOW React — `setInput` derives processed→ml→routed eagerly off-render),
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`engine-api.ts` (`EngineApi` façade incl. `feedback.*` wrappers over the `nisps_ml_feedback_*` C ABI),
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`EngineProvider.tsx`/`useEngine.ts` (React binding via `useSyncExternalStore` version counter). nisps.js is
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loaded via fetch+indirect-eval (Emscripten MODULARIZE glue has no ES exports), base-aware via `document.baseURI`
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for the `/next` sub-path.
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- `manifold/src/primitives/` — the 7 design primitives as typed React (Badge, Button, PillToggle, Slider, Switch, VirtualJoystick, XYPad). Five unused ones were deleted in the 2026-07 sweep (L22).
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- `manifold/src/console/` — the convertible Console: `ConsoleApp`, `CompositeStage` (single-divider convertible
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with snap/magnetism/minimap-demotion), `OutputStage`/`SandwichStage`/`ParticleStage`/`Manifold` (canvas,
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rect↔circular + feedback markers), `Dock` (top Mode selector + 5 vertically-centred drawers), `Drawers`
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(Learning/Inputs/Outputs/Settings/Help), `VerdictCluster` (mode-aware), `OutputEditor`/`CurvePad`, `icons.tsx`
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(monochrome currentColor SVG), `model.ts` (`MF_MODES` catalogue — schema-backed modes DERIVED from
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`manifold/src/modes/generated/`; carries per-mode `ml` net shape + `engineId`), `output-mode.ts`.
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- `manifold/src/modes/generated/` — codegen output (`*_schema.ts`, do NOT hand-edit): `ModeSchema`
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consts (mode_id, engine_id, ml dims, params, voice_spaces, ui) — the SOURCE OF TRUTH for `MF_MODES`.
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Switching mode reshapes the WASM net to the mode's `ml` dims (ConsoleApp P5.3; boot mode paf_synth →
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4→[10,10,14]→33).
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- `manifold/src/dock/` — `OutputControlRow` (off/fixed/live + mute + solo/arm + min/max/curve), `output-state.ts`,
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`OutputsBackendConfig.tsx` (per-backend specialised Outputs panel — the sole per-backend editor).
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- `manifold/src/backends/` — `OutputBackend` adapter + `BackendManager` (spine consumer); `midi-backend.ts`
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(WebMIDI), `osc-backend.ts`+`osc-client.ts` (OSC-over-WS), `vcv-backend.ts` (VCV-over-WS), `cv-backend.ts`
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(`UseqCvBackend` — uSEQ CV/gate over USB Web Serial, backend id `cvgate`) + `useq-protocol.ts` (v2 wire
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protocol, mirrors `firmware/useq-celium/shared/protocol.h`; `useq-protocol.test.ts` runs via `bun test`),
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`particle-backend.ts`, `passthrough-backend.ts`, `presets.ts` (named presets), `manager.ts`.
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- `manifold/src/midi-devices/` — external-synth device templates. `generated/` is codegen output from
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`schemas/midi_devices/` (`MIDI_DEVICES` catalogue + `MIDI_DEVICES_BY_ID`, params by name+CC). The MIDI Outputs
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config (`dock/OutputsBackendConfig.tsx`) reads it for the device picker + param-select that fills the CC table.
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- `manifold/src/inputs/` — modular INPUT layer feeding the ML head. The Inputs dock picks ONE exclusive mode
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(`InputMode` = `internal` | `gamepad` | `midi`; Internal/XY-pad is default). `input-layer.ts` owns a single rAF
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loop composing the active source's axes → reduced to the engine arity (fixed 2-in WASM → even/odd blend) → one
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`setInputs`, plus an `onReducedInput` callback the manifold tracks. Sources: `xy-pad-source` (push-driven),
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`gamepad-source` (sticks→axes single/double; buttons emit press+release actions, bound in `ConsoleApp` to
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verdicts — LB/RB=down/up, X/Y/B=randomise/nudge/undo, A-hold=reposition), `midi-input-source` (device picker +
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BATCH "MIDI Learn": every CC swept while armed becomes an axis, shown as read-only meters). `useInputLayer.ts`
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is the React binding; `base-source.ts` shared status/action plumbing; `types.ts` the adapter contract.
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`backends/base-backend.ts` is its output-side counterpart (status + throttle + lastSent) used by the midi/osc/vcv transports.
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- `manifold/src/feedback/` — `controller.ts` (Explore-and-place scratchpad + geometric-dislike + solo; a thin
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driver over the shared C++ core).
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- `manifold/src/settings/` — `settings-store.ts` (monochrome icons, input-map shape, corner radius).
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- `manifold/src/serial/` — `memlnaut-serial.ts` Web Serial scaffold + `EditorPanel.tsx` (MEMLNaut Editor mode).
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- `manifold/src/engine/exploration.ts` — Jolt press + OU explore gestures (Learning drawer): a thin
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timer-driver over the shared C++ core via the `nisps_ml_jolt_*`/`nisps_ml_ou_*` bindings (the interim
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TS math and `jolt.ts`/`ou-explore.ts` were deleted when P3 landed).
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- `manifold/src/debug/probe.ts` — `window.__nisps` (`?debug=1`). `manifold/tests/e2e/` — `smoke`,
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`probe-api` (15-test engine-contract port), `spine` (spine invariant + probe-survives-mode-switch).
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E2E on the VPS runs via non-snap node (see BUILD-PLAN). `manifold/tests/fixtures/` — golden parity
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fixtures (gesture trace, curves, input/output pipelines) captured 2026-07-13 pre-P4, guarded by
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`tests/pipeline-golden.test.ts` (in `bun run test`). `manifold/osc-bridge/` — Deno WS↔UDP-OSC bridge.
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### `vcv/` — VCV Rack 2 plugin (MEMLNaut module, WIP)
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Native C++ Rack module: ML CV-mapper with RL feedback + a browser bridge. **8 inputs × 16 outputs + per-output
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LED rings**, palette from the frontend tokens, WS↔OSC browser bridge (see `docs/specs/vcv-module.md`).
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`src/MEMLNaut.cpp` (module, 8→[16,24,16]→16), `src/iml.hpp` (**thin adapter over `nisps::ml::MLPCore<DynamicStorage>`
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+ core `nisps::Rng`** — P6 reunification 2026-07-18, closes vcv-module.md delta #5; behaviour is now core-exact,
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pinned by `tests/cpp/test_vcv_iml_parity.cpp`), `src/osc_server.hpp` (bridge, transport-only), `src/plugin.{hpp,cpp}`,
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`res/*.svg` (panels), `Makefile` (needs `RACK_DIR`). Builds against the current `../nisps/` core via relative
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includes; no `nisps-core`.
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### `schemas/` — JSON parameter contracts (firmware/browser source of truth)
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- `schemas/schema.json` — Draft 2020-12 meta-schema validating mode files.
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- `schemas/modes/<mode>.json` (×9) — each mode's params, ranges, defaults, curves, voice spaces, ML config. (`slp_workshop.json` reuses `engine_id: memlcelium`.)
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- `schemas/modes/params_notes.md` — provenance notes and judgement calls per mode.
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- `schemas/midi_device.schema.json` — Draft 2020-12 meta-schema for external-MIDI-synth templates.
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- `schemas/midi_devices/<device>.json` (×6) — CC-controllable external synths (Moog Sub 37 / Sub Phatty, Creamware Pro-12 ASB, Elektron Analog Keys, ASM Hydrasynth, Roland JD-800). Each param: `{id, cc, label, min, max, default, group}`. Canonical source for both firmware + browser device pickers. Verified-CC provenance + sources live in `schemas/midi_devices/sources/synth-midi-cc.json` (a `sources/` subdir, because the generator ajv-validates every `*.json` directly under `midi_devices/` as a device template).
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### `codegen/` — schema → C++/TS code
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- `codegen/generate.ts` — Bun script: validates schemas via ajv (incl. the P5 firmware-fit check: exactly 3 hidden layers, dims ≤4096), emits per-mode C++ `nisps/modes/generated/<mode>_schema.hpp` (`constexpr`, `nisps::modes::generated`) AND TS `manifold/src/modes/generated/<mode>_schema.ts` (+ `types.ts`, `index.ts`). Idempotent; golden-tested in `run-all-tests.sh` stage 5. The TS output is the SOURCE OF TRUTH consumed by `MF_MODES` (`manifold/src/console/model.ts`).
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- `codegen/generate-midi-devices.ts` — separate Bun script (isolated from the mode golden test): validates `schemas/midi_devices/` via ajv, emits `nisps/midi/generated/midi_devices.hpp` (no-heap `constexpr`) and `manifold/src/midi-devices/generated/{types,devices,index}.ts`. Idempotent.
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- `codegen/lib.ts` — helpers shared by both generators. `codegen/tests/golden/` — golden snapshot for paf_synth (C++ + TS).
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### `tests/cpp/` — host C++ tests
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- Per-component tests: `test_dsp_*.cpp`, `test_engine_*.cpp`, `test_mlp_*.cpp`, `test_mode_*.cpp`, `test_ring_buffer.cpp`, `test_rng.cpp`, `test_math.cpp`. Helpers in `test_helpers.hpp`.
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- Verification: `ml_golden_vectors.cpp`, `engine_impulse.cpp` (+ `engine_impulse_baseline.bin`), `parity_check.cpp` + `parity_wasm.mjs` + `parity_diff.mjs` — native-vs-WASM bit-equivalence within 1e-5.
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### `scripts/` — build + verify entry points
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- `build-firmware.sh`, `flash-firmware.sh`, `build-and-flash-firmware.sh`, `firmware-common.sh` — Arduino-CLI wrapper for RP2350 target with C++20 flag.
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- `build-wasm.sh` — Emscripten compile producing `manifold/public/nisps.{wasm,js}`.
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- `build-cpp-tests.sh` — CMake configure + build + ctest (Ninja).
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- `parity-check.sh` — runs native + WASM and diffs binary outputs.
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- `lint-cpp.sh` — `.f` literal warn + heap/`Arduino.h` violation fail.
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- `run-all-tests.sh` — master verification script.
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### `.github/workflows/`
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- `ci.yml` — GitHub Actions: cmake build + ctest + WASM build + parity check + lint + Playwright (cpp-tests + manifold-tests jobs). Firmware compile is documented as manual.
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### `src/` — submodule + vendored trees
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- `src/memllib/` — hardware abstraction (audio driver, peripherals, MIDI), the only true submodule. **Not auto-initialized** — fresh clones need `git submodule update --init --recursive`. Pinned to `monkey-w1n5t0n/memllib` branch `feat/nisps-core-swap` (the operator's fork; upstream is `MusicallyEmbodiedML/memllib`). Ownership decision — vendor the load-bearing subset into this repo — lands with the PlatformIO migration (plan §5, §7.5).
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### Top-level docs
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- `CLAUDE.md` — long-form architecture narrative.
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- `MAP.md` — this file.
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- `ALIGNMENT.md` — strategic gaps + open mission questions, dated, opinionated.
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- `README.md` — short quickstart.
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- `AGENTS.md` — canonical agent contract: architecture, build/test, scope, and Ergo workflow.
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## Entry points
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- **Firmware**: `scripts/build-firmware.sh [VARIANT]` (interactive prompt if omitted), `scripts/flash-firmware.sh`, `scripts/build-and-flash-firmware.sh`. Target: `rp2040:rp2040:solderparty_rp2350_stamp_xl:opt=Optimize3`, `-std=gnu++20`.
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- **Manifold dev**: `cd manifold && bun install && bun run dev` (Vite, COOP/COEP headers).
|
||
- **Manifold build**: `cd manifold && bun run build`.
|
||
- **WASM rebuild**: `bash scripts/build-wasm.sh` (needs `emcc`).
|
||
- **Host C++ tests**: `bash scripts/build-cpp-tests.sh`.
|
||
- **Parity check**: `bash scripts/parity-check.sh`.
|
||
- **All tests**: `bash scripts/run-all-tests.sh`.
|
||
- **Playwright**: `cd manifold && node node_modules/.bin/playwright test` (non-snap node runner on the VPS — BUILD-PLAN gotcha; `bunx playwright test` works elsewhere).
|
||
- **Codegen**: `cd codegen && bun run generate.ts` (regenerates `nisps/modes/generated/` + `nisps/ml/generated/` C++ and `manifold/src/modes/generated/` TS).
|
||
|
||
## Conventions
|
||
|
||
- Firmware mode selection is compile-time only — `#define MEMLNAUT_MODE_TYPE` in the `.ino`.
|
||
- `nisps/` follows Chris's RP2350 perf rules: no heap, `static const float` for non-trivial constants, strict `.f` suffix. `perf.hpp` now carries only `NISPS_HOT`/`NISPS_FORCE_INLINE`; the three dead/misshapen SRAM-section macros were deleted in the 2026-07 sweep (S21/L13).
|
||
- C++ identifiers: `PascalCase` types, `snake_case` functions/variables, `kPascalCase` constexpr. JSON keys `snake_case`. TS types `PascalCase`, components `PascalCase.tsx`, modules `kebab-case.ts`.
|
||
- `Curve` enum lives in `nisps/core/math.hpp` (lowercase: `linear/exp/log/square/sqrt/sigmoid/cubic`, plus the parameterised `centered_power` free function); generated mode headers re-export via `using Curve = ::nisps::Curve;`. Since P4 there is NO TS mirror — the browser samples the WASM catalog (`nisps_curve_apply(+batch)`).
|
||
- Modes are TSX components composed of primitives; mode parameter contracts are JSON schemas with codegen → C++ **and** TS types (`MF_MODES` derives params/ml-config from the generated schemas since P5; labels/ordering stay a manifold overlay). **No declarative JSON UI.**
|
||
- WASM and firmware share the same C++; the browser MLP is runtime-shaped (`MLPCore<DynamicStorage>`, since P2): `nisps_ml_create` honours `(input, output, hidden[3])` with non-positive/null args defaulting to `32→[10,14,18]→126`; `nisps_ml_reshape` warm-starts a new shape. Firmware keeps compile-time `MLP<...>` (zero heap). Per-mode dims are schema-real on both targets since P5.3 (the browser reshapes on mode switch).
|
||
- Cross-platform parity: `scripts/parity-check.sh` enforces native vs WASM agreement within 1e-5.
|
||
|
||
## Gotchas
|
||
|
||
- `src/memllib` submodule is not auto-checked-out.
|
||
- Firmware sketch path is `firmware/MEMLNaut-NISPS/MEMLNaut-NISPS.ino` (Arduino-CLI requires sketch dir name == sketch file name); `firmware/MEMLNaut-NISPS/src/{memllib,nisps}` are symlinks because Arduino's preprocessor refuses `..` in includes from sketch headers.
|
||
- `firmware/MEMLNaut-NISPS/glue/mode_select.hpp` `#undef`s Arduino macros (`sq`, `min`, `max`, `abs`, `round`) before pulling nisps headers — engines use those identifiers as method names.
|
||
- `nisps_firmware::g_active_mode_bridge` is `extern` in `glue/audio_driver.hpp` and defined in the `.ino`; combining `inline` with `__not_in_flash` produces a comdat conflict at link time.
|
||
- `nisps_modes_tests` builds against generated schemas under `nisps/modes/generated/`; if you add a new mode, regenerate via `bun run codegen/generate.ts` before building.
|
||
|
||
## Smells / strategic concerns
|
||
|
||
See `ALIGNMENT.md`.
|
||
|
||
## Specs
|
||
|
||
- **Root**: `docs/specs/`
|
||
- **Entry**: `MAIN.md`
|
||
- **Layout**: flat (with `plans/`, `recon/`, `_archive/` subdirs)
|
||
- **Index**: none (intentionally — generate when a consumer exists)
|
||
- **Skill**: invoke `/specs` to review/maintain/add/navigate.
|
||
- **Conventions**: Four-genre ontology — `kind: spec` (timeless contract, wins by intent), `kind: plan` (status: active|executed|superseded, never authority for behaviour), `kind: finding` (dated, immutable, exempt from drift lint), ADRs in `docs/adr/`.
|
||
|
||
The corpus holds platform-level specs (engine architecture, I/O backends, feedback design), implementation specs (port specs, wire protocols), feature specs (e.g. slp-workshop-firmware.md), historical findings (dated research artifacts), and finite build plans. Before changing behaviour a spec covers, find it via `/specs`; the spec wins by intent — if it's wrong, update it in the same commit as the code.
|