From e07d8b07ec8f2f885dcee5cb3b2197e21bf4c5ef Mon Sep 17 00:00:00 2001 From: supertick Date: Sat, 18 Mar 2023 20:31:28 -0700 Subject: [PATCH 001/232] wip webxr vertx --- .../java/org/myrobotlab/service/WebXr.java | 52 ++++++++++++++++++- .../service/config/WebXrConfig.java | 30 ++++++++++- .../myrobotlab/service/data/Orientation.java | 1 + .../org/myrobotlab/service/data/Pose.java | 22 ++++++++ .../org/myrobotlab/service/data/Position.java | 43 +++++++++++++++ .../org/myrobotlab/vertx/ApiVerticle.java | 3 +- 6 files changed, 148 insertions(+), 3 deletions(-) create mode 100644 src/main/java/org/myrobotlab/service/data/Pose.java create mode 100644 src/main/java/org/myrobotlab/service/data/Position.java diff --git a/src/main/java/org/myrobotlab/service/WebXr.java b/src/main/java/org/myrobotlab/service/WebXr.java index 80be870ff7..87df997800 100644 --- a/src/main/java/org/myrobotlab/service/WebXr.java +++ b/src/main/java/org/myrobotlab/service/WebXr.java @@ -1,11 +1,15 @@ package org.myrobotlab.service; +import java.util.HashMap; +import java.util.Map; + import org.myrobotlab.framework.Service; import org.myrobotlab.logging.Level; import org.myrobotlab.logging.LoggerFactory; import org.myrobotlab.logging.LoggingFactory; -import org.myrobotlab.service.config.ServiceConfig; +import org.myrobotlab.math.MapperSimple; import org.myrobotlab.service.config.WebXrConfig; +import org.myrobotlab.service.data.Pose; import org.slf4j.Logger; public class WebXr extends Service { @@ -17,7 +21,50 @@ public class WebXr extends Service { public WebXr(String n, String id) { super(n, id); } + + public Pose publishPose(Pose pose) { + log.warn("publishPose {}", pose); + System.out.println(pose.toString()); + + // process mappings config into joint angles + Map map = new HashMap<>(); + + WebXrConfig c = (WebXrConfig)config; + String path = String.format("%s.orientation.roll", pose.name); + if (c.mappings.containsKey(path)) { + Map mapper = c.mappings.get(path); + for (String name: mapper.keySet()) { + map.put(name, mapper.get(name).calcOutput(pose.orientation.roll)); + } + } + + path = String.format("%s.orientation.pitch", pose.name); + if (c.mappings.containsKey(path)) { + Map mapper = c.mappings.get(path); + for (String name: mapper.keySet()) { + map.put(name, mapper.get(name).calcOutput(pose.orientation.pitch)); + } + } + + path = String.format("%s.orientation.yaw", pose.name); + if (c.mappings.containsKey(path)) { + Map mapper = c.mappings.get(path); + for (String name: mapper.keySet()) { + map.put(name, mapper.get(name).calcOutput(pose.orientation.yaw)); + } + } + + invoke("publishJointAngles", map); + + return pose; + } + + // TODO publishQuaternion + public Map publishJointAngles(Map map){ + return map; + } + public static void main(String[] args) { try { @@ -28,6 +75,9 @@ public static void main(String[] args) { // webgui.setSsl(true); webgui.autoStartBrowser(false); webgui.startService(); + Runtime.start("vertx", "Vertx"); + InMoov2 i01 = (InMoov2)Runtime.start("i01", "InMoov2"); + i01.startPeer("simulator"); } catch (Exception e) { diff --git a/src/main/java/org/myrobotlab/service/config/WebXrConfig.java b/src/main/java/org/myrobotlab/service/config/WebXrConfig.java index ebe4ae4c9e..c97615440b 100644 --- a/src/main/java/org/myrobotlab/service/config/WebXrConfig.java +++ b/src/main/java/org/myrobotlab/service/config/WebXrConfig.java @@ -1,9 +1,37 @@ package org.myrobotlab.service.config; +import java.util.HashMap; +import java.util.Map; + +import org.myrobotlab.math.MapperSimple; + public class WebXrConfig extends ServiceConfig { public Integer port = 8888; public boolean autoStartBrowser = true; - public boolean enableMdns = false; + /** + * range and name mappings for orientation and position + * controller name | servo name | mapping + */ + public Map> mappings = new HashMap<>(); + + public WebXrConfig() { + + Map map = new HashMap<>(); + map.put("i01.head.rollNeck", new MapperSimple(-3.14, 3.14, -90, 270)); + mappings.put("head.orientation.roll", map); + + map = new HashMap<>(); + map.put("i01.head.rothead", new MapperSimple(-3.14, 3.14, -90, 270)); + mappings.put("head.orientation.yaw", map); + + map = new HashMap<>(); + map.put("i01.head.neck", new MapperSimple(-3.14, 3.14, -90, 270)); + mappings.put("head.orientation.pitch", map); + + } + } + + diff --git a/src/main/java/org/myrobotlab/service/data/Orientation.java b/src/main/java/org/myrobotlab/service/data/Orientation.java index b2d5d5658e..b7df4102dc 100644 --- a/src/main/java/org/myrobotlab/service/data/Orientation.java +++ b/src/main/java/org/myrobotlab/service/data/Orientation.java @@ -11,6 +11,7 @@ public class Orientation { public Double roll = null; public Double pitch = null; public Double yaw = null; + public String src = null; // default constructor (values will be null until set) public Orientation() { diff --git a/src/main/java/org/myrobotlab/service/data/Pose.java b/src/main/java/org/myrobotlab/service/data/Pose.java new file mode 100644 index 0000000000..767d9be81d --- /dev/null +++ b/src/main/java/org/myrobotlab/service/data/Pose.java @@ -0,0 +1,22 @@ +package org.myrobotlab.service.data; + +public class Pose { + public String name = null; + public Long ts = null; + public Position position = null; + public Orientation orientation = null; + + public String toString() { + StringBuilder sb = new StringBuilder(); + sb.append(String.format("name:%s", name)); + if (position != null) { + sb.append(String.format(" x:%.2f y:%.2f z:%.2f", position.x, position.y, position.z)); + } + if (orientation != null) { + sb.append(String.format(" roll:%.2f pitch:%.2f yaw:%.2f", orientation.roll, orientation.pitch, orientation.yaw)); + } + return sb.toString(); + } + + +} diff --git a/src/main/java/org/myrobotlab/service/data/Position.java b/src/main/java/org/myrobotlab/service/data/Position.java new file mode 100644 index 0000000000..83fe574a44 --- /dev/null +++ b/src/main/java/org/myrobotlab/service/data/Position.java @@ -0,0 +1,43 @@ +package org.myrobotlab.service.data; + +public class Position { + + public Double x; + public Double y; + public Double z; + public String src; + + public Position(double x, double y, double z) { + this.x = x; + this.y = y; + this.z = z; + } + + public Position(double x, double y) { + this.x = x; + this.y = y; + } + + public Position(int x, int y, int z) { + this.x = (double) x; + this.y = (double) y; + this.z = (double) z; + } + + public Position(int x, int y) { + this.x = (double) x; + this.y = (double) y; + } + + public Position(float x, float y, float z) { + this.x = (double) x; + this.y = (double) y; + this.z = (double) z; + } + + public Position(float x, float y) { + this.x = (double) x; + this.y = (double) y; + } + +} diff --git a/src/main/java/org/myrobotlab/vertx/ApiVerticle.java b/src/main/java/org/myrobotlab/vertx/ApiVerticle.java index 3f101095d0..6b3ca595c7 100644 --- a/src/main/java/org/myrobotlab/vertx/ApiVerticle.java +++ b/src/main/java/org/myrobotlab/vertx/ApiVerticle.java @@ -55,7 +55,8 @@ public void start() throws Exception { // static file routing //StaticHandler root = StaticHandler.create("src/main/resources/resource/Vertx/app"); - StaticHandler root = StaticHandler.create("src/main/resources/resource/Vertx/app"); + // StaticHandler root = StaticHandler.create("src/main/resources/resource/Vertx/app"); + StaticHandler root = StaticHandler.create("../robotlab-x-app/build/"); root.setCachingEnabled(false); root.setDirectoryListing(true); root.setIndexPage("index.html"); From 2332822209530a77b0a22ee7981de792d12fa766 Mon Sep 17 00:00:00 2001 From: grog Date: Sun, 16 Jul 2023 18:51:59 -0700 Subject: [PATCH 002/232] cron update --- .../java/org/myrobotlab/service/Clock.java | 2 +- .../java/org/myrobotlab/service/Cron.java | 290 ++++++++++++------ .../myrobotlab/service/config/CronConfig.java | 11 + src/main/resources/resource/RasPi/diagram.png | Bin 0 -> 75037 bytes .../WebGui/app/service/js/ClockGui.js | 3 +- .../resource/WebGui/app/service/js/CronGui.js | 53 ++++ .../WebGui/app/service/views/ClockGui.html | 9 - .../WebGui/app/service/views/CronGui.html | 57 ++++ 8 files changed, 313 insertions(+), 112 deletions(-) create mode 100644 src/main/java/org/myrobotlab/service/config/CronConfig.java create mode 100644 src/main/resources/resource/RasPi/diagram.png create mode 100644 src/main/resources/resource/WebGui/app/service/js/CronGui.js create mode 100644 src/main/resources/resource/WebGui/app/service/views/CronGui.html diff --git a/src/main/java/org/myrobotlab/service/Clock.java b/src/main/java/org/myrobotlab/service/Clock.java index aefe9fdf03..df43ed6745 100644 --- a/src/main/java/org/myrobotlab/service/Clock.java +++ b/src/main/java/org/myrobotlab/service/Clock.java @@ -74,7 +74,7 @@ synchronized public void stop() { thread.interrupt(); broadcastState(); } else { - log.info("{} already stopped"); + log.info("{} already stopped", getName()); } c.running = false; Service.sleep(20); diff --git a/src/main/java/org/myrobotlab/service/Cron.java b/src/main/java/org/myrobotlab/service/Cron.java index fd2ca9d064..b25f44bdcc 100644 --- a/src/main/java/org/myrobotlab/service/Cron.java +++ b/src/main/java/org/myrobotlab/service/Cron.java @@ -1,44 +1,70 @@ package org.myrobotlab.service; import java.io.Serializable; -import java.util.ArrayList; +import java.util.Map; +import java.util.UUID; -import org.myrobotlab.codec.CodecUtils; import org.myrobotlab.framework.Service; import org.myrobotlab.logging.Level; import org.myrobotlab.logging.LoggerFactory; import org.myrobotlab.logging.Logging; import org.myrobotlab.logging.LoggingFactory; +import org.myrobotlab.service.config.CronConfig; import org.slf4j.Logger; import it.sauronsoftware.cron4j.Scheduler; /** - * Cron - This is a cron based service that can execute a "task" at some point - * in the future such as "invoke this method on that service" + * Cron - This is a cron based service that can execute a "task". * - * FIXME - the common cron notation is kind of nice - but this thing doesn't do - * more than Service.addTask - * - * FIXME - make a purge & delete DUH ! - * */ public class Cron extends Service { public static class Task implements Serializable, Runnable { + private static final long serialVersionUID = 1L; - transient Cron myService; + /** + * cron pattern for this task + */ public String cronPattern; - public String name; - public String method; + + /** + * data parameters to invoke + */ public Object[] data; - public Task(Cron myService, String cronPattern, String name, String method) { - this(myService, cronPattern, name, method, (Object[]) null); + /** + * unique hash the scheduler uses (only) + */ + transient public String hash; + + /** + * unique id for the user to use + */ + public String id; + + /** + * method to invoke + */ + public String method; + + transient Cron cron; + + /** + * name of the target service + */ + public String name; + + public Task() { } - public Task(Cron myService, String cronPattern, String name, String method, Object... data) { - this.myService = myService; + public Task(Cron cron, String id, String cronPattern, String name, String method) { + this(cron, id, cronPattern, name, method, (Object[]) null); + } + + public Task(Cron cron, String id, String cronPattern, String name, String method, Object... data) { + this.cron = cron; + this.id = id; this.cronPattern = cronPattern; this.name = name; this.method = method; @@ -47,128 +73,190 @@ public Task(Cron myService, String cronPattern, String name, String method, Obje @Override public void run() { - log.info("{} Cron firing message {}->{}.{}", myService.getName(), name, method, data); - myService.send(name, method, data); + log.info("{} Cron firing message {}->{}.{}", cron.getName(), name, method, data); + cron.send(name, method, data); + } + + @Override + public String toString() { + return String.format("%s, %s, %s, %s", id, cronPattern, name, method); } } - private static final long serialVersionUID = 1L; + public final static Logger log = LoggerFactory.getLogger(Cron.class); - public final static Logger log = LoggerFactory.getLogger(Cron.class.getCanonicalName()); + private static final long serialVersionUID = 1L; + /** + * the thing that translates all the cron pattern values and implements actual tasks + */ transient private Scheduler scheduler = new Scheduler(); - // Schedule a once-a-week task at 8am on Sunday. - // 0 8 * * 7 - // Schedule a twice a day task at 7am and 6pm on weekdays - // 0 7 * * 1-5 |0 18 * * 1-5 - - public final static String EVERY_MINUTE = "* * * * *"; - - public ArrayList tasks = new ArrayList(); - - public static void main(String[] args) { - LoggingFactory.init(Level.INFO); - - try { - Cron cron = (Cron) Runtime.start("cron", "Cron");// new - // Cron("cron"); - cron.startService(); - - /* - * cron.addScheduledEvent("0 6 * * 1,3,5","arduino","digitalWrite", 13, - * 1); cron.addScheduledEvent("0 7 * * 1,3,5","arduino","digitalWrite", - * 12, 1); cron.addScheduledEvent("0 8 * * 1,3,5" - * ,"arduino","digitalWrite", 11, 1); - * - * cron.addScheduledEvent("59 * * * *","arduino","digitalWrite", 13, 0); - * cron.addScheduledEvent("59 * * * *","arduino","digitalWrite", 12, 0); - * cron.addScheduledEvent("59 * * * *","arduino","digitalWrite", 11, 0); - */ - cron.addTask("* * * * *", "cron", "test", 7); - - // cron.addScheduledEvent(EVERY_MINUTE, "log", "log"); - // west wall | back | east wall - - String json = CodecUtils.toJson(cron.getTasks()); - - log.info("here {}", json); - - // Runtime.createAndStart("webgui", "WebGui"); - - // 1. doug - find location where checked in ---- - // 2. take out security token from DL broker's response - // 3. Tony - status ? and generated xml responses - "update" looks - // ok - - // Runtime.createAndStart("gui", "SwingGui"); - /* - * SwingGui gui = new SwingGui("gui"); gui.startService(); - */ - } catch (Exception e) { - Logging.logError(e); - } - } - public Cron(String n, String id) { super(n, id); } - /* - * addTask - Add a task to the cron service to invoke a method on a service on - * some schedule. - * - * @param cron - The cron string to define the schedule - * - * @param serviceName - The name of the service to invoke + /** + * Add a named task with out parameters * - * @param method - the method on the service to invoke when the task starts. + * @param id + * @param cron + * @param serviceName + * @param method + * @return */ - public String addTask(String cron, String serviceName, String method) { - return addTask(cron, serviceName, method, (Object[]) null); + public String addNamedTask(String id, String cron, String serviceName, String method) { + return addNamedTask(id, cron, serviceName, method, (Object[]) null); } - /* - * addTask - Add a task to the cron service to invoke a method on a service on - * some schedule. + /** + * Add a named task with parameters * - * @param cron - The cron string to define the schedule + * @param id + * @param cron + * @param serviceName + * @param method + * @param data + * @return + */ + public String addNamedTask(String id, String cron, String serviceName, String method, Object... data) { + CronConfig c = (CronConfig) config; + Task task = new Task(this, id, cron, serviceName, method, data); + task.id = id; + task.hash = scheduler.schedule(cron, task); + c.tasks.put(id, task); + broadcastState(); + return id; + } + + /** * - * @param serviceName - The name of the service to invoke + * @param task + * @return + */ + public String addNamedTask(Task task) { + CronConfig c = (CronConfig) config; + task.hash = scheduler.schedule(task.cronPattern, task); + c.tasks.put(task.id, task); + broadcastState(); + return task.id; + } + + /** + * Add a task with out parameters, the name will be generated guid * - * @param method - the method on the service to invoke when the task starts. + * @param cron + * @param serviceName + * @param method + * @return + */ + public String addTask(String cron, String serviceName, String method) { + String id = UUID.randomUUID().toString(); + return addNamedTask(id, cron, serviceName, method, (Object[]) null); + } + + /** + * Add a task with parameters, the name will be generated guid * - * @param data - additional objects/varags to pass to the method + * @param cron + * @param serviceName + * @param method + * @param data + * @return */ public String addTask(String cron, String serviceName, String method, Object... data) { - Task task = new Task(this, cron, serviceName, method, data); - tasks.add(task); - return scheduler.schedule(cron, task); + String id = UUID.randomUUID().toString(); + return addNamedTask(id, cron, serviceName, method, data); } - public ArrayList getCronTasks() { - return tasks; + public Map getCronTasks() { + CronConfig c = (CronConfig) config; + return c.tasks; + } + + /** + * removes task by id + * @param id - id of the task to remove + * @return the removed task if it exists + */ + public Task removeTask(String id) { + CronConfig c = (CronConfig) config; + Task t = c.tasks.remove(id); + if (t != null) { + scheduler.deschedule(t.hash); + } else { + log.error("%s could not find task %s to remove", getName(), id); + } + broadcastState(); + return t; + } + + /** + * removes all the tasks without stopping the scheduler + */ + public void removeAllTasks() { + CronConfig c = (CronConfig) config; + for (Task t : c.tasks.values()) { + scheduler.deschedule(t.hash); + } + c.tasks.clear(); } @Override public void startService() { super.startService(); - if (!scheduler.isStarted()) { - scheduler.start(); - } + start(); } @Override public void stopService() { super.stopService(); + stop(); + } + + /** + * start the schedular and all associated tasks + */ + public void start() { + if (!scheduler.isStarted()) { + scheduler.start(); + } + } + + /** + * stop the schedular ad all associated tasks + */ + public void stop() { if (scheduler.isStarted()) { scheduler.stop(); } } - public int test(Integer data) { - log.info("data {}", data); - return data; - } + public static void main(String[] args) { + LoggingFactory.init(Level.INFO); + + try { + Cron cron = (Cron) Runtime.start("cron", "Cron"); + Arduino mega = (Arduino) Runtime.start("mega", "Arduino"); + mega.connect("/dev/ttyACM2"); + + Runtime.start("webgui", "WebGui"); + /* + * + * cron.addScheduledEvent("59 * * * *","arduino","digitalWrite", 13, 0); + * cron.addScheduledEvent("59 * * * *","arduino","digitalWrite", 12, 0); + * cron.addScheduledEvent("59 * * * *","arduino","digitalWrite", 11, 0); + */ + // every odd minute + String id = cron.addNamedTask("led on", "1-59/2 * * * *", "mega", "digitalWrite", 13, 1); + // every event minute + String id2 = cron.addNamedTask("led off", "*/2 * * * *", "mega", "digitalWrite", 13, 0); + + // Runtime.createAndStart("webgui", "WebGui"); + + } catch (Exception e) { + Logging.logError(e); + } + } } diff --git a/src/main/java/org/myrobotlab/service/config/CronConfig.java b/src/main/java/org/myrobotlab/service/config/CronConfig.java new file mode 100644 index 0000000000..5bb0c50ff5 --- /dev/null +++ b/src/main/java/org/myrobotlab/service/config/CronConfig.java @@ -0,0 +1,11 @@ +package org.myrobotlab.service.config; + +import java.util.LinkedHashMap; + +import org.myrobotlab.service.Cron.Task; + +public class CronConfig extends ServiceConfig { + + public LinkedHashMap tasks = new LinkedHashMap<>(); + +} diff --git a/src/main/resources/resource/RasPi/diagram.png b/src/main/resources/resource/RasPi/diagram.png new file mode 100644 index 0000000000000000000000000000000000000000..c37c17c7766dce9e56dcfa98ae87bda897daa0bc GIT binary patch literal 75037 zcma&N1ytSqy6qj@i$igDcQ5Yl?(XhRi@UoO_ZD|(afjj##ogU5efPV+v-i3Cp7V{d 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+ $scope.onTime = date.toLocaleString(); $scope.$apply() break case 'onEpoch': diff --git a/src/main/resources/resource/WebGui/app/service/js/CronGui.js b/src/main/resources/resource/WebGui/app/service/js/CronGui.js new file mode 100644 index 0000000000..80ce7a109b --- /dev/null +++ b/src/main/resources/resource/WebGui/app/service/js/CronGui.js @@ -0,0 +1,53 @@ +angular.module('mrlapp.service.CronGui', []).controller('CronGuiCtrl', ['$scope', 'mrl', function($scope, mrl) { + console.info('CronGuiCtrl') + var _self = this + var msg = this.msg + + // str verson of parameters from the input + // text form field + $scope.parameters = null + + $scope.newTask = { + id: null, + cronPattern: null, + name: null, + method: null, + data: null + } + + // GOOD TEMPLATE TO FOLLOW + this.updateState = function(service) { + $scope.service = service + } + + this.onMsg = function(inMsg) { + let data = inMsg.data[0] + switch (inMsg.method) { + case 'onState': + _self.updateState(data) + $scope.$apply() + break + default: + console.error("ERROR - unhandled method " + $scope.name + " " + inMsg.method) + break + } + } + + $scope.addNamedTask = function() { + if ($scope.parameters && $scope.parameters.length > 0){ + $scope.newTask.data = JSON.parse($scope.parameters) + } else { + $scope.newTask.data = null + } + + msg.send('addNamedTask', $scope.newTask) + } + + $scope.removeTask = function(id) { + msg.send('removeTask', id) + } + + + msg.subscribe(this) +} +]) diff --git a/src/main/resources/resource/WebGui/app/service/views/ClockGui.html b/src/main/resources/resource/WebGui/app/service/views/ClockGui.html index 3a518ac09f..4107890158 100644 --- a/src/main/resources/resource/WebGui/app/service/views/ClockGui.html +++ b/src/main/resources/resource/WebGui/app/service/views/ClockGui.html @@ -1,9 +1,7 @@

- time

{{onTime}}

- epoch in ms

{{onEpoch}}

@@ -14,10 +12,3 @@

{{onEpoch}}

- - - - - diff --git a/src/main/resources/resource/WebGui/app/service/views/CronGui.html b/src/main/resources/resource/WebGui/app/service/views/CronGui.html new file mode 100644 index 0000000000..78f17783cb --- /dev/null +++ b/src/main/resources/resource/WebGui/app/service/views/CronGui.html @@ -0,0 +1,57 @@ +
+

Cron Tab

+ + cron help + +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
namecronservicemethodparameters
+ + {{ value.id }}{{ value.cronPattern }}{{ value.name }}{{ value.method }}{{ value.data }}
+ + + + + + + + + +
+ +
+
+
From 06783cb70fc1747d4540e1e71fe94a2b14774842 Mon Sep 17 00:00:00 2001 From: grog Date: Sun, 16 Jul 2023 19:42:34 -0700 Subject: [PATCH 003/232] raspi updates --- .../java/org/myrobotlab/service/RasPi.java | 656 ++++++++++++------ .../service/config/RasPiConfig.java | 7 +- .../WebGui/app/service/js/RasPiGui.js | 29 +- .../WebGui/app/service/views/RasPiGui.html | 48 +- 4 files changed, 497 insertions(+), 243 deletions(-) diff --git a/src/main/java/org/myrobotlab/service/RasPi.java b/src/main/java/org/myrobotlab/service/RasPi.java index ef1475a7fc..fd57408e16 100644 --- a/src/main/java/org/myrobotlab/service/RasPi.java +++ b/src/main/java/org/myrobotlab/service/RasPi.java @@ -17,9 +17,9 @@ import org.myrobotlab.framework.interfaces.Attachable; import org.myrobotlab.i2c.I2CFactory; import org.myrobotlab.logging.LoggerFactory; -import org.myrobotlab.logging.Logging; import org.myrobotlab.logging.LoggingFactory; import org.myrobotlab.service.abstracts.AbstractMicrocontroller; +import org.myrobotlab.service.config.RasPiConfig; import org.myrobotlab.service.data.PinData; import org.myrobotlab.service.interfaces.I2CControl; import org.myrobotlab.service.interfaces.I2CController; @@ -31,7 +31,7 @@ import com.pi4j.io.gpio.GpioPinDigitalMultipurpose; import com.pi4j.io.gpio.Pin; import com.pi4j.io.gpio.PinMode; -import com.pi4j.io.gpio.PinPullResistance; +import com.pi4j.io.gpio.PinState; import com.pi4j.io.gpio.RaspiPin; import com.pi4j.io.gpio.event.GpioPinDigitalStateChangeEvent; import com.pi4j.io.gpio.event.GpioPinListenerDigital; @@ -51,12 +51,6 @@ */ public class RasPi extends AbstractMicrocontroller implements I2CController, GpioPinListenerDigital { - @Override - public void handleGpioPinDigitalStateChangeEvent(GpioPinDigitalStateChangeEvent event) { - // display pin state on console - log.info(" --> GPIO PIN STATE CHANGE: {} = {}", event.getPin(), event.getState()); - } - public static class I2CDeviceMap { transient public I2CBus bus; transient public I2CDevice device; @@ -68,10 +62,7 @@ public String toString() { } } - /** - * default bus current bus of raspi service - */ - protected String bus = "1"; + public final static Map bcmToWiring = new HashMap<>(); public static final int INPUT = 0x0; @@ -81,48 +72,94 @@ public String toString() { private static final long serialVersionUID = 1L; - protected transient GpioController gpio; + public final static Map wiringToBcm = new HashMap<>(); + + static { + + bcmToWiring.put("GPIO 0", "GPIO 27"); + bcmToWiring.put("GPIO 1", "GPIO 31"); + bcmToWiring.put("GPIO 2", "GPIO 8"); + bcmToWiring.put("GPIO 3", "GPIO 9"); + bcmToWiring.put("GPIO 4", "GPIO 7"); + bcmToWiring.put("GPIO 5", "GPIO 21"); + bcmToWiring.put("GPIO 6", "GPIO 22"); + bcmToWiring.put("GPIO 7", "GPIO 11"); + bcmToWiring.put("GPIO 8", "GPIO 10"); + bcmToWiring.put("GPIO 9", "GPIO 13"); + bcmToWiring.put("GPIO 10", "GPIO 12"); + bcmToWiring.put("GPIO 11", "GPIO 14"); + bcmToWiring.put("GPIO 12", "GPIO 27"); + bcmToWiring.put("GPIO 13", "GPIO 26"); + bcmToWiring.put("GPIO 14", "GPIO 15"); + bcmToWiring.put("GPIO 15", "GPIO 16"); + bcmToWiring.put("GPIO 16", "GPIO 25"); + bcmToWiring.put("GPIO 17", "GPIO 0"); + bcmToWiring.put("GPIO 18", "GPIO 1"); + bcmToWiring.put("GPIO 19", "GPIO 23"); + bcmToWiring.put("GPIO 20", "GPIO 28"); + bcmToWiring.put("GPIO 21", "GPIO 29"); + bcmToWiring.put("GPIO 22", "GPIO 3"); + bcmToWiring.put("GPIO 23", "GPIO 4"); + bcmToWiring.put("GPIO 24", "GPIO 5"); + bcmToWiring.put("GPIO 25", "GPIO 6"); + bcmToWiring.put("GPIO 26", "GPIO 24"); + bcmToWiring.put("GPIO 27", "GPIO 2"); + + for (String pin : bcmToWiring.keySet()) { + String wiring = bcmToWiring.get(pin); + wiringToBcm.put(wiring, pin); + } + } + + public static void main(String[] args) { + LoggingFactory.init("info"); + + /* + * RasPi.displayString(1, 70, "1"); + * + * RasPi.displayString(1, 70, "abcd"); + * + * RasPi.displayString(1, 70, "1234"); + * + * + * //RasPi raspi = new RasPi("raspi"); + */ + + // raspi.writeDisplay(busAddress, deviceAddress, data) + + int i = 0; + + Runtime.start("servo01", "Servo"); + Runtime.start("ada16", "Adafruit16CServoDriver"); + Runtime.start(String.format("rasPi%d", i), "RasPi"); + WebGui webgui = (WebGui) Runtime.create("webgui", "WebGui"); + webgui.autoStartBrowser(false); + webgui.startService(); + + } + + protected String boardType = null; - protected Map> validAddresses = new HashMap<>(); + /** + * default bus current bus of raspi service + */ + protected String bus = "1"; + + protected transient GpioController gpio; /** * for attached devices */ protected Map i2cDevices = new HashMap(); - protected String boardType = null; + protected Map> validI2CAddresses = new HashMap<>(); + + protected String wrongPlatformError = null; public RasPi(String n, String id) { super(n, id); - - Platform platform = Platform.getLocalInstance(); - log.info("platform is {}", platform); - log.info("architecture is {}", platform.getArch()); - - try { - boardType = SystemInfo.getBoardType().toString(); - gpio = GpioFactory.getInstance(); - log.info("Executing on Raspberry PI"); - getPinList(); - } catch (Exception e) { - // an error in the constructor won't get broadcast - so we need Runtime to - // do it - Runtime.getInstance().error("raspi service requires arm %s is not arm - %s", getName(), e.getMessage()); - } } - /* - * @Override public void attach(String name) { ServiceInterface si = - * Runtime.getService(name); if - * (I2CControl.class.isAssignableFrom(si.getClass())) { - * attachI2CControl((I2CControl) si); return; } } - * - * @Override public void detach(String name) { ServiceInterface si = - * Runtime.getService(name); if - * (I2CControl.class.isAssignableFrom(si.getClass())) { - * detachI2CControl((I2CControl) si); return; } } - */ - @Override public void attach(Attachable service) throws Exception { if (I2CControl.class.isAssignableFrom(service.getClass())) { @@ -131,14 +168,6 @@ public void attach(Attachable service) throws Exception { } } - @Override - public void detach(Attachable service) { - if (I2CControl.class.isAssignableFrom(service.getClass())) { - detachI2CControl((I2CControl) service); - return; - } - } - @Override public void attachI2CControl(I2CControl control) { @@ -176,6 +205,14 @@ void createI2cDevice(int bus, int address, String serviceName) { } } + @Override + public void detach(Attachable service) { + if (I2CControl.class.isAssignableFrom(service.getClass())) { + detachI2CControl((I2CControl) service); + return; + } + } + @Override public void detachI2CControl(I2CControl control) { // This method should delete the i2c device entry from the list of @@ -190,42 +227,66 @@ public void detachI2CControl(I2CControl control) { } } - public void digitalWrite(int pin, int value) { - log.info("digitalWrite {} {}", pin, value); - // msg.digitalWrite(pin, value); - PinDefinition pinDef = addressIndex.get(pin); - GpioPinDigitalMultipurpose gpio = ((GpioPinDigitalMultipurpose) pinDef.getPinImpl()); - if (value == 0) { - gpio.low(); - } else { - gpio.high(); - } - invoke("publishPinDefinition", pinDef); + @Override + @Deprecated /* use disablePin(String) */ + public void disablePin(int address) { + error("disablePin(int) not supported use disablePin(String)"); } @Override - public void disablePin(int address) { - PinDefinition pin = addressIndex.get(address); - pin.setEnabled(false); - ((GpioPinDigitalMultipurpose) pin.getPinImpl()).removeListener(); - PinDefinition pinDef = addressIndex.get(address); + public void disablePin(String pin) { + if (!pinIndex.containsKey(pin)) { + error("Pin %s not found", pin); + return; + } + PinDefinition pinDef = pinIndex.get(pin); + pinDef.setEnabled(false); + getGPIO(pin).removeListener(this); invoke("publishPinDefinition", pinDef); } @Override + @Deprecated /* use enablePin(String pin) */ public void enablePin(int address) { - enablePin(address, 0); + error("enablePin(int address) not supoprted use enablePin(String pin)"); } @Override + @Deprecated /* use enablePin(String, int) */ public void enablePin(int address, int rate) { - PinDefinition pinDef = addressIndex.get(address); - GpioPinDigitalMultipurpose gpio = ((GpioPinDigitalMultipurpose) pinDef.getPinImpl()); - gpio.addListener(this); + error("use enablePin(String, int)"); + } + + @Override + public void enablePin(String pin) { + if (!pinIndex.containsKey(pin)) { + error("Pin %s not found", pin); + return; + } + RasPiConfig c = (RasPiConfig) config; + enablePin(pin, c.pollRateHz); + } + + @Override + public void enablePin(String pin, int rate) { + if (!pinIndex.containsKey(pin)) { + error("Pin %s not found", pin); + return; + } + + PinDefinition pinDef = pinIndex.get(pin); + pinMode(pin, "INPUT"); + getGPIO(pin).addListener(this); pinDef.setEnabled(true); invoke("publishPinDefinition", pinDef); // broadcast pin change } + // - add more pin mappings if desired ... + @Override + public Integer getAddress(String pin) { + return Integer.parseInt(pin); + } + @Override /* services attached - not i2c devices */ public Set getAttached() { Set ret = new TreeSet<>(); @@ -235,40 +296,115 @@ public Set getAttached() { return ret; } + @Override + public BoardInfo getBoardInfo() { + + RaspiPin.allPins(); + // FIXME - this needs more work .. BoardInfo needs to be an interface where + // RasPiInfo is derived + return null; + } + + @Override + public List getBoardTypes() { + // TODO Auto-generated method stub + // FIXME - this need work + return null; + } + + /** + * Gets the multipurpose implementation of a pin, if it doesn't currently + * exists, it will provision it. + * + * @param pin + * @return + */ + private GpioPinDigitalMultipurpose getGPIO(String pin) { + log.info("getGPIO {}", pin); + if (!pinIndex.containsKey(pin)) { + error("Pin %s not found", pin); + return null; + } + + PinDefinition pindef = getPin(pin); + if (pindef == null) { + error("No pin definition exists for %s", pin); + return null; + } + + GpioPinDigitalMultipurpose gpioPin = (GpioPinDigitalMultipurpose) pindef.getPinImpl(); + if (gpioPin == null) { + log.info("provisioning gpio {}", pin); + gpioPin = gpio.provisionDigitalMultipurposePin(RaspiPin.getPinByName(bcmToWiring.get(pin)), PinMode.DIGITAL_OUTPUT); + pindef.setPinImpl(gpioPin); + } + + return gpioPin; + } + @Override public List getPinList() { + List pinList = new ArrayList<>(); - for (Pin pin : RaspiPin.allPins()) { - - // pin.getSupportedPinModes() - PinDefinition pindef = new PinDefinition(getName(), pin.getAddress()); - pindef.setPinName(pin.getName()); - EnumSet modes = pin.getSupportedPinModes(); - // FIXME - the raspi definitions are "better" they have input & ouput - // FIXME - reconcile rxtx - // FIXME - get pull up resistance - if (modes.contains(PinMode.DIGITAL_OUTPUT)) { - pindef.setDigital(true); - } - if (modes.contains(PinMode.ANALOG_OUTPUT)) { - pindef.setAnalog(true); - } - if (modes.contains(PinMode.PWM_OUTPUT)) { - pindef.setAnalog(true); + if (!pinIndex.isEmpty()) { + pinList.addAll(pinIndex.values()); + return pinList; + } + + for (Pin wiringPin : RaspiPin.allPins()) { + + // RaspiPin.allPins() RETURNS WIRING NUMBERS !!!! + + // if (wiringPin.getName().equals("GPIO 2") || + // wiringPin.getName().equals("GPIO 3") || + // wiringPin.getName().equals("GPIO 8") || + // wiringPin.getName().equals("GPIO 9")) { + // log.info("filtering out pin {} from gpio provisioning", wiringPin); + // continue; + // } + + String wPinName = wiringPin.getName(); + + if (!wiringToBcm.containsKey(wPinName)) { + log.info("skipping wiring pin {} - no gpio definition", wPinName); + continue; } - addressIndex.put(pin.getAddress(), pindef); - pinIndex.put(pin.getName(), pindef); + String bcmPinName = wiringToBcm.get(wPinName); - // GpioPinDigitalInput provisionedPin = gpio.provisionDigitalInputPin(pin, - // pull); - // provisionedPin.setShutdownOptions(true); // unexport pin on program - // shutdown - // provisionedPins.add(provisionedPin); // add provisioned pin to - // collection + PinDefinition pindef = new PinDefinition(); + // set to output for starting + pindef.setMode("OUTPUT"); + pindef.setPinName(bcmPinName); + EnumSet modes = wiringPin.getSupportedPinModes(); + + pindef.setDigital(modes.contains(PinMode.DIGITAL_OUTPUT)); + pindef.setAnalog(modes.contains(PinMode.ANALOG_OUTPUT)); + pindef.setPwm(modes.contains(PinMode.PWM_OUTPUT)); + + // FIXME - remove this, do not support address only pin + String lastPart = bcmPinName.trim().split(" ")[1]; + pindef.setAddress(Integer.parseInt(lastPart)); + + pinIndex.put(bcmPinName, pindef); + pinList.add(pindef); + } + + return pinList; + } + + @Override + public void handleGpioPinDigitalStateChangeEvent(GpioPinDigitalStateChangeEvent event) { + // display pin state on console + log.info(" --> GPIO PIN STATE CHANGE: {} = {}", event.getPin(), event.getState()); + PinDefinition pindef = pinIndex.get(wiringToBcm.get(event.getPin().getName())); + if (pindef == null){ + log.error("pindef is null for pin {}", event.getPin().getName()); + } else { + pindef.setValue(event.getState().getValue()); + invoke("publishPinDefinition", pindef); } - return new ArrayList(addressIndex.values()); } @Override // FIXME - I2CControl has bus why is it supplied here as a @@ -331,7 +467,7 @@ public int i2cWriteRead(I2CControl control, int busAddress, int deviceAddress, b try { devicedata.device.read(writeBuffer, 0, writeBuffer.length, readBuffer, 0, readBuffer.length); } catch (IOException e) { - Logging.logError(e); + error(e); } return readBuffer.length; } @@ -345,27 +481,37 @@ public int i2cWriteRead(I2CControl control, int busAddress, int deviceAddress, b * @param mode * INPUT = 0x0. Output = 0x1. */ - public void pinMode(int pin, int mode) { - - PinDefinition pinDef = addressIndex.get(pin); - if (mode == INPUT) { - pinDef.setPinImpl(gpio.provisionDigitalMultipurposePin(RaspiPin.getPinByAddress(pin), PinMode.DIGITAL_INPUT)); - } else { - pinDef.setPinImpl(gpio.provisionDigitalMultipurposePin(RaspiPin.getPinByAddress(pin), PinMode.DIGITAL_OUTPUT)); + public void pinMode(String pin, String mode) { + log.info("pinMode {}, mode {}", pin, mode); + + if (mode == null) { + error("Pin mode cannot be null"); + return; } - invoke("publishPinDefinition", pinDef); - } - @Override - public void pinMode(int address, String mode) { + mode = mode.trim().toUpperCase(); + + if (!pinIndex.containsKey(pin)) { + error("Pin %s not found", pin); + return; + } - if (mode != null && mode.equalsIgnoreCase("INPUT")) { - pinMode(address, INPUT); + PinDefinition pinDef = pinIndex.get(pin); + // this will provision the pin if it is not already provisioned + GpioPinDigitalMultipurpose gpio = getGPIO(pin); + if (mode.equals("INPUT")) { + pinDef.setMode("INPUT"); + gpio.setMode(PinMode.DIGITAL_INPUT); + } else if (mode.equals("OUTPUT")) { + pinDef.setMode("OUTPUT"); + gpio.setMode(PinMode.DIGITAL_OUTPUT); } else { - pinMode(address, OUTPUT); + error("mode %s is not valid", mode); } + log.info("pinDef {}",pinDef); + invoke("publishPinDefinition", pinDef); } - + @Override public PinData publishPin(PinData pinData) { // TODO Make sure this method is invoked when a pin value interrupt is @@ -376,6 +522,106 @@ public PinData publishPin(PinData pinData) { return pinData; } + public void read() { + log.debug("read task invoked"); + List pinArray = new ArrayList<>(); + // load pin array + for (String pin : pinIndex.keySet()) { + PinDefinition pindef = pinIndex.get(pin); + if (pindef.isEnabled()) { + log.info("pin {} enabled {}", pin, pindef.isEnabled()); + int value = read(pin); + pindef.setValue(value); + PinData pd = new PinData(pin, value); + log.info("pin data {}", pd); + pinArray.add(pd); + } + } + + if (pinArray.size() > 0) { + PinData[] array = pinArray.toArray(new PinData[0]); + invoke("publishPinArray", new Object[]{array}); + } + } + + @Override + public int read(String pin) { + + if (!pinIndex.containsKey(pin)) { + error("Pin %s not found", pin); + return -1; + } + PinDefinition pindef = pinIndex.get(pin); + GpioPinDigitalMultipurpose gpioPin = getGPIO(pin); + if (!gpioPin.isMode(PinMode.DIGITAL_INPUT)){ + pinMode(pin, "INPUT"); + } + if (gpioPin.isLow()) { + pindef.setValue(0); + return 0; + } else { + pindef.setValue(1); + return 1; + } + } + + @Override + public void reset() { + // TODO Auto-generated method stub + // reset pins/i2c devices/gpio pins + } + + public void scan() { + scan(null); + } + + public void scan(Integer busNumber) { + + if (busNumber == null) { + busNumber = Integer.parseInt(bus); + } + + try { + + I2CBus bus = I2CFactory.getInstance(busNumber); + + if (!validI2CAddresses.containsKey(busNumber)) { + validI2CAddresses.put(busNumber, new HashSet<>()); + } + + Set addresses = validI2CAddresses.get(busNumber); + + for (int i = 1; i < 128; i++) { + String hex = Integer.toHexString(i); + try { + I2CDevice device = bus.getDevice(i); + device.read(); + if (!addresses.contains(hex)) { + addresses.add(hex); + info("found new i2c device %s", hex); + } + } catch (Exception ignore) { + if (addresses.contains(hex)) { + info("removing i2c device %s", hex); + addresses.remove(hex); + } + } + } + + log.debug("scanning bus {} found: ---", busNumber); + for (String a : addresses) { + log.debug("address: " + a); + } + log.debug("----------"); + + } catch (Exception e) { + error("cannot access i2c bus %d", busNumber); + log.error("scan threw", e); + } + + broadcastState(); + } + // FIXME - return array /** * Starts a scan of the I2C specified and returns a list of addresses that @@ -417,7 +663,7 @@ public Integer[] scanI2CDevices(int busAddress) { } } } catch (Exception e) { - Logging.logError(e); + error(e); } Integer[] ret = list.toArray(new Integer[list.size()]); @@ -428,18 +674,74 @@ public Integer[] scanI2CDevices(int busAddress) { public void startService() { super.startService(); try { - log.info("Initiating i2c"); - I2CFactory.getInstance(Integer.parseInt(bus)); - log.info("i2c initiated on bus {}", bus); - // scan(); takes too long + + Platform platform = Platform.getLocalInstance(); + log.info("platform is {}", platform); + log.info("architecture is {}", platform.getArch()); + + boardType = SystemInfo.getBoardType().toString(); + gpio = GpioFactory.getInstance(); + log.info("Executing on Raspberry PI"); + getPinList(); +// FIXME - uncomment this +// log.info("Initiating i2c"); +// I2CFactory.getInstance(Integer.parseInt(bus)); +// log.info("i2c initiated on bus {}", bus); +// addTask(1000, "scan"); +// +// log.info("read task initialized"); +// addTask(1000, "read"); + + // TODO - config which starts all pins in input or output mode + } catch (IOException e) { log.error("i2c initiation failed", e); + } catch (Exception e) { + // an error in the constructor won't get broadcast - so we need Runtime to + // do it + Runtime.getInstance().error("raspi service requires arm %s is not arm - %s", getName(), e.getMessage()); + log.error("RasPi init failed", e); + wrongPlatformError = "The RasPi service requires raspberry pi hardware"; + broadcastState(); } + } - public void testGPIOOutput() { - GpioPinDigitalMultipurpose pin = gpio.provisionDigitalMultipurposePin(RaspiPin.GPIO_02, PinMode.DIGITAL_INPUT, PinPullResistance.PULL_DOWN); - log.info("Pin: {}", pin); + public void test() { + // Create GPIO controller instance + GpioController gpio = GpioFactory.getInstance(); + + // Provision GPIO pin 0 as a digital input/output pin +// GpioPinDigitalMultipurpose pin = gpio.provisionDigitalMultipurposePin( +// RaspiPin.GPIO_00, PinMode.DIGITAL_OUTPUT, PullUpResistance); + GpioPinDigitalMultipurpose pin = gpio.provisionDigitalMultipurposePin( + RaspiPin.GPIO_00, PinMode.DIGITAL_OUTPUT); + + // Set the pin mode to output + pin.setMode(PinMode.DIGITAL_OUTPUT); + + // Write a value of 1 (HIGH) to GPIO pin 0 + pin.high(); + + // Delay for 2 seconds + sleep(2000); + + // Write a value of 0 (LOW) to GPIO pin 0 + pin.low(); + + // Delay for 2 seconds + sleep(2000); + + // Set the pin mode to input + pin.setMode(PinMode.DIGITAL_INPUT); + + // Add a listener to monitor pin state changes + pin.addListener((GpioPinListenerDigital) (GpioPinDigitalStateChangeEvent event) -> { + System.out.println("Pin state changed to: " + event.getState()); + }); + + // Shutdown GPIO controller and release resources + // gpio.shutdown(); } public void testPWM() { @@ -466,116 +768,26 @@ public void testPWM() { } } } catch (Exception e) { - + error(e); } } @Override - public void write(int address, int value) { - - PinDefinition pinDef = addressIndex.get(address); - pinMode(address, Arduino.OUTPUT); - digitalWrite(address, value); - // cache value - pinDef.setValue(value); - } - - public static void main(String[] args) { - LoggingFactory.init("info"); - - /* - * RasPi.displayString(1, 70, "1"); - * - * RasPi.displayString(1, 70, "abcd"); - * - * RasPi.displayString(1, 70, "1234"); - * - * - * //RasPi raspi = new RasPi("raspi"); - */ - - // raspi.writeDisplay(busAddress, deviceAddress, data) - - int i = 0; - - Runtime.start("servo01", "Servo"); - Runtime.start("ada16", "Adafruit16CServoDriver"); - Runtime.start(String.format("rasPi%d", i), "RasPi"); - WebGui webgui = (WebGui) Runtime.create("webgui", "WebGui"); - webgui.autoStartBrowser(false); - webgui.startService(); - - } - - @Override - public void reset() { - // TODO Auto-generated method stub - // reset pins/i2c devices/gpio pins - } - - @Override - public BoardInfo getBoardInfo() { - RaspiPin.allPins(); - // FIXME - this needs more work .. BoardInfo needs to be an interface where - // RasPiInfo is derived - return null; - } - - @Override - public List getBoardTypes() { - // TODO Auto-generated method stub - // FIXME - this need work - return null; - } - - // - add more pin mappings if desired ... - @Override - public Integer getAddress(String pin) { - return Integer.parseInt(pin); - } - - public void scan() { - scan(null); - } - - public void scan(Integer busNumber) { - - if (busNumber == null) { - busNumber = Integer.parseInt(bus); + public void write(String pin, int value) { + log.info("write {} {}", pin, value); + if (!pinIndex.containsKey(pin)) { + error("Pin %s not found", pin); + return; } - try { - - I2CBus bus = I2CFactory.getInstance(busNumber); + PinDefinition pinDef = pinIndex.get(pin); + pinMode(pin, "OUTPUT"); - validAddresses = new HashMap<>(); - - if (!validAddresses.containsKey(busNumber)) { - validAddresses.put(busNumber, new HashSet<>()); - } - - Set addresses = validAddresses.get(busNumber); - - for (int i = 1; i < 128; i++) { - try { - I2CDevice device = bus.getDevice(i); - device.write((byte) 0); - addresses.add(Integer.toHexString(i)); - } catch (Exception ignore) { - } - } - - log.info("scanning bus {} found: ---", busNumber); - for (String a : addresses) { - log.info("address: " + a); - } - log.info("----------"); - } catch (Exception e) { - error("cannot access i2c bus %d", busNumber); - log.error("scan threw", e); - } + GpioPinDigitalMultipurpose gpio = getGPIO(pin); + gpio.setState(value == 0 ? PinState.LOW : PinState.HIGH); + pinDef.setValue(value); - broadcastState(); + invoke("publishPinDefinition", pinDef); } } diff --git a/src/main/java/org/myrobotlab/service/config/RasPiConfig.java b/src/main/java/org/myrobotlab/service/config/RasPiConfig.java index ef0c4769db..6e50cb496d 100644 --- a/src/main/java/org/myrobotlab/service/config/RasPiConfig.java +++ b/src/main/java/org/myrobotlab/service/config/RasPiConfig.java @@ -1,5 +1,10 @@ package org.myrobotlab.service.config; public class RasPiConfig extends ServiceConfig { - + /** + * reading poll rate for all enabled GPIO pins + * this "should" not be an int but a float, but at this time + * its better to follow the PinDefinition pollRateHz type + */ + public int pollRateHz = 1; } diff --git a/src/main/resources/resource/WebGui/app/service/js/RasPiGui.js b/src/main/resources/resource/WebGui/app/service/js/RasPiGui.js index ea81d00671..a25240dbae 100644 --- a/src/main/resources/resource/WebGui/app/service/js/RasPiGui.js +++ b/src/main/resources/resource/WebGui/app/service/js/RasPiGui.js @@ -15,13 +15,18 @@ angular.module('mrlapp.service.RasPiGui', []).controller('RasPiGuiCtrl', ['$scop _self.updateState(data) $scope.$apply() break - case 'XXXonPinDefinition': + case 'onPinDefinition': $scope.service.pinIndex[data.pin] = data - $scope.service.addressIndex[data.address] = data + $scope.$apply() + break + case 'onPinArray': + for (const pd of data){ + $scope.service.pinIndex[pd.pin].value = pd.value + } $scope.$apply() break default: - $log.error("ERROR - unhandled method " + $scope.name + " " + inMsg.method) + console.error("ERROR - unhandled method " + $scope.name + " " + inMsg.method) break } } @@ -31,16 +36,28 @@ angular.module('mrlapp.service.RasPiGui', []).controller('RasPiGuiCtrl', ['$scop } $scope.write = function(pinDef){ - msg.send('write', pinDef.address, pinDef.valueDisplay?1:0) + msg.send('write', pinDef.pin, pinDef.valueDisplay?1:0) } - $scope.readWrite = function(pinDef) { + $scope.pinMode = function(pinDef) { console.info(pinDef) // FIXME - standardize interface with Arduino :( - msg.send('pinMode', pinDef.pin, pinDef.readWrite?1:0) + msg.send('pinMode', pinDef.pin, pinDef.mode) } msg.subscribe('publishPinDefinition') + msg.subscribe('publishPinArray') msg.subscribe(this) } ]) +.filter('toArray', function() { + return function(obj) { + if (obj instanceof Object) { + return Object.keys(obj).map(function(key) { + return obj[key]; + }); + } else { + return obj; + } + }; + }); \ No newline at end of file diff --git a/src/main/resources/resource/WebGui/app/service/views/RasPiGui.html b/src/main/resources/resource/WebGui/app/service/views/RasPiGui.html index 9e4b0bb92f..d8ecb4b467 100644 --- a/src/main/resources/resource/WebGui/app/service/views/RasPiGui.html +++ b/src/main/resources/resource/WebGui/app/service/views/RasPiGui.html @@ -1,4 +1,8 @@
+
+

+ {{service.wrongPlatformError}} +

@@ -24,6 +35,7 @@
@@ -8,12 +12,19 @@
If you will be using I2C GPIO pins make sure you have enabled i2c with - 
sudo raspiconfig

-

-

- 
sudo apt-get install -y i2c-tools
+ 
sudo raspi-config
+
+ +
+
+ +
+
+ 
sudo apt-get install -y i2c-tools
More recent rasbian distributions require building and installing this library https://github.com/WiringPi/WiringPi +
+ For information regarding Wiring pin numbering vs BCM visit : https://pinout.xyz/pinout/wiringpi
+ + bus {{index}} + {{index}} {{pin}}
@@ -50,17 +63,22 @@

-
- {{ pinDef.pin }} - +
+ {{ pinDef.pin }} + + + + + + {{pinDef.value}} + + Rx Tx - Pwm + Pwm Sda Scl - - - {{pinDef.value}} +
@@ -73,7 +91,9 @@ - + +
+ courtesy https://pinout.xyz
From dad01bc58d05ddf89c560b3577f9c4afb2dc9ddd Mon Sep 17 00:00:00 2001 From: grog Date: Mon, 17 Jul 2023 06:30:19 -0700 Subject: [PATCH 004/232] forgot pindefinition --- .../org/myrobotlab/service/interfaces/PinDefinition.java | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/src/main/java/org/myrobotlab/service/interfaces/PinDefinition.java b/src/main/java/org/myrobotlab/service/interfaces/PinDefinition.java index 41658ef114..bdbeb9383c 100644 --- a/src/main/java/org/myrobotlab/service/interfaces/PinDefinition.java +++ b/src/main/java/org/myrobotlab/service/interfaces/PinDefinition.java @@ -7,7 +7,7 @@ public class PinDefinition implements Serializable { private static final long serialVersionUID = 1L; /** - * label or name of the pin e.g. P0 D1 D2 etc... + * label or name of the pin e.g. P0, A5, D1, D2, GPIO 2, etc... */ String pin; @@ -25,6 +25,8 @@ public class PinDefinition implements Serializable { * pin mode INPUT or OUTPUT, other... */ String mode; + + public String serviceName; /** * statistics @@ -90,8 +92,13 @@ public void setScl(boolean isScl) { * rate in Hz for which the pin will be polled 0 == no rate imposed */ int pollRateHz = 0; + + public PinDefinition() { + } + public PinDefinition(String serviceName, int address, String pin) { + this.serviceName = serviceName; this.address = address; this.pin = pin; } From 4658b205798e11c3f2199466049fe8d42c1c5470 Mon Sep 17 00:00:00 2001 From: grog Date: Mon, 17 Jul 2023 06:50:34 -0700 Subject: [PATCH 005/232] fixed legacy write and pinmode --- src/main/java/org/myrobotlab/service/RasPi.java | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/src/main/java/org/myrobotlab/service/RasPi.java b/src/main/java/org/myrobotlab/service/RasPi.java index fd57408e16..367ce104e1 100644 --- a/src/main/java/org/myrobotlab/service/RasPi.java +++ b/src/main/java/org/myrobotlab/service/RasPi.java @@ -790,4 +790,14 @@ public void write(String pin, int value) { invoke("publishPinDefinition", pinDef); } + @Override + public void pinMode(int address, String mode) { + pinMode(String.format("%d", address), mode); + } + + @Override + public void write(int address, int value) { + write(String.format("%d", address), value); + } + } From 44401679e1f7481a4b779e6a9134ea43d7b5bf5d Mon Sep 17 00:00:00 2001 From: grog Date: Mon, 17 Jul 2023 19:17:14 -0700 Subject: [PATCH 006/232] in progress --- .../org/myrobotlab/arduino/BoardInfo.java | 39 ++++++--- .../java/org/myrobotlab/service/Cron.java | 12 ++- .../java/org/myrobotlab/service/RasPi.java | 80 +++++++++++-------- 3 files changed, 88 insertions(+), 43 deletions(-) diff --git a/src/main/java/org/myrobotlab/arduino/BoardInfo.java b/src/main/java/org/myrobotlab/arduino/BoardInfo.java index ebf9af74fe..517165b5cd 100644 --- a/src/main/java/org/myrobotlab/arduino/BoardInfo.java +++ b/src/main/java/org/myrobotlab/arduino/BoardInfo.java @@ -16,17 +16,38 @@ public class BoardInfo implements Serializable { private static final long serialVersionUID = 1L; transient public final static Logger log = LoggerFactory.getLogger(BoardInfo.class); - Integer version; - Integer boardTypeId; - Integer microsPerLoop; - Integer sram; - Integer activePins; - DeviceSummary[] deviceSummary; // deviceList with types + /** + * version of firmware + */ + public Integer version; + + /** + * id of board type - FIXME change to string + */ + public Integer boardTypeId; + + /** + * Number of microseconds arduino uses to pass through a + * control loop in MrlComm - very Arduino/MrlComm specific + * FIXME - make generalized BoardType that can report useful information + * from any type of board with pins + */ + public Integer microsPerLoop; + + /** + * + */ + public Integer sram; + public Integer activePins; + public DeviceSummary[] deviceSummary; // deviceList with types - String boardTypeName; + public String boardTypeName; - long heartbeatMs; - long receiveTs; + public long heartbeatMs; + public long receiveTs; + + public BoardInfo() { + } public BoardInfo(Integer version, Integer boardTypeId, String boardTypeName, Integer microsPerLoop, Integer sram, Integer activePins, DeviceSummary[] deviceSummary, long boardInfoRequestTs) { diff --git a/src/main/java/org/myrobotlab/service/Cron.java b/src/main/java/org/myrobotlab/service/Cron.java index b25f44bdcc..45346cd091 100644 --- a/src/main/java/org/myrobotlab/service/Cron.java +++ b/src/main/java/org/myrobotlab/service/Cron.java @@ -48,6 +48,9 @@ public static class Task implements Serializable, Runnable { */ public String method; + /** + * reference to service + */ transient Cron cron; /** @@ -73,8 +76,12 @@ public Task(Cron cron, String id, String cronPattern, String name, String method @Override public void run() { - log.info("{} Cron firing message {}->{}.{}", cron.getName(), name, method, data); - cron.send(name, method, data); + if (cron != null) { + log.info("{} Cron firing message {}->{}.{}", cron.getName(), name, method, data); + cron.send(name, method, data); + } else { + log.error("cron service is null"); + } } @Override @@ -227,6 +234,7 @@ public void start() { * stop the schedular ad all associated tasks */ public void stop() { + removeAllTasks(); if (scheduler.isStarted()) { scheduler.stop(); } diff --git a/src/main/java/org/myrobotlab/service/RasPi.java b/src/main/java/org/myrobotlab/service/RasPi.java index 367ce104e1..7d46d774cc 100644 --- a/src/main/java/org/myrobotlab/service/RasPi.java +++ b/src/main/java/org/myrobotlab/service/RasPi.java @@ -56,7 +56,7 @@ public static class I2CDeviceMap { transient public I2CDevice device; public int deviceHandle; public String serviceName; - + public String toString() { return String.format("bus: %d deviceHandle: %d service: %s", bus.getBusNumber(), deviceHandle, serviceName); } @@ -299,10 +299,29 @@ public Set getAttached() { @Override public BoardInfo getBoardInfo() { - RaspiPin.allPins(); - // FIXME - this needs more work .. BoardInfo needs to be an interface where - // RasPiInfo is derived - return null; + BoardInfo boardInfo = new BoardInfo(); + + try { + + // Get the board revision + String revision = SystemInfo.getRevision(); + log.info("Board Revision: " + revision); + + // Get the board type + boardInfo.boardTypeName = SystemInfo.getModelName(); + log.info("Board Model: " + boardInfo.boardTypeName); + + // Get the board's memory information + log.info("Memory Info: " + SystemInfo.getMemoryTotal()); + + // Get the board's operating system info + log.info("OS Name: " + SystemInfo.getOsName()); + + } catch (Exception e) { + error(e); + } + + return boardInfo; } @Override @@ -398,7 +417,7 @@ public void handleGpioPinDigitalStateChangeEvent(GpioPinDigitalStateChangeEvent // display pin state on console log.info(" --> GPIO PIN STATE CHANGE: {} = {}", event.getPin(), event.getState()); PinDefinition pindef = pinIndex.get(wiringToBcm.get(event.getPin().getName())); - if (pindef == null){ + if (pindef == null) { log.error("pindef is null for pin {}", event.getPin().getName()); } else { pindef.setValue(event.getState().getValue()); @@ -481,16 +500,16 @@ public int i2cWriteRead(I2CControl control, int busAddress, int deviceAddress, b * @param mode * INPUT = 0x0. Output = 0x1. */ - public void pinMode(String pin, String mode) { + public void pinMode(String pin, String mode) { log.info("pinMode {}, mode {}", pin, mode); - + if (mode == null) { error("Pin mode cannot be null"); return; } mode = mode.trim().toUpperCase(); - + if (!pinIndex.containsKey(pin)) { error("Pin %s not found", pin); return; @@ -508,10 +527,10 @@ public void pinMode(String pin, String mode) { } else { error("mode %s is not valid", mode); } - log.info("pinDef {}",pinDef); + log.info("pinDef {}", pinDef); invoke("publishPinDefinition", pinDef); } - + @Override public PinData publishPin(PinData pinData) { // TODO Make sure this method is invoked when a pin value interrupt is @@ -537,23 +556,23 @@ public void read() { pinArray.add(pd); } } - + if (pinArray.size() > 0) { PinData[] array = pinArray.toArray(new PinData[0]); - invoke("publishPinArray", new Object[]{array}); + invoke("publishPinArray", new Object[] { array }); } } - + @Override public int read(String pin) { - + if (!pinIndex.containsKey(pin)) { error("Pin %s not found", pin); return -1; } PinDefinition pindef = pinIndex.get(pin); GpioPinDigitalMultipurpose gpioPin = getGPIO(pin); - if (!gpioPin.isMode(PinMode.DIGITAL_INPUT)){ + if (!gpioPin.isMode(PinMode.DIGITAL_INPUT)) { pinMode(pin, "INPUT"); } if (gpioPin.isLow()) { @@ -564,7 +583,7 @@ public int read(String pin) { return 1; } } - + @Override public void reset() { // TODO Auto-generated method stub @@ -683,14 +702,14 @@ public void startService() { gpio = GpioFactory.getInstance(); log.info("Executing on Raspberry PI"); getPinList(); -// FIXME - uncomment this -// log.info("Initiating i2c"); -// I2CFactory.getInstance(Integer.parseInt(bus)); -// log.info("i2c initiated on bus {}", bus); -// addTask(1000, "scan"); -// -// log.info("read task initialized"); -// addTask(1000, "read"); + // FIXME - uncomment this + // log.info("Initiating i2c"); + // I2CFactory.getInstance(Integer.parseInt(bus)); + // log.info("i2c initiated on bus {}", bus); + // addTask(1000, "scan"); + // + // log.info("read task initialized"); + // addTask(1000, "read"); // TODO - config which starts all pins in input or output mode @@ -707,15 +726,12 @@ public void startService() { } + // FIXME - remove public void test() { // Create GPIO controller instance GpioController gpio = GpioFactory.getInstance(); - // Provision GPIO pin 0 as a digital input/output pin -// GpioPinDigitalMultipurpose pin = gpio.provisionDigitalMultipurposePin( -// RaspiPin.GPIO_00, PinMode.DIGITAL_OUTPUT, PullUpResistance); - GpioPinDigitalMultipurpose pin = gpio.provisionDigitalMultipurposePin( - RaspiPin.GPIO_00, PinMode.DIGITAL_OUTPUT); + GpioPinDigitalMultipurpose pin = gpio.provisionDigitalMultipurposePin(RaspiPin.GPIO_00, PinMode.DIGITAL_OUTPUT); // Set the pin mode to output pin.setMode(PinMode.DIGITAL_OUTPUT); @@ -737,7 +753,7 @@ public void test() { // Add a listener to monitor pin state changes pin.addListener((GpioPinListenerDigital) (GpioPinDigitalStateChangeEvent event) -> { - System.out.println("Pin state changed to: " + event.getState()); + log.info("Pin state changed to: " + event.getState()); }); // Shutdown GPIO controller and release resources @@ -797,7 +813,7 @@ public void pinMode(int address, String mode) { @Override public void write(int address, int value) { - write(String.format("%d", address), value); + write(String.format("%d", address), value); } } From 4443dc0de1038597f86f1fd181238f36798c0e67 Mon Sep 17 00:00:00 2001 From: grog Date: Mon, 17 Jul 2023 19:19:25 -0700 Subject: [PATCH 007/232] oscope fixes --- .../resource/WebGui/app/widget/oscope.html | 17 +- .../resource/WebGui/app/widget/oscope.js | 323 +++++++++--------- 2 files changed, 179 insertions(+), 161 deletions(-) diff --git a/src/main/resources/resource/WebGui/app/widget/oscope.html b/src/main/resources/resource/WebGui/app/widget/oscope.html index c25c00c834..7047c2654a 100644 --- a/src/main/resources/resource/WebGui/app/widget/oscope.html +++ b/src/main/resources/resource/WebGui/app/widget/oscope.html @@ -1,25 +1,30 @@
-
+
- - - +
+
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+
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-
- +
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diff --git a/src/main/resources/resource/WebGui/app/widget/oscope.js b/src/main/resources/resource/WebGui/app/widget/oscope.js index 66b8271af3..d95b9f9098 100644 --- a/src/main/resources/resource/WebGui/app/widget/oscope.js +++ b/src/main/resources/resource/WebGui/app/widget/oscope.js @@ -28,25 +28,25 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) { }, // scope: true, link: function(scope, element) { - var _self = this; - var name = scope.serviceName; - var service = mrl.getService(name); - var mode = 'read'; + var _self = this + var name = scope.serviceName + var service = mrl.getService(name) + var mode = 'read' // 'read' || 'write' - var width = 800; - var height = 100; - var margin = 10; - var minY = margin; - var maxY = height - margin; - var scaleX = 1; - var scaleY = 1; - scope.readWrite = 'read'; + var width = 800 + var height = 100 + var margin = 10 + var minY = margin + var maxY = height - margin + var scaleX = 1 + var scaleY = 1 + scope.readWrite = 'read' // button toggle read/write - // scope.blah = {}; - // scope.blah.display = false; + // scope.blah = {} + // scope.blah.display = false + scope.pinIndex = service.pinIndex; - // scope.addressIndex = service.addressIndex; - var x = 0; + var x = 0 var gradient = tinygradient([{ h: 0, s: 0.4, @@ -57,44 +57,47 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) { s: 0.4, v: 1, a: 1 - }]); - scope.oscope = {}; - scope.oscope.traces = {}; - scope.oscope.writeStates = {}; + }]) + scope.oscope = {} + scope.oscope.traces = {} + scope.oscope.writeStates = {} // display update interfaces // defintion stage var setTraceButtons = function(pinIndex) { if (pinIndex == null) { - return; + return } + + scope.addressIndex = mrl.getService(name).addressIndex + var size = Object.keys(pinIndex).length if (size && size > 0) { - scope.pinIndex = pinIndex; - var colorsHsv = gradient.hsv(size); + scope.pinIndex = pinIndex + var colorsHsv = gradient.hsv(size) // pass over pinIndex add display data - for (var key in pinIndex) { - if (!pinIndex.hasOwnProperty(key)) { - continue; + for (var pin in pinIndex) { + if (!pinIndex.hasOwnProperty(pin)) { + continue } - scope.oscope.traces[key] = {}; - var trace = scope.oscope.traces[key]; - var pinDef = pinIndex[key]; + scope.oscope.traces[pin] = {} + var trace = scope.oscope.traces[pin] + var pinDef = pinIndex[pin] // adding style - var color = colorsHsv[pinDef.address]; + var color = colorsHsv[pinDef.address] trace.readStyle = { 'background-color': color.toHexString() - }; + } trace.writeStyle = { 'background-color': '#eee' - }; - trace.color = color; - trace.state = false; + } + trace.color = color + trace.state = false // off - trace.posX = 0; - trace.posY = 0; - trace.count = 0; - trace.colorHexString = color.toHexString(); + trace.posX = 0 + trace.posY = 0 + trace.count = 0 + trace.colorHexString = color.toHexString() trace.stats = { min: 0, max: 1, @@ -106,213 +109,223 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) { } // FIXME this should be _self.onMsg = function(inMsg) this.onMsg = function(inMsg) { - //console.log('CALLBACK - ' + msg.method); + //console.log('CALLBACK - ' + msg.method) switch (inMsg.method) { case 'onState': // backend update - setTraceButtons(inMsg.data[0].pinIndex); - scope.$apply(); - break; + setTraceButtons(inMsg.data[0].pinIndex) + scope.$apply() + break case 'onPinArray': - x++; - pinArray = inMsg.data[0]; + x++ + pinArray = inMsg.data[0] for (i = 0; i < pinArray.length; ++i) { // get pin data & definition - pinData = pinArray[i]; - pinDef = scope.pinIndex[pinData.pin]; + pinData = pinArray[i] + pinDef = scope.pinIndex[pinData.pin] // get correct screen and references - var screen = document.getElementById('oscope-pin-' + pinData.pin); + var screen = document.getElementById(scope.serviceName + '-oscope-pin-' + pinData.pin) var ctx = screen.getContext('2d'); - var trace = scope.oscope.traces[pinData.pin]; - var stats = trace.stats; + var trace = scope.oscope.traces[pinData.pin] + var stats = trace.stats // TODO - sample rate Hz - trace.stats.totalSample++; - trace.stats.totalValue += pinData.value; + trace.stats.totalSample++ + trace.stats.totalValue += pinData.value if (pinData.value < trace.stats.min) { - trace.stats.min = pinData.value; + trace.stats.min = pinData.value } if (pinData.value > trace.stats.max) { - trace.stats.max = pinData.value; + trace.stats.max = pinData.value } - var maxX = trace.stats.max; - var minX = trace.stats.min; - var c = minY + ((pinData.value - minX) * (maxY - minY)) / (maxX - minX); - var y = height - c; - ctx.beginPath(); + var maxX = trace.stats.max + var minX = trace.stats.min + var c = minY + ((pinData.value - minX) * (maxY - minY)) / (maxX - minX) + var y = height - c + ctx.beginPath() // from - ctx.moveTo(trace.posX, trace.posY); + ctx.moveTo(trace.posX, trace.posY) // to - ctx.lineTo(x, y); + ctx.lineTo(x, y) // save current values - trace.posX = x; - trace.posY = y; + trace.posX = x + trace.posY = y // color - ctx.strokeStyle = trace.colorHexString; + ctx.strokeStyle = trace.colorHexString // blank screen // TODO - continuous pan would be better - ctx.stroke(); + ctx.stroke() // blank screen if trace reaches end if (x > width) { - trace.state = true; - scope.highlight(trace, true); - //scope.toggleReadButton(pinDef); - ctx.font = "10px Aria"; - ctx.rect(0, 0, width, height); - ctx.fillStyle = "black"; - ctx.fill(); - var highlight = trace.color.getOriginalInput(); - highlight.s = "90%"; - var newColor = tinycolor(highlight); - ctx.fillStyle = trace.colorHexString; + trace.state = true + scope.highlight(trace, true) + //scope.toggleReadButton(pinDef) + ctx.font = "10px Aria" + ctx.rect(0, 0, width, height) + ctx.fillStyle = "black" + ctx.fill() + var highlight = trace.color.getOriginalInput() + highlight.s = "90%" + var newColor = tinycolor(highlight) + ctx.fillStyle = trace.colorHexString // TODO - highlight saturtion of text - ctx.fillText('MAX ' + stats.max + ' ' + pinDef.pin + ' ' + pinDef.address, 10, minY); - ctx.fillText(('AVG ' + (stats.totalValue / stats.totalSample)).substring(0, 11), 10, height / 2); - ctx.fillText('MIN ' + stats.min, 10, maxY); - trace.posX = 0; + ctx.fillText('MAX ' + stats.max + ' ' + pinDef.pin + ' ' + pinDef.address, 10, minY) + ctx.fillText(('AVG ' + (stats.totalValue / stats.totalSample)).substring(0, 11), 10, height / 2) + ctx.fillText('MIN ' + stats.min, 10, maxY) + trace.posX = 0 } // draw it - ctx.closePath(); + ctx.closePath() } // for each pin if (x > width) { - x = 0; + x = 0 } - break; + break default: // since we subscribed to "All" of Arduino's methods - most will escape here // no reason to put an error .. however, it would be better to "Only" susbscribe to the ones // we want - // console.log("ERROR - unhandled method " + inMsg.method); - break; + // console.log("ERROR - unhandled method " + inMsg.method) + break } } - ; + scope.toggleReadWrite = function() { - scope.readWrite = (scope.readWrite == 'write') ? 'read' : 'write'; + scope.readWrite = (scope.readWrite == 'write') ? 'read' : 'write' } - ; + scope.clearScreen = function(pinArray) { for (i = 0; i < pinArray.length; ++i) { - pinData = pinArray[i]; - pinDef = scope.pinIndex[pinData.pin]; - _self.ctx = screen.getContext('2d'); - // ctx.scale(1, -1); // flip y around for cartesian - bad idea :P - // width = screen.width; - //height = screen.height; - _self.ctx.rect(0, 0, width, height); - _self.ctx.fillStyle = "black"; - _self.ctx.fill(); - _self.ctx.fillStyle = "white"; - stats = pinDef.stats; - _self.ctx.fillText(pinDef.name + (' AVG ' + (stats.totalValue / stats.totalSample)).substring(0, 11) + ' MIN ' + stats.min + ' MAX ' + stats.max, 10, 18); + pinData = pinArray[i] + pinDef = scope.pinIndex[pinData.pin] + _self.ctx = screen.getContext('2d') + // ctx.scale(1, -1) // flip y around for cartesian - bad idea :P + // width = screen.width + //height = screen.height + _self.ctx.rect(0, 0, width, height) + _self.ctx.fillStyle = "black" + _self.ctx.fill() + _self.ctx.fillStyle = "white" + stats = pinDef.stats + _self.ctx.fillText(pinDef.name + (' AVG ' + (stats.totalValue / stats.totalSample)).substring(0, 11) + ' MIN ' + stats.min + ' MAX ' + stats.max, 10, 18) } } scope.zoomIn = function() { - scaleX += 1; - scaleY += 1; - _self.ctx.scale(scaleX, scaleY); + scaleX += 1 + scaleY += 1 + _self.ctx.scale(scaleX, scaleY) } - ; + // RENAME eanbleTrace - FIXME read values vs write values | ALL values from service not from ui !! - ui only sends commands scope.activateTrace = function(pinDef) { - var trace = scope.oscope.traces[pinDef.pin]; + var trace = scope.oscope.traces[pinDef.pin] if (trace.state) { - toggleReadButton(trace); - mrl.sendTo(name, 'disablePin', pinDef.pin); - trace.state = false; + toggleReadButton(trace) + mrl.sendTo(name, 'disablePin', pinDef.pin) + trace.state = false } else { - toggleReadButton(trace); - mrl.sendTo(name, 'enablePin', pinDef.pin); - trace.state = true; + toggleReadButton(trace) + // mrl.sendTo(name, 'enablePin', pinDef.pin) + mrl.sendTo(name, 'enablePin', pinDef.pin, 1) + trace.state = true } } - ; + scope.reset = function() { - mrl.sendTo(name, 'disablePins'); + mrl.sendTo(name, 'disablePins') } - ; + scope.write = function(pinDef) { - scope.toggleWriteButton(trace); - mrl.sendTo(name, 'digitalWrite', pinDef.pin, 1); - // trace.state = true; + scope.toggleWriteButton(trace) + mrl.sendTo(name, 'digitalWrite', pinDef.pin, 1) + // trace.state = true /* 3 states READ/ENABLE | DIGITALWRITE | ANALOGWRITE if (pinDef.pinName.charAt(0) == 'A') { - _self.toggleWriteButton(trace); - mrl.sendTo(name, 'analogWrite', 1); - trace.state = false; + _self.toggleWriteButton(trace) + mrl.sendTo(name, 'analogWrite', 1) + trace.state = false } else { - _self.toggleWriteButton(trace); - mrl.sendTo(name, 'digitalWrite', pinDef.address); - trace.state = true; + _self.toggleWriteButton(trace) + mrl.sendTo(name, 'digitalWrite', pinDef.address) + trace.state = true } */ } - ; + scope.reset = function() { - mrl.sendTo(name, 'disablePins'); + mrl.sendTo(name, 'disablePins') } - ; + var toggleReadButton = function(trace) { - var highlight = trace.color.getOriginalInput(); + var highlight = trace.color.getOriginalInput() if (trace.state) { - scope.highlight(trace, false); + scope.highlight(trace, false) } else { - scope.highlight(trace, true); + scope.highlight(trace, true) } - }; + } scope.highlight = function(trace, on) { - var highlight = trace.color.getOriginalInput(); + var highlight = trace.color.getOriginalInput() if (!on) { - // scope.blah.display = false; + // scope.blah.display = false // on to off - highlight.s = "40%"; - var newColor = color = tinycolor(highlight); + highlight.s = "40%" + var newColor = color = tinycolor(highlight) trace.readStyle = { 'background-color': newColor.toHexString() - }; + } } else { - // scope.blah.display = true; + // scope.blah.display = true // off to on - highlight.s = "90%"; - var newColor = color = tinycolor(highlight); + highlight.s = "90%" + var newColor = color = tinycolor(highlight) trace.readStyle = { 'background-color': newColor.toHexString() - }; + } } } - ; + scope.toggleWriteButton = function(pinDef) { - var highlight = trace.color.getOriginalInput(); + var highlight = trace.color.getOriginalInput() if (trace.state) { - // scope.blah.display = false; + // scope.blah.display = false // on to off - highlight.s = "40%"; - var newColor = color = tinycolor(highlight); + highlight.s = "40%" + var newColor = color = tinycolor(highlight) trace.readStyle = { 'background-color': newColor.toHexString() - }; + } } else { - // scope.blah.display = true; + // scope.blah.display = true // off to on - highlight.s = "90%"; - var newColor = color = tinycolor(highlight); + highlight.s = "90%" + var newColor = color = tinycolor(highlight) trace.readStyle = { 'background-color': newColor.toHexString() - }; + } } } - ; + // FIXME FIXME FIXME ->> THIS SHOULD WORK subscribeToServiceMethod <- but doesnt - mrl.subscribeToService(_self.onMsg, name); + mrl.subscribeToService(_self.onMsg, name) // this siphons off a single subscribe to the webgui // so it will be broadcasted back to angular - mrl.subscribe(name, 'publishPinArray'); - mrl.subscribeToServiceMethod(_self.onMsg, name, 'publishPinArray'); + mrl.subscribe(name, 'publishPinArray') + mrl.subscribeToServiceMethod(_self.onMsg, name, 'publishPinArray') // initializing display data - setTraceButtons(service.pinIndex); + setTraceButtons(service.pinIndex) } - }; + } } -]); +]).filter('toArray', function() { + return function(obj) { + if (!angular.isObject(obj)) { + return obj; + } + return Object.keys(obj).map(function(key) { + return obj[key]; + }); + }; +}); From 370e128a78fe10cbfba7f5415c3c06307d1bc692 Mon Sep 17 00:00:00 2001 From: grog Date: Mon, 17 Jul 2023 19:22:34 -0700 Subject: [PATCH 008/232] from grog branch --- .../java/org/myrobotlab/service/RasPi.java | 19 ++++++++++--------- .../service/config/RasPiConfig.java | 3 +++ 2 files changed, 13 insertions(+), 9 deletions(-) diff --git a/src/main/java/org/myrobotlab/service/RasPi.java b/src/main/java/org/myrobotlab/service/RasPi.java index 7d46d774cc..481d6b2777 100644 --- a/src/main/java/org/myrobotlab/service/RasPi.java +++ b/src/main/java/org/myrobotlab/service/RasPi.java @@ -702,16 +702,14 @@ public void startService() { gpio = GpioFactory.getInstance(); log.info("Executing on Raspberry PI"); getPinList(); - // FIXME - uncomment this - // log.info("Initiating i2c"); - // I2CFactory.getInstance(Integer.parseInt(bus)); - // log.info("i2c initiated on bus {}", bus); - // addTask(1000, "scan"); - // - // log.info("read task initialized"); - // addTask(1000, "read"); - // TODO - config which starts all pins in input or output mode + log.info("Initiating i2c"); + I2CFactory.getInstance(Integer.parseInt(bus)); + log.info("i2c initiated on bus {}", bus); + addTask(1000, "scan"); + + log.info("read task initialized"); + addTask(1000, "read"); } catch (IOException e) { log.error("i2c initiation failed", e); @@ -731,6 +729,9 @@ public void test() { // Create GPIO controller instance GpioController gpio = GpioFactory.getInstance(); + // Provision GPIO pin 0 as a digital input/output pin + // GpioPinDigitalMultipurpose pin = gpio.provisionDigitalMultipurposePin( + // RaspiPin.GPIO_00, PinMode.DIGITAL_OUTPUT, PullUpResistance); GpioPinDigitalMultipurpose pin = gpio.provisionDigitalMultipurposePin(RaspiPin.GPIO_00, PinMode.DIGITAL_OUTPUT); // Set the pin mode to output diff --git a/src/main/java/org/myrobotlab/service/config/RasPiConfig.java b/src/main/java/org/myrobotlab/service/config/RasPiConfig.java index 6e50cb496d..f10c2a1fc3 100644 --- a/src/main/java/org/myrobotlab/service/config/RasPiConfig.java +++ b/src/main/java/org/myrobotlab/service/config/RasPiConfig.java @@ -7,4 +7,7 @@ public class RasPiConfig extends ServiceConfig { * its better to follow the PinDefinition pollRateHz type */ public int pollRateHz = 1; + + // TODO - config which starts pins in a mode (read/write) and if write a value 0/1 + } From 22faefb0a68c93ded5fc01f114d00fa4ed106c4d Mon Sep 17 00:00:00 2001 From: grog Date: Tue, 18 Jul 2023 14:36:21 -0700 Subject: [PATCH 009/232] oscope cron and raspi improvements --- README.md | 17 ++ .../java/org/myrobotlab/service/Arduino.java | 2 + .../java/org/myrobotlab/service/RasPi.java | 6 +- .../resource/WebGui/app/widget/oscope.html | 6 +- .../resource/WebGui/app/widget/oscope.js | 205 ++++++++---------- 5 files changed, 115 insertions(+), 121 deletions(-) diff --git a/README.md b/README.md index d5dc735b56..e48b5cb111 100644 --- a/README.md +++ b/README.md @@ -121,4 +121,21 @@ resources: - ./src/main/resources/resource - ./src/main/resources type: WebGui +``` +```yml +!!org.myrobotlab.service.config.RuntimeConfig +enableCli: true +id: null +listeners: +locale: null +logLevel: info +peers: null +registry: +- runtime +- security +- webgui +- raspi +resource: src/main/resources/resource +type: Runtime +virtual: false ``` \ No newline at end of file diff --git a/src/main/java/org/myrobotlab/service/Arduino.java b/src/main/java/org/myrobotlab/service/Arduino.java index 5fba97260d..3568fcb598 100644 --- a/src/main/java/org/myrobotlab/service/Arduino.java +++ b/src/main/java/org/myrobotlab/service/Arduino.java @@ -1495,6 +1495,8 @@ public synchronized void onConnect(String portName) { info("%s connected to %s", getName(), portName); // chained... invoke("publishConnect", portName); + + broadcastState(); } public void onCustomMsg(Integer ax, Integer ay, Integer az) { diff --git a/src/main/java/org/myrobotlab/service/RasPi.java b/src/main/java/org/myrobotlab/service/RasPi.java index 481d6b2777..866631de15 100644 --- a/src/main/java/org/myrobotlab/service/RasPi.java +++ b/src/main/java/org/myrobotlab/service/RasPi.java @@ -541,6 +541,10 @@ public PinData publishPin(PinData pinData) { return pinData; } + public Map> publishScan() { + return validI2CAddresses; + } + public void read() { log.debug("read task invoked"); List pinArray = new ArrayList<>(); @@ -638,7 +642,7 @@ public void scan(Integer busNumber) { log.error("scan threw", e); } - broadcastState(); + invoke("publishScan"); } // FIXME - return array diff --git a/src/main/resources/resource/WebGui/app/widget/oscope.html b/src/main/resources/resource/WebGui/app/widget/oscope.html index 7047c2654a..90b4981eb6 100644 --- a/src/main/resources/resource/WebGui/app/widget/oscope.html +++ b/src/main/resources/resource/WebGui/app/widget/oscope.html @@ -23,13 +23,15 @@
-
+
-
+
diff --git a/src/main/resources/resource/WebGui/app/widget/oscope.js b/src/main/resources/resource/WebGui/app/widget/oscope.js index d95b9f9098..f779cafa2d 100644 --- a/src/main/resources/resource/WebGui/app/widget/oscope.js +++ b/src/main/resources/resource/WebGui/app/widget/oscope.js @@ -31,8 +31,6 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) { var _self = this var name = scope.serviceName var service = mrl.getService(name) - var mode = 'read' - // 'read' || 'write' var width = 800 var height = 100 var margin = 10 @@ -41,12 +39,8 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) { var scaleX = 1 var scaleY = 1 scope.readWrite = 'read' - // button toggle read/write - // scope.blah = {} - // scope.blah.display = false - scope.pinIndex = service.pinIndex; - var x = 0 + // var x = 0 var gradient = tinygradient([{ h: 0, s: 0.4, @@ -61,50 +55,49 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) { scope.oscope = {} scope.oscope.traces = {} scope.oscope.writeStates = {} - // display update interfaces - // defintion stage + var setTraceButtons = function(pinIndex) { - if (pinIndex == null) { + + if (Object.keys(scope.oscope.traces).length > 0) { return } - scope.addressIndex = mrl.getService(name).addressIndex - + // let pinIndex = service.pinIndex var size = Object.keys(pinIndex).length - if (size && size > 0) { - scope.pinIndex = pinIndex + if (size > 0) { var colorsHsv = gradient.hsv(size) - // pass over pinIndex add display data - for (var pin in pinIndex) { + + Object.keys(pinIndex).forEach(function(pin) { if (!pinIndex.hasOwnProperty(pin)) { - continue + return + } + var trace = { + readStyle: {}, + state: false, + posX: 0, + posY: 0, + x0: 0, + y0: 0, + x1: 0, + y1: 0, + count: 0, + stats: { + min: 0, + max: 1, + totalValue: 0, + totalSample: 1 + } } - scope.oscope.traces[pin] = {} - var trace = scope.oscope.traces[pin] var pinDef = pinIndex[pin] - - // adding style var color = colorsHsv[pinDef.address] - trace.readStyle = { - 'background-color': color.toHexString() - } - trace.writeStyle = { - 'background-color': '#eee' + if (!color) { + return } + trace.readStyle['background-color'] = color.toHexString() trace.color = color - trace.state = false - // off - trace.posX = 0 - trace.posY = 0 - trace.count = 0 trace.colorHexString = color.toHexString() - trace.stats = { - min: 0, - max: 1, - totalValue: 0, - totalSample: 1 - } - } + scope.oscope.traces[pin] = trace + }) } } // FIXME this should be _self.onMsg = function(inMsg) @@ -112,22 +105,49 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) { //console.log('CALLBACK - ' + msg.method) switch (inMsg.method) { case 'onState': - // backend update + // backend update + scope.pinIndex = inMsg.data[0].pinIndex setTraceButtons(inMsg.data[0].pinIndex) scope.$apply() break case 'onPinArray': - x++ + // all pin traces are going to be traced at the same x position + // x++ pinArray = inMsg.data[0] for (i = 0; i < pinArray.length; ++i) { // get pin data & definition pinData = pinArray[i] pinDef = scope.pinIndex[pinData.pin] // get correct screen and references - var screen = document.getElementById(scope.serviceName + '-oscope-pin-' + pinData.pin) - var ctx = screen.getContext('2d'); - var trace = scope.oscope.traces[pinData.pin] - var stats = trace.stats + // change to LET !! + let screen = document.getElementById(scope.serviceName + '-oscope-pin-' + pinData.pin) + let ctx = screen.getContext('2d'); + let trace = scope.oscope.traces[pinData.pin] + let stats = trace.stats + + // blank screen if trace reaches end + if (trace.x1 > width || trace.x0 == 0) { + trace.state = true + scope.highlight(trace, true) + ctx.font = "10px Aria" + ctx.rect(0, 0, width, height) + ctx.fillStyle = "black" + ctx.fill() + var highlight = trace.color.getOriginalInput() + highlight.s = "90%" + var newColor = tinycolor(highlight) + ctx.fillStyle = trace.colorHexString + // TODO - highlight saturtion of text + ctx.fillText('MAX ' + stats.max + ' ' + pinDef.pin + ' ' + pinDef.address, 10, minY) + ctx.fillText(('AVG ' + (stats.totalValue / stats.totalSample)).substring(0, 11), 10, height / 2) + ctx.fillText('MIN ' + stats.min, 10, maxY) + trace.x0 = 0 + trace.x1 = 0 + } + // draw it + + + // TODO - sample rate Hz trace.stats.totalSample++ trace.stats.totalValue += pinData.value @@ -142,44 +162,22 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) { var c = minY + ((pinData.value - minX) * (maxY - minY)) / (maxX - minX) var y = height - c ctx.beginPath() - // from - ctx.moveTo(trace.posX, trace.posY) - // to - ctx.lineTo(x, y) + // move to last position... + ctx.moveTo(trace.x0, trace.y0) + trace.x1++ + trace.y1 = c + // draw line to x1,y1 + ctx.lineTo(trace.x1, trace.y1) // save current values - trace.posX = x - trace.posY = y + trace.x0 = trace.x1 + trace.y0 = trace.y1 // color ctx.strokeStyle = trace.colorHexString // blank screen // TODO - continuous pan would be better ctx.stroke() - // blank screen if trace reaches end - if (x > width) { - trace.state = true - scope.highlight(trace, true) - //scope.toggleReadButton(pinDef) - ctx.font = "10px Aria" - ctx.rect(0, 0, width, height) - ctx.fillStyle = "black" - ctx.fill() - var highlight = trace.color.getOriginalInput() - highlight.s = "90%" - var newColor = tinycolor(highlight) - ctx.fillStyle = trace.colorHexString - // TODO - highlight saturtion of text - ctx.fillText('MAX ' + stats.max + ' ' + pinDef.pin + ' ' + pinDef.address, 10, minY) - ctx.fillText(('AVG ' + (stats.totalValue / stats.totalSample)).substring(0, 11), 10, height / 2) - ctx.fillText('MIN ' + stats.min, 10, maxY) - trace.posX = 0 - } - // draw it ctx.closePath() } - // for each pin - if (x > width) { - x = 0 - } break default: // since we subscribed to "All" of Arduino's methods - most will escape here @@ -189,19 +187,12 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) { break } } - - scope.toggleReadWrite = function() { - scope.readWrite = (scope.readWrite == 'write') ? 'read' : 'write' - } - + scope.clearScreen = function(pinArray) { - for (i = 0; i < pinArray.length; ++i) { + for (i = 0; i < scope.pinArray.length; ++i) { pinData = pinArray[i] pinDef = scope.pinIndex[pinData.pin] _self.ctx = screen.getContext('2d') - // ctx.scale(1, -1) // flip y around for cartesian - bad idea :P - // width = screen.width - //height = screen.height _self.ctx.rect(0, 0, width, height) _self.ctx.fillStyle = "black" _self.ctx.fill() @@ -210,12 +201,7 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) { _self.ctx.fillText(pinDef.name + (' AVG ' + (stats.totalValue / stats.totalSample)).substring(0, 11) + ' MIN ' + stats.min + ' MAX ' + stats.max, 10, 18) } } - scope.zoomIn = function() { - scaleX += 1 - scaleY += 1 - _self.ctx.scale(scaleX, scaleY) - } - + // RENAME eanbleTrace - FIXME read values vs write values | ALL values from service not from ui !! - ui only sends commands scope.activateTrace = function(pinDef) { var trace = scope.oscope.traces[pinDef.pin] @@ -230,33 +216,15 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) { trace.state = true } } - + scope.reset = function() { mrl.sendTo(name, 'disablePins') } - - scope.write = function(pinDef) { - scope.toggleWriteButton(trace) - mrl.sendTo(name, 'digitalWrite', pinDef.pin, 1) - // trace.state = true - /* 3 states READ/ENABLE | DIGITALWRITE | ANALOGWRITE - if (pinDef.pinName.charAt(0) == 'A') { - _self.toggleWriteButton(trace) - mrl.sendTo(name, 'analogWrite', 1) - trace.state = false - } else { - _self.toggleWriteButton(trace) - mrl.sendTo(name, 'digitalWrite', pinDef.address) - trace.state = true - } - */ - } - scope.reset = function() { mrl.sendTo(name, 'disablePins') } - + var toggleReadButton = function(trace) { var highlight = trace.color.getOriginalInput() if (trace.state) { @@ -285,7 +253,7 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) { } } } - + scope.toggleWriteButton = function(pinDef) { var highlight = trace.color.getOriginalInput() if (trace.state) { @@ -306,7 +274,7 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) { } } } - + // FIXME FIXME FIXME ->> THIS SHOULD WORK subscribeToServiceMethod <- but doesnt mrl.subscribeToService(_self.onMsg, name) // this siphons off a single subscribe to the webgui @@ -320,12 +288,13 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) { } } ]).filter('toArray', function() { - return function(obj) { - if (!angular.isObject(obj)) { - return obj; + return function(obj) { + if (!angular.isObject(obj)) { + return obj; + } + return Object.keys(obj).map(function(key) { + return obj[key]; + }); } - return Object.keys(obj).map(function(key) { - return obj[key]; - }); - }; + ; }); From bac8ca92a69d096a70672c46c1131eea71cd170c Mon Sep 17 00:00:00 2001 From: grog Date: Tue, 18 Jul 2023 19:34:34 -0700 Subject: [PATCH 010/232] ipscan image and info down to debug --- src/main/java/org/myrobotlab/service/RasPi.java | 6 +++--- src/main/resources/resource/RasPi/i2c-scan.png | Bin 0 -> 6920 bytes .../WebGui/app/service/views/RasPiGui.html | 4 +++- 3 files changed, 6 insertions(+), 4 deletions(-) create mode 100644 src/main/resources/resource/RasPi/i2c-scan.png diff --git a/src/main/java/org/myrobotlab/service/RasPi.java b/src/main/java/org/myrobotlab/service/RasPi.java index 866631de15..5cdc18f0d8 100644 --- a/src/main/java/org/myrobotlab/service/RasPi.java +++ b/src/main/java/org/myrobotlab/service/RasPi.java @@ -339,7 +339,7 @@ public List getBoardTypes() { * @return */ private GpioPinDigitalMultipurpose getGPIO(String pin) { - log.info("getGPIO {}", pin); + log.debug("getGPIO {}", pin); if (!pinIndex.containsKey(pin)) { error("Pin %s not found", pin); return null; @@ -552,11 +552,11 @@ public void read() { for (String pin : pinIndex.keySet()) { PinDefinition pindef = pinIndex.get(pin); if (pindef.isEnabled()) { - log.info("pin {} enabled {}", pin, pindef.isEnabled()); + log.debug("pin {} enabled {}", pin, pindef.isEnabled()); int value = read(pin); pindef.setValue(value); PinData pd = new PinData(pin, value); - log.info("pin data {}", pd); + log.debug("pin data {}", pd); pinArray.add(pd); } } diff --git a/src/main/resources/resource/RasPi/i2c-scan.png b/src/main/resources/resource/RasPi/i2c-scan.png new file mode 100644 index 0000000000000000000000000000000000000000..4648fe46dc500f4247ecd6ee23adadd463ffc13c GIT binary patch literal 6920 zcmZvB2RIzx+xChdRxcqEy+#m3L|rXngAfv|UZeN2dXEx8EFpSXA&9biiB6Q&yA^`P z>NVQxeB}52zw7$m_dnP5oS8Xu=FD@RcHc7-@kUjFl!%T90059GDaxw@064xk$4S6D zH?1$ip7Lgg3zbvS1OkD-7u4o&PAS~LI&Kk@Bd-8nlM>r&?DTodDoHqfc+uKjLk>}705Qc}_=j1Kd@1=MAmh$^|l zk~I#1euG$-$d<%B7aE*S?p_66uQfB<9Ph>|kWIMf*W{PmROLG=4{0f^&Yz6;kDr)W znH5M>n|&|xdCBcj^HfEuQ+`$(DxGMaFQrP`aEty`eY1`j6;n@R+Yh>*s65Baw?9JYa> z5Ka+=%65s#r?eb zqhmtAFR#`8T_YNRtb6i#QO*>+Ss;Vf9Q(FrA#6tN8oAL>U4Hw0rgG-e;*#xT8bFY6rnN{ZiKwO) zJasvWXi=juwX%jS(9_+*;>B)U!D&?lfgdh*dRp5uM0pT3Jw2Va$JUlf2zoUt3I2>X zDH%zB1PJnrs&gLkPiRh-eM;f7M2=3HyHKRNG{+6EfJ*>nul``F;Q|g)wUsfFWmkzZ zo0{IR!@Z5ux@bkR9|LYSmxu>8YdO`Tt87mGWGthHGTO%HCfj^YONgPM7rOOc<0jr8 z?oI|s(hpdu?=oJPVwZC0b9NB~lTQA}&CSy})&9+1v@uufIoI1E?J#m8BR2-k%{t`u zVOu__(g!&`W88L`FA0_P&Ckj&Vwm%qzK!^Of|82ml&UQ2T`vW3QR9?}t>Of+#p4`| zl~4dC4<}3>+ZBqgdLuvh0}`A3OUl~5sU;e7&IvtN@TJ}x7|8jdLeA3iOY_H?hk7e( ziVpH~sUbm784wWe`hF8cwSzX(%x?TL&=^~}H+XTTFexg1;Zd`(B2(G}cdX0lkVzlg zm-Lm-py>ml?(@@sHhy_VTR|83BT=pdY|!Gj+%;@ffF*k}bZ>RZ&{*J!E9u7LAn$Ck z)$ZzQ^1E9p2gw1K@Ol|yDYrk0VJjWv6@NC-s;@biB93ZHFP94J4-Ss~F<;N^WzM^< z8(10-Y8DszMMW|YaUb*vE=CTKSu5-du|FLCoJdMDdOWFI7@a#N@=eqm+ee4-(UueEjP*7(!B&$Wc*{!YxJ(>o9LZBI4}7U7=1z<_3k#i zV`giUv)hX=ADzD={E+wMFmu2;+!fZ96iv)z71IcRvM7J0W(EW}`!AHXZ?JEEoqd{g z)CmhTyqNl0FLbiSI#D~g6nKK&7q-aJokSHM8Cbi7Ia(U9eir`jZ6b6}zJuoTDrP~a zvl2i-7~bACCA0^QpM4tB;rnn+(ex$8J9mE#Hf07^pnELDXY2NUioe%c(b5vqFN6jS zpBXr|V@OI60tN)v&RAl#6~EdboaA66)X3}Uc|+P8?4H|;LcV^^)JyHU? zC-!E9x?u7SQORB-ulJWjYL+(Ht8?|ib8v}AEvGFVt41_%Ur4c^FJFE3%=PI?_Kt~_ zVK#Tq&I0}vDm-BLIIE8Bxb<@8>p4z0QTV89z&OX@T!s0z3-MW@Pkbs~mT(Hdqz!{1 ziT1e{G-p5FF}RIWs_8mM=Zij5kC$fp@-zGU=thnF``Z;hGKGfC7!`bLe#PwEpiV6I zSVyAZV+Dg1<}xh0U2SD4!Y&CN{TKjNbHy&|nEPal9TRr%ws>Qh<*{L0BTI&trE>xi z!htee36euiI#6`w*Q3CCGWn1}E7v6o{c|rZBbXl_^|~kT#^sp;{NZ*CMwsq3OLPL} zsB=PqN!@?*0alj(VEFbx#nO%fN#>=+_TChl$ z1VexNULBsCL?~L*9 z$NHNp)nNz%-c@Va6HViO@s!8k5q+Rbyo`iZWwD2E1UNf< zi;#Y>m%wf38@RVs0OkMO6>RB{>mQn^GgCaMtf{Hah8TWG9G zZ#FAS=$j7K(3ud|9i5?#(Y%^5OFjXjok;<=p|CI2C_M&|qUXk0R1fL4*n>w05wJm` z9MyKEwjkdhIche$knJR%Lp&Zw&L8s+Hh0_!KR?3{5*0uDt@1t!IW)j+XB23Ym(7Aj zE8mro6sq`MX4W)e39=mB0}^XXY_Y%EG25gkFurWIJa9KT`R1?Qv$jmXX;R7ZnGWG&tY| z{Ng<~=!1uPJo$Kt>ZZ!m&|ULd(W9{s0+qrv;Xd?wD~Zw3QZUOtgQEC~55M!v=CTjm z$9YbTJ!<9C{i1Z4UERHLytp#t0wXvB^+rO1eR*PH8!O}sS2IMhor`bYgzDP;)A;Hd zJuy!6gG!aM@p{A>%atE9I)ylIYY#SIzmL-R5+iuz$A zBO`5@mF``BVXvzts_&yT-N|4vG2}IqypAp21CJ(&9czE;Mz7T`J}k z+T*-#4qk7V88ljxdxT1e5QP6oo@?-kackUnwc89ch4(IcDVe4s54=;~;dZG)w0|SD z`pNXU;e)HvMd2JJNUxb z3fev-VhifjJ0Spw0$d3FBqI8#q+EzVa| zX-L9&?1oa=LjqoeyyH3BFGK<-H8G*|s*dTZoyhYZIwm{o;P6*Ez>M* zE58ZNE)Y%eLPQ(~o+YvoAm_MxL8xC&2JMBvulQm|TWau{UC7phI=o)Brax>v7lsv4 zC|jVx(^hsVDQZ~DJ6`5VKH2;DBNY0#*bPI$rf1w0OJrT%Ql4duPXNe_tYuWhjlRJDQfU5)pDSBCXbVl-^c81ArCbg zFx5Trx5JXlu8&eY!Yv_vs{|Ndg#u zs4UpA-#_Yh0a$65HY2=kBWdwG zckw!9e9Q9pfzurcoa$Zcy{eiMcKc%749U#RPv)BtJq2Bw8fLt2Tt;6F?{2KUk#rl} z!O3VB6z)_uZ7Dj>UgVTTS#vKmHQCUJkiI_lSWi_wR1t=%i_NcZXKE(Dv+X}3i&719 zZWZz<{9SZdOn-3n>r5cRRFDBk_=fu$H}RhQ!Tb+CpVC+Bq~Yc?VD&zADq3+R!wT0& zwGX7U!N9szD@Z6sq*y409A)^w@@SDlu33Uo!Ekz9NJ3axczR5;aL%2bHFQgGQ76^m zOjg^%!eTOb4rM=UaofwcC?BQxsWVD(P5JSulE_QWYjFuV;AzFj__B{3{0W?5MmZyY z7)aS!Iimm5<>z0mus%sk$hr<@cpIk!yZdl^0;}{MlMUvea=bV*d2N+%dAsEeCRQ{! zep?w&PYq1j9)c|EPlrD~AjS4jWYu_JlYXeyNPM=&JjJt<>t=$chk`jg3LZb_MTSyv zIwG__mwl8U?WJNU9kISs<*EWyveE(rS!qMcpBKb{3^!xfB!1k zx-6z6aQelK0X(LQm%(k9XJI>a6w&mo=Ekn+WkXVq z^T0RNL~`ARPj1-3jrR(c91dF&VjDC)jEv@_4v-9f6l$71b>#C=#&5@2mmI%9oh}}b z%W%^+0k=Ju?5;`B=n>7gN{MOF>F4GE@j8`z1c0sQPjsIK&73~~bjMAF0AdGNLCr6; 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+ 
sudo apt-get install -y i2c-tools

+ +

- 
sudo apt-get install -y i2c-tools
More recent rasbian distributions require building and installing this library https://github.com/WiringPi/WiringPi
From ea0ab741862a87e3bd65bdf653a9b24c624188ab Mon Sep 17 00:00:00 2001 From: grog Date: Tue, 18 Jul 2023 19:42:12 -0700 Subject: [PATCH 011/232] adding .gitignore entries --- .gitignore | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.gitignore b/.gitignore index 803d7438d8..f8af3ea9dd 100644 --- a/.gitignore +++ b/.gitignore @@ -82,3 +82,6 @@ /lastRestart.py /.factorypath start.yml +config +src/main/resources/resource/InMoov2 +src/main/resources/resource/ProgramAB \ No newline at end of file From f1c691c2ca3bd6b6ea1e03530063c3a70f2699b7 Mon Sep 17 00:00:00 2001 From: grog Date: Thu, 20 Jul 2023 06:10:03 -0700 Subject: [PATCH 012/232] generated pom --- pom.xml | 36 ++++++++++++++++++++++++++++++------ 1 file changed, 30 insertions(+), 6 deletions(-) diff --git a/pom.xml b/pom.xml index 044205c9e9..c179fc989c 100644 --- a/pom.xml +++ b/pom.xml @@ -163,10 +163,6 @@ - - - - org.boofcv @@ -1237,13 +1233,13 @@ org.bytedeco cpython-platform - 3.11.3-1.5.9 + 3.10.8-1.5.8 provided org.bytedeco cpython - 3.11.3-1.5.9 + 3.10.8-1.5.8 provided @@ -1574,6 +1570,34 @@ + + + io.vertx + vertx-core + 4.3.3 + provided + + + io.netty + * + + + + + io.vertx + vertx-web + 4.3.3 + provided + + + io.netty + * + + + + + + From 993669c30136f82d16f9df8daca30363f6aa415f Mon Sep 17 00:00:00 2001 From: grog Date: Sat, 22 Jul 2023 15:36:14 -0700 Subject: [PATCH 013/232] rename --- .../java/org/myrobotlab/service/WebXr.java | 87 ------------------- .../service/config/WebXrConfig.java | 37 -------- .../myrobotlab/service/meta/WebXrMeta.java | 38 -------- 3 files changed, 162 deletions(-) delete mode 100644 src/main/java/org/myrobotlab/service/WebXr.java delete mode 100644 src/main/java/org/myrobotlab/service/config/WebXrConfig.java delete mode 100644 src/main/java/org/myrobotlab/service/meta/WebXrMeta.java diff --git a/src/main/java/org/myrobotlab/service/WebXr.java b/src/main/java/org/myrobotlab/service/WebXr.java deleted file mode 100644 index 87df997800..0000000000 --- a/src/main/java/org/myrobotlab/service/WebXr.java +++ /dev/null @@ -1,87 +0,0 @@ -package org.myrobotlab.service; - -import java.util.HashMap; -import java.util.Map; - -import org.myrobotlab.framework.Service; -import org.myrobotlab.logging.Level; -import org.myrobotlab.logging.LoggerFactory; -import org.myrobotlab.logging.LoggingFactory; -import org.myrobotlab.math.MapperSimple; -import org.myrobotlab.service.config.WebXrConfig; -import org.myrobotlab.service.data.Pose; -import org.slf4j.Logger; - -public class WebXr extends Service { - - private static final long serialVersionUID = 1L; - - public final static Logger log = LoggerFactory.getLogger(WebXr.class); - - public WebXr(String n, String id) { - super(n, id); - } - - public Pose publishPose(Pose pose) { - log.warn("publishPose {}", pose); - System.out.println(pose.toString()); - - // process mappings config into joint angles - Map map = new HashMap<>(); - - WebXrConfig c = (WebXrConfig)config; - String path = String.format("%s.orientation.roll", pose.name); - if (c.mappings.containsKey(path)) { - Map mapper = c.mappings.get(path); - for (String name: mapper.keySet()) { - map.put(name, mapper.get(name).calcOutput(pose.orientation.roll)); - } - } - - path = String.format("%s.orientation.pitch", pose.name); - if (c.mappings.containsKey(path)) { - Map mapper = c.mappings.get(path); - for (String name: mapper.keySet()) { - map.put(name, mapper.get(name).calcOutput(pose.orientation.pitch)); - } - } - - path = String.format("%s.orientation.yaw", pose.name); - if (c.mappings.containsKey(path)) { - Map mapper = c.mappings.get(path); - for (String name: mapper.keySet()) { - map.put(name, mapper.get(name).calcOutput(pose.orientation.yaw)); - } - } - - invoke("publishJointAngles", map); - - return pose; - } - - // TODO publishQuaternion - - public Map publishJointAngles(Map map){ - return map; - } - - public static void main(String[] args) { - try { - - LoggingFactory.init(Level.INFO); - - Runtime.start("webxr", "WebXr"); - WebGui webgui = (WebGui) Runtime.create("webgui", "WebGui"); - // webgui.setSsl(true); - webgui.autoStartBrowser(false); - webgui.startService(); - Runtime.start("vertx", "Vertx"); - InMoov2 i01 = (InMoov2)Runtime.start("i01", "InMoov2"); - i01.startPeer("simulator"); - - - } catch (Exception e) { - log.error("main threw", e); - } - } -} diff --git a/src/main/java/org/myrobotlab/service/config/WebXrConfig.java b/src/main/java/org/myrobotlab/service/config/WebXrConfig.java deleted file mode 100644 index c97615440b..0000000000 --- a/src/main/java/org/myrobotlab/service/config/WebXrConfig.java +++ /dev/null @@ -1,37 +0,0 @@ -package org.myrobotlab.service.config; - -import java.util.HashMap; -import java.util.Map; - -import org.myrobotlab.math.MapperSimple; - -public class WebXrConfig extends ServiceConfig { - - public Integer port = 8888; - public boolean autoStartBrowser = true; - - /** - * range and name mappings for orientation and position - * controller name | servo name | mapping - */ - public Map> mappings = new HashMap<>(); - - public WebXrConfig() { - - Map map = new HashMap<>(); - map.put("i01.head.rollNeck", new MapperSimple(-3.14, 3.14, -90, 270)); - mappings.put("head.orientation.roll", map); - - map = new HashMap<>(); - map.put("i01.head.rothead", new MapperSimple(-3.14, 3.14, -90, 270)); - mappings.put("head.orientation.yaw", map); - - map = new HashMap<>(); - map.put("i01.head.neck", new MapperSimple(-3.14, 3.14, -90, 270)); - mappings.put("head.orientation.pitch", map); - - } - -} - - diff --git a/src/main/java/org/myrobotlab/service/meta/WebXrMeta.java b/src/main/java/org/myrobotlab/service/meta/WebXrMeta.java deleted file mode 100644 index 46b0921214..0000000000 --- a/src/main/java/org/myrobotlab/service/meta/WebXrMeta.java +++ /dev/null @@ -1,38 +0,0 @@ -package org.myrobotlab.service.meta; - -import org.myrobotlab.logging.LoggerFactory; -import org.myrobotlab.service.meta.abstracts.MetaData; -import org.slf4j.Logger; - -public class WebXrMeta extends MetaData { - private static final long serialVersionUID = 1L; - public final static Logger log = LoggerFactory.getLogger(WebXrMeta.class); - - /** - * This class is contains all the meta data details of a service. It's peers, - * dependencies, and all other meta data related to the service. - * - */ - public WebXrMeta() { - - // add a cool description - addDescription("WebXr allows hmi devices to add input and get data back from mrl"); - - // false will prevent it being seen in the ui - setAvailable(true); - - // add dependencies if necessary - // addDependency("com.twelvemonkeys.common", "common-lang", "3.1.1"); - - setAvailable(false); - - // add it to one or many categories - addCategory("remote","control"); - - // add a sponsor to this service - // the person who will do maintenance - // setSponsor("GroG"); - - } - -} From b7ddb43c364fa39da7b0e14583e620d7c2d7948c Mon Sep 17 00:00:00 2001 From: grog Date: Sat, 22 Jul 2023 15:37:20 -0700 Subject: [PATCH 014/232] incremental --- .../java/org/myrobotlab/service/Cron.java | 188 +++++++++++------- .../java/org/myrobotlab/service/Hd44780.java | 20 +- .../org/myrobotlab/service/ProgramAB.java | 2 +- .../java/org/myrobotlab/service/Vertx.java | 19 ++ .../java/org/myrobotlab/service/WebXR.java | 87 ++++++++ .../myrobotlab/service/config/CronConfig.java | 5 +- .../myrobotlab/service/meta/WebXRMeta.java | 33 +++ .../resource/WebGui/app/service/js/CronGui.js | 18 +- .../WebGui/app/service/views/CronGui.html | 17 +- 9 files changed, 300 insertions(+), 89 deletions(-) create mode 100644 src/main/java/org/myrobotlab/service/WebXR.java create mode 100644 src/main/java/org/myrobotlab/service/meta/WebXRMeta.java diff --git a/src/main/java/org/myrobotlab/service/Cron.java b/src/main/java/org/myrobotlab/service/Cron.java index a6826c9b25..e52e9fe2b5 100644 --- a/src/main/java/org/myrobotlab/service/Cron.java +++ b/src/main/java/org/myrobotlab/service/Cron.java @@ -1,8 +1,11 @@ package org.myrobotlab.service; import java.io.Serializable; +import java.util.ArrayList; +import java.util.Date; +import java.util.LinkedHashMap; +import java.util.List; import java.util.Map; -import java.util.UUID; import org.myrobotlab.framework.Service; import org.myrobotlab.logging.Level; @@ -10,6 +13,7 @@ import org.myrobotlab.logging.Logging; import org.myrobotlab.logging.LoggingFactory; import org.myrobotlab.service.config.CronConfig; +import org.myrobotlab.service.config.ServiceConfig; import org.slf4j.Logger; import it.sauronsoftware.cron4j.Scheduler; @@ -24,10 +28,15 @@ * */ public class Cron extends Service { - + public static class Task implements Serializable, Runnable { private static final long serialVersionUID = 1L; + /** + * reference to service + */ + transient Cron cron; + /** * cron pattern for this task */ @@ -44,7 +53,7 @@ public static class Task implements Serializable, Runnable { transient public String hash; /** - * unique id for the user to use + * id for the user to use */ public String id; @@ -53,11 +62,6 @@ public static class Task implements Serializable, Runnable { */ public String method; - /** - * reference to service - */ - transient Cron cron; - /** * name of the target service */ @@ -81,12 +85,13 @@ public Task(Cron cron, String id, String cronPattern, String name, String method @Override public void run() { - if (cron != null) { log.info("{} Cron firing message {}->{}.{}", cron.getName(), name, method, data); cron.send(name, method, data); - } else { - log.error("cron service is null"); - } + cron.history.add(new TaskHistory(id, new Date())); + if (cron.history.size() > cron.HISTORY_SIZE) { + cron.history.remove(0); + } + cron.broadcastState(); } @Override @@ -94,16 +99,41 @@ public String toString() { return String.format("%s, %s, %s, %s", id, cronPattern, name, method); } } + + public static class TaskHistory { + public String id; + public Date processedTime; + + public TaskHistory(String id, Date now) { + this.id = id; + this.processedTime = now; + } + } public final static Logger log = LoggerFactory.getLogger(Cron.class); private static final long serialVersionUID = 1L; + /** + * history buffer of tasks that have been executed + */ + final protected List history = new ArrayList<>(); + + /** + * max size of history buffer + */ + final int HISTORY_SIZE = 30; + /** * the thing that translates all the cron pattern values and implements actual tasks */ transient private Scheduler scheduler = new Scheduler(); + /** + * map of tasks organized by id + */ + public Map tasks = new LinkedHashMap<>(); + public Cron(String n, String id) { super(n, id); } @@ -117,73 +147,89 @@ public Cron(String n, String id) { * @param method * @return */ - public String addNamedTask(String id, String cron, String serviceName, String method) { - return addNamedTask(id, cron, serviceName, method, (Object[]) null); + public String addTask(String id, String cron, String serviceName, String method) { + return addTask(id, cron, serviceName, method, (Object[]) null); } /** * Add a named task with parameters * * @param id - * @param cron + * @param cronPattern * @param serviceName * @param method * @param data * @return */ - public String addNamedTask(String id, String cron, String serviceName, String method, Object... data) { - CronConfig c = (CronConfig) config; - Task task = new Task(this, id, cron, serviceName, method, data); - task.id = id; - task.hash = scheduler.schedule(cron, task); - c.tasks.put(id, task); - broadcastState(); + public String addTask(String id, String cronPattern, String serviceName, String method, Object... data) { + Task task = new Task(this, id, cronPattern, serviceName, method, data); + addTask(task); return id; } + /** * * @param task * @return */ - public String addNamedTask(Task task) { - CronConfig c = (CronConfig) config; + public String addTask(Task task) { + if (tasks.containsKey(task.id)) { + log.info("descheduling prexisting task {} hash {}", task.id, task.hash); + scheduler.deschedule(task.id); + } + log.info("scheduling task {}", task.id); task.hash = scheduler.schedule(task.cronPattern, task); - c.tasks.put(task.id, task); + task.cron = this; + tasks.put(task.id, task); broadcastState(); return task.id; } - /** - * Add a task with out parameters, the name will be generated guid - * - * @param cron - * @param serviceName - * @param method - * @return - */ - public String addTask(String cron, String serviceName, String method) { - String id = UUID.randomUUID().toString(); - return addNamedTask(id, cron, serviceName, method, (Object[]) null); + @Override + public ServiceConfig apply(ServiceConfig c) { + // deschedule current tasks + removeAllTasks(); + + // add new tasks + CronConfig config = (CronConfig)c; + for (Task task : config.tasks) { + addTask(task); + } + return c; + } + + @Override + public ServiceConfig getConfig() { + CronConfig c = (CronConfig)config; + c.tasks = new ArrayList<>(); + for (Task task: tasks.values()) { + c.tasks.add(task); + } + return c; + } + + public Map getCronTasks() { + return tasks; } /** - * Add a task with parameters, the name will be generated guid - * - * @param cron - * @param serviceName - * @param method - * @param data + * get a task from id + * @param id * @return */ - public String addTask(String cron, String serviceName, String method, Object... data) { - String id = UUID.randomUUID().toString(); - return addNamedTask(id, cron, serviceName, method, data); + public Task getTask(String id) { + return tasks.get(id); } - public Map getCronTasks() { - CronConfig c = (CronConfig) config; - return c.tasks; + /** + * removes all the tasks without stopping the scheduler + */ + public void removeAllTasks() { + for (Task t : tasks.values()) { + scheduler.deschedule(t.hash); + } + tasks.clear(); } /** @@ -192,8 +238,7 @@ public Map getCronTasks() { * @return the removed task if it exists */ public Task removeTask(String id) { - CronConfig c = (CronConfig) config; - Task t = c.tasks.remove(id); + Task t = tasks.remove(id); if (t != null) { scheduler.deschedule(t.hash); } else { @@ -202,39 +247,22 @@ public Task removeTask(String id) { broadcastState(); return t; } - + /** - * removes all the tasks without stopping the scheduler + * start the schedular and all associated tasks */ - public void removeAllTasks() { - CronConfig c = (CronConfig) config; - for (Task t : c.tasks.values()) { - scheduler.deschedule(t.hash); + public void start() { + if (!scheduler.isStarted()) { + scheduler.start(); } - c.tasks.clear(); } - + @Override public void startService() { super.startService(); start(); } - - @Override - public void stopService() { - super.stopService(); - stop(); - } - - /** - * start the schedular and all associated tasks - */ - public void start() { - if (!scheduler.isStarted()) { - scheduler.start(); - } - } - + /** * stop the schedular ad all associated tasks */ @@ -244,7 +272,14 @@ public void stop() { scheduler.stop(); } } + + @Override + public void stopService() { + super.stopService(); + stop(); + } + public static void main(String[] args) { LoggingFactory.init(Level.INFO); @@ -262,9 +297,9 @@ public static void main(String[] args) { * cron.addScheduledEvent("59 * * * *","arduino","digitalWrite", 11, 0); */ // every odd minute - String id = cron.addNamedTask("led on", "1-59/2 * * * *", "mega", "digitalWrite", 13, 1); + String id = cron.addTask("led on", "1-59/2 * * * *", "mega", "digitalWrite", 13, 1); // every event minute - String id2 = cron.addNamedTask("led off", "*/2 * * * *", "mega", "digitalWrite", 13, 0); + String id2 = cron.addTask("led off", "*/2 * * * *", "mega", "digitalWrite", 13, 0); // Runtime.createAndStart("webgui", "WebGui"); @@ -272,4 +307,5 @@ public static void main(String[] args) { Logging.logError(e); } } + } diff --git a/src/main/java/org/myrobotlab/service/Hd44780.java b/src/main/java/org/myrobotlab/service/Hd44780.java index da1750d5c2..d20adf6986 100644 --- a/src/main/java/org/myrobotlab/service/Hd44780.java +++ b/src/main/java/org/myrobotlab/service/Hd44780.java @@ -13,6 +13,7 @@ import org.myrobotlab.service.config.Hd44780Config; import org.myrobotlab.service.config.ServiceConfig; import org.myrobotlab.service.interfaces.I2CControl; +import org.myrobotlab.service.interfaces.TextListener; import org.slf4j.Logger; /** @@ -24,7 +25,7 @@ * @author Moz4r modified by Ray Edgley. * */ -public class Hd44780 extends Service { +public class Hd44780 extends Service implements TextListener { public final static Logger log = LoggerFactory.getLogger(Hd44780.class); @@ -205,6 +206,16 @@ public void display(String string, int line) { } lcdWriteDataString(string); } + + /** + * display the text + * FIXME - should by default scroll if text is larger than the width of the hd + * @param text + */ + public void display(String text) { + // FIXME - lame, but going to default this way + display(text, 0); + } /** * Clear lcd and set to home. @@ -710,4 +721,11 @@ public ServiceConfig apply(ServiceConfig c) { } return c; } + + + @Override + public void onText(String text) throws Exception { + display(text); + } + } \ No newline at end of file diff --git a/src/main/java/org/myrobotlab/service/ProgramAB.java b/src/main/java/org/myrobotlab/service/ProgramAB.java index ff123320fc..6812d8d096 100644 --- a/src/main/java/org/myrobotlab/service/ProgramAB.java +++ b/src/main/java/org/myrobotlab/service/ProgramAB.java @@ -794,7 +794,7 @@ public String addBotPath(String path) { broadcastState(); } else { - error("invalid bot path - a bot must be a directory with a subdirectory named \"aiml\""); + error("invalid bot path %s - a bot must be a directory with a subdirectory named \"aiml\"", path); return null; } return path; diff --git a/src/main/java/org/myrobotlab/service/Vertx.java b/src/main/java/org/myrobotlab/service/Vertx.java index 26258ddb5c..f87e9b9e4c 100644 --- a/src/main/java/org/myrobotlab/service/Vertx.java +++ b/src/main/java/org/myrobotlab/service/Vertx.java @@ -36,6 +36,9 @@ public Vertx(String n, String id) { super(n, id); } + /** + * deploys a http and websocket verticle on a secure TLS channel with self signed certificate + */ public void start() { log.info("starting driver"); @@ -62,7 +65,23 @@ public void start() { vertx.deployVerticle(new ApiVerticle(this)); } + + @Override + public void startService() { + super.startService(); + start(); + } + + @Override + public void stopService() { + super.stopService(); + stop(); + } + + /** + * + */ public void stop() { log.info("stopping driver"); Set ids = vertx.deploymentIDs(); diff --git a/src/main/java/org/myrobotlab/service/WebXR.java b/src/main/java/org/myrobotlab/service/WebXR.java new file mode 100644 index 0000000000..22328d1b39 --- /dev/null +++ b/src/main/java/org/myrobotlab/service/WebXR.java @@ -0,0 +1,87 @@ +package org.myrobotlab.service; + +import java.util.HashMap; +import java.util.Map; + +import org.myrobotlab.framework.Service; +import org.myrobotlab.logging.Level; +import org.myrobotlab.logging.LoggerFactory; +import org.myrobotlab.logging.LoggingFactory; +import org.myrobotlab.math.MapperSimple; +import org.myrobotlab.service.config.WebXRConfig; +import org.myrobotlab.service.data.Pose; +import org.slf4j.Logger; + +public class WebXR extends Service { + + private static final long serialVersionUID = 1L; + + public final static Logger log = LoggerFactory.getLogger(WebXR.class); + + public WebXR(String n, String id) { + super(n, id); + } + + public Pose publishPose(Pose pose) { + log.warn("publishPose {}", pose); + System.out.println(pose.toString()); + + // process mappings config into joint angles + Map map = new HashMap<>(); + + WebXRConfig c = (WebXRConfig)config; + String path = String.format("%s.orientation.roll", pose.name); + if (c.mappings.containsKey(path)) { + Map mapper = c.mappings.get(path); + for (String name: mapper.keySet()) { + map.put(name, mapper.get(name).calcOutput(pose.orientation.roll)); + } + } + + path = String.format("%s.orientation.pitch", pose.name); + if (c.mappings.containsKey(path)) { + Map mapper = c.mappings.get(path); + for (String name: mapper.keySet()) { + map.put(name, mapper.get(name).calcOutput(pose.orientation.pitch)); + } + } + + path = String.format("%s.orientation.yaw", pose.name); + if (c.mappings.containsKey(path)) { + Map mapper = c.mappings.get(path); + for (String name: mapper.keySet()) { + map.put(name, mapper.get(name).calcOutput(pose.orientation.yaw)); + } + } + + invoke("publishJointAngles", map); + + return pose; + } + + // TODO publishQuaternion + + public Map publishJointAngles(Map map){ + return map; + } + + public static void main(String[] args) { + try { + + LoggingFactory.init(Level.INFO); + + Runtime.start("webxr", "WebXr"); + WebGui webgui = (WebGui) Runtime.create("webgui", "WebGui"); + // webgui.setSsl(true); + webgui.autoStartBrowser(false); + webgui.startService(); + Runtime.start("vertx", "Vertx"); + InMoov2 i01 = (InMoov2)Runtime.start("i01", "InMoov2"); + i01.startPeer("simulator"); + + + } catch (Exception e) { + log.error("main threw", e); + } + } +} diff --git a/src/main/java/org/myrobotlab/service/config/CronConfig.java b/src/main/java/org/myrobotlab/service/config/CronConfig.java index 5bb0c50ff5..974526c1f2 100644 --- a/src/main/java/org/myrobotlab/service/config/CronConfig.java +++ b/src/main/java/org/myrobotlab/service/config/CronConfig.java @@ -1,11 +1,12 @@ package org.myrobotlab.service.config; -import java.util.LinkedHashMap; +import java.util.ArrayList; +import java.util.List; import org.myrobotlab.service.Cron.Task; public class CronConfig extends ServiceConfig { - public LinkedHashMap tasks = new LinkedHashMap<>(); + public List tasks = new ArrayList<>(); } diff --git a/src/main/java/org/myrobotlab/service/meta/WebXRMeta.java b/src/main/java/org/myrobotlab/service/meta/WebXRMeta.java new file mode 100644 index 0000000000..171959fbf5 --- /dev/null +++ b/src/main/java/org/myrobotlab/service/meta/WebXRMeta.java @@ -0,0 +1,33 @@ +package org.myrobotlab.service.meta; + +import org.myrobotlab.logging.LoggerFactory; +import org.myrobotlab.service.meta.abstracts.MetaData; +import org.slf4j.Logger; + +public class WebXRMeta extends MetaData { + private static final long serialVersionUID = 1L; + public final static Logger log = LoggerFactory.getLogger(WebXRMeta.class); + + /** + * This class is contains all the meta data details of a service. It's peers, + * dependencies, and all other meta data related to the service. + * + */ + public WebXRMeta() { + + // add a cool description + addDescription("WebXr allows hmi devices to add input and get data back from mrl"); + + // false will prevent it being seen in the ui + setAvailable(true); + + // add it to one or many categories + addCategory("remote","control"); + + // add a sponsor to this service + // the person who will do maintenance + // setSponsor("GroG"); + + } + +} diff --git a/src/main/resources/resource/WebGui/app/service/js/CronGui.js b/src/main/resources/resource/WebGui/app/service/js/CronGui.js index 80ce7a109b..7fcf13e0ff 100644 --- a/src/main/resources/resource/WebGui/app/service/js/CronGui.js +++ b/src/main/resources/resource/WebGui/app/service/js/CronGui.js @@ -12,7 +12,7 @@ angular.module('mrlapp.service.CronGui', []).controller('CronGuiCtrl', ['$scope' cronPattern: null, name: null, method: null, - data: null + data: null } // GOOD TEMPLATE TO FOLLOW @@ -34,20 +34,24 @@ angular.module('mrlapp.service.CronGui', []).controller('CronGuiCtrl', ['$scope' } $scope.addNamedTask = function() { - if ($scope.parameters && $scope.parameters.length > 0){ + if ($scope.parameters && $scope.parameters.length > 0) { $scope.newTask.data = JSON.parse($scope.parameters) } else { $scope.newTask.data = null } - - msg.send('addNamedTask', $scope.newTask) + + msg.send('addTask', $scope.newTask) } - + $scope.removeTask = function(id) { msg.send('removeTask', id) } - msg.subscribe(this) } -]) +]).filter('epochToLocalDate', function() { + return function(epochTime) { + return new Date(epochTime).toLocaleString(); + } + ; +}); diff --git a/src/main/resources/resource/WebGui/app/service/views/CronGui.html b/src/main/resources/resource/WebGui/app/service/views/CronGui.html index 78f17783cb..c1f31bd3cd 100644 --- a/src/main/resources/resource/WebGui/app/service/views/CronGui.html +++ b/src/main/resources/resource/WebGui/app/service/views/CronGui.html @@ -8,13 +8,13 @@

Cron Tab

- + - + @@ -52,6 +52,19 @@

Cron Tab

+ + + + + + + + + + + + +
nameid cron service method parameters
History
{{history.id}}{{ history.processedTime | epochToLocalDate }}

From 754b978718bcf8a336d5a27e1323f2b653660922 Mon Sep 17 00:00:00 2001 From: grog Date: Sat, 22 Jul 2023 15:42:51 -0700 Subject: [PATCH 015/232] Improved Cron and Cron history --- .../java/org/myrobotlab/service/Cron.java | 188 +++++++++++------- .../myrobotlab/service/config/CronConfig.java | 5 +- .../resource/WebGui/app/service/js/CronGui.js | 18 +- .../WebGui/app/service/views/CronGui.html | 17 +- 4 files changed, 141 insertions(+), 87 deletions(-) diff --git a/src/main/java/org/myrobotlab/service/Cron.java b/src/main/java/org/myrobotlab/service/Cron.java index a6826c9b25..e52e9fe2b5 100644 --- a/src/main/java/org/myrobotlab/service/Cron.java +++ b/src/main/java/org/myrobotlab/service/Cron.java @@ -1,8 +1,11 @@ package org.myrobotlab.service; import java.io.Serializable; +import java.util.ArrayList; +import java.util.Date; +import java.util.LinkedHashMap; +import java.util.List; import java.util.Map; -import java.util.UUID; import org.myrobotlab.framework.Service; import org.myrobotlab.logging.Level; @@ -10,6 +13,7 @@ import org.myrobotlab.logging.Logging; import org.myrobotlab.logging.LoggingFactory; import org.myrobotlab.service.config.CronConfig; +import org.myrobotlab.service.config.ServiceConfig; import org.slf4j.Logger; import it.sauronsoftware.cron4j.Scheduler; @@ -24,10 +28,15 @@ * */ public class Cron extends Service { - + public static class Task implements Serializable, Runnable { private static final long serialVersionUID = 1L; + /** + * reference to service + */ + transient Cron cron; + /** * cron pattern for this task */ @@ -44,7 +53,7 @@ public static class Task implements Serializable, Runnable { transient public String hash; /** - * unique id for the user to use + * id for the user to use */ public String id; @@ -53,11 +62,6 @@ public static class Task implements Serializable, Runnable { */ public String method; - /** - * reference to service - */ - transient Cron cron; - /** * name of the target service */ @@ -81,12 +85,13 @@ public Task(Cron cron, String id, String cronPattern, String name, String method @Override public void run() { - if (cron != null) { log.info("{} Cron firing message {}->{}.{}", cron.getName(), name, method, data); cron.send(name, method, data); - } else { - log.error("cron service is null"); - } + cron.history.add(new TaskHistory(id, new Date())); + if (cron.history.size() > cron.HISTORY_SIZE) { + cron.history.remove(0); + } + cron.broadcastState(); } @Override @@ -94,16 +99,41 @@ public String toString() { return String.format("%s, %s, %s, %s", id, cronPattern, name, method); } } + + public static class TaskHistory { + public String id; + public Date processedTime; + + public TaskHistory(String id, Date now) { + this.id = id; + this.processedTime = now; + } + } public final static Logger log = LoggerFactory.getLogger(Cron.class); private static final long serialVersionUID = 1L; + /** + * history buffer of tasks that have been executed + */ + final protected List history = new ArrayList<>(); + + /** + * max size of history buffer + */ + final int HISTORY_SIZE = 30; + /** * the thing that translates all the cron pattern values and implements actual tasks */ transient private Scheduler scheduler = new Scheduler(); + /** + * map of tasks organized by id + */ + public Map tasks = new LinkedHashMap<>(); + public Cron(String n, String id) { super(n, id); } @@ -117,73 +147,89 @@ public Cron(String n, String id) { * @param method * @return */ - public String addNamedTask(String id, String cron, String serviceName, String method) { - return addNamedTask(id, cron, serviceName, method, (Object[]) null); + public String addTask(String id, String cron, String serviceName, String method) { + return addTask(id, cron, serviceName, method, (Object[]) null); } /** * Add a named task with parameters * * @param id - * @param cron + * @param cronPattern * @param serviceName * @param method * @param data * @return */ - public String addNamedTask(String id, String cron, String serviceName, String method, Object... data) { - CronConfig c = (CronConfig) config; - Task task = new Task(this, id, cron, serviceName, method, data); - task.id = id; - task.hash = scheduler.schedule(cron, task); - c.tasks.put(id, task); - broadcastState(); + public String addTask(String id, String cronPattern, String serviceName, String method, Object... data) { + Task task = new Task(this, id, cronPattern, serviceName, method, data); + addTask(task); return id; } + /** * * @param task * @return */ - public String addNamedTask(Task task) { - CronConfig c = (CronConfig) config; + public String addTask(Task task) { + if (tasks.containsKey(task.id)) { + log.info("descheduling prexisting task {} hash {}", task.id, task.hash); + scheduler.deschedule(task.id); + } + log.info("scheduling task {}", task.id); task.hash = scheduler.schedule(task.cronPattern, task); - c.tasks.put(task.id, task); + task.cron = this; + tasks.put(task.id, task); broadcastState(); return task.id; } - /** - * Add a task with out parameters, the name will be generated guid - * - * @param cron - * @param serviceName - * @param method - * @return - */ - public String addTask(String cron, String serviceName, String method) { - String id = UUID.randomUUID().toString(); - return addNamedTask(id, cron, serviceName, method, (Object[]) null); + @Override + public ServiceConfig apply(ServiceConfig c) { + // deschedule current tasks + removeAllTasks(); + + // add new tasks + CronConfig config = (CronConfig)c; + for (Task task : config.tasks) { + addTask(task); + } + return c; + } + + @Override + public ServiceConfig getConfig() { + CronConfig c = (CronConfig)config; + c.tasks = new ArrayList<>(); + for (Task task: tasks.values()) { + c.tasks.add(task); + } + return c; + } + + public Map getCronTasks() { + return tasks; } /** - * Add a task with parameters, the name will be generated guid - * - * @param cron - * @param serviceName - * @param method - * @param data + * get a task from id + * @param id * @return */ - public String addTask(String cron, String serviceName, String method, Object... data) { - String id = UUID.randomUUID().toString(); - return addNamedTask(id, cron, serviceName, method, data); + public Task getTask(String id) { + return tasks.get(id); } - public Map getCronTasks() { - CronConfig c = (CronConfig) config; - return c.tasks; + /** + * removes all the tasks without stopping the scheduler + */ + public void removeAllTasks() { + for (Task t : tasks.values()) { + scheduler.deschedule(t.hash); + } + tasks.clear(); } /** @@ -192,8 +238,7 @@ public Map getCronTasks() { * @return the removed task if it exists */ public Task removeTask(String id) { - CronConfig c = (CronConfig) config; - Task t = c.tasks.remove(id); + Task t = tasks.remove(id); if (t != null) { scheduler.deschedule(t.hash); } else { @@ -202,39 +247,22 @@ public Task removeTask(String id) { broadcastState(); return t; } - + /** - * removes all the tasks without stopping the scheduler + * start the schedular and all associated tasks */ - public void removeAllTasks() { - CronConfig c = (CronConfig) config; - for (Task t : c.tasks.values()) { - scheduler.deschedule(t.hash); + public void start() { + if (!scheduler.isStarted()) { + scheduler.start(); } - c.tasks.clear(); } - + @Override public void startService() { super.startService(); start(); } - - @Override - public void stopService() { - super.stopService(); - stop(); - } - - /** - * start the schedular and all associated tasks - */ - public void start() { - if (!scheduler.isStarted()) { - scheduler.start(); - } - } - + /** * stop the schedular ad all associated tasks */ @@ -244,7 +272,14 @@ public void stop() { scheduler.stop(); } } + + @Override + public void stopService() { + super.stopService(); + stop(); + } + public static void main(String[] args) { LoggingFactory.init(Level.INFO); @@ -262,9 +297,9 @@ public static void main(String[] args) { * cron.addScheduledEvent("59 * * * *","arduino","digitalWrite", 11, 0); */ // every odd minute - String id = cron.addNamedTask("led on", "1-59/2 * * * *", "mega", "digitalWrite", 13, 1); + String id = cron.addTask("led on", "1-59/2 * * * *", "mega", "digitalWrite", 13, 1); // every event minute - String id2 = cron.addNamedTask("led off", "*/2 * * * *", "mega", "digitalWrite", 13, 0); + String id2 = cron.addTask("led off", "*/2 * * * *", "mega", "digitalWrite", 13, 0); // Runtime.createAndStart("webgui", "WebGui"); @@ -272,4 +307,5 @@ public static void main(String[] args) { Logging.logError(e); } } + } diff --git a/src/main/java/org/myrobotlab/service/config/CronConfig.java b/src/main/java/org/myrobotlab/service/config/CronConfig.java index 5bb0c50ff5..974526c1f2 100644 --- a/src/main/java/org/myrobotlab/service/config/CronConfig.java +++ b/src/main/java/org/myrobotlab/service/config/CronConfig.java @@ -1,11 +1,12 @@ package org.myrobotlab.service.config; -import java.util.LinkedHashMap; +import java.util.ArrayList; +import java.util.List; import org.myrobotlab.service.Cron.Task; public class CronConfig extends ServiceConfig { - public LinkedHashMap tasks = new LinkedHashMap<>(); + public List tasks = new ArrayList<>(); } diff --git a/src/main/resources/resource/WebGui/app/service/js/CronGui.js b/src/main/resources/resource/WebGui/app/service/js/CronGui.js index 80ce7a109b..7fcf13e0ff 100644 --- a/src/main/resources/resource/WebGui/app/service/js/CronGui.js +++ b/src/main/resources/resource/WebGui/app/service/js/CronGui.js @@ -12,7 +12,7 @@ angular.module('mrlapp.service.CronGui', []).controller('CronGuiCtrl', ['$scope' cronPattern: null, name: null, method: null, - data: null + data: null } // GOOD TEMPLATE TO FOLLOW @@ -34,20 +34,24 @@ angular.module('mrlapp.service.CronGui', []).controller('CronGuiCtrl', ['$scope' } $scope.addNamedTask = function() { - if ($scope.parameters && $scope.parameters.length > 0){ + if ($scope.parameters && $scope.parameters.length > 0) { $scope.newTask.data = JSON.parse($scope.parameters) } else { $scope.newTask.data = null } - - msg.send('addNamedTask', $scope.newTask) + + msg.send('addTask', $scope.newTask) } - + $scope.removeTask = function(id) { msg.send('removeTask', id) } - msg.subscribe(this) } -]) +]).filter('epochToLocalDate', function() { + return function(epochTime) { + return new Date(epochTime).toLocaleString(); + } + ; +}); diff --git a/src/main/resources/resource/WebGui/app/service/views/CronGui.html b/src/main/resources/resource/WebGui/app/service/views/CronGui.html index 78f17783cb..c1f31bd3cd 100644 --- a/src/main/resources/resource/WebGui/app/service/views/CronGui.html +++ b/src/main/resources/resource/WebGui/app/service/views/CronGui.html @@ -8,13 +8,13 @@

Cron Tab

- + - + @@ -52,6 +52,19 @@

Cron Tab

+ + + + + + + + + + + + +
nameid cron service method parameters
History
{{history.id}}{{ history.processedTime | epochToLocalDate }}
From a8dc9636c9d6bbd8a55fe856b0e31e0f8329bee6 Mon Sep 17 00:00:00 2001 From: grog Date: Sat, 22 Jul 2023 15:48:35 -0700 Subject: [PATCH 016/232] forgot one --- .../java/org/myrobotlab/service/Hd44780.java | 20 ++++++++++++++++++- 1 file changed, 19 insertions(+), 1 deletion(-) diff --git a/src/main/java/org/myrobotlab/service/Hd44780.java b/src/main/java/org/myrobotlab/service/Hd44780.java index da1750d5c2..d20adf6986 100644 --- a/src/main/java/org/myrobotlab/service/Hd44780.java +++ b/src/main/java/org/myrobotlab/service/Hd44780.java @@ -13,6 +13,7 @@ import org.myrobotlab.service.config.Hd44780Config; import org.myrobotlab.service.config.ServiceConfig; import org.myrobotlab.service.interfaces.I2CControl; +import org.myrobotlab.service.interfaces.TextListener; import org.slf4j.Logger; /** @@ -24,7 +25,7 @@ * @author Moz4r modified by Ray Edgley. * */ -public class Hd44780 extends Service { +public class Hd44780 extends Service implements TextListener { public final static Logger log = LoggerFactory.getLogger(Hd44780.class); @@ -205,6 +206,16 @@ public void display(String string, int line) { } lcdWriteDataString(string); } + + /** + * display the text + * FIXME - should by default scroll if text is larger than the width of the hd + * @param text + */ + public void display(String text) { + // FIXME - lame, but going to default this way + display(text, 0); + } /** * Clear lcd and set to home. @@ -710,4 +721,11 @@ public ServiceConfig apply(ServiceConfig c) { } return c; } + + + @Override + public void onText(String text) throws Exception { + display(text); + } + } \ No newline at end of file From 879164715a5490cfe5d505809331c1422905f57b Mon Sep 17 00:00:00 2001 From: grog Date: Sat, 22 Jul 2023 18:40:08 -0700 Subject: [PATCH 017/232] Teamwork fix of Hd44780 --- .../java/org/myrobotlab/service/Hd44780.java | 78 ++++++++++++------- 1 file changed, 52 insertions(+), 26 deletions(-) diff --git a/src/main/java/org/myrobotlab/service/Hd44780.java b/src/main/java/org/myrobotlab/service/Hd44780.java index d20adf6986..0cf65f4eb1 100644 --- a/src/main/java/org/myrobotlab/service/Hd44780.java +++ b/src/main/java/org/myrobotlab/service/Hd44780.java @@ -183,10 +183,12 @@ public void attachPcf8574(Pcf8574 pcf8574) { * */ public void display(String string, int line) { + log.info("display({},{})", string, line); if (!initialized) { init(); } screenContent.put(line, string); + // FIXME a bit sloppy .. should publishText broadcastState(); switch (line) { case 0: @@ -199,17 +201,32 @@ public void display(String string, int line) { setDdramAddress((byte) 0x14); break; case 3: - setDdramAddress((byte) 0x3C); + setDdramAddress((byte) 0x54); break; default: error("line %d is invalid, valid line values are 0 - 3"); } lcdWriteDataString(string); } - + /** - * display the text - * FIXME - should by default scroll if text is larger than the width of the hd + * Write text to the address at preferred location. Remember the line wrap is + * strange for this device. + * + * @param address + * - ddram address position + * @param text + * - the text to write there + */ + public void displayAt(int address, String text) { + setDdramAddress(address); + lcdWriteDataString(text); + } + + /** + * display the text FIXME - should by default scroll if text is larger than + * the width of the hd + * * @param text */ public void display(String text) { @@ -270,7 +287,8 @@ public void init() { } else { log.info("Init I2C Display"); - setInterface(); // this commands ensures we are in 4 bit mode and our commands are in sync. + setInterface(); // this commands ensures we are in 4 bit mode and our + // commands are in sync. setFunction(true, false); // Set the function Control. clearDisplay(); // Clear the Display and set DDRAM address 0. returnHome(); // Set DDRAM address 0 and return display home. @@ -479,13 +497,14 @@ public void clearDisplay() { * @param address */ public void setDdramAddress(int address) { - if (address < 80) { // Make sure the address is in a valid range - lcdWriteCmd((byte) (address | 0b10000000)); - } else { - error("%d Outside allowed DDRAM Address range 0 - 79", address); + if (address < 0 || (address > 40 && address < 63) || address > 108) { + error("%d Outside allowed DDRAM Address range 0 - 108", address); + return; } + lcdWriteCmd((byte) (address | 0b10000000)); } - + + /** * Set the address to read or write data to the Caracter Generator RAM. The * HD44780 has a built in 205 charater generator rom as well as a 8 charater @@ -564,29 +583,37 @@ public boolean getVerifyBusyFlag() { } /** - * This method will first make sure the HD44780 is in a known state - * and that we are syncrnised to the state. - * It does this by setting the module into 8 bit mode - * then setting it back to 4 bit mode. + * This method will first make sure the HD44780 is in a known state and that + * we are syncrnised to the state. It does this by setting the module into 8 + * bit mode then setting it back to 4 bit mode. */ private void setInterface() { - byte Blight = 0b00001000; // The backlight bit is not used by the HD44780 chip. + byte Blight = 0b00001000; // The backlight bit is not used by the HD44780 + // chip. if (!backLight) { Blight = 0; } pcf.writeRegister((byte) (0b00110000 | En | Blight)); // Set to 8 bit mode - pcf.writeRegister((byte) (0b00110000 | Blight)); // Strobe in command + pcf.writeRegister((byte) (0b00110000 | Blight)); // Strobe in command sleep(10); - pcf.writeRegister((byte) (0b00110000 | En | Blight)); // Repeat the set to 8 bit command - pcf.writeRegister((byte) (0b00110000 | Blight)); // Strobe in command + pcf.writeRegister((byte) (0b00110000 | En | Blight)); // Repeat the set to 8 + // bit command + pcf.writeRegister((byte) (0b00110000 | Blight)); // Strobe in command sleep(10); - pcf.writeRegister((byte) (0b00110000 | En | Blight)); // Repeat the set to 8 bit command - pcf.writeRegister((byte) (0b00110000 | Blight)); // Strobe in command . We should now be in 8 bit mode and in sync + pcf.writeRegister((byte) (0b00110000 | En | Blight)); // Repeat the set to 8 + // bit command + pcf.writeRegister((byte) (0b00110000 | Blight)); // Strobe in command . We + // should now be in 8 bit + // mode and in sync sleep(10); - pcf.writeRegister((byte) (0b00100000 | En | Blight)); // Now set for 4 bit mode. - pcf.writeRegister((byte) (0b00100000 | Blight)); // Strobe in command. In theory, we should now be in 4 bit mode. + pcf.writeRegister((byte) (0b00100000 | En | Blight)); // Now set for 4 bit + // mode. + pcf.writeRegister((byte) (0b00100000 | Blight)); // Strobe in command. In + // theory, we should now be + // in 4 bit mode. sleep(10); } + /** * This method will write the cmd value to the instruction register then wait * until it is ready for the next instruction. Most commands are pretty quick @@ -693,7 +720,7 @@ public static void main(String[] args) { */ @Override public ServiceConfig getConfig() { - Hd44780Config config = (Hd44780Config)super.getConfig(); + Hd44780Config config = (Hd44780Config) super.getConfig(); if (pcfName != null) { config.controller = pcfName; } @@ -721,11 +748,10 @@ public ServiceConfig apply(ServiceConfig c) { } return c; } - - + @Override public void onText(String text) throws Exception { display(text); } - + } \ No newline at end of file From ccceb78781855d24726797f6c931375440c21694 Mon Sep 17 00:00:00 2001 From: grog Date: Sat, 22 Jul 2023 19:28:10 -0700 Subject: [PATCH 018/232] intermediate --- src/main/java/org/myrobotlab/service/WebXR.java | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/main/java/org/myrobotlab/service/WebXR.java b/src/main/java/org/myrobotlab/service/WebXR.java index 22328d1b39..d194df1e4e 100644 --- a/src/main/java/org/myrobotlab/service/WebXR.java +++ b/src/main/java/org/myrobotlab/service/WebXR.java @@ -56,10 +56,12 @@ public Pose publishPose(Pose pose) { invoke("publishJointAngles", map); + // TODO - publishQuaternion + // invoke("publishQuaternion", map); + return pose; } - // TODO publishQuaternion public Map publishJointAngles(Map map){ return map; From 0cf9a5209e9250feff3921433352a6926f3dccea Mon Sep 17 00:00:00 2001 From: grog Date: Sat, 2 Sep 2023 21:18:17 -0700 Subject: [PATCH 019/232] initial draft --- .../java/org/myrobotlab/framework/Plan.java | 16 - .../org/myrobotlab/framework/Service.java | 83 +- .../myrobotlab/opencv/OpenCVFilterYolo.java | 12 +- .../java/org/myrobotlab/service/Arduino.java | 2 +- .../org/myrobotlab/service/AudioFile.java | 2 +- .../service/FiniteStateMachine.java | 15 +- .../java/org/myrobotlab/service/InMoov2.java | 1123 ++++++++++------- .../org/myrobotlab/service/InMoov2Arm.java | 2 +- .../org/myrobotlab/service/InMoov2Hand.java | 4 +- .../org/myrobotlab/service/InMoov2Head.java | 4 +- .../org/myrobotlab/service/InMoov2Torso.java | 4 +- .../java/org/myrobotlab/service/NeoPixel.java | 224 ++-- .../java/org/myrobotlab/service/Runtime.java | 90 +- .../service/config/InMoov2Config.java | 207 ++- .../service/config/NeoPixelConfig.java | 2 +- .../service/config/ServiceConfig.java | 7 +- .../service/config/SpeechSynthesisConfig.java | 1 + .../service/data/LedDisplayData.java | 75 +- .../service/interfaces/AudioControl.java | 9 +- .../WebGui/app/service/js/NeoPixelGui.js | 2 +- .../WebGui/app/service/js/RuntimeGui.js | 4 +- .../WebGui/app/service/views/NeoPixelGui.html | 2 +- 22 files changed, 1057 insertions(+), 833 deletions(-) diff --git a/src/main/java/org/myrobotlab/framework/Plan.java b/src/main/java/org/myrobotlab/framework/Plan.java index 92f48b066e..ae26195553 100644 --- a/src/main/java/org/myrobotlab/framework/Plan.java +++ b/src/main/java/org/myrobotlab/framework/Plan.java @@ -142,21 +142,5 @@ public void addRegistry(String service) { runtime.add(service); } - /** - * good to prune trees of peers from starting - expecially if the peers - * require re-configuring - * - * @param startsWith - * - removes RuntimeConfig.registry all services that start with - * input - */ - public void removeStartsWith(String startsWith) { - RuntimeConfig runtime = (RuntimeConfig) config.get("runtime"); - if (runtime == null) { - log.error("removeRegistry - runtime null !"); - return; - } - runtime.removeStartsWith(startsWith); - } } diff --git a/src/main/java/org/myrobotlab/framework/Service.java b/src/main/java/org/myrobotlab/framework/Service.java index 08534f2081..1a3d9e6956 100644 --- a/src/main/java/org/myrobotlab/framework/Service.java +++ b/src/main/java/org/myrobotlab/framework/Service.java @@ -893,27 +893,9 @@ public void broadcastState() { } @Override + @Deprecated /* use publishStatus */ public void broadcastStatus(Status status) { - long now = System.currentTimeMillis(); - /* - * if (status.equals(lastStatus) && now - lastStatusTs < - * statusBroadcastLimitMs) { return; } - */ - if (status.name == null) { - status.name = getName(); - } - if (status.level.equals(StatusLevel.ERROR)) { - lastError = status; - lastErrorTs = now; - log.error(status.toString()); - invoke("publishError", status); - } else { - log.info(status.toString()); - } - invoke("publishStatus", status); - lastStatusTs = now; - lastStatus = status; } @Override @@ -1543,7 +1525,7 @@ public QueueStats publishQueueStats(QueueStats stats) { * @return the service */ @Override - public Service publishState() { + public Service publishState() { return this; } @@ -2087,46 +2069,47 @@ public void unsubscribe(String topicName, String topicMethod, String callbackNam @Override public Status error(Exception e) { log.error("status:", e); - Status ret = Status.error(e); - ret.name = getName(); - log.error(ret.toString()); - invoke("publishStatus", ret); - return ret; + Status status = Status.error(e); + status.name = getName(); + log.error(status.toString()); + invoke("publishStatus", status); + return status; } - + @Override public Status error(String format, Object... args) { - Status ret; - ret = Status.error( - String.format( - Objects.requireNonNullElse(format, ""), - args - ) - ); - ret.name = getName(); - log.error(ret.toString()); - lastError = ret; - invoke("publishStatus", ret); - return ret; + String msg = String.format( + Objects.requireNonNullElse(format, ""), + args); + return error(msg); } public Status error(String msg) { - return error(msg, (Object[]) null); + Status status = Status.error(msg); + status.name = getName(); + log.error(status.toString()); + lastError = status; + invoke("publishStatus", status); + return status; } public Status warn(String msg) { - return warn(msg, (Object[]) null); - } - - @Override - public Status warn(String format, Object... args) { - Status status = Status.warn(format, args); + Status status = Status.warn(msg); status.name = getName(); log.warn(status.toString()); invoke("publishStatus", status); return status; } + @Override + public Status warn(String format, Object... args) { + String msg = String.format( + Objects.requireNonNullElse(format, ""), + args); + + return warn(msg); + } + /** * set status broadcasts an info string to any subscribers * @@ -2161,9 +2144,19 @@ public Status info(String format, Object... args) { public Status publishError(Status status) { return status; } + + public Status publishWarn(Status status) { + return status; + } @Override public Status publishStatus(Status status) { + // demux over different channels + if (status.isError()) { + invoke("publishError", status); + } else if (status.isWarn()) { + invoke("publishWarn", status); + } return status; } diff --git a/src/main/java/org/myrobotlab/opencv/OpenCVFilterYolo.java b/src/main/java/org/myrobotlab/opencv/OpenCVFilterYolo.java index ce83566839..a03c9b20ce 100755 --- a/src/main/java/org/myrobotlab/opencv/OpenCVFilterYolo.java +++ b/src/main/java/org/myrobotlab/opencv/OpenCVFilterYolo.java @@ -33,7 +33,8 @@ public class OpenCVFilterYolo extends OpenCVFilter implements Runnable { private static final long serialVersionUID = 1L; - public final static Logger log = LoggerFactory.getLogger(OpenCVFilterYolo.class); + + public transient final static Logger log = LoggerFactory.getLogger(OpenCVFilterYolo.class); protected Boolean running; @@ -43,7 +44,7 @@ public class OpenCVFilterYolo extends OpenCVFilter implements Runnable { transient private final OpenCVFrameConverter.ToIplImage grabberConverter = new OpenCVFrameConverter.ToIplImage(); - private float confidenceThreshold = 0.25F; + protected float confidenceThreshold = 0.25F; // the column in the detection matrix that contains the confidence level. (I // think?) // int probability_index = 5; @@ -64,10 +65,11 @@ public class OpenCVFilterYolo extends OpenCVFilter implements Runnable { transient private OpenCVFrameConverter.ToIplImage converterToIpl = new OpenCVFrameConverter.ToIplImage(); - boolean debug = false; + protected boolean debug = false; transient private Net net; ArrayList classNames; - public ArrayList lastResult = null; + // quick fix for exploding serialization of Classification + transient public ArrayList lastResult = null; transient private volatile IplImage lastImage = null; private volatile boolean pending = false; transient private Thread classifier; @@ -356,7 +358,7 @@ public void release() { // } } - volatile Object lock = new Object(); + transient volatile Object lock = new Object(); @Override public void enable() { diff --git a/src/main/java/org/myrobotlab/service/Arduino.java b/src/main/java/org/myrobotlab/service/Arduino.java index 89e407c18d..bff3e027ac 100644 --- a/src/main/java/org/myrobotlab/service/Arduino.java +++ b/src/main/java/org/myrobotlab/service/Arduino.java @@ -929,7 +929,7 @@ public List getBoardTypes() { List boardTypes = new ArrayList(); try { - String b = FileIO.resourceToString("Arduino" + File.separator + "boards.txt"); + String b = FileIO.toString(FileIO.gluePaths(getResourceDir(), "boards.txt")); Properties boardProps = new Properties(); boardProps.load(new ByteArrayInputStream(b.getBytes())); diff --git a/src/main/java/org/myrobotlab/service/AudioFile.java b/src/main/java/org/myrobotlab/service/AudioFile.java index 8b5a3cb828..6a4dc76221 100644 --- a/src/main/java/org/myrobotlab/service/AudioFile.java +++ b/src/main/java/org/myrobotlab/service/AudioFile.java @@ -557,7 +557,7 @@ public AudioFileConfig apply(AudioFileConfig config) { } public double publishPeak(double peak) { - log.info("publishPeak {}", peak); + log.debug("publishPeak {}", peak); return peak; } diff --git a/src/main/java/org/myrobotlab/service/FiniteStateMachine.java b/src/main/java/org/myrobotlab/service/FiniteStateMachine.java index a093f61565..f4d56d168e 100644 --- a/src/main/java/org/myrobotlab/service/FiniteStateMachine.java +++ b/src/main/java/org/myrobotlab/service/FiniteStateMachine.java @@ -17,7 +17,6 @@ import org.myrobotlab.logging.LoggingFactory; import org.myrobotlab.service.config.FiniteStateMachineConfig; import org.myrobotlab.service.config.FiniteStateMachineConfig.Transition; -import org.myrobotlab.service.config.ServiceConfig; import org.slf4j.Logger; import com.github.pnavais.machine.StateMachine; @@ -46,8 +45,14 @@ public class FiniteStateMachine extends Service { protected String lastEvent = null; + @Deprecated /* is this deprecated with ServiceConfig.listeners ? */ protected Set messageListeners = new HashSet<>(); + /** + * state history of fsm + */ + protected List history = new ArrayList<>(); + // TODO - .from("A").to("B").on(Messages.ANY) // TODO - .from("A").to("B").on(Messages.EMPTY) @@ -92,6 +97,13 @@ public String getNext(String key) { public void init() { stateMachine.init(); + State state = stateMachine.getCurrent(); + if (history.size() > 100) { + history.remove(0); + } + if (state != null) { + history.add(state.getName()); + } } private String makeKey(String state0, String msgType, String state1) { @@ -168,6 +180,7 @@ public void fire(String event) { if (last != null && !last.equals(current)) { invoke("publishNewState", current.getName()); + history.add(current.getName()); } } catch (Exception e) { log.error("fire threw", e); diff --git a/src/main/java/org/myrobotlab/service/InMoov2.java b/src/main/java/org/myrobotlab/service/InMoov2.java index 51dac5ae44..2476bbbeef 100644 --- a/src/main/java/org/myrobotlab/service/InMoov2.java +++ b/src/main/java/org/myrobotlab/service/InMoov2.java @@ -3,16 +3,18 @@ import java.io.File; import java.io.FilenameFilter; import java.io.IOException; +import java.util.ArrayList; import java.util.HashMap; import java.util.LinkedHashMap; import java.util.List; import java.util.Map; +import java.util.Optional; import java.util.Set; +import java.util.TreeMap; import java.util.TreeSet; import org.apache.commons.io.FilenameUtils; import org.myrobotlab.framework.Message; -import org.myrobotlab.framework.Plan; import org.myrobotlab.framework.Platform; import org.myrobotlab.framework.Registration; import org.myrobotlab.framework.Service; @@ -28,7 +30,6 @@ import org.myrobotlab.service.abstracts.AbstractSpeechRecognizer; import org.myrobotlab.service.abstracts.AbstractSpeechSynthesis; import org.myrobotlab.service.config.InMoov2Config; -import org.myrobotlab.service.config.ServiceConfig; import org.myrobotlab.service.data.JoystickData; import org.myrobotlab.service.data.LedDisplayData; import org.myrobotlab.service.data.Locale; @@ -52,6 +53,18 @@ public class InMoov2 extends Service implements ServiceLifeCycleL private static final long serialVersionUID = 1L; + protected static final Set stateDefaults = new TreeSet<>(); + + /** + * Setting the beginning time where events are initially set. If the time + * interval has been reached: {@code + * System.currentTimeMillis() > lastFireRandomEvent - stateRandomEventTime + * } then a random event will be fired. If the fsm is in a state that can move + * on that event .. it will go to "random" state + * + */ + protected long stateLastRandomTime = System.currentTimeMillis(); + static String speechRecognizer = "WebkitSpeechRecognition"; /** @@ -93,20 +106,50 @@ public static boolean loadFile(String file) { return true; } + public static void main(String[] args) { + try { + + LoggingFactory.init(Level.ERROR); + // identical to command line start + // Runtime.startConfig("inmoov2"); + Runtime.main(new String[] { "--log-level", "info", "-s", "webgui", "WebGui", "intro", "Intro", "python", "Python" }); + } catch (Exception e) { + log.error("main threw", e); + } + } + protected transient ProgramAB chatBot; protected List configList; - /** * Configuration from runtime has started. This is when runtime starts * processing a configuration set for the first time since inmoov was started + * + * When configuration is being processed this is true, otherwise false. It's a + * state of the InMoov2 lifecycle, but the FSM isn't guaranteed to be started + * (or configured) at this time, so a member variable was created to guarantee + * this information is available */ protected boolean configStarted = false; - String currentConfigurationName = "default"; + /** + * the config that was processed before booting, if there was one. + */ + String bootedConfig = null; protected transient SpeechRecognizer ear; + protected Map ledDisplayMap = new TreeMap<>(); + + protected List errors = new ArrayList<>(); + + /** + * The finite state machine is core to managing state of InMoov2. There is + * very little benefit gained in having the interactions pub/sub. Therefore, + * there will be a direct reference to the fsm. If different state graph is + * needed, then the fsm can provide that service. + */ + private transient FiniteStateMachine fsm = null; // waiting controable threaded gestures we warn user protected boolean gestureAlreadyStarted = false; @@ -121,14 +164,12 @@ public static boolean loadFile(String file) { protected Long lastPirActivityTime; - protected LedDisplayData led = new LedDisplayData(); - /** * supported locales */ protected Map locales = null; - protected int maxInactivityTimeSeconds = 120; + protected long stateLastIdleTime = System.currentTimeMillis(); protected transient SpeechSynthesis mouth; @@ -140,9 +181,52 @@ public static boolean loadFile(String file) { protected String voiceSelected; + /** + * prevents being booted more than once + */ + private boolean booted = false; + + protected List peersStarted = new ArrayList<>(); public InMoov2(String n, String id) { super(n, id); + + // add the default InMoov2 state handlers - so the FSM can invoke them + // this is hardcode, because it requires Java methods in InMoov2 + // so it makes sense to hardcode them... + // if a user needs something different, it will happen in pyton-land + // consequence it this will need maintenance if there are new InMoov2 java + // state handlers + stateDefaults.add("wake"); + stateDefaults.add("idle"); + stateDefaults.add("firstInit"); + stateDefaults.add("idle"); + stateDefaults.add("random"); + stateDefaults.add("sleep"); // listens & dreams, no opencv, waits for + // wakeWord, pir active + stateDefaults.add("powerDown"); // stops heartbeat, listening ? + stateDefaults.add("shutdown");// ends mrl + + ledDisplayMap.put("error", new LedDisplayData(120, 0, 0, 3, 30, 30)); + ledDisplayMap.put("info", new LedDisplayData(0, 0, 120, 1, 30, 30)); + ledDisplayMap.put("success", new LedDisplayData(0, 0, 120, 2, 30, 30)); + ledDisplayMap.put("warn", new LedDisplayData(100, 100, 0, 3, 30, 30)); + ledDisplayMap.put("heartbeat", new LedDisplayData(210, 110, 0, 2, 100, 30)); + ledDisplayMap.put("heartbeat", new LedDisplayData(210, 110, 0, 2, 100, 30)); + ledDisplayMap.put("pirOn", new LedDisplayData(80, 200, 90, 3, 100, 30)); + ledDisplayMap.put("onPeakColor", new LedDisplayData(180, 53, 21, 3, 60, 30)); + } + + /** + * pir active ear listening for wakeword + */ + public void idle() { + log.info("idle"); + } + + public void shutdown() { + log.info("shutdown"); + Runtime.shutdown(); } public void addTextListener(TextListener service) { @@ -163,7 +247,9 @@ public InMoov2Config apply(InMoov2Config c) { setLocale(getSupportedLocale(Runtime.getInstance().getLocale().toString())); } - loadInitScripts(); + if (c.loadInitScripts) { + loadInitScripts(); + } if (c.loadGestures) { loadGestures(); @@ -181,8 +267,6 @@ public InMoov2Config apply(InMoov2Config c) { return c; } - - @Override public void attachTextListener(String name) { addListener("publishText", name); @@ -203,18 +287,6 @@ public void attachTextPublisher(TextPublisher service) { subscribe(service.getName(), "publishText"); } - public void beginCheckingOnInactivity() { - beginCheckingOnInactivity(maxInactivityTimeSeconds); - } - - public void beginCheckingOnInactivity(int maxInactivityTimeSeconds) { - this.maxInactivityTimeSeconds = maxInactivityTimeSeconds; - // speakBlocking("power down after %s seconds inactivity is on", - // this.maxInactivityTimeSeconds); - log.info("power down after %s seconds inactivity is on", this.maxInactivityTimeSeconds); - addTask("checkInactivity", 5 * 1000, 0, "checkInactivity"); - } - public void cameraOff() { if (opencv != null) { opencv.stopCapture(); @@ -295,23 +367,6 @@ public String captureGesture(String gesture) { return script.toString(); } - public long checkInactivity() { - // speakBlocking("checking"); - long lastActivityTime = getLastActivityTime(); - long now = System.currentTimeMillis(); - long inactivitySeconds = (now - lastActivityTime) / 1000; - if (inactivitySeconds > maxInactivityTimeSeconds) { - // speakBlocking("%d seconds have passed without activity", - // inactivitySeconds); - powerDown(); - } else { - // speakBlocking("%d seconds have passed without activity", - // inactivitySeconds); - info("checking checkInactivity - %d seconds have passed without activity", inactivitySeconds); - } - return lastActivityTime; - } - public void closeAllImages() { // FIXME - follow this pattern ? // CON npe possible although unlikely @@ -405,7 +460,7 @@ public String execGesture(String gesture) { subscribe("python", "publishStatus", this.getName(), "onGestureStatus"); startedGesture(gesture); lastGestureExecuted = gesture; - Python python = (Python)Runtime.getService("python"); + Python python = (Python) Runtime.getService("python"); if (python == null) { error("python service not started"); return null; @@ -451,9 +506,30 @@ public void finishedGesture(String nameOfGesture) { } } - // FIXME - this isn't the callback for fsm - why is it needed here ? - public void fire(String event) { - invoke("publishEvent", event); + /** + * used to configure a flashing event - could use configuration to signal + * different colors and states + * + * @return + */ + public void flash() { + // FIXME - this should be checking a protected "state" + if (!configStarted) { + if (ledDisplayMap.get("default") != null) { + LedDisplayData led = ledDisplayMap.get("default"); + invoke("publishFlash", led.red, led.green, led.blue, led.count, led.timeOn, led.timeOff); + } + } + } + + public void flash(int r, int g, int b, int count) { + // FIXME - this should be checking a protected "state" + if (!configStarted) { + if (ledDisplayMap.get("default") != null) { + LedDisplayData led = ledDisplayMap.get("default"); + invoke("publishFlash", r, g, b, count, led.timeOn, led.timeOff); + } + } } public void fullSpeed() { @@ -500,30 +576,32 @@ public InMoov2Head getHead() { * @return the timestamp of the last activity time. */ public Long getLastActivityTime() { - try { - - Long lastActivityTime = 0L; - - Long head = (Long) sendToPeerBlocking("head", "getLastActivityTime", getName()); - Long leftArm = (Long) sendToPeerBlocking("leftArm", "getLastActivityTime", getName()); - Long rightArm = (Long) sendToPeerBlocking("rightArm", "getLastActivityTime", getName()); - Long leftHand = (Long) sendToPeerBlocking("leftHand", "getLastActivityTime", getName()); - Long rightHand = (Long) sendToPeerBlocking("rightHand", "getLastActivityTime", getName()); - Long torso = (Long) sendToPeerBlocking("torso", "getLastActivityTime", getName()); - - lastActivityTime = Math.max(head, leftArm); - lastActivityTime = Math.max(lastActivityTime, rightArm); - lastActivityTime = Math.max(lastActivityTime, leftHand); - lastActivityTime = Math.max(lastActivityTime, rightHand); - lastActivityTime = Math.max(lastActivityTime, torso); - - return lastActivityTime; - - } catch (Exception e) { - error(e); - return null; + Long head = (InMoov2Head) getPeer("head") != null ? ((InMoov2Head) getPeer("head")).getLastActivityTime() : null; + Long leftArm = (InMoov2Arm) getPeer("leftArm") != null ? ((InMoov2Arm) getPeer("leftArm")).getLastActivityTime() : null; + Long rightArm = (InMoov2Arm) getPeer("rightArm") != null ? ((InMoov2Arm) getPeer("rightArm")).getLastActivityTime() : null; + Long leftHand = (InMoov2Hand) getPeer("leftHand") != null ? ((InMoov2Hand) getPeer("leftHand")).getLastActivityTime() : null; + Long rightHand = (InMoov2Hand) getPeer("rightHand") != null ? ((InMoov2Hand) getPeer("rightHand")).getLastActivityTime() : null; + Long torso = (InMoov2Torso) getPeer("torso") != null ? ((InMoov2Torso) getPeer("torso")).getLastActivityTime() : null; + + Long lastActivityTime = null; + + if (head != null || leftArm != null || rightArm != null || leftHand != null || rightHand != null || torso != null) { + lastActivityTime = 0L; + if (head != null) + lastActivityTime = Math.max(lastActivityTime, head); + if (leftArm != null) + lastActivityTime = Math.max(lastActivityTime, leftArm); + if (rightArm != null) + lastActivityTime = Math.max(lastActivityTime, rightArm); + if (leftHand != null) + lastActivityTime = Math.max(lastActivityTime, leftHand); + if (rightHand != null) + lastActivityTime = Math.max(lastActivityTime, rightHand); + if (torso != null) + lastActivityTime = Math.max(lastActivityTime, torso); } + return lastActivityTime; } public InMoov2Arm getLeftArm() { @@ -602,10 +680,6 @@ public InMoov2Torso getTorso() { return (InMoov2Torso) getPeer("torso"); } - public InMoov2Config getTypedConfig() { - return (InMoov2Config) config; - } - public void halfSpeed() { sendToPeer("head", "setSpeed", 25.0, 25.0, 25.0, 25.0, 100.0, 25.0); sendToPeer("rightHand", "setSpeed", 30.0, 30.0, 30.0, 30.0, 30.0, 30.0); @@ -615,15 +689,6 @@ public void halfSpeed() { sendToPeer("torso", "setSpeed", 20.0, 20.0, 20.0); } - /** - * execute python scripts in the init directory on startup of the service - * - * @throws IOException - */ - public void loadInitScripts() throws IOException { - loadScripts(getResourceDir() + fs + "init"); - } - public boolean isCameraOn() { if (opencv != null) { if (opencv.isCapturing()) { @@ -687,6 +752,15 @@ public boolean loadGestures(String directory) { return true; } + /** + * execute python scripts in the init directory on startup of the service + * + * @throws IOException + */ + public void loadInitScripts() throws IOException { + loadScripts(getResourceDir() + fs + "init"); + } + /** * Generalized directory python script loading method * @@ -722,7 +796,17 @@ public boolean accept(File dir, String name) { } public void moveArm(String which, Double bicep, Double rotate, Double shoulder, Double omoplate) { - invoke("publishMoveArm", which, bicep, rotate, shoulder, omoplate); + HashMap map = new HashMap<>(); + Optional.ofNullable(bicep).ifPresent(value -> map.put("bicep", value)); + Optional.ofNullable(rotate).ifPresent(value -> map.put("rotate", value)); + Optional.ofNullable(shoulder).ifPresent(value -> map.put("shoulder", value)); + Optional.ofNullable(omoplate).ifPresent(value -> map.put("omoplate", value)); + + if ("left".equals(which)) { + invoke("publishMoveLeftArm", map); + } else { + invoke("publishMoveRightArm", map); + } } public void moveEyelids(Double eyelidleftPos, Double eyelidrightPos) { @@ -738,7 +822,19 @@ public void moveHand(String which, Double thumb, Double index, Double majeure, D } public void moveHand(String which, Double thumb, Double index, Double majeure, Double ringFinger, Double pinky, Double wrist) { - invoke("publishMoveHand", which, thumb, index, majeure, ringFinger, pinky, wrist); + HashMap map = new HashMap<>(); + Optional.ofNullable(thumb).ifPresent(value -> map.put("thumb", value)); + Optional.ofNullable(index).ifPresent(value -> map.put("index", value)); + Optional.ofNullable(majeure).ifPresent(value -> map.put("majeure", value)); + Optional.ofNullable(ringFinger).ifPresent(value -> map.put("ringFinger", value)); + Optional.ofNullable(pinky).ifPresent(value -> map.put("pinky", value)); + Optional.ofNullable(wrist).ifPresent(value -> map.put("wrist", value)); + + if ("left".equals(which)) { + invoke("publishMoveLeftHand", map); + } else { + invoke("publishMoveRightHand", map); + } } public void moveHead(Double neck, Double rothead) { @@ -754,26 +850,33 @@ public void moveHead(Double neck, Double rothead, Double eyeX, Double eyeY, Doub } public void moveHead(Double neck, Double rothead, Double eyeX, Double eyeY, Double jaw, Double rollNeck) { - invoke("publishMoveHead", neck, rothead, eyeX, eyeY, jaw, rollNeck); + HashMap map = new HashMap<>(); + Optional.ofNullable(neck).ifPresent(value -> map.put("neck", value)); + Optional.ofNullable(rothead).ifPresent(value -> map.put("rothead", value)); + Optional.ofNullable(eyeX).ifPresent(value -> map.put("eyeX", value)); + Optional.ofNullable(eyeY).ifPresent(value -> map.put("eyeY", value)); + Optional.ofNullable(jaw).ifPresent(value -> map.put("jaw", value)); + Optional.ofNullable(rollNeck).ifPresent(value -> map.put("rollNeck", value)); + invoke("publishMoveHead", map); } public void moveHead(Integer neck, Integer rothead, Integer rollNeck) { moveHead((double) neck, (double) rothead, null, null, null, (double) rollNeck); } - public void moveHeadBlocking(Double neck, Double rothead) { + public void moveHeadBlocking(Double neck, Double rothead) { moveHeadBlocking(neck, rothead, null); } - public void moveHeadBlocking(Double neck, Double rothead, Double rollNeck) { + public void moveHeadBlocking(Double neck, Double rothead, Double rollNeck) { moveHeadBlocking(neck, rothead, null, null, null, rollNeck); } - public void moveHeadBlocking(Double neck, Double rothead, Double eyeX, Double eyeY, Double jaw) { + public void moveHeadBlocking(Double neck, Double rothead, Double eyeX, Double eyeY, Double jaw) { moveHeadBlocking(neck, rothead, eyeX, eyeY, jaw, null); } - public void moveHeadBlocking(Double neck, Double rothead, Double eyeX, Double eyeY, Double jaw, Double rollNeck) { + public void moveHeadBlocking(Double neck, Double rothead, Double eyeX, Double eyeY, Double jaw, Double rollNeck) { try { sendBlocking(getPeerName("head"), "moveToBlocking", neck, rothead, eyeX, eyeY, jaw, rollNeck); } catch (Exception e) { @@ -806,8 +909,11 @@ public void moveRightHand(Integer thumb, Integer index, Integer majeure, Integer } public void moveTorso(Double topStom, Double midStom, Double lowStom) { - // the "right" way - invoke("publishMoveTorso", topStom, midStom, lowStom); + HashMap map = new HashMap<>(); + Optional.ofNullable(topStom).ifPresent(value -> map.put("topStom", value)); + Optional.ofNullable(midStom).ifPresent(value -> map.put("midStom", value)); + Optional.ofNullable(lowStom).ifPresent(value -> map.put("lowStom", value)); + invoke("publishMoveTorso", map); } public void moveTorsoBlocking(Double topStom, Double midStom, Double lowStom) { @@ -827,6 +933,11 @@ public PredicateEvent onChangePredicate(PredicateEvent event) { return event; } + public void onConfigFinished(String configName) { + log.info("onConfigFinished"); + invoke("publishBoot"); + } + /** * comes in from runtime which owns the config list * @@ -843,10 +954,10 @@ public void onCreated(String fullname) { log.info("{} created", fullname); } - public void onFinishedConfig(String configName) { - log.info("onFinishedConfig"); - // invoke("publishEvent", "configFinished"); - invoke("publishFinishedConfig", configName); + public void onError(Status status) { + if (errors.size() < 100) { + errors.add(status); + } } public void onGestureStatus(Status status) { @@ -854,10 +965,66 @@ public void onGestureStatus(Status status) { error("I cannot execute %s, please check logs", lastGestureExecuted); } finishedGesture(lastGestureExecuted); - + unsubscribe("python", "publishStatus", this.getName(), "onGestureStatus"); } + public void onHeartbeat() { + // heartbeats can start before config is + // done processing - so the following should + // not be dependent on config + + if (config.heartbeatFlash) { + if (ledDisplayMap.get("heartbeat") != null) { + LedDisplayData heartbeat = ledDisplayMap.get("heartbeat"); + invoke("publishFlash", heartbeat); + } + } + + if (config.batteryLevelCheck) { + double batteryLevel = Runtime.getBatteryLevel(); + invoke("publishBatteryLevel", batteryLevel); + // FIXME - thresholding should always have old value or state + // so we don't pump endless errors + if (batteryLevel < 5) { + error("battery level < 5 percent"); + } else if (batteryLevel < 10) { + warn("battery level < 10 percent"); + } + } + + // flash error until errors are cleared + if (config.healthCheckFlash && errors.size() > 0) { + if (ledDisplayMap.containsKey("error")) { + invoke("publishFlash", ledDisplayMap.get("error")); + } + } + + // interval event firing ... + // sequence of these makes a difference and is hardcode fyi + + // if there is activity in the idle time window - reset idle time to current + // time + // so idle event will not fire until at least inverval after activity + Long lastActivityTime = getLastActivityTime(); + + if (lastActivityTime != null && lastActivityTime + (config.stateIdleInterval * 1000) < System.currentTimeMillis()) { + stateLastIdleTime = lastActivityTime; + } + + if (System.currentTimeMillis() > stateLastIdleTime + (config.stateIdleInterval * 1000)) { + fsm.fire("idle"); + stateLastIdleTime = System.currentTimeMillis(); + } + + // interval event firing + if (System.currentTimeMillis() > stateLastRandomTime + (config.stateRandomInterval * 1000)) { + fsm.fire("random"); + stateLastRandomTime = System.currentTimeMillis(); + } + + } + @Override public void onJointAngles(Map angleMap) { log.debug("onJointAngles {}", angleMap); @@ -878,16 +1045,93 @@ public void onJoystickInput(JoystickData input) throws Exception { invoke("publishEvent", "joystick"); } + public void onMoveHead(Map map) { + InMoov2Head head = (InMoov2Head) getPeer("head"); + if (head != null) { + head.onMove(map); + } + } + + public void onMoveLeftArm(Map map) { + InMoov2Arm leftArm = (InMoov2Arm) getPeer("leftArm"); + if (leftArm != null) { + leftArm.onMove(map); + } + } + + public void onMoveLeftHand(Map map) { + InMoov2Hand leftHand = (InMoov2Hand) getPeer("leftHand"); + if (leftHand != null) { + leftHand.onMove(map); + } + } + + public void onMoveRightArm(Map map) { + InMoov2Arm rightArm = (InMoov2Arm) getPeer("rightArm"); + if (rightArm != null) { + rightArm.onMove(map); + } + } + + public void onMoveRightHand(Map map) { + InMoov2Hand rightHand = (InMoov2Hand) getPeer("rightHand"); + if (rightHand != null) { + rightHand.onMove(map); + } + } + + public void onMoveTorso(Map map) { + InMoov2Torso torso = (InMoov2Torso) getPeer("torso"); + if (torso != null) { + torso.onMove(map); + } + } + + /** + * The integration between the FiniteStateMachine (fsm) and the InMoov2 + * service and potentially other services (Python, ProgramAB) happens here. + * + * After boot all state changes get published here. + * + * Some InMoov2 service methods will be called here for "default + * implemenation" of states. If a user doesn't want to have that default + * implementation, they can change it by changing the definition of the state + * machine, and have a new state which will call a Python inmoov2 library + * callback. Overriding, appending, or completely transforming the behavior is + * all easily accomplished by managing the fsm and python inmoov2 library + * callbacks. + * + * Python inmoov2 callbacks ProgramAB topic switching + * + * Depending on config: + * + * + * @param state + * @return + */ public String onNewState(String state) { log.error("onNewState {}", state); + invoke("publishEvent", String.format("ON STATE %s", state)); + + // TODO - only a few InMoov2 state defaults will be called here + if (stateDefaults.contains(state)) { + invoke(state); + } + + // FIXME add topic changes to AIML here ! + // FIXME add clallbacks to inmmoov2 library + // put configurable filter here ! // state substitutions ? // let python subscribe directly to fsm.publishNewState + // if python && configured to do python inmoov2 library callbacks + // do a callback ... default NOOPs should be in library + // if - invoke(state); + // invoke(state); // depending on configuration .... // call python ? // fire fsm events ? @@ -900,36 +1144,62 @@ public OpenCVData onOpenCVData(OpenCVData data) { return data; } + /** + * onPeak volume callback TODO - maybe make it variable with volume ? + * @param volume + */ + public void onPeak(double volume) { + if (config.neoPixelFlashWhenSpeaking && !configStarted) { + if (volume > 0.5) { + if (ledDisplayMap.get("onPeakColor") != null) { + LedDisplayData onPeakColor = ledDisplayMap.get("onPeakColor"); + invoke("publishFlash", onPeakColor); + } + } + } + } + /** * initial callback for Pir sensor Default behavior will be: send fsm event * onPirOn flash neopixel */ public void onPirOn() { - led.action = "flash"; - led.red = 50; - led.green = 100; - led.blue = 150; - led.count = 5; - led.interval = 500; - // FIXME flash on config.flashOnBoot - invoke("publishFlash"); + // FIXME - this should be checking a protected "state" + if (!configStarted) { + if (ledDisplayMap.get("pirOn") != null) { + LedDisplayData pirOn = ledDisplayMap.get("pirOn"); + invoke("publishFlash", pirOn); + } + } // pirOn event vs wake event - invoke("publishEvent", "WAKE"); + + // FIXME - this is state related + String topic = chatBot.getPredicate("topic"); + // if sleeping then publishe a wake event + if ("sleep".equals(topic)) { + invoke("publishEvent", "wake"); + } } - // GOOD GOOD GOOD - LOOPBACK - flexible and replacable by python - // yet provides a stable default, which can be fully replaced - // Works using common pub/sub rules - // TODO - this is a loopback power up - // its replaceable by typical subscription rules - public void onPowerUp() { - // CON - type aware - NeoPixel neoPixel = (NeoPixel) getPeer("neoPixel"); - // CON - necessary NPE checking - if (neoPixel != null) { - neoPixel.setColor(0, 130, 0); - neoPixel.playAnimation("Larson Scanner"); + public void powerDown() { + // publishFlash(maxInactivityTimeSeconds, maxInactivityTimeSeconds, + // maxInactivityTimeSeconds, maxInactivityTimeSeconds, + // maxInactivityTimeSeconds, maxInactivityTimeSeconds) + + rest(); + purgeTasks(); // including heartbeat + disable(); + + if (chatBot != null) { + chatBot.sleep(); } + + if (ear != null) { + // FIXME - bad remove it - what is needed ? + // i think this is legacy wake word + ear.lockOutAllGrammarExcept("power up"); + } + } @Override @@ -955,16 +1225,6 @@ public boolean onSense(boolean b) { return b; } - /** - * runtime re-publish relay - * - * @param configName - */ - public void onStartConfig(String configName) { - log.info("onStartConfig"); - invoke("publishStartConfig", configName); - } - /** * Part of service life cycle - a new servo has been started * @@ -974,121 +1234,16 @@ public void onStartConfig(String configName) { */ @Override public void onStarted(String name) { - InMoov2Config c = (InMoov2Config) config; - - log.info("onStarted {}", name); try { - Runtime runtime = Runtime.getInstance(); log.info("onStarted {}", name); -// BAD IDEA - better to ask for a system report or an error report -// if (runtime.isProcessingConfig()) { -// invoke("publishEvent", "CONFIG STARTED"); -// } - String peerKey = getPeerKey(name); - if (peerKey == null) { - // service not a peer - return; - } - - if (runtime.isProcessingConfig() && !configStarted) { - invoke("publishEvent", "CONFIG STARTED " + runtime.getConfigName()); - configStarted = true; - } - - invoke("publishEvent", "STARTED " + peerKey); - - switch (peerKey) { - case "audioPlayer": - break; - case "chatBot": - ProgramAB chatBot = (ProgramAB) Runtime.getService(name); - chatBot.attachTextListener(getPeerName("htmlFilter")); - startPeer("htmlFilter"); - break; - case "controller3": - break; - case "controller4": - break; - case "ear": - AbstractSpeechRecognizer ear = (AbstractSpeechRecognizer) Runtime.getService(name); - ear.attachTextListener(getPeerName("chatBot")); - break; - case "eyeTracking": - break; - case "fsm": - break; - case "gpt3": - break; - case "head": - addListener("publishMoveHead", name); - break; - case "headTracking": - break; - case "htmlFilter": - TextPublisher htmlFilter = (TextPublisher) Runtime.getService(name); - htmlFilter.attachTextListener(getPeerName("mouth")); - break; - case "imageDisplay": - break; - case "leap": - break; - case "left": - break; - case "leftArm": - addListener("publishMoveLeftArm", name, "onMoveArm"); - break; - case "leftHand": - addListener("publishMoveLeftHand", name, "onMoveHand"); - break; - case "mouth": - mouth = (AbstractSpeechSynthesis) Runtime.getService(name); - mouth.attachSpeechListener(getPeerName("ear")); - break; - case "mouthControl": - break; - case "neoPixel": - break; - case "opencv": - subscribeTo(name, "publishOpenCVData"); - break; - case "openni": - break; - case "openWeatherMap": - break; - case "pid": - break; - case "pir": - break; - case "random": - break; - case "right": - break; - case "rightArm": - addListener("publishMoveRightArm", name, "onMoveArm"); - break; - case "rightHand": - addListener("publishMoveRightHand", name, "onMoveHand"); - break; - case "servoMixer": - break; - case "simulator": - break; - case "torso": - addListener("publishMoveTorso", name); - break; - case "ultrasonicRight": - break; - case "ultrasonicLeft": - break; - default: - log.warn("unknown peer %s not hanled in onStarted", peerKey); - break; + if (peerKey != null) { + peersStarted.add(peerKey); } - // type processing for Servo + // new servo ServiceInterface si = Runtime.getService(name); if ("Servo".equals(si.getSimpleName())) { log.info("sending setAutoDisable true to {}", name); @@ -1103,6 +1258,7 @@ public void onStarted(String name) { @Override public void onStopped(String name) { + log.info("service {} has stopped"); // using release peer for peer releasing // FIXME - auto remove subscriptions of peers? } @@ -1117,38 +1273,6 @@ public void onText(String text) { invoke("publishText", text); } - // TODO FIX/CHECK this, migrate from python land - public void powerDown() { - - rest(); - purgeTasks(); - disable(); - - if (ear != null) { - ear.lockOutAllGrammarExcept("power up"); - } - - // FIXME - DO NOT DO THIS !!!! SIMPLY PUBLISH A POWER DOWN EVENT AND PYTHON - // CAN SUBSCRIBE - // AND MAINTAIN A SET OF onPowerDown: callback methods - python.execMethod("power_down"); - } - - // TODO FIX/CHECK this, migrate from python land - // FIXME - defaultPowerUp switchable + override - public void powerUp() { - enable(); - rest(); - - if (ear != null) { - ear.clearLock(); - } - - beginCheckingOnInactivity(); - - python.execMethod("power_up"); - } - /** * easy utility to publishMessage * @@ -1161,16 +1285,11 @@ public void publish(String name, String method, Object... data) { invoke("publishMessage", msg); } - public String publishStartConfig(String configName) { - info("config %s started", configName); - invoke("publishEvent", "CONFIG STARTED " + configName); - return configName; + public double publishBatteryLevel(double d) { + return d; } - public String publishFinishedConfig(String configName) { - info("config %s finished", configName); - invoke("publishEvent", "CONFIG LOADED " + configName); - + public String publishConfigFinished(String configName) { return configName; } @@ -1195,30 +1314,31 @@ public String publishEvent(String event) { return String.format("SYSTEM_EVENT %s", event); } - /** - * used to configure a flashing event - could use configuration to signal - * different colors and states - * - * @return - */ - public LedDisplayData publishFlash() { - return led; + public LedDisplayData publishFlash(int r, int g, int b, int count, long timeOn, long timeOff) { + LedDisplayData data = new LedDisplayData(); + data.red = r; + data.green = g; + data.blue = b; + data.count = count; + data.timeOn = timeOn; + data.timeOff = timeOff; + return data; } - public String publishHeartbeat() { - led.action = "flash"; - led.red = 180; - led.green = 10; - led.blue = 30; - led.count = 1; - led.interval = 50; - invoke("publishFlash"); - return getName(); + public LedDisplayData publishFlash(LedDisplayData data) { + return data; + } + + /** + * health check which is a scheduled task at an interval of 1 second + */ + public void publishHeartbeat() { + log.debug("publishHeartbeat"); } /** - * A more extensible interface point than publishEvent - * FIXME - create interface for this + * A more extensible interface point than publishEvent FIXME - create + * interface for this * * @param msg * @return @@ -1227,94 +1347,57 @@ public Message publishMessage(Message msg) { return msg; } - public HashMap publishMoveArm(String which, Double bicep, Double rotate, Double shoulder, Double omoplate) { - HashMap map = new HashMap<>(); - map.put("bicep", bicep); - map.put("rotate", rotate); - map.put("shoulder", shoulder); - map.put("omoplate", omoplate); - if ("left".equals(which)) { - invoke("publishMoveLeftArm", bicep, rotate, shoulder, omoplate); - } else { - invoke("publishMoveRightArm", bicep, rotate, shoulder, omoplate); - } + public Map publishMoveHead(Map map) { return map; } - public HashMap publishMoveHand(String which, Double thumb, Double index, Double majeure, Double ringFinger, Double pinky, Double wrist) { - HashMap map = new HashMap<>(); - map.put("which", which); - map.put("thumb", thumb); - map.put("index", index); - map.put("majeure", majeure); - map.put("ringFinger", ringFinger); - map.put("pinky", pinky); - map.put("wrist", wrist); - if ("left".equals(which)) { - invoke("publishMoveLeftHand", thumb, index, majeure, ringFinger, pinky, wrist); - } else { - invoke("publishMoveRightHand", thumb, index, majeure, ringFinger, pinky, wrist); - } + public Map publishMoveLeftArm(Map map) { return map; } - public HashMap publishMoveHead(Double neck, Double rothead, Double eyeX, Double eyeY, Double jaw, Double rollNeck) { - HashMap map = new HashMap<>(); - map.put("neck", neck); - map.put("rothead", rothead); - map.put("eyeX", eyeX); - map.put("eyeY", eyeY); - map.put("jaw", jaw); - map.put("rollNeck", rollNeck); + public Map publishMoveLeftHand(Map map) { return map; } - public HashMap publishMoveLeftArm(Double bicep, Double rotate, Double shoulder, Double omoplate) { - HashMap map = new HashMap<>(); - map.put("bicep", bicep); - map.put("rotate", rotate); - map.put("shoulder", shoulder); - map.put("omoplate", omoplate); + public Map publishMoveRightArm(Map map) { return map; } - public HashMap publishMoveLeftHand(Double thumb, Double index, Double majeure, Double ringFinger, Double pinky, Double wrist) { - HashMap map = new HashMap<>(); - map.put("thumb", thumb); - map.put("index", index); - map.put("majeure", majeure); - map.put("ringFinger", ringFinger); - map.put("pinky", pinky); - map.put("wrist", wrist); + public Map publishMoveRightHand(Map map) { return map; } - public HashMap publishMoveRightArm(Double bicep, Double rotate, Double shoulder, Double omoplate) { - HashMap map = new HashMap<>(); - map.put("bicep", bicep); - map.put("rotate", rotate); - map.put("shoulder", shoulder); - map.put("omoplate", omoplate); + public Map publishMoveTorso(Map map) { return map; } - public HashMap publishMoveRightHand(Double thumb, Double index, Double majeure, Double ringFinger, Double pinky, Double wrist) { - HashMap map = new HashMap<>(); - map.put("thumb", thumb); - map.put("index", index); - map.put("majeure", majeure); - map.put("ringFinger", ringFinger); - map.put("pinky", pinky); - map.put("wrist", wrist); - return map; + public String publishNewState(String state) { + log.info("publishNewState {}", state); + return state; } - public HashMap publishMoveTorso(Double topStom, Double midStom, Double lowStom) { - HashMap map = new HashMap<>(); - map.put("topStom", topStom); - map.put("midStom", midStom); - map.put("lowStom", lowStom); - return map; + public String publishPlayAudioFile(String filename) { + return filename; + } + + /** + * if inactivityTime configured, this event is published after there has not + * been in activity since. + */ + public void publishInactivity() { + log.info("publishInactivity"); + fsm.fire("inactvity"); + } + + public void onInactivity() { + log.info("onInactivity"); + + // powerDown ? + + } + + public String getState() { + return fsm.getCurrent(); } /** @@ -1502,7 +1585,7 @@ public void setOpenCV(OpenCV opencv) { } public boolean setPirPlaySounds(boolean b) { - getTypedConfig().pirPlaySounds = b; + config.pirPlaySounds = b; return b; } @@ -1541,6 +1624,11 @@ public String setSpeechType(String speechType) { return speechType; } + // ----------------------------------------------------------------------------- + // These are methods added that were in InMoov1 that we no longer had in + // InMoov2. + // From original InMoov1 so we don't loose the + public void setTorsoSpeed(Double topStom, Double midStom, Double lowStom) { sendToPeer("torso", "setSpeed", topStom, midStom, lowStom); } @@ -1562,11 +1650,6 @@ public void setVoice(String name) { } } - // ----------------------------------------------------------------------------- - // These are methods added that were in InMoov1 that we no longer had in - // InMoov2. - // From original InMoov1 so we don't loose the - public void sleeping() { log.error("sleeping"); } @@ -1722,7 +1805,8 @@ public void startedGesture(String nameOfGesture) { } public void startHeartbeat() { - addTask(1000, "publishHeartbeat"); + addTask(config.heartbeatInterval, "publishHeartbeat"); + config.heartbeat = true; } // TODO - general objective "might" be to reduce peers down to something @@ -1749,6 +1833,7 @@ public SpeechSynthesis startMouth() { } mouth.attachSpeechRecognizer(ear); + // mouth.attach(htmlFilter); // same as chatBot not needed // this.attach((Attachable) mouth); @@ -1784,36 +1869,76 @@ public ServiceInterface startPeer(String peer) { @Override public void startService() { super.startService(); + fsm = (FiniteStateMachine) startPeer("fsm"); + fsm.init(); - InMoov2Config c = (InMoov2Config) config; Runtime runtime = Runtime.getInstance(); // get service start and release life cycle events runtime.attachServiceLifeCycleListener(getName()); + subscribe("runtime", "publishConfigList"); - List services = Runtime.getServices(); - for (ServiceInterface si : services) { - if ("Servo".equals(si.getSimpleName())) { - send(si.getFullName(), "setAutoDisable", true); + // subscribe to config processing events + // runtime callbacks publish the same a local + subscribe("runtime", "publishConfigStarted", "publishConfigStarted"); + subscribe("runtime", "publishConfigFinished", "publishConfigFinished"); + + runtime.invoke("publishConfigList"); + + // iterate through existing started service + // add them to peers booted + for (String name : Runtime.getServiceNames()) { + String peerKey = getPeerKey(name); + if (peerKey != null) { + peersStarted.add(peerKey); } } - // get events of new services and shutdown - subscribe("runtime", "shutdown"); - // power up loopback subscription - addListener(getName(), "powerUp"); - - - subscribe("runtime", "publishConfigList"); if (runtime.isProcessingConfig()) { - invoke("publishEvent", "configStarted"); + // if InMoov2 was started as part of a config set + // set here so boot can be delayed until the config + // set is done + configStarted = true; + bootedConfig = runtime.getConfigName(); + } else { + invoke("publishBoot"); + } + } + + public void publishBoot() { + log.info("publishBoot"); + } + + /** + * At boot all services specified through configuration have started, or if no + * configuration has started minimally the InMoov2 service has started. During + * the processing of config and starting other services data will have + * accumulated, and at boot, some of data may now be inspected and processed + * in a synchronous single threaded way. With reporting after startup, vs + * during, other peer services are not needed (e.g. audioPlayer is no longer + * needed to be started "before" InMoov2 because when boot is called + * everything that is wanted has been started. + * + */ + synchronized public void onBoot() { + + // thinking you shouldn't "boot" twice ? + if (booted) { + log.warn("will not boot again"); + return; } - subscribe("runtime", "publishStartConfig"); - subscribe("runtime", "publishFinishedConfig"); + booted = true; - // chatbot getresponse attached to publishEvent - addListener("publishEvent", getPeerName("chatBot"), "getResponse"); + List services = Runtime.getServices(); + for (ServiceInterface si : services) { + if ("Servo".equals(si.getSimpleName())) { + send(si.getFullName(), "setAutoDisable", true); + } + } + // FIXME - standardize multi-config examples should be available + // moved from startService to allow more simple control + // FIXME standard FileIO copyIfNotExists(src, dst) try { // copy config if it doesn't already exist String resourceBotDir = FileIO.gluePaths(getResourceDir(), "config"); @@ -1836,7 +1961,150 @@ public void startService() { error(e); } - runtime.invoke("publishConfigList"); + if (config.neoPixelBootGreen && getPeer("neoPixel") != null) { + NeoPixel neoPixel = (NeoPixel) getPeer("neoPixel"); + if (neoPixel != null) { + neoPixel.clear(); + neoPixel.setColor(0, 130, 0); + neoPixel.playAnimation("Larson Scanner"); + } + } + + if (config.startupSound && getPeer("audioPlayer") != null) { + ((AudioFile) getPeer("audioPlayer")).playBlocking(FileIO.gluePaths(getResourceDir(), "/system/sounds/startupsound.mp3")); + } + + if (bootedConfig != null) { + // configuration was processed before booting + invoke("publishEvent", "CONFIG STARTED " + bootedConfig); + } + + // publish config started + + for (String peerKey : peersStarted) { + invoke("publishEvent", "STARTED " + peerKey); + } + + if (bootedConfig != null) { + // configuration was processed before booting + invoke("publishEvent", "CONFIG LOADED " + bootedConfig); + } + + // FIXME - important to do invoke & fsm needs to be consistent order + + // if speaking then turn off animation + + // publish all the errors + + // switch off animations + + // start heartbeat + // say starting heartbeat + if (config.heartbeat) { + startHeartbeat(); + } else { + stopHeartbeat(); + } + + // say finished booting + + fsm.fire("wake"); + + } + + /** + * default this will come from idle after some configurable time period + */ + public void random() { + Random random = (Random) getPeer("random"); + if (random != null) { + random.enable(); + } + } + + /** + * ear still listening pir still active + */ + public void sleep() { + log.info("sleep"); + } + + public void wake() { + log.info("wake"); + // do waking things - based on config + + // blink + + // wake gesture + // callback + // imoov2[{name}]["onWake"](this) + /** + * 
+     i01.speakBlocking("I was sleeping")
+     lookrightside()
+     sleep(2)
+     lookleftside()
+     sleep(4)
+     relax()
+     ear.clearLock()
+     sleep(2)
+     i01.finishedGesture()
+     *
+ */ + + /** + * 
+     * // legacy
+     * enable();
+     * rest();
+     * 
+     * if (ear != null) {
+     *   ear.clearLock();
+     * }
+     * 
+     * // beginCheckingOnInactivity();
+     * // BAD BAD BAD !!!
+     * publishEvent("powerUp"); // before or after loopback
+     *
+ **/ + // was a relax gesture .. might want to ask about it .. + + // if ear start listening + AbstractSpeechRecognizer ear = (AbstractSpeechRecognizer) getPeer("ear"); + if (ear != null) { + ear.startListening(); + } + + // attempt recognize where its at + + // attempt to recognize people + + // look for activity + + // say hello + + // start animation (configurable) + + rest(); + + // should "session be determined by recognition?" + ProgramAB chatBot = (ProgramAB) getPeer("chatBot"); + + if (chatBot != null) { + String firstinit = chatBot.getPredicate("firstinit"); + // wtf - "ok" really, for a boolean? + if (!"ok".equals(firstinit)) { + fsm.fire("firstInit"); + } + } + } + + public void firstInit() { + log.info("firstInit"); + ProgramAB chatBot = (ProgramAB) getPeer("chatBot"); + if (chatBot != null) { + chatBot.getResponse("FIRST_INIT"); + } } public void startServos() { @@ -1870,6 +2138,7 @@ public void stopGesture() { public void stopHeartbeat() { purgeTask("publishHeartbeat"); + config.heartbeat = false; } public void stopNeopixelAnimation() { @@ -1911,90 +2180,4 @@ public void waitTargetPos() { sendToPeer("torso", "waitTargetPos"); } - - public static void main(String[] args) { - try { - - LoggingFactory.init(Level.ERROR); - // Platform.setVirtual(true); - // Runtime.start("s01", "Servo"); - // Runtime.start("intro", "Intro"); - - // Runtime.startConfig("pr-1213-1"); - - Runtime.main(new String[] {"--log-level", "info", "-s", "webgui", "WebGui", "intro", "Intro", "python", "Python"}); - - boolean done = true; - if (done) { - return; - } - - - WebGui webgui = (WebGui) Runtime.create("webgui", "WebGui"); - // webgui.setSsl(true); - webgui.autoStartBrowser(false); - // webgui.setPort(8888); - webgui.startService(); - - Runtime.start("python", "Python"); - // Runtime.start("ros", "Ros"); - Runtime.start("intro", "Intro"); - // InMoov2 i01 = (InMoov2) Runtime.start("i01", "InMoov2"); - // i01.startPeer("simulator"); - // Runtime.startConfig("i01-05"); - // Runtime.startConfig("pir-01"); - - // Polly polly = (Polly)Runtime.start("i01.mouth", "Polly"); - // i01 = (InMoov2) Runtime.start("i01", "InMoov2"); - - - // polly.speakBlocking("Hi, to be or not to be that is the question, - // wheather to take arms against a see of trouble, and by aposing them end - // them, to sleep, to die"); - // i01.startPeer("mouth"); - // i01.speakBlocking("Hi, to be or not to be that is the question, - // wheather to take arms against a see of trouble, and by aposing them end - // them, to sleep, to die"); - - Runtime.start("python", "Python"); - - // i01.startSimulator(); - Plan plan = Runtime.load("webgui", "WebGui"); - // WebGuiConfig webgui = (WebGuiConfig) plan.get("webgui"); - // webgui.autoStartBrowser = false; - Runtime.startConfig("webgui"); - Runtime.start("webgui", "WebGui"); - - Random random = (Random) Runtime.start("random", "Random"); - - random.addRandom(3000, 8000, "i01", "setLeftArmSpeed", 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0); - random.addRandom(3000, 8000, "i01", "setRightArmSpeed", 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0); - - random.addRandom(3000, 8000, "i01", "moveLeftArm", 0.0, 5.0, 85.0, 95.0, 25.0, 30.0, 10.0, 15.0); - random.addRandom(3000, 8000, "i01", "moveRightArm", 0.0, 5.0, 85.0, 95.0, 25.0, 30.0, 10.0, 15.0); - - random.addRandom(3000, 8000, "i01", "setLeftHandSpeed", 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0); - random.addRandom(3000, 8000, "i01", "setRightHandSpeed", 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0); - - random.addRandom(3000, 8000, "i01", "moveRightHand", 10.0, 160.0, 10.0, 60.0, 10.0, 60.0, 10.0, 60.0, 10.0, 60.0, 130.0, 175.0); - random.addRandom(3000, 8000, "i01", "moveLeftHand", 10.0, 160.0, 10.0, 60.0, 10.0, 60.0, 10.0, 60.0, 10.0, 60.0, 5.0, 40.0); - - random.addRandom(200, 1000, "i01", "setHeadSpeed", 8.0, 20.0, 8.0, 20.0, 8.0, 20.0); - random.addRandom(200, 1000, "i01", "moveHead", 70.0, 110.0, 65.0, 115.0, 70.0, 110.0); - - random.addRandom(200, 1000, "i01", "setTorsoSpeed", 2.0, 5.0, 2.0, 5.0, 2.0, 5.0); - random.addRandom(200, 1000, "i01", "moveTorso", 85.0, 95.0, 88.0, 93.0, 70.0, 110.0); - - random.save(); - -// i01.startChatBot(); -// -// i01.startAll("COM3", "COM4"); - Runtime.start("python", "Python"); - - } catch (Exception e) { - log.error("main threw", e); - } - } - } diff --git a/src/main/java/org/myrobotlab/service/InMoov2Arm.java b/src/main/java/org/myrobotlab/service/InMoov2Arm.java index a73f5527b5..6305eb984a 100644 --- a/src/main/java/org/myrobotlab/service/InMoov2Arm.java +++ b/src/main/java/org/myrobotlab/service/InMoov2Arm.java @@ -89,7 +89,7 @@ public static DHRobotArm getDHRobotArm(String name, String side) { return arm; } - public void onMoveArm(HashMap map) { + public void onMove(Map map) { moveTo(map.get("bicep"), map.get("rotate"), map.get("shoulder"), map.get("omoplate")); } diff --git a/src/main/java/org/myrobotlab/service/InMoov2Hand.java b/src/main/java/org/myrobotlab/service/InMoov2Hand.java index b1744ad03e..a4c1b35bae 100644 --- a/src/main/java/org/myrobotlab/service/InMoov2Hand.java +++ b/src/main/java/org/myrobotlab/service/InMoov2Hand.java @@ -2,9 +2,9 @@ import java.io.File; import java.io.IOException; -import java.util.HashMap; import java.util.HashSet; import java.util.List; +import java.util.Map; import java.util.Set; import org.myrobotlab.framework.Registration; @@ -489,7 +489,7 @@ public LeapData onLeapData(LeapData data) { return data; } - public void onMoveHand(HashMap map) { + public void onMove(Map map) { moveTo(map.get("thumb"), map.get("index"), map.get("majeure"), map.get("majeure"), map.get("pinky"), map.get("wrist")); } diff --git a/src/main/java/org/myrobotlab/service/InMoov2Head.java b/src/main/java/org/myrobotlab/service/InMoov2Head.java index be1a72f793..63b34b1198 100644 --- a/src/main/java/org/myrobotlab/service/InMoov2Head.java +++ b/src/main/java/org/myrobotlab/service/InMoov2Head.java @@ -2,7 +2,7 @@ import java.io.File; import java.io.IOException; -import java.util.HashMap; +import java.util.Map; import java.util.concurrent.ThreadLocalRandom; import org.myrobotlab.framework.Service; @@ -199,7 +199,7 @@ public void lookAt(Double x, Double y, Double z) { log.info("object distance is {},rothead servo {},neck servo {} ", distance, rotation, colatitude); } - public void onMoveHead(HashMap map) { + public void onMove(Map map) { moveTo(map.get("neck"), map.get("rothead"), map.get("eyeX"), map.get("eyeY"), map.get("jaw"), map.get("rollNeck")); } diff --git a/src/main/java/org/myrobotlab/service/InMoov2Torso.java b/src/main/java/org/myrobotlab/service/InMoov2Torso.java index d2607a1033..d6f0fcc1c4 100644 --- a/src/main/java/org/myrobotlab/service/InMoov2Torso.java +++ b/src/main/java/org/myrobotlab/service/InMoov2Torso.java @@ -2,7 +2,7 @@ import java.io.File; import java.io.IOException; -import java.util.HashMap; +import java.util.Map; import org.myrobotlab.framework.Service; import org.myrobotlab.io.FileIO; @@ -93,7 +93,7 @@ public void disable() { lowStom.disable(); } - public void onMoveTorso(HashMap map) { + public void onMove(Map map) { moveTo(map.get("topStom"), map.get("midStom"), map.get("lowStom")); } diff --git a/src/main/java/org/myrobotlab/service/NeoPixel.java b/src/main/java/org/myrobotlab/service/NeoPixel.java index e13daf273d..05a2106a5d 100644 --- a/src/main/java/org/myrobotlab/service/NeoPixel.java +++ b/src/main/java/org/myrobotlab/service/NeoPixel.java @@ -28,8 +28,9 @@ import java.util.HashMap; import java.util.List; import java.util.Map; -import java.util.Random; import java.util.Set; +import java.util.concurrent.ArrayBlockingQueue; +import java.util.concurrent.BlockingQueue; import org.myrobotlab.framework.Service; import org.myrobotlab.framework.interfaces.Attachable; @@ -46,11 +47,13 @@ public class NeoPixel extends Service implements NeoPixelControl { + private BlockingQueue displayQueue = new ArrayBlockingQueue<>(200); + /** * Thread to do animations Java side and push the changing of pixels to the * neopixel */ - private class AnimationRunner implements Runnable { + private class Worker implements Runnable { boolean running = false; @@ -60,15 +63,31 @@ private class AnimationRunner implements Runnable { public void run() { try { running = true; - while (running) { - equalizer(); - Double wait_ms_per_frame = fpsToWaitMs(speedFps); - sleep(wait_ms_per_frame.intValue()); + LedDisplayData led = displayQueue.take(); + // save existing state if necessary .. + // stop animations if running + // String lastAnimation = currentAnimation; + if (led.count > 0) { + + clear(); + for (int count = 0; count < led.count; count++) { + fill(led.red, led.green, led.blue); + sleep(led.timeOn); + clear(); + sleep(led.timeOff); + } + } + // start animations + // playAnimation(lastAnimation); } + } catch (InterruptedException ex) { + log.info("shutting down worker"); } catch (Exception e) { error(e); stop(); + } finally { + running = false; } } @@ -81,6 +100,9 @@ public synchronized void start() { public synchronized void stop() { running = false; + if (thread != null) { + thread.interrupt(); + } thread = null; } } @@ -153,7 +175,7 @@ public int[] flatten() { /** * thread for doing off board and in memory animations */ - protected final AnimationRunner animationRunner; + protected final Worker worker; /** * current selected red value @@ -230,7 +252,13 @@ public int[] flatten() { */ protected int brightness = 255; - final Map animations = new HashMap<>(); + protected final Map animations = new HashMap<>(); + + protected long flashTimeOn = 300; + + protected long flashTimeOff = 300; + + protected int flashCount = 1; public Set getAnimations() { return animations.keySet(); @@ -239,7 +267,7 @@ public Set getAnimations() { public NeoPixel(String n, String id) { super(n, id); registerForInterfaceChange(NeoPixelController.class); - animationRunner = new AnimationRunner(); + worker = new Worker(); animations.put("Stop", 1); animations.put("Color Wipe", 2); animations.put("Larson Scanner", 3); @@ -249,8 +277,6 @@ public NeoPixel(String n, String id) { animations.put("Rainbow Cycle", 7); animations.put("Flash Random", 8); animations.put("Ironman", 9); - // > 99 is java side animations - animations.put("Equalizer", 100); } @Override @@ -306,8 +332,6 @@ public void clear() { return; } - // stop java animations - animationRunner.stop(); // stop on board controller animations setAnimation(0, 0, 0, 0, speedFps); @@ -361,101 +385,51 @@ public void detachNeoPixelController(NeoPixelController neoCntrlr) { broadcastState(); } - public void equalizer() { - equalizer(null, null); + public void onLedDisplay(LedDisplayData data) { + displayQueue.add(data); } - public void equalizer(Long wait_ms_per_frame, Integer range) { - - if (controller == null) { - log.warn("controller not set"); - return; - } - - if (wait_ms_per_frame == null) { - wait_ms_per_frame = 25L; - } - - if (range == null) { - range = 25; - } - - Random rand = new Random(); - int c = rand.nextInt(range); - - fillMatrix(red, green, blue, white); - - if (c < 18) { - setMatrix(0, 0, 0, 0); - setMatrix(7, 0, 0, 0); - } - - fillMatrix(red, green, blue, white); - - if (c < 16) { - setMatrix(0, 0, 0, 0); - setMatrix(7, 0, 0, 0); - } - - if (c < 12) { - setMatrix(1, 0, 0, 0); - setMatrix(6, 0, 0, 0); - } - - if (c < 8) { - setMatrix(2, 0, 0, 0); - setMatrix(5, 0, 0, 0); - } - - writeMatrix(); + public void flash() { + flash(red, green, blue, flashCount, flashTimeOn, flashTimeOff); + } + public void flash(int r, int g, int b) { + flash(r, g, b, flashCount , flashTimeOn, flashTimeOff); } - public void onLedDisplay(LedDisplayData data) { - - if ("flash".equals(data.action)) { - flash(data.count, data.interval, data.red, data.green, data.blue); - } - + public void flash(int r, int g, int b, int count) { + flash(r, g, b, count, flashTimeOn, flashTimeOff); } - public void flash(int count, long interval, int r, int g, int b) { - long delay = 0; - for (int i = 0; i < count; ++i) { - addTask(getName()+"fill-"+System.currentTimeMillis(), true, 0, delay, "fill", r, g, b); - delay+= interval/2; - addTask(getName()+"clear-"+System.currentTimeMillis(), true, 0, delay, "clear"); - delay+= interval/2; - } + public void flash(int r, int g, int b, int count, long timeOn, long timeOff) { + LedDisplayData data = new LedDisplayData(); + data.red = r; + data.green = g; + data.blue = b; + data.count = count; + data.timeOn = timeOn; + data.timeOff = timeOff; + displayQueue.add(data); } - + public void onFlash(LedDisplayData data) { + displayQueue.add(data); + } + public void flashBrightness(double brightNess) { - NeoPixelConfig c = (NeoPixelConfig)config; + NeoPixelConfig c = (NeoPixelConfig) config; - // FIXME - these need to be moved into config -// int count = 2; -// int interval = 75; - setBrightness((int)brightNess); + setBrightness((int) brightNess); fill(red, green, blue); - -// long delay = 0; -// for (int i = 0; i < count; ++i) { -// addTask(getName()+"fill-"+System.currentTimeMillis(), true, 0, delay, "fill", red, green, blue); -// delay+= interval/2; -// addTask(getName()+"clear-"+System.currentTimeMillis(), true, 0, delay, "clear"); -// delay+= interval/2; -// } - + if (c.autoClear) { purgeTask("clear"); // and start our countdown addTaskOneShot(c.idleTimeout, "clear"); } - } - + public void fill(int r, int g, int b) { fill(0, pixelCount, r, g, b, null); } @@ -465,8 +439,8 @@ public void fill(int beginAddress, int count, int r, int g, int b) { } public void fill(int beginAddress, int count, int r, int g, int b, Integer w) { - NeoPixelConfig c = (NeoPixelConfig)config; - + NeoPixelConfig c = (NeoPixelConfig) config; + if (w == null) { w = 0; } @@ -477,7 +451,7 @@ public void fill(int beginAddress, int count, int r, int g, int b, Integer w) { return; } np2.neoPixelFill(getName(), beginAddress, count, r, g, b, w); - + if (c.autoClear) { purgeTask("clear"); // and start our countdown @@ -580,20 +554,22 @@ public int getRed() { @Override public void playAnimation(String animation) { + if (animation == null) { + log.info("playAnimation null"); + return; + } + + if (animation.equals(currentAnimation)) { + log.info("already playing {}", currentAnimation); + return; + } if (animations.containsKey(animation)) { currentAnimation = animation; - if (animations.get(animation) < 99) { - setAnimation(animations.get(animation), red, green, blue, speedFps); - } else { - // only 1 java side animation at the moment - equalizer(); - animationRunner.start(); - } + setAnimation(animations.get(animation), red, green, blue, speedFps); } else { error("could not find animation %s", animation); } - broadcastState(); } public void stopAnimation() { @@ -601,6 +577,7 @@ public void stopAnimation() { } @Override + @Deprecated /* use playAnimation */ public void setAnimation(int animation, int red, int green, int blue, int speedFps) { if (speedFps > maxFps) { speedFps = maxFps; @@ -618,7 +595,6 @@ public void setAnimation(int animation, int red, int green, int blue, int speedF nc2.neoPixelSetAnimation(getName(), animation, red, green, blue, 0, wait_ms_per_frame.intValue()); if (animation == 1) { currentAnimation = null; - animationRunner.stop(); } broadcastState(); } @@ -653,7 +629,7 @@ public void setBlue(int blue) { } public void setBrightness(int value) { - NeoPixelConfig c = (NeoPixelConfig)config; + NeoPixelConfig c = (NeoPixelConfig) config; NeoPixelController np2 = (NeoPixelController) Runtime.getService(controller); if (controller == null || np2 == null) { @@ -662,7 +638,7 @@ public void setBrightness(int value) { } brightness = value; np2.neoPixelSetBrightness(getName(), value); - + if (c.autoClear) { purgeTask("clear"); // and start our countdown @@ -718,7 +694,7 @@ public void setPixel(int address, int red, int green, int blue, int white) { * @param delayMs */ public void setPixel(String matrixName, Integer pixelSetIndex, int address, int red, int green, int blue, int white, Integer delayMs) { - NeoPixelConfig c = (NeoPixelConfig)config; + NeoPixelConfig c = (NeoPixelConfig) config; // get and update memory cache PixelSet ps = getPixelSet(matrixName, pixelSetIndex); @@ -746,7 +722,7 @@ public void setPixel(String matrixName, Integer pixelSetIndex, int address, int } np2.neoPixelWriteMatrix(getName(), pixel.flatten()); - + if (c.autoClear) { purgeTask("clear"); // and start our countdown @@ -788,20 +764,6 @@ public void setRed(int red) { this.red = red; } - public void startAnimation() { - startAnimation(currentMatrix); - } - - /** - * handle both user defined, java defined, and controller on board animations - * FIXME - make "settings" separate call - * - * @param name - */ - public void startAnimation(String name) { - animationRunner.start(); - } - public void setColor(int red, int green, int blue) { this.red = red; this.green = green; @@ -814,8 +776,8 @@ public void setColor(int red, int green, int blue) { @Override public void writeMatrix() { - NeoPixelConfig c = (NeoPixelConfig)config; - + NeoPixelConfig c = (NeoPixelConfig) config; + NeoPixelController np2 = (NeoPixelController) Runtime.getService(controller); if (controller == null || np2 == null) { error("%s cannot writeMatrix controller not set", getName()); @@ -827,8 +789,6 @@ public void writeMatrix() { // and start our countdown addTaskOneShot(c.idleTimeout, "clear"); } - - } /** @@ -858,7 +818,7 @@ public void playIronman() { @Override public ServiceConfig getConfig() { - NeoPixelConfig config = (NeoPixelConfig)super.getConfig(); + NeoPixelConfig config = (NeoPixelConfig) super.getConfig(); // FIXME - remove local fields in favor of config config.pin = pin; config.pixelCount = pixelCount; @@ -918,6 +878,18 @@ public String onStarted(String name) { return name; } + @Override + public void startService() { + super.startService(); + worker.start(); + } + + public void stopService() { + super.stopService(); + worker.stop(); + // clear() ? + } + public static void main(String[] args) throws InterruptedException { try { @@ -993,9 +965,9 @@ public void setPin(String pin) { error(e); } } - + public boolean setAutoClear(boolean b) { - NeoPixelConfig c = (NeoPixelConfig)config; + NeoPixelConfig c = (NeoPixelConfig) config; c.autoClear = b; return b; } diff --git a/src/main/java/org/myrobotlab/service/Runtime.java b/src/main/java/org/myrobotlab/service/Runtime.java index 9c57690e44..c298821bab 100644 --- a/src/main/java/org/myrobotlab/service/Runtime.java +++ b/src/main/java/org/myrobotlab/service/Runtime.java @@ -32,7 +32,6 @@ import java.util.List; import java.util.Map; import java.util.Objects; -import java.util.Queue; import java.util.Random; import java.util.Set; import java.util.TimeZone; @@ -69,7 +68,6 @@ import org.myrobotlab.framework.repo.IvyWrapper; import org.myrobotlab.framework.repo.Repo; import org.myrobotlab.framework.repo.ServiceData; -import org.myrobotlab.framework.repo.ServiceDependency; import org.myrobotlab.io.FileIO; import org.myrobotlab.logging.AppenderType; import org.myrobotlab.logging.LoggerFactory; @@ -133,7 +131,7 @@ public class Runtime extends Service implements MessageListener, * a registry of all services regardless of which environment they came from - * each must have a unique name */ - static private final Map registry = new TreeMap<>(); + static private final Map registry = new LinkedHashMap<>(); /** * A plan is a request to runtime to change the system. Typically its to ask @@ -436,9 +434,9 @@ synchronized private static Map createServicesFromPlan runtime.error("could not get %s from plan", service); continue; } - sc.state = "CREATING"; + // sc.state = "CREATING"; ServiceInterface si = createService(service, sc.type, null); - sc.state = "CREATED"; + // sc.state = "CREATED"; // process the base listeners/subscription of ServiceConfig si.addConfigListeners(sc); if (si instanceof ConfigurableService) { @@ -1903,13 +1901,6 @@ public synchronized static boolean releaseService(String inName) { if (si.isLocal()) { si.purgeTasks(); si.stopService(); - Plan plan = Runtime.getPlan(); - ServiceConfig sc = plan.get(inName); - if (sc == null) { - log.debug("service config not available for {}", inName); - } else { - sc.state = "STOPPED"; - } } else { if (runtime != null) { runtime.send(name, "releaseService"); @@ -1918,33 +1909,6 @@ public synchronized static boolean releaseService(String inName) { // FOR remote this isn't correct - it should wait for // a message from the other runtime to say that its released unregister(name); - Plan plan = Runtime.getPlan(); - ServiceConfig sc = plan.get(inName); - - if (sc != null) { - sc.state = "RELEASED"; - // FIXME - TODO RELEASE PEERS ! which is any inName.* !!! - - // iterate through peers - // if (sc.autoStartPeers) { - // // get peers from meta data - // MetaData md = MetaData.get(sc.type); - // Map peers = md.getPeers(); - // log.info("auto start peers and {} of type {} has {} peers", inName, - // sc.type, peers.size()); - // // RECURSE ! - if we found peers and autoStartPeers is true - we start - // // all - // // the children up - // for (String peer : peers.keySet()) { - // // get actual Name - // String actualPeerName = getPeerName(peer, sc, peers, inName); - // if (actualPeerName != null && isStarted(actualPeerName) && - // si.autoStartedPeersContains(actualPeerName)) { - // release(actualPeerName); - // } - // } - // } - } return true; } @@ -2576,7 +2540,7 @@ static public void startConfig(String configName) { setConfig(configName); Runtime runtime = Runtime.getInstance(); runtime.processingConfig = true; // multiple inbox threads not available - runtime.invoke("publishStartConfig", configName); + runtime.invoke("publishConfigStarted", configName); RuntimeConfig rtConfig = (RuntimeConfig) runtime.readServiceConfig(runtime.getConfigName(), "runtime"); if (rtConfig == null) { runtime.error("cannot find %s%s%s", runtime.getConfigName(), fs, "runtime.yml"); @@ -2588,6 +2552,7 @@ static public void startConfig(String configName) { // for every service listed in runtime registry - load it // FIXME - regex match on filesystem matches on *.yml for (String service : rtConfig.getRegistry()) { + if ("runtime".equals(service) || Runtime.isStarted(service)) { continue; } @@ -2617,12 +2582,12 @@ static public void startConfig(String configName) { } runtime.processingConfig = false; // multiple inbox threads not available - runtime.invoke("publishFinishedConfig", configName); + runtime.invoke("publishConfigFinished", configName); } - public String publishStartConfig(String configName) { - log.info("publishStartConfig {}", configName); + public String publishConfigStarted(String configName) { + log.info("publishConfigStarted {}", configName); // Make Note: done inline, because the thread actually doing the config // processing // would need to be finished with it before this thread could be invoked @@ -2631,8 +2596,8 @@ public String publishStartConfig(String configName) { return configName; } - public String publishFinishedConfig(String configName) { - log.info("publishFinishedConfig {}", configName); + public String publishConfigFinished(String configName) { + log.info("publishConfigFinished {}", configName); // Make Note: done inline, because the thread actually doing the config // processing // would need to be finished with it before this thread could be invoked @@ -2771,21 +2736,6 @@ public Runtime(String n, String id) { // fist and only time.... runtime = this; repo = (IvyWrapper) Repo.getInstance(LIBRARIES, "IvyWrapper"); - - // resolve serviceData MetaTypes for the repo - - for (MetaData metaData : serviceData.getServiceTypes()) { - if (metaData.getSimpleName().equals("OpenCV")) { - log.warn("here"); - } - Set deps = repo.getUnfulfilledDependencies(metaData.getType()); - if (deps.size() == 0) { - metaData.installed = true; - } else { - log.warn("{} not installed", metaData.getSimpleName()); - } - } - } } @@ -3526,7 +3476,7 @@ static public String execute(String... args) { * @return The programs stderr and stdout output */ static public String execute(String program, List args, String workingDir, Map additionalEnv, boolean block) { - log.info("execToString(\"{} {}\")", program, args); + log.debug("execToString(\"{} {}\")", program, args); List command = new ArrayList<>(); command.add(program); @@ -3562,14 +3512,15 @@ static public String execute(String program, List args, String workingDi if (block) { int exitValue = handle.waitFor(); outputBuilder.append("Exit Value: ").append(exitValue); - log.info("Command exited with exit value: {}", exitValue); + log.debug("Command exited with exit value: {}", exitValue); } else { - log.info("Command started"); + log.debug("Command started"); } return outputBuilder.toString(); } catch (IOException e) { log.error("Error executing command", e); + Runtime.getInstance().error(e.getMessage()); return e.getMessage(); } catch (InterruptedException e) { Thread.currentThread().interrupt(); @@ -3621,13 +3572,14 @@ public static Double getBatteryLevel() { } else if (platform.isLinux()) { // TODO This is incorrect, will not work when unplugged // and acpitool output is different than expected, - // at least on Ubuntu 22.04 - String ret = Runtime.execute("acpitool"); - int pos0 = ret.indexOf("Charging, "); + // at least on Ubuntu 22.04 - consider oshi library + String ret = Runtime.execute("acpi"); + int pos0 = ret.indexOf("%"); + if (pos0 != -1) { - pos0 = pos0 + 10; - int pos1 = ret.indexOf("%", pos0); - String dble = ret.substring(pos0, pos1).trim(); + int pos1 = ret.lastIndexOf(" ", pos0); + // int pos1 = ret.indexOf("%", pos0); + String dble = ret.substring(pos1, pos0).trim(); try { r = Double.parseDouble(dble); } catch (Exception e) { diff --git a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java index ecb2d59c4e..4434f3db2d 100644 --- a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java +++ b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java @@ -10,82 +10,132 @@ import org.myrobotlab.service.config.FiniteStateMachineConfig.Transition; import org.myrobotlab.service.config.RandomConfig.RandomMessageConfig; +/** + * InMoov2Config - configuration for InMoov2 service + * - this is a "default" configuration + * If its configuration which will directly affect another service the naming + * pattern should be {peerName}{propertyName} + * e.g. neoPixelErrorRed + * + * FIXME make a color map that can be overridden + * + * @author GroG + * + */ public class InMoov2Config extends ServiceConfig { - public int analogPinFromSoundCard = 53; - - public int audioPollsBySeconds = 2; - - public boolean audioSignalProcessing=false; - - public boolean batteryInSystem = false; - - public boolean customSound=false; + /** + * When the healthCheck is operating, it will check the battery level. + * If the battery level is < 5% it will publishFlash with red at regular interval + */ + public boolean batteryLevelCheck = false; + + // public boolean customSound = false; + + /** + * First Initialization occurs when the user starts the InMoov2 service for the + * very first time, and ProgramAB can process learning about the user + */ + public boolean firstInit = true; public boolean forceMicroOnIfSleeping = true; - public boolean healthCheckActivated = false; + /** + * flashes if error has occurred - requires heartbeat + */ + public boolean healthCheckFlash = true; - public int healthCheckTimerMs = 60000; + /** + * Single heartbeat to drive InMoov2 .. it can check status, healthbeat, + * and fire events to the FSM. + * Checks battery level and sends a heartbeat flash on publishHeartbeat + * and onHeartbeat at a regular interval + */ + public boolean heartbeat = true; + + /** + * flashes the neopixel every time a health check is preformed. + * green == good + * red == battery < 5% + */ + public boolean heartbeatFlash = false; - public boolean heartbeat = false; + /** + * interval heath check processes in milliseconds + */ + public long heartbeatInterval = 3000; - /** - * idle time measures the time the fsm is in an idle state + * loads all python gesture files in the gesture directory */ - public boolean idleTimer = true; - public boolean loadGestures = true; + /** + * executes all scripts in the init directory on startup + */ + public boolean loadInitScripts = true; + /** * default to null - allow the OS to set it, unless explicilty set */ public String locale = null; // = "en-US"; - public boolean neoPixelBootGreen=true; + public boolean neoPixelBootGreen = true; public boolean neoPixelDownloadBlue = true; public boolean neoPixelErrorRed = true; - + public boolean neoPixelFlashWhenSpeaking = true; - - public boolean openCVFaceRecognizerActivated=true; - - public boolean openCVFlipPicture=false; - + + public boolean openCVFaceRecognizerActivated = true; + + public boolean openCVFlipPicture = false; + public boolean pirEnableTracking = false; - + /** - * play pir sounds when pir switching states - * sound located in data/InMoov2/sounds/pir-activated.mp3 - * sound located in data/InMoov2/sounds/pir-deactivated.mp3 + * play pir sounds when pir switching states sound located in + * data/InMoov2/sounds/pir-activated.mp3 sound located in + * data/InMoov2/sounds/pir-deactivated.mp3 */ public boolean pirPlaySounds = true; - + public boolean pirWakeUp = true; - + public boolean robotCanMoveHeadWhileSpeaking = true; - - + /** * startup and shutdown will pause inmoov - set the speed to this value then * attempt to move to rest */ public double shutdownStartupSpeed = 50; - + /** - * Sleep 5 minutes after last presence detected + * Sleep 5 minutes after last presence detected */ - public int sleepTimeoutMs=300000; - + public int sleepTimeoutMs = 300000; + public boolean startupSound = true; - public int trackingTimeoutMs=10000; - + /** + * Interval in seconds for a idle state event to fire off. + * If the fsm is in a state which will allow transitioning, the InMoov2 + * state will transition to idle. Heartbeat will fire the event. + */ + public int stateIdleInterval = 120; + + /** + * Interval in seconds for a random state event to fire off. + * If the fsm is in a state which will allow transitioning, the InMoov2 + * state will transition to random. Heartbeat will fire the event. + */ + public int stateRandomInterval = 120; + + public int trackingTimeoutMs = 10000; + public String unlockInsult = "forgive me"; - + public boolean virtual = false; public InMoov2Config() { @@ -113,6 +163,8 @@ public Plan getDefault(Plan plan, String name) { addDefaultPeerConfig(plan, name, "leftArm", "InMoov2Arm", false); addDefaultPeerConfig(plan, name, "leftHand", "InMoov2Hand", false); addDefaultPeerConfig(plan, name, "mouth", "MarySpeech", false); + // a first ! + addDefaultPeerConfig(plan, name, "mouth.audioFile", "AudioFile", false); addDefaultPeerConfig(plan, name, "mouthControl", "MouthControl", false); addDefaultPeerConfig(plan, name, "neoPixel", "NeoPixel", false); addDefaultPeerConfig(plan, name, "opencv", "OpenCV", false); @@ -132,7 +184,7 @@ public Plan getDefault(Plan plan, String name) { MouthControlConfig mouthControl = (MouthControlConfig) plan.get(getPeerName("mouthControl")); - // setup name references to different services + // setup name references to different services FIXME getPeerName("head").getPeerName("jaw") mouthControl.jaw = name + ".head.jaw"; String i01Name = name; int index = name.indexOf("."); @@ -156,9 +208,9 @@ public Plan getDefault(Plan plan, String name) { } } } - + chatBot.currentUserName = "human"; - + // chatBot.textListeners = new String[] { name + ".htmlFilter" }; if (chatBot.listeners == null) { chatBot.listeners = new ArrayList<>(); @@ -181,11 +233,13 @@ public Plan getDefault(Plan plan, String name) { // == Peer - ear ============================= // setup name references to different services WebkitSpeechRecognitionConfig ear = (WebkitSpeechRecognitionConfig) plan.get(getPeerName("ear")); - ear.listeners = new ArrayList<>(); + ear.listeners = new ArrayList<>(); ear.listeners.add(new Listener("publishText", name + ".chatBot", "onText")); ear.listening = true; // remove, should only need ServiceConfig.listeners - ear.textListeners = new String[]{name + ".chatBot"}; + ear.textListeners = new String[] { name + ".chatBot" }; + + JMonkeyEngineConfig simulator = (JMonkeyEngineConfig) plan.get(getPeerName("simulator")); @@ -254,24 +308,28 @@ public Plan getDefault(Plan plan, String name) { simulator.cameraLookAt = name + ".torso.lowStom"; FiniteStateMachineConfig fsm = (FiniteStateMachineConfig) plan.get(getPeerName("fsm")); - // TODO - events easily gotten from InMoov data ?? auto callbacks in python if exists ? + // TODO - events easily gotten from InMoov data ?? auto callbacks in python + // if exists ? + fsm.listeners = new ArrayList<>(); fsm.current = "boot"; - fsm.transitions.add(new Transition("boot", "configStarted", "applyingConfig")); - fsm.transitions.add(new Transition("applyingConfig", "getUserInfo", "getUserInfo")); - fsm.transitions.add(new Transition("applyingConfig", "systemCheck", "systemCheck")); - fsm.transitions.add(new Transition("applyingConfig", "wake", "awake")); - fsm.transitions.add(new Transition("getUserInfo", "systemCheck", "systemCheck")); - fsm.transitions.add(new Transition("systemCheck", "systemCheckFinished", "awake")); - fsm.transitions.add(new Transition("awake", "sleep", "sleeping")); + fsm.transitions.add(new Transition("boot", "wake", "wake")); + fsm.transitions.add(new Transition("wake", "idle", "idle")); + fsm.transitions.add(new Transition("firstInit", "idle", "idle")); + fsm.transitions.add(new Transition("idle", "random", "random")); + fsm.transitions.add(new Transition("random", "idle", "idle")); + fsm.transitions.add(new Transition("idle", "sleep", "sleep")); + fsm.transitions.add(new Transition("idle", "powerDown", "powerDown")); + fsm.transitions.add(new Transition("wake", "firstInit", "firstInit")); + // powerDown to shutdown +// fsm.transitions.add(new Transition("systemCheck", "systemCheckFinished", "awake")); +// fsm.transitions.add(new Transition("awake", "sleep", "sleeping")); - - PirConfig pir = (PirConfig) plan.get(getPeerName("pir")); pir.pin = "23"; pir.controller = name + ".left"; pir.listeners = new ArrayList<>(); pir.listeners.add(new Listener("publishPirOn", name, "onPirOn")); - + // == Peer - random ============================= RandomConfig random = (RandomConfig) plan.get(getPeerName("random")); random.enabled = false; @@ -381,16 +439,47 @@ public Plan getDefault(Plan plan, String name) { plan.remove(name + ".eyeTracking.controller.serial"); plan.remove(name + ".eyeTracking.cv"); + // LOOPBACK PUBLISHING - ITS A GREAT WAY TO SUPPORT + // EXTENSIBLE AND OVERRIDABLE BEHAVIORS + // inmoov2 default listeners listeners = new ArrayList<>(); // FIXME - should be getPeerName("neoPixel") - listeners.add(new Listener("publishFlash", name + ".neoPixel", "onLedDisplay")); - - listeners.add(new Listener("publishEvent", name + ".fsm")); - // remove the auto-added starts in the plan's runtime RuntimConfig.registry - plan.removeStartsWith(name + "."); + // loopbacks allow user to override or extend with python + listeners.add(new Listener("publishBoot", name)); + listeners.add(new Listener("publishHeartbeat", name)); + listeners.add(new Listener("publishConfigFinished", name)); + listeners.add(new Listener("publishNewState", name)); + +// listeners.add(new Listener("publishPowerUp", name)); +// listeners.add(new Listener("publishPowerDown", name)); +// listeners.add(new Listener("publishError", name)); + + listeners.add(new Listener("publishMoveHead", name)); + listeners.add(new Listener("publishMoveRightArm", name)); + listeners.add(new Listener("publishMoveLeftArm", name)); + listeners.add(new Listener("publishMoveRightHand", name)); + listeners.add(new Listener("publishMoveLeftHand", name)); + listeners.add(new Listener("publishMoveTorso", name)); + + // service --to--> InMoov2 + AudioFileConfig mouth_audioFile = (AudioFileConfig) plan.get(getPeerName("mouth.audioFile")); + mouth_audioFile.listeners = new ArrayList<>(); + mouth_audioFile.listeners.add(new Listener("publishPeak", name)); + fsm.listeners.add(new Listener("publishNewState", name, "publishNewState")); +// mouth_audioFile.listeners.add(new Listener("publishAudioEnd", name)); +// mouth_audioFile.listeners.add(new Listener("publishAudioStart", name)); + // InMoov2 --to--> service + listeners.add(new Listener("publishFlash", getPeerName("neoPixel"), "onLedDisplay")); + listeners.add(new Listener("publishEvent", getPeerName("chatBot"), "getResponse")); + listeners.add(new Listener("publishPlayAudioFile", getPeerName("audioPlayer"))); + + + // remove the auto-added starts in the plan's runtime RuntimConfig.registry + // plan.removeStartsWith(name + "."); + // rtConfig.add(name); // <-- adding i01 / not needed return plan; diff --git a/src/main/java/org/myrobotlab/service/config/NeoPixelConfig.java b/src/main/java/org/myrobotlab/service/config/NeoPixelConfig.java index c2ad476697..e7fbb17cbe 100644 --- a/src/main/java/org/myrobotlab/service/config/NeoPixelConfig.java +++ b/src/main/java/org/myrobotlab/service/config/NeoPixelConfig.java @@ -14,7 +14,7 @@ public class NeoPixelConfig extends ServiceConfig { public Integer brightness = 255; public boolean fill = false; // auto clears flashes - public boolean autoClear = true; + public boolean autoClear = false; public int idleTimeout = 1000; } diff --git a/src/main/java/org/myrobotlab/service/config/ServiceConfig.java b/src/main/java/org/myrobotlab/service/config/ServiceConfig.java index 59e8f9ff9a..dd28a48645 100755 --- a/src/main/java/org/myrobotlab/service/config/ServiceConfig.java +++ b/src/main/java/org/myrobotlab/service/config/ServiceConfig.java @@ -73,12 +73,7 @@ public String toString() { * simple type name of service defined for this config */ public String type; - - // FIXME - change to enum ! - // FIXME - remove this - its not used - // heh non transient makes it easy to debug ! - transient public String state = "INIT"; // INIT | LOADED | CREATED | STARTED | - // STOPPED | RELEASED + public String getPath(String name, String peerKey) { if (name == null) { diff --git a/src/main/java/org/myrobotlab/service/config/SpeechSynthesisConfig.java b/src/main/java/org/myrobotlab/service/config/SpeechSynthesisConfig.java index a49520c1e4..c84c4dca65 100644 --- a/src/main/java/org/myrobotlab/service/config/SpeechSynthesisConfig.java +++ b/src/main/java/org/myrobotlab/service/config/SpeechSynthesisConfig.java @@ -8,6 +8,7 @@ public class SpeechSynthesisConfig extends ServiceConfig { public boolean mute = false; public boolean blocking = false; + @Deprecated /* :( ... this is already in listeners ! */ public String[] speechRecognizers; public Map substitutions; public String voice; diff --git a/src/main/java/org/myrobotlab/service/data/LedDisplayData.java b/src/main/java/org/myrobotlab/service/data/LedDisplayData.java index 92ce88ba38..3658782913 100644 --- a/src/main/java/org/myrobotlab/service/data/LedDisplayData.java +++ b/src/main/java/org/myrobotlab/service/data/LedDisplayData.java @@ -1,28 +1,65 @@ package org.myrobotlab.service.data; + /** - * Class to publish to specify details on how to display an led or a group of leds. - * There is a need to "flash" LEDs in order to signal some event. This is the - * beginning of an easy way to publish a message to do that. + * Class to publish to specify details on how to display an led or a group of + * leds. There is a need to "flash" LEDs in order to signal some event. This is + * the beginning of an easy way to publish a message to do that. * * @author GroG * */ public class LedDisplayData { - public String action; // fill | flash | play animation | stop | clear - public int red; - public int green; - public int blue; - //public int white?; - - /** - * number of flashes - */ - public int count = 5; - /** - * interval of flash in ms - */ - public long interval = 500; - - + public String action; // fill | flash | play animation | stop | clear + + public int red; + + public int green; + + public int blue; + + // public int white?; + + /** + * number of flashes + */ + public int count = 1; + + /** + * interval of flash on in ms + */ + public long timeOn = 500; + + /** + * interval of flas off in ms + */ + public long timeOff = 500; + + public LedDisplayData() { + } + + public LedDisplayData(int red, int green, int blue, int count, int timeOn, int timeOff) { + this.red = red; + this.green = green; + this.blue = blue; + this.count = count; + this.timeOn = timeOn; + this.timeOff = timeOff; + } + + + public LedDisplayData(String hexColor, int count, int timeOn, int timeOff) { + + // remove "#" or "0x" prefix if present + hexColor = hexColor.replace("#", "").replace("0x", ""); + + this.count = count; + this.timeOn = timeOn; + this.timeOff = timeOff; + this.red = Integer.parseInt(hexColor.substring(0, 2), 16); + this.green = Integer.parseInt(hexColor.substring(2, 4), 16); + this.blue = Integer.parseInt(hexColor.substring(4, 6), 16); + + } + } diff --git a/src/main/java/org/myrobotlab/service/interfaces/AudioControl.java b/src/main/java/org/myrobotlab/service/interfaces/AudioControl.java index 003b956f34..33e9b416ac 100644 --- a/src/main/java/org/myrobotlab/service/interfaces/AudioControl.java +++ b/src/main/java/org/myrobotlab/service/interfaces/AudioControl.java @@ -2,6 +2,7 @@ public interface AudioControl { + // FIXME - should be onVolume(volume) public void setVolume(double volume); public double getVolume(); @@ -10,7 +11,7 @@ public interface AudioControl { * plays an audiofile - is a listener function for publishAudioFile * @param file */ - public void onPlayAudioFile(String file); + public void onPlayAudioFile(String dir); /** * must be a directory, will play one of the audio files within that directory @@ -18,7 +19,7 @@ public interface AudioControl { */ public void onPlayRandomAudioFile(String dir); - // pause - // resume - // interrupt ? + // onPause + // onResume + // onInterrupt ? } diff --git a/src/main/resources/resource/WebGui/app/service/js/NeoPixelGui.js b/src/main/resources/resource/WebGui/app/service/js/NeoPixelGui.js index 05f67ef4ea..03f830ed78 100644 --- a/src/main/resources/resource/WebGui/app/service/js/NeoPixelGui.js +++ b/src/main/resources/resource/WebGui/app/service/js/NeoPixelGui.js @@ -11,7 +11,7 @@ angular.module('mrlapp.service.NeoPixelGui', []).controller('NeoPixelGuiCtrl', [ $scope.pins = [] $scope.speeds = [] $scope.types = ['RGB', 'RGBW'] - $scope.animations = ['No animation', 'Stop', 'Color Wipe', 'Larson Scanner', 'Theater Chase', 'Theater Chase Rainbow', 'Rainbow', 'Rainbow Cycle', 'Flash Random', 'Ironman', 'equalizer'] + $scope.animations = ['Stop', 'Color Wipe', 'Larson Scanner', 'Theater Chase', 'Theater Chase Rainbow', 'Rainbow', 'Rainbow Cycle', 'Flash Random', 'Ironman'] $scope.pixelCount = null // set pixel position diff --git a/src/main/resources/resource/WebGui/app/service/js/RuntimeGui.js b/src/main/resources/resource/WebGui/app/service/js/RuntimeGui.js index 09eab9b6f6..e54e06e36b 100644 --- a/src/main/resources/resource/WebGui/app/service/js/RuntimeGui.js +++ b/src/main/resources/resource/WebGui/app/service/js/RuntimeGui.js @@ -361,7 +361,9 @@ angular.module('mrlapp.service.RuntimeGui', []).controller('RuntimeGuiCtrl', ['$ } $scope.saveConfig = function() { - $scope.service.selectedOption = 'current' + $scope.service.includePeers = false + $scope.service.selectedOption = "current" + var modalInstance = $uibModal.open({ templateUrl: 'saveConfig.html', scope: $scope, diff --git a/src/main/resources/resource/WebGui/app/service/views/NeoPixelGui.html b/src/main/resources/resource/WebGui/app/service/views/NeoPixelGui.html index 0cda4d2622..d3cef04291 100644 --- a/src/main/resources/resource/WebGui/app/service/views/NeoPixelGui.html +++ b/src/main/resources/resource/WebGui/app/service/views/NeoPixelGui.html @@ -10,7 +10,7 @@

{{address}} {{color}}

pixel count   - + From 5a558122ba948676cd866b06c14b0d947f86a6bc Mon Sep 17 00:00:00 2001 From: grog Date: Sun, 3 Sep 2023 12:06:08 -0700 Subject: [PATCH 020/232] rich change state object --- .../service/FiniteStateMachine.java | 27 +++- .../java/org/myrobotlab/service/InMoov2.java | 146 ++++++++++-------- .../service/config/InMoov2Config.java | 25 ++- 3 files changed, 121 insertions(+), 77 deletions(-) diff --git a/src/main/java/org/myrobotlab/service/FiniteStateMachine.java b/src/main/java/org/myrobotlab/service/FiniteStateMachine.java index f4d56d168e..280b31b9db 100644 --- a/src/main/java/org/myrobotlab/service/FiniteStateMachine.java +++ b/src/main/java/org/myrobotlab/service/FiniteStateMachine.java @@ -63,6 +63,17 @@ public class Tuple { public Transition transition; public StateTransition stateTransition; } + + public class StateChange { + public String last; + public String current; + public String event; + public StateChange(String last, String current, String event) { + this.last = last; + this.current = current; + this.event = event; + } + } private static Transition toFsmTransition(StateTransition state) { Transition transition = new Transition(); @@ -179,7 +190,7 @@ public void fire(String event) { log.info("fired event ({}) -> ({}) moves to ({})", event, last == null ? null : last.getName(), current == null ? null : current.getName()); if (last != null && !last.equals(current)) { - invoke("publishNewState", current.getName()); + invoke("publishStateChange", new StateChange(last.getName(), current.getName(), event)); history.add(current.getName()); } } catch (Exception e) { @@ -222,21 +233,21 @@ public List getTransitions() { } /** - * publishes state if changed here + * Publishes state change (current, last and event) * - * @param state + * @param stateChange * @return */ - public String publishNewState(String state) { - log.error("publishNewState {}", state); + public StateChange publishStateChange(StateChange stateChange) { + log.error("publishStateChange {}", stateChange); for (String listener : messageListeners) { ServiceInterface service = Runtime.getService(listener); if (service != null) { - org.myrobotlab.framework.Message msg = org.myrobotlab.framework.Message.createMessage(getName(), listener, CodecUtils.getCallbackTopicName(state), null); + org.myrobotlab.framework.Message msg = org.myrobotlab.framework.Message.createMessage(getName(), listener, CodecUtils.getCallbackTopicName(stateChange.current), null); service.in(msg); } } - return state; + return stateChange; } @Override @@ -404,7 +415,7 @@ public void setCurrent(String state) { stateMachine.setCurrent(state); current = stateMachine.getCurrent(); if (last != null && !last.equals(current)) { - invoke("publishNewState", current.getName()); + invoke("publishStateChange", new StateChange(last.getName(), current.getName(), null)); } } catch (Exception e) { log.error("setCurrent threw", e); diff --git a/src/main/java/org/myrobotlab/service/InMoov2.java b/src/main/java/org/myrobotlab/service/InMoov2.java index 2476bbbeef..36aa88718c 100644 --- a/src/main/java/org/myrobotlab/service/InMoov2.java +++ b/src/main/java/org/myrobotlab/service/InMoov2.java @@ -30,6 +30,7 @@ import org.myrobotlab.service.abstracts.AbstractSpeechRecognizer; import org.myrobotlab.service.abstracts.AbstractSpeechSynthesis; import org.myrobotlab.service.config.InMoov2Config; +import org.myrobotlab.service.config.SpeechSynthesisConfig; import org.myrobotlab.service.data.JoystickData; import org.myrobotlab.service.data.LedDisplayData; import org.myrobotlab.service.data.Locale; @@ -141,6 +142,11 @@ public static void main(String[] args) { protected Map ledDisplayMap = new TreeMap<>(); + /** + * map of events or states to sounds + */ + protected Map customSoundMap = new TreeMap<>(); + protected List errors = new ArrayList<>(); /** @@ -198,7 +204,6 @@ public InMoov2(String n, String id) { // consequence it this will need maintenance if there are new InMoov2 java // state handlers stateDefaults.add("wake"); - stateDefaults.add("idle"); stateDefaults.add("firstInit"); stateDefaults.add("idle"); stateDefaults.add("random"); @@ -215,6 +220,16 @@ public InMoov2(String n, String id) { ledDisplayMap.put("heartbeat", new LedDisplayData(210, 110, 0, 2, 100, 30)); ledDisplayMap.put("pirOn", new LedDisplayData(80, 200, 90, 3, 100, 30)); ledDisplayMap.put("onPeakColor", new LedDisplayData(180, 53, 21, 3, 60, 30)); + + customSoundMap.put("boot", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/confirmation.wav")); + customSoundMap.put("wake", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/sense.wav")); + customSoundMap.put("firstInit", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/select.wav")); + customSoundMap.put("idle", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/start.wav")); + customSoundMap.put("random", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/reveal.wav")); + customSoundMap.put("sleep", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/back.wav")); + customSoundMap.put("powerDown", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/ting.wav")); + customSoundMap.put("shutdown", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/marimba.wav")); + } /** @@ -716,7 +731,7 @@ public void loadGestures() { * @return true/false */ public boolean loadGestures(String directory) { - invoke("publishEvent", "LOAD GESTURES"); + systemEvent("LOAD GESTURES"); // iterate over each of the python files in the directory // and load them into the python interpreter. @@ -771,7 +786,7 @@ public void loadScripts(String directory) throws IOException { File dir = new File(directory); if (!dir.exists() || !dir.isDirectory()) { - invoke("publishEvent", "LOAD SCRIPTS ERROR"); + systemEvent("LOAD SCRIPTS ERROR"); return; } @@ -788,6 +803,7 @@ public boolean accept(File dir, String name) { for (File file : files) { Python p = (Python) Runtime.start("python", "Python"); if (p != null) { + // FIXME error("x") when an error occurs p.execFile(file.getAbsolutePath()); } } @@ -924,7 +940,7 @@ public void moveTorsoBlocking(Double topStom, Double midStom, Double lowStom) { public PredicateEvent onChangePredicate(PredicateEvent event) { log.error("onChangePredicate {}", event); if (event.name.equals("topic")) { - invoke("publishEvent", String.format("TOPIC CHANGED TO %s", event.value)); + systemEvent("TOPIC CHANGED TO %s", event.value); } // depending on configuration .... // call python ? @@ -1042,7 +1058,6 @@ public void onJointAngles(Map angleMap) { public void onJoystickInput(JoystickData input) throws Exception { // TODO timer ? to test and not send an event // switches to manual control ? - invoke("publishEvent", "joystick"); } public void onMoveHead(Map map) { @@ -1109,14 +1124,21 @@ public void onMoveTorso(Map map) { * @param state * @return */ - public String onNewState(String state) { - log.error("onNewState {}", state); + public FiniteStateMachine.StateChange onStateChange(FiniteStateMachine.StateChange state) { + log.error("onStateChange {}", state); + + // if ("boot".equals(state.last) && config.stateBootIsMute && + // getPeer("mouth") != null) { + // AbstractSpeechSynthesis mouth = + // (AbstractSpeechSynthesis) getPeer("mouth"); + // mouth.setMute(wasMutedBeforeBoot); + // } - invoke("publishEvent", String.format("ON STATE %s", state)); + systemEvent("ON STATE %s", state.current); // TODO - only a few InMoov2 state defaults will be called here - if (stateDefaults.contains(state)) { - invoke(state); + if (stateDefaults.contains(state.current)) { + invoke(state.current); } // FIXME add topic changes to AIML here ! @@ -1125,7 +1147,7 @@ public String onNewState(String state) { // put configurable filter here ! // state substitutions ? - // let python subscribe directly to fsm.publishNewState + // let python subscribe directly to fsm.publishStateChange // if python && configured to do python inmoov2 library callbacks // do a callback ... default NOOPs should be in library @@ -1146,6 +1168,7 @@ public OpenCVData onOpenCVData(OpenCVData data) { /** * onPeak volume callback TODO - maybe make it variable with volume ? + * * @param volume */ public void onPeak(double volume) { @@ -1171,14 +1194,8 @@ public void onPirOn() { invoke("publishFlash", pirOn); } } - // pirOn event vs wake event - // FIXME - this is state related - String topic = chatBot.getPredicate("topic"); - // if sleeping then publishe a wake event - if ("sleep".equals(topic)) { - invoke("publishEvent", "wake"); - } + fsm.fire("wake"); } public void powerDown() { @@ -1218,9 +1235,9 @@ public boolean onSense(boolean b) { // setEvent("pir-sense-on" .. also sets it in config ? // config.handledEvents["pir-sense-on"] if (b) { - invoke("publishEvent", "PIR ON"); + systemEvent("PIR ON"); } else { - invoke("publishEvent", "PIR OFF"); + systemEvent("PIR OFF"); } return b; } @@ -1302,7 +1319,17 @@ public String publishConfigFinished(String configName) { public List publishConfigList() { return configList; } + + public String systemEvent(String eventMsg) { + invoke("publishSystemEvent", eventMsg); + return eventMsg; + } + public String systemEvent(String format, Object ...ags) { + String eventMsg = String.format(format, ags); + return systemEvent(eventMsg); + } + /** * event publisher for the fsm - although other services potentially can * consume and filter this event channel @@ -1310,7 +1337,8 @@ public List publishConfigList() { * @param event * @return */ - public String publishEvent(String event) { + public String publishSystemEvent(String event) { + // well, it turned out underscore was a goofy selection, as underscore in aiml is wildcard ... duh return String.format("SYSTEM_EVENT %s", event); } @@ -1371,8 +1399,8 @@ public Map publishMoveTorso(Map map) { return map; } - public String publishNewState(String state) { - log.info("publishNewState {}", state); + public FiniteStateMachine.StateChange publishStateChange(FiniteStateMachine.StateChange state) { + log.info("publishStateChange {}", state); return state; } @@ -1412,7 +1440,7 @@ public String publishText(String text) { public void releasePeer(String peerKey) { super.releasePeer(peerKey); if (peerKey != null) { - invoke("publishEvent", "STOPPED " + peerKey); + systemEvent("STOPPED %s", peerKey); } } @@ -1696,29 +1724,8 @@ public void speakBlocking(String format, Object... args) { } } - public void startAll() throws Exception { - startAll(null, null); - } - - public void startAll(String leftPort, String rightPort) throws Exception { - startMouth(); - startChatBot(); - - // startHeadTracking(); - // startEyesTracking(); - // startOpenCV(); - startEar(); - - startServos(); - // startMouthControl(head.jaw, mouth); - - speakBlocking(get("STARTINGSEQUENCE")); - } - - public void startBrain() { - startChatBot(); - } + @Deprecated /*This needs to be removed !*/ public ProgramAB startChatBot() { try { @@ -1767,10 +1774,12 @@ public ProgramAB startChatBot() { if (chatBot.getPredicate("default", "firstinit").isEmpty() || chatBot.getPredicate("default", "firstinit").equals("unknown") || chatBot.getPredicate("default", "firstinit").equals("started")) { chatBot.startSession(chatBot.getPredicate("default", "lastUsername")); - invoke("publishEvent", "FIRST INIT"); + // probably not necessary - state change events should be enough + systemEvent("FIRST INIT"); } else { chatBot.startSession(chatBot.getPredicate("default", "lastUsername")); - invoke("publishEvent", "WAKE UP"); + // probably not necessary - state change events should be enough + systemEvent("WAKE UP"); } } catch (Exception e) { speak("could not load chatBot"); @@ -1909,6 +1918,8 @@ public void publishBoot() { log.info("publishBoot"); } + boolean wasMutedBeforeBoot = false; + /** * At boot all services specified through configuration have started, or if no * configuration has started minimally the InMoov2 service has started. During @@ -1961,6 +1972,7 @@ synchronized public void onBoot() { error(e); } + // FIXME - find good way of running an animation "through" a state if (config.neoPixelBootGreen && getPeer("neoPixel") != null) { NeoPixel neoPixel = (NeoPixel) getPeer("neoPixel"); if (neoPixel != null) { @@ -1974,20 +1986,21 @@ synchronized public void onBoot() { ((AudioFile) getPeer("audioPlayer")).playBlocking(FileIO.gluePaths(getResourceDir(), "/system/sounds/startupsound.mp3")); } - if (bootedConfig != null) { - // configuration was processed before booting - invoke("publishEvent", "CONFIG STARTED " + bootedConfig); - } - - // publish config started + if (config.systemEventsOnBoot) { + // reporting on all services and config started + if (bootedConfig != null) { + // configuration was processed before booting + systemEvent("CONFIG STARTED %s", bootedConfig); + } - for (String peerKey : peersStarted) { - invoke("publishEvent", "STARTED " + peerKey); - } + for (String peerKey : peersStarted) { + systemEvent("STARTED %s", peerKey); + } - if (bootedConfig != null) { - // configuration was processed before booting - invoke("publishEvent", "CONFIG LOADED " + bootedConfig); + if (bootedConfig != null) { + // configuration was processed before booting + systemEvent("CONFIG LOADED %s", bootedConfig); + } } // FIXME - important to do invoke & fsm needs to be consistent order @@ -2010,6 +2023,12 @@ synchronized public void onBoot() { fsm.fire("wake"); + // if (getPeer("mouth") != null) { + // AbstractSpeechSynthesis mouth = + // (AbstractSpeechSynthesis)getPeer("mouth"); + // mouth.setMute(wasMute); + // } + } /** @@ -2101,6 +2120,11 @@ public void wake() { public void firstInit() { log.info("firstInit"); + // cheap way to prevent race condition + // of "wake" firing a state change .. which will spawn + // a system event of FIRST_INIT that will answer this + // question ... + sleep(2000); ProgramAB chatBot = (ProgramAB) getPeer("chatBot"); if (chatBot != null) { chatBot.getResponse("FIRST_INIT"); @@ -2165,7 +2189,7 @@ public void systemCheck() { Platform platform = Runtime.getPlatform(); setPredicate("system version", platform.getVersion()); // ERROR buffer !!! - invoke("publishEvent", "systemCheckFinished"); + systemEvent("SYSTEMCHECKFINISHED"); // wtf is this? } // FIXME - if this is really desired it will drive local references for all diff --git a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java index 4434f3db2d..ca547d15f6 100644 --- a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java +++ b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java @@ -30,13 +30,11 @@ public class InMoov2Config extends ServiceConfig { */ public boolean batteryLevelCheck = false; - // public boolean customSound = false; - /** - * First Initialization occurs when the user starts the InMoov2 service for the - * very first time, and ProgramAB can process learning about the user + * enable custom sound map for state changes */ - public boolean firstInit = true; + public boolean customSound = false; + public boolean forceMicroOnIfSleeping = true; @@ -104,7 +102,7 @@ public class InMoov2Config extends ServiceConfig { public boolean pirWakeUp = true; public boolean robotCanMoveHeadWhileSpeaking = true; - + /** * startup and shutdown will pause inmoov - set the speed to this value then * attempt to move to rest @@ -118,6 +116,17 @@ public class InMoov2Config extends ServiceConfig { public boolean startupSound = true; + /** + * Determines if InMoov2 publish system events during boot state + */ + public boolean systemEventsOnBoot = false; + + /** + * + */ + public boolean stateChangeIsMute = true; + + /** * Interval in seconds for a idle state event to fire off. * If the fsm is in a state which will allow transitioning, the InMoov2 @@ -450,7 +459,7 @@ public Plan getDefault(Plan plan, String name) { listeners.add(new Listener("publishBoot", name)); listeners.add(new Listener("publishHeartbeat", name)); listeners.add(new Listener("publishConfigFinished", name)); - listeners.add(new Listener("publishNewState", name)); + listeners.add(new Listener("publishStateChange", name)); // listeners.add(new Listener("publishPowerUp", name)); // listeners.add(new Listener("publishPowerDown", name)); @@ -467,7 +476,7 @@ public Plan getDefault(Plan plan, String name) { AudioFileConfig mouth_audioFile = (AudioFileConfig) plan.get(getPeerName("mouth.audioFile")); mouth_audioFile.listeners = new ArrayList<>(); mouth_audioFile.listeners.add(new Listener("publishPeak", name)); - fsm.listeners.add(new Listener("publishNewState", name, "publishNewState")); + fsm.listeners.add(new Listener("publishStateChange", name, "publishStateChange")); // mouth_audioFile.listeners.add(new Listener("publishAudioEnd", name)); // mouth_audioFile.listeners.add(new Listener("publishAudioStart", name)); From 6d60fdcbf23cc02f938358e189ff9110cac6b3e4 Mon Sep 17 00:00:00 2001 From: grog Date: Sun, 3 Sep 2023 14:54:30 -0700 Subject: [PATCH 021/232] cleaned up onStateChange --- .../java/org/myrobotlab/service/InMoov2.java | 173 +++++++++--------- .../java/org/myrobotlab/service/NeoPixel.java | 6 +- 2 files changed, 95 insertions(+), 84 deletions(-) diff --git a/src/main/java/org/myrobotlab/service/InMoov2.java b/src/main/java/org/myrobotlab/service/InMoov2.java index 36aa88718c..3a9de36b24 100644 --- a/src/main/java/org/myrobotlab/service/InMoov2.java +++ b/src/main/java/org/myrobotlab/service/InMoov2.java @@ -30,7 +30,6 @@ import org.myrobotlab.service.abstracts.AbstractSpeechRecognizer; import org.myrobotlab.service.abstracts.AbstractSpeechSynthesis; import org.myrobotlab.service.config.InMoov2Config; -import org.myrobotlab.service.config.SpeechSynthesisConfig; import org.myrobotlab.service.data.JoystickData; import org.myrobotlab.service.data.LedDisplayData; import org.myrobotlab.service.data.Locale; @@ -188,9 +187,9 @@ public static void main(String[] args) { protected String voiceSelected; /** - * prevents being booted more than once + * Prevents actions or events from happening when InMoov2 is first booted */ - private boolean booted = false; + private boolean hasBooted = false; protected List peersStarted = new ArrayList<>(); @@ -222,7 +221,7 @@ public InMoov2(String n, String id) { ledDisplayMap.put("onPeakColor", new LedDisplayData(180, 53, 21, 3, 60, 30)); customSoundMap.put("boot", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/confirmation.wav")); - customSoundMap.put("wake", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/sense.wav")); + customSoundMap.put("wake", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/ting.wav")); customSoundMap.put("firstInit", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/select.wav")); customSoundMap.put("idle", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/start.wav")); customSoundMap.put("random", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/reveal.wav")); @@ -985,58 +984,64 @@ public void onGestureStatus(Status status) { unsubscribe("python", "publishStatus", this.getName(), "onGestureStatus"); } + /** + * A generalized recurring event which can preform checks and various other + * methods or tasks. Heartbeats will not start until after boot stage. + */ public void onHeartbeat() { - // heartbeats can start before config is - // done processing - so the following should - // not be dependent on config - - if (config.heartbeatFlash) { - if (ledDisplayMap.get("heartbeat") != null) { - LedDisplayData heartbeat = ledDisplayMap.get("heartbeat"); - invoke("publishFlash", heartbeat); + try { + // heartbeats can start before config is + // done processing - so the following should + // not be dependent on config + + if (!hasBooted) { + log.info("boot hasn't completed, will not process heartbeat"); + return; } - } - if (config.batteryLevelCheck) { - double batteryLevel = Runtime.getBatteryLevel(); - invoke("publishBatteryLevel", batteryLevel); - // FIXME - thresholding should always have old value or state - // so we don't pump endless errors - if (batteryLevel < 5) { - error("battery level < 5 percent"); - } else if (batteryLevel < 10) { - warn("battery level < 10 percent"); + if (config.batteryLevelCheck) { + double batteryLevel = Runtime.getBatteryLevel(); + invoke("publishBatteryLevel", batteryLevel); + // FIXME - thresholding should always have old value or state + // so we don't pump endless errors + if (batteryLevel < 5) { + error("battery level < 5 percent"); + // systemEvent(BATTERY ERROR) + } else if (batteryLevel < 10) { + warn("battery level < 10 percent"); + // systemEvent(BATTERY WARN) + } } - } - // flash error until errors are cleared - if (config.healthCheckFlash && errors.size() > 0) { - if (ledDisplayMap.containsKey("error")) { - invoke("publishFlash", ledDisplayMap.get("error")); + // flash error until errors are cleared + if (config.healthCheckFlash) { + if (errors.size() > 0 && ledDisplayMap.containsKey("error")) { + invoke("publishFlash", ledDisplayMap.get("error")); + } else if (ledDisplayMap.containsKey("heartbeat")) { + LedDisplayData heartbeat = ledDisplayMap.get("heartbeat"); + invoke("publishFlash", heartbeat); + } } - } - // interval event firing ... - // sequence of these makes a difference and is hardcode fyi + Long lastActivityTime = getLastActivityTime(); - // if there is activity in the idle time window - reset idle time to current - // time - // so idle event will not fire until at least inverval after activity - Long lastActivityTime = getLastActivityTime(); + if (lastActivityTime != null && lastActivityTime + (config.stateIdleInterval * 1000) < System.currentTimeMillis()) { + stateLastIdleTime = lastActivityTime; + } - if (lastActivityTime != null && lastActivityTime + (config.stateIdleInterval * 1000) < System.currentTimeMillis()) { - stateLastIdleTime = lastActivityTime; - } + if (System.currentTimeMillis() > stateLastIdleTime + (config.stateIdleInterval * 1000)) { + fsm.fire("idle"); + stateLastIdleTime = System.currentTimeMillis(); + } - if (System.currentTimeMillis() > stateLastIdleTime + (config.stateIdleInterval * 1000)) { - fsm.fire("idle"); - stateLastIdleTime = System.currentTimeMillis(); - } + // interval event firing + if (System.currentTimeMillis() > stateLastRandomTime + (config.stateRandomInterval * 1000)) { + fsm.fire("random"); + stateLastRandomTime = System.currentTimeMillis(); + } - // interval event firing - if (System.currentTimeMillis() > stateLastRandomTime + (config.stateRandomInterval * 1000)) { - fsm.fire("random"); - stateLastRandomTime = System.currentTimeMillis(); + } catch (Exception e) { + error(e); } } @@ -1121,44 +1126,46 @@ public void onMoveTorso(Map map) { * Depending on config: * * - * @param state + * @param stateChange * @return */ - public FiniteStateMachine.StateChange onStateChange(FiniteStateMachine.StateChange state) { - log.error("onStateChange {}", state); + public FiniteStateMachine.StateChange onStateChange(FiniteStateMachine.StateChange stateChange) { + try { + log.error("onStateChange {}", stateChange); - // if ("boot".equals(state.last) && config.stateBootIsMute && - // getPeer("mouth") != null) { - // AbstractSpeechSynthesis mouth = - // (AbstractSpeechSynthesis) getPeer("mouth"); - // mouth.setMute(wasMutedBeforeBoot); - // } + String state = stateChange.current; + systemEvent("ON STATE %s", state); - systemEvent("ON STATE %s", state.current); + if (config.customSounds && customSoundMap.containsKey(state)) { + invoke("publishPlayAudioFile", customSoundMap.get(state)); + } - // TODO - only a few InMoov2 state defaults will be called here - if (stateDefaults.contains(state.current)) { - invoke(state.current); - } + // TODO - only a few InMoov2 state defaults will be called here + if (stateDefaults.contains(state)) { + invoke(state); + } - // FIXME add topic changes to AIML here ! - // FIXME add clallbacks to inmmoov2 library + // FIXME add topic changes to AIML here ! + // FIXME add clallbacks to inmmoov2 library - // put configurable filter here ! + // put configurable filter here ! - // state substitutions ? - // let python subscribe directly to fsm.publishStateChange + // state substitutions ? + // let python subscribe directly to fsm.publishStateChange - // if python && configured to do python inmoov2 library callbacks - // do a callback ... default NOOPs should be in library + // if python && configured to do python inmoov2 library callbacks + // do a callback ... default NOOPs should be in library - // if - // invoke(state); - // depending on configuration .... - // call python ? - // fire fsm events ? - // do defaults ? - return state; + // if + // invoke(state); + // depending on configuration .... + // call python ? + // fire fsm events ? + // do defaults ? + } catch (Exception e) { + error(e); + } + return stateChange; } public OpenCVData onOpenCVData(OpenCVData data) { @@ -1319,17 +1326,17 @@ public String publishConfigFinished(String configName) { public List publishConfigList() { return configList; } - + public String systemEvent(String eventMsg) { invoke("publishSystemEvent", eventMsg); - return eventMsg; + return eventMsg; } - public String systemEvent(String format, Object ...ags) { + public String systemEvent(String format, Object... ags) { String eventMsg = String.format(format, ags); - return systemEvent(eventMsg); + return systemEvent(eventMsg); } - + /** * event publisher for the fsm - although other services potentially can * consume and filter this event channel @@ -1338,7 +1345,8 @@ public String systemEvent(String format, Object ...ags) { * @return */ public String publishSystemEvent(String event) { - // well, it turned out underscore was a goofy selection, as underscore in aiml is wildcard ... duh + // well, it turned out underscore was a goofy selection, as underscore in + // aiml is wildcard ... duh return String.format("SYSTEM_EVENT %s", event); } @@ -1724,8 +1732,7 @@ public void speakBlocking(String format, Object... args) { } } - - @Deprecated /*This needs to be removed !*/ + @Deprecated /* This needs to be removed ! */ public ProgramAB startChatBot() { try { @@ -1934,11 +1941,10 @@ public void publishBoot() { synchronized public void onBoot() { // thinking you shouldn't "boot" twice ? - if (booted) { + if (hasBooted) { log.warn("will not boot again"); return; } - booted = true; List services = Runtime.getServices(); for (ServiceInterface si : services) { @@ -2029,6 +2035,7 @@ synchronized public void onBoot() { // mouth.setMute(wasMute); // } + hasBooted = true; } /** diff --git a/src/main/java/org/myrobotlab/service/NeoPixel.java b/src/main/java/org/myrobotlab/service/NeoPixel.java index 05a2106a5d..d9fa5e51cb 100644 --- a/src/main/java/org/myrobotlab/service/NeoPixel.java +++ b/src/main/java/org/myrobotlab/service/NeoPixel.java @@ -386,7 +386,11 @@ public void detachNeoPixelController(NeoPixelController neoCntrlr) { } public void onLedDisplay(LedDisplayData data) { - displayQueue.add(data); + try { + displayQueue.add(data); + } catch(IllegalStateException e) { + log.info("queue full"); + } } public void flash() { From 5ef82fa1f61850c9649c5cf5e1678aee7eb51f84 Mon Sep 17 00:00:00 2001 From: grog Date: Thu, 7 Sep 2023 08:06:07 -0700 Subject: [PATCH 022/232] py4j.py a wip but other stuff worky --- .../framework/interfaces/JsonInvoker.java | 22 ++++ .../framework/interfaces/JsonSender.java | 12 ++ .../framework/interfaces/MessageSender.java | 2 +- .../interfaces/SimpleMessageSender.java | 9 ++ .../java/org/myrobotlab/service/Gpt3.java | 6 +- .../java/org/myrobotlab/service/InMoov2.java | 14 +- .../java/org/myrobotlab/service/Py4j.java | 62 +++++++-- .../service/config/InMoov2Config.java | 13 +- .../service/interfaces/Executor.java | 5 +- src/main/resources/resource/Py4j/Py4j.py | 123 +++++++++++++++++- .../app/service/js/FiniteStateMachineGui.js | 6 +- .../WebGui/app/service/tab-header.html | 2 +- 12 files changed, 242 insertions(+), 34 deletions(-) create mode 100644 src/main/java/org/myrobotlab/framework/interfaces/JsonInvoker.java create mode 100644 src/main/java/org/myrobotlab/framework/interfaces/JsonSender.java create mode 100644 src/main/java/org/myrobotlab/framework/interfaces/SimpleMessageSender.java diff --git a/src/main/java/org/myrobotlab/framework/interfaces/JsonInvoker.java b/src/main/java/org/myrobotlab/framework/interfaces/JsonInvoker.java new file mode 100644 index 0000000000..76b4628079 --- /dev/null +++ b/src/main/java/org/myrobotlab/framework/interfaces/JsonInvoker.java @@ -0,0 +1,22 @@ +package org.myrobotlab.framework.interfaces; + +import org.myrobotlab.framework.Message; + +public interface JsonInvoker { + + /** + * No parameter method + * @param method + * @return + */ + public Object invoke(String method); + + /** + * Encoded parameters as a JSON String (encoded once!) + * @param method + * @param encodedParameters + * @return + */ + public Object invoke(String method, String encodedParameters); + +} diff --git a/src/main/java/org/myrobotlab/framework/interfaces/JsonSender.java b/src/main/java/org/myrobotlab/framework/interfaces/JsonSender.java new file mode 100644 index 0000000000..ef2a7c0056 --- /dev/null +++ b/src/main/java/org/myrobotlab/framework/interfaces/JsonSender.java @@ -0,0 +1,12 @@ +package org.myrobotlab.framework.interfaces; + +public interface JsonSender { + + /** + * Send interface which takes a json encoded Message. + * For schema look at org.myrobotlab.framework.Message + * @param jsonEncodedMessage + */ + public void send(String jsonEncodedMessage); + +} diff --git a/src/main/java/org/myrobotlab/framework/interfaces/MessageSender.java b/src/main/java/org/myrobotlab/framework/interfaces/MessageSender.java index ba0f5f1f19..c05a7b16e2 100644 --- a/src/main/java/org/myrobotlab/framework/interfaces/MessageSender.java +++ b/src/main/java/org/myrobotlab/framework/interfaces/MessageSender.java @@ -3,7 +3,7 @@ import org.myrobotlab.framework.Message; import org.myrobotlab.framework.TimeoutException; -public interface MessageSender extends NameProvider { +public interface MessageSender extends NameProvider, SimpleMessageSender { /** * Send invoking messages to remote location to invoke {name} instance's diff --git a/src/main/java/org/myrobotlab/framework/interfaces/SimpleMessageSender.java b/src/main/java/org/myrobotlab/framework/interfaces/SimpleMessageSender.java new file mode 100644 index 0000000000..a4d6d54a64 --- /dev/null +++ b/src/main/java/org/myrobotlab/framework/interfaces/SimpleMessageSender.java @@ -0,0 +1,9 @@ +package org.myrobotlab.framework.interfaces; + +import org.myrobotlab.framework.Message; + +public interface SimpleMessageSender { + + public void send(Message msg); + +} diff --git a/src/main/java/org/myrobotlab/service/Gpt3.java b/src/main/java/org/myrobotlab/service/Gpt3.java index 19da929f49..67ed717639 100644 --- a/src/main/java/org/myrobotlab/service/Gpt3.java +++ b/src/main/java/org/myrobotlab/service/Gpt3.java @@ -119,10 +119,7 @@ public Response getResponse(String text) { @SuppressWarnings({ "unchecked", "rawtypes" }) Map textObject = (Map) choices.get(0); responseText = (String) textObject.get("text"); - if (responseText != null) { - // /completions - invoke("publishText", responseText); - } else { + if (responseText == null) { // /chat/completions @SuppressWarnings({ "unchecked", "rawtypes" }) Map content = (Map)textObject.get("message"); @@ -156,6 +153,7 @@ public Response getResponse(String text) { if (responseText != null && responseText.length() > 0) { invoke("publishUtterance", utterance); invoke("publishResponse", response); + invoke("publishText", responseText); } return response; diff --git a/src/main/java/org/myrobotlab/service/InMoov2.java b/src/main/java/org/myrobotlab/service/InMoov2.java index 3a9de36b24..908806f2a1 100644 --- a/src/main/java/org/myrobotlab/service/InMoov2.java +++ b/src/main/java/org/myrobotlab/service/InMoov2.java @@ -1134,7 +1134,15 @@ public FiniteStateMachine.StateChange onStateChange(FiniteStateMachine.StateChan log.error("onStateChange {}", stateChange); String state = stateChange.current; - systemEvent("ON STATE %s", state); + + // getPeer("py4j") ? + // Py4j py4j +// String code = getName()".onStateChange(" +// invoke("publishPython", "onStateChange", stateChange ); + + if (config.systemEventStateChange) { + systemEvent("ON STATE %s", state); + } if (config.customSounds && customSoundMap.containsKey(state)) { invoke("publishPlayAudioFile", customSoundMap.get(state)); @@ -1167,6 +1175,10 @@ public FiniteStateMachine.StateChange onStateChange(FiniteStateMachine.StateChan } return stateChange; } + +// public Message publishPython(String method, Object...data) { +// return Message.createMessage(getName(), getName(), method, data); +// } public OpenCVData onOpenCVData(OpenCVData data) { // FIXME - publish event with or without data ? String file reference diff --git a/src/main/java/org/myrobotlab/service/Py4j.java b/src/main/java/org/myrobotlab/service/Py4j.java index fd2755a733..dd36bf505b 100644 --- a/src/main/java/org/myrobotlab/service/Py4j.java +++ b/src/main/java/org/myrobotlab/service/Py4j.java @@ -9,7 +9,6 @@ import java.util.HashMap; import java.util.List; import java.util.Map; -import java.util.Set; import org.bytedeco.javacpp.Loader; import org.myrobotlab.codec.CodecUtils; @@ -21,9 +20,11 @@ import org.myrobotlab.logging.Level; import org.myrobotlab.logging.LoggerFactory; import org.myrobotlab.logging.LoggingFactory; +import org.myrobotlab.net.Connection; import org.myrobotlab.service.config.Py4jConfig; import org.myrobotlab.service.data.Script; import org.myrobotlab.service.interfaces.Executor; +import org.myrobotlab.service.interfaces.Gateway; import org.slf4j.Logger; import py4j.GatewayServer; @@ -53,7 +54,7 @@ * * @author GroG */ -public class Py4j extends Service implements GatewayServerListener { +public class Py4j extends Service implements GatewayServerListener, Gateway { /** * POJO class to tie all the data elements of a external python process @@ -234,15 +235,6 @@ private String getClientKey(Py4JServerConnection gatewayConnection) { return String.format("%s:%d", gatewayConnection.getSocket().getInetAddress(), gatewayConnection.getSocket().getPort()); } - /** - * return a set of client connections - probably could be deprecated to a - * single client, but was not sure - * - * @return - */ - public Set getClients() { - return clients.keySet(); - } /** * get listing of filesystem files location will be data/Py4j/{serviceName} @@ -336,7 +328,19 @@ public boolean preProcessHook(Message msg) { // TODO - determine clients are connected .. how many clients etc.. try { if (handler != null) { - handler.invoke(msg.method, msg.data); + // afaik - Py4j does some kind of magical encoding to get a JavaObject + // back to the Python process, but: + // 1. its useless for users - no way to access the content ? + // 2. you can't do anything with it + // So, I've chosen to json encode it here, and the Py4j.py MessageHandler will + // decode it into a Python dictionary \o/ + // we do single encoding including the parameter array - there is no header needed + // with method and other details, as the invoke here is invoking directly in the + // Py4j.py script + + String json = CodecUtils.toJson(msg); + // handler.invoke(msg.method, json); + handler.send(json); } else { error("preProcessHook handler is null"); } @@ -586,7 +590,37 @@ public static void main(String[] args) { log.error("main threw", e); } } - - + + @Override + public void connect(String uri) throws Exception { + // host:port of python process running py4j ??? + + } + + /** + * Remote in this context is the remote python process + */ + @Override + public void sendRemote(Message msg) throws Exception { + log.info("sendRemote"); + String jsonMsg = CodecUtils.toJson(msg); + handler.send(jsonMsg); + } + + @Override + public boolean isLocal(Message msg) { + return Runtime.getInstance().isLocal(msg); + } + + @Override + public List getClientIds() { + return Runtime.getInstance().getConnectionUuids(getName()); + } + + @Override + public Map getClients() { + return Runtime.getInstance().getConnections(getName()); + } + } diff --git a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java index ca547d15f6..6d4354f121 100644 --- a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java +++ b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java @@ -33,7 +33,7 @@ public class InMoov2Config extends ServiceConfig { /** * enable custom sound map for state changes */ - public boolean customSound = false; + public boolean customSounds = false; public boolean forceMicroOnIfSleeping = true; @@ -121,6 +121,11 @@ public class InMoov2Config extends ServiceConfig { */ public boolean systemEventsOnBoot = false; + /** + * Publish system event when state changes + */ + public boolean systemEventStateChange = true; + /** * */ @@ -225,6 +230,12 @@ public Plan getDefault(Plan plan, String name) { chatBot.listeners = new ArrayList<>(); } chatBot.listeners.add(new Listener("publishText", name + ".htmlFilter", "onText")); + + + ProgramABConfig gpt3 = (ProgramABConfig) plan.get(getPeerName("gpt3")); + gpt3.listeners = new ArrayList<>(); + gpt3.listeners.add(new Listener("publishText", name + ".htmlFilter", "onText")); + HtmlFilterConfig htmlFilter = (HtmlFilterConfig) plan.get(getPeerName("htmlFilter")); // htmlFilter.textListeners = new String[] { name + ".mouth" }; diff --git a/src/main/java/org/myrobotlab/service/interfaces/Executor.java b/src/main/java/org/myrobotlab/service/interfaces/Executor.java index e1566c015a..85ebdb61d1 100644 --- a/src/main/java/org/myrobotlab/service/interfaces/Executor.java +++ b/src/main/java/org/myrobotlab/service/interfaces/Executor.java @@ -1,6 +1,7 @@ package org.myrobotlab.service.interfaces; -import org.myrobotlab.framework.interfaces.Invoker; +import org.myrobotlab.framework.interfaces.JsonInvoker; +import org.myrobotlab.framework.interfaces.JsonSender; /** * Interface to a Executor - currently only utilized by Py4j to @@ -10,7 +11,7 @@ * @author GroG * */ -public interface Executor extends Invoker { +public interface Executor extends JsonInvoker, JsonSender { /** * exec in Python - executes arbitrary code diff --git a/src/main/resources/resource/Py4j/Py4j.py b/src/main/resources/resource/Py4j/Py4j.py index 0cdb5b3bce..3c75cd94c5 100644 --- a/src/main/resources/resource/Py4j/Py4j.py +++ b/src/main/resources/resource/Py4j/Py4j.py @@ -13,13 +13,78 @@ # the gateway import sys - +import json +from abc import ABC, abstractmethod from py4j.java_collections import JavaObject, JavaClass from py4j.java_gateway import JavaGateway, CallbackServerParameters, GatewayParameters -runtime = None +class Service(ABC): + def __init__(self, name): + self.java_object = runtime.start(name, self.getType()) + + def __getattr__(self, attr): + # Delegate attribute access to the underlying Java object + return getattr(self.java_object, attr) + + def __str__(self): + # Delegate string representation to the underlying Java object + return str(self.java_object) + + def subscribe(self, event): + print("subscribe") + self.java_object.subscribe(event) + + @abstractmethod + def getType(self): + pass + + +class NeoPixel(Service): + def __init__(self, name): + super().__init__(name) + + def getType(self): + return "NeoPixel" + + def onFlash(self): + print("onFlash") + + +class InMoov2(Service): + def __init__(self, name): + super().__init__(name) + self.subscribe('onStateChange') + + def getType(self): + return "InMoov2" + + def onOnStateChange(self, state): + print("onOnStateChange") + print(state) + print(state.get('last')) + print(state.get('current')) + print(state.get('event')) + + +# TODO dynamically add classes that you don't bother to check in +# class Runtime(Service): +# def __init__(self, name): +# super().__init__(name) + + +# FIXME - REMOVE THIS - DO NOT SET ANY GLOBALS !!!! +runtime = None + +# TODO - rename to mrl_lib ? +# e.g. +# mrl = mrl_lib.connect("localhost", 1099) +# i01 = InMoov("i01", mrl) +# or +# runtime = mrl_lib.connect("localhost", 1099) # JVM connection Py4j instance needed for a gateway +# runtime.start("i01", "InMoov2") # starts Java service +# runtime.start("nativePythonService", "NativePythonClass") # starts Python service no gateway needed class MessageHandler(object): """ The class responsible for receiving and processing Py4j messages, @@ -41,10 +106,34 @@ def __init__(self): python_server_entry_point=self, gateway_parameters=GatewayParameters(auto_convert=True)) self.runtime = self.gateway.jvm.org.myrobotlab.service.Runtime.getInstance() + # FIXME - REMOVE THIS - DO NOT SET ANY GLOBALS !!!! runtime = self.runtime self.py4j = None # need to wait until name is set print("initialized ... waiting for name to be set") + def construct_runtime(self): + """ + Constructs a new Runtime instance and returns it. + """ + jvm_runtime = self.gateway.jvm.org.myrobotlab.service.Runtime.getInstance() + + # Define class attributes and methods as dictionaries + class_attributes = { + 'x': 0, + 'y': 0, + 'move': lambda self, dx, dy: setattr(self, 'x', self.x + dx) or setattr(self, 'y', self.y + dy), + 'get_position': lambda self: (self.x, self.y), + } + + # Create the class dynamically using the type() function + MyDynamicClass = type('MyDynamicClass', (object,), class_attributes) + + # Create an instance of the dynamically created class + obj = MyDynamicClass() + + + return self.runtime + # Define the callback function def handle_connection_break(self): # Add your custom logic here to handle the connection break @@ -78,11 +167,15 @@ def setName(self, name): print("reference to runtime") # TODO print env vars PYTHONPATH etc return name + + def getRuntime(self): + return self.runtime def exec(self, code): """ Executes Python code in the global namespace. - All exceptions are caught and printed so that the Python subprocess doesn't crash. + All exceptions are caught and printed so that the + Python subprocess doesn't crash. :param code: The Python code to execute. :type code: str @@ -94,22 +187,38 @@ def exec(self, code): except Exception as e: print(e) - def invoke(self, method, data=()): + def send(self, json_msg): + msg = json.loads(json_msg) + if msg.get("data") is None or msg.get("data") == []: + globals()[msg.get("method")]() + else: + globals()[msg.get("method")](*msg.get("data")) + + # equivalent to JS onMessage + def invoke(self, method, data=None): """ Invoke a function from the global namespace with the given parameters. :param method: The name of the function to invoke. :type method: str - :param data: The parameters to pass to the function, defaulting to no parameters. + :param data: The parameters to pass to the function, defaulting to + no parameters. :type data: Iterable """ # convert to list - params = list(data) + # params = list(data) not necessary will always be a json string # Lookup the method in the global namespace # Much much faster than using eval() - globals()[method](*params) + + # data should be None or always a list of params + if data is None: + globals()[method]() + else: + # one shot json decode + params = json.loads(data) + globals()[method](*params) def shutdown(self): """ diff --git a/src/main/resources/resource/WebGui/app/service/js/FiniteStateMachineGui.js b/src/main/resources/resource/WebGui/app/service/js/FiniteStateMachineGui.js index 0e1e8f7ce5..42c559c999 100644 --- a/src/main/resources/resource/WebGui/app/service/js/FiniteStateMachineGui.js +++ b/src/main/resources/resource/WebGui/app/service/js/FiniteStateMachineGui.js @@ -49,8 +49,8 @@ angular.module('mrlapp.service.FiniteStateMachineGui', []).controller('FiniteSta _self.updateState(data) $scope.$apply() break - case 'onNewState': - $scope.current = data + case 'onStateChange': + $scope.current = data.current $scope.$apply() break default: @@ -60,7 +60,7 @@ angular.module('mrlapp.service.FiniteStateMachineGui', []).controller('FiniteSta } - msg.subscribe("publishNewState") + msg.subscribe("publishStateChange") msg.subscribe(this) } ]) diff --git a/src/main/resources/resource/WebGui/app/service/tab-header.html b/src/main/resources/resource/WebGui/app/service/tab-header.html index 4abedeb490..4557717bdc 100644 --- a/src/main/resources/resource/WebGui/app/service/tab-header.html +++ b/src/main/resources/resource/WebGui/app/service/tab-header.html @@ -55,7 +55,7 @@
  • - +   subscriptions From 832880e0a102d0cd4be09fab33c6cc8083914fb2 Mon Sep 17 00:00:00 2001 From: grog Date: Thu, 7 Sep 2023 08:49:07 -0700 Subject: [PATCH 023/232] gpt3 config --- src/main/java/org/myrobotlab/service/config/InMoov2Config.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java index 6d4354f121..7c188e95d5 100644 --- a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java +++ b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java @@ -232,7 +232,7 @@ public Plan getDefault(Plan plan, String name) { chatBot.listeners.add(new Listener("publishText", name + ".htmlFilter", "onText")); - ProgramABConfig gpt3 = (ProgramABConfig) plan.get(getPeerName("gpt3")); + Gpt3Config gpt3 = (Gpt3Config) plan.get(getPeerName("gpt3")); gpt3.listeners = new ArrayList<>(); gpt3.listeners.add(new Listener("publishText", name + ".htmlFilter", "onText")); From 3cd480c4b22c73096c41d44850b8241e3695c49a Mon Sep 17 00:00:00 2001 From: grog Date: Sat, 9 Sep 2023 19:12:32 -0700 Subject: [PATCH 024/232] readme update --- README.md | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/README.md b/README.md index 37d18e96a6..7602ad92d9 100644 --- a/README.md +++ b/README.md @@ -101,24 +101,24 @@ Reviewer deletes branch. The following config should be useful to work directly on WebGui UI and -InMoov2 UI if the repos are checked out at the same level +InMoov2 UI if the repos are submoduled under +src/main/resources/resource/InMoov2, +src/main/resources/resource/ProgramAB ```yml !!org.myrobotlab.service.config.WebGuiConfig -autoStartBrowser: true +autoStartBrowser: false enableMdns: false listeners: null peers: null port: 8888 resources: # these are the only two in usual runtime -- ./resource/WebGui/app -- ./resource + # - ./resource/WebGui/app + # - ./resource # the rest are useful when doing dev -- ../InMoov2/resource/WebGui/app - ./src/main/resources/resource/WebGui/app -- ./src/main/resources/resource/WebGui +- ./src/main/resources/resource/InMoov2/peers/WebGui/app - ./src/main/resources/resource -- ./src/main/resources type: WebGui ``` ```yml @@ -134,7 +134,7 @@ registry: - security - webgui - python -resource: src/main/resources/resource +resource: ./src/main/resources/resource type: Runtime virtual: false ``` From 13c61a6621e74d70ebfcf129ec78cebbf1b15cc8 Mon Sep 17 00:00:00 2001 From: grog Date: Tue, 19 Sep 2023 20:04:32 -0700 Subject: [PATCH 025/232] stubbing out states --- .../java/org/myrobotlab/service/InMoov2.java | 997 ++++++++++-------- 1 file changed, 563 insertions(+), 434 deletions(-) diff --git a/src/main/java/org/myrobotlab/service/InMoov2.java b/src/main/java/org/myrobotlab/service/InMoov2.java index 908806f2a1..3fa91f12af 100644 --- a/src/main/java/org/myrobotlab/service/InMoov2.java +++ b/src/main/java/org/myrobotlab/service/InMoov2.java @@ -27,9 +27,11 @@ import org.myrobotlab.opencv.OpenCVData; import org.myrobotlab.programab.PredicateEvent; import org.myrobotlab.programab.Response; +import org.myrobotlab.service.Log.LogEntry; import org.myrobotlab.service.abstracts.AbstractSpeechRecognizer; import org.myrobotlab.service.abstracts.AbstractSpeechSynthesis; import org.myrobotlab.service.config.InMoov2Config; +import org.myrobotlab.service.data.Event; import org.myrobotlab.service.data.JoystickData; import org.myrobotlab.service.data.LedDisplayData; import org.myrobotlab.service.data.Locale; @@ -55,16 +57,6 @@ public class InMoov2 extends Service implements ServiceLifeCycleL protected static final Set stateDefaults = new TreeSet<>(); - /** - * Setting the beginning time where events are initially set. If the time - * interval has been reached: {@code - * System.currentTimeMillis() > lastFireRandomEvent - stateRandomEventTime - * } then a random event will be fired. If the fsm is in a state that can move - * on that event .. it will go to "random" state - * - */ - protected long stateLastRandomTime = System.currentTimeMillis(); - static String speechRecognizer = "WebkitSpeechRecognition"; /** @@ -118,6 +110,11 @@ public static void main(String[] args) { } } + /** + * the config that was processed before booting, if there was one. + */ + String bootedConfig = null; + protected transient ProgramAB chatBot; protected List configList; @@ -132,21 +129,14 @@ public static void main(String[] args) { */ protected boolean configStarted = false; - /** - * the config that was processed before booting, if there was one. - */ - String bootedConfig = null; - - protected transient SpeechRecognizer ear; - - protected Map ledDisplayMap = new TreeMap<>(); - /** * map of events or states to sounds */ protected Map customSoundMap = new TreeMap<>(); - protected List errors = new ArrayList<>(); + protected transient SpeechRecognizer ear; + + protected List errors = new ArrayList<>(); /** * The finite state machine is core to managing state of InMoov2. There is @@ -161,6 +151,13 @@ public static void main(String[] args) { protected Set gestures = new TreeSet(); + /** + * Prevents actions or events from happening when InMoov2 is first booted + */ + private boolean hasBooted = false; + + protected boolean isPirOn = false; + protected transient HtmlFilter htmlFilter; protected transient ImageDisplay imageDisplay; @@ -169,29 +166,30 @@ public static void main(String[] args) { protected Long lastPirActivityTime; + protected Map ledDisplayMap = new TreeMap<>(); + /** * supported locales */ protected Map locales = null; - protected long stateLastIdleTime = System.currentTimeMillis(); - protected transient SpeechSynthesis mouth; protected boolean mute = false; protected transient OpenCV opencv; + protected List peersStarted = new ArrayList<>(); + protected transient Python python; - protected String voiceSelected; + protected long stateLastIdleTime = System.currentTimeMillis(); - /** - * Prevents actions or events from happening when InMoov2 is first booted - */ - private boolean hasBooted = false; + protected long stateLastRandomTime = System.currentTimeMillis(); - protected List peersStarted = new ArrayList<>(); + protected String voiceSelected; + + protected boolean wasMutedBeforeBoot = false; public InMoov2(String n, String id) { super(n, id); @@ -216,8 +214,7 @@ public InMoov2(String n, String id) { ledDisplayMap.put("success", new LedDisplayData(0, 0, 120, 2, 30, 30)); ledDisplayMap.put("warn", new LedDisplayData(100, 100, 0, 3, 30, 30)); ledDisplayMap.put("heartbeat", new LedDisplayData(210, 110, 0, 2, 100, 30)); - ledDisplayMap.put("heartbeat", new LedDisplayData(210, 110, 0, 2, 100, 30)); - ledDisplayMap.put("pirOn", new LedDisplayData(80, 200, 90, 3, 100, 30)); + ledDisplayMap.put("pirOn", new LedDisplayData(60, 200, 90, 3, 100, 30)); ledDisplayMap.put("onPeakColor", new LedDisplayData(180, 53, 21, 3, 60, 30)); customSoundMap.put("boot", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/confirmation.wav")); @@ -231,18 +228,6 @@ public InMoov2(String n, String id) { } - /** - * pir active ear listening for wakeword - */ - public void idle() { - log.info("idle"); - } - - public void shutdown() { - log.info("shutdown"); - Runtime.shutdown(); - } - public void addTextListener(TextListener service) { // CORRECT WAY ! - no direct reference - just use the name in a subscription addListener("publishText", service.getName()); @@ -520,6 +505,27 @@ public void finishedGesture(String nameOfGesture) { } } + public void firstInit() { + log.info("firstInit"); + // cheap way to prevent race condition + // of "wake" firing a state change .. which will spawn + // a system event of FIRST_INIT that will answer this + // question ... + sleep(2000); + ProgramAB chatBot = (ProgramAB) getPeer("chatBot"); + if (chatBot != null) { + chatBot.getResponse("FIRST_INIT"); + } + } + + public void flash(String name) { + LedDisplayData led = ledDisplayMap.get(name); + if (led == null) { + led = ledDisplayMap.get("default"); + } + invoke("publishFlash", led.red, led.green, led.blue, led.count, led.timeOn, led.timeOff); + } + /** * used to configure a flashing event - could use configuration to signal * different colors and states @@ -527,22 +533,17 @@ public void finishedGesture(String nameOfGesture) { * @return */ public void flash() { - // FIXME - this should be checking a protected "state" - if (!configStarted) { - if (ledDisplayMap.get("default") != null) { - LedDisplayData led = ledDisplayMap.get("default"); - invoke("publishFlash", led.red, led.green, led.blue, led.count, led.timeOn, led.timeOff); - } + if (ledDisplayMap.get("default") != null) { + LedDisplayData led = ledDisplayMap.get("default"); + invoke("publishFlash", led.red, led.green, led.blue, led.count, led.timeOn, led.timeOff); } } public void flash(int r, int g, int b, int count) { // FIXME - this should be checking a protected "state" - if (!configStarted) { - if (ledDisplayMap.get("default") != null) { - LedDisplayData led = ledDisplayMap.get("default"); - invoke("publishFlash", r, g, b, count, led.timeOn, led.timeOff); - } + if (ledDisplayMap.get("default") != null) { + LedDisplayData led = ledDisplayMap.get("default"); + invoke("publishFlash", r, g, b, count, led.timeOn, led.timeOff); } } @@ -664,6 +665,10 @@ public InMoov2Hand getRightHand() { return (InMoov2Hand) getPeer("rightHand"); } + public String getState() { + return fsm.getCurrent(); + } + /** * matches on language only not variant expands language match to full InMoov2 * bot locale @@ -703,6 +708,13 @@ public void halfSpeed() { sendToPeer("torso", "setSpeed", 20.0, 20.0, 20.0); } + /** + * pir active ear listening for wakeword + */ + public void idle() { + log.info("idle"); + } + public boolean isCameraOn() { if (opencv != null) { if (opencv.isCapturing()) { @@ -936,6 +948,115 @@ public void moveTorsoBlocking(Double topStom, Double midStom, Double lowStom) { sendToPeer("torso", "moveToBlocking", topStom, midStom, lowStom); } + /** + * At boot all services specified through configuration have started, or if no + * configuration has started minimally the InMoov2 service has started. During + * the processing of config and starting other services data will have + * accumulated, and at boot, some of data may now be inspected and processed + * in a synchronous single threaded way. With reporting after startup, vs + * during, other peer services are not needed (e.g. audioPlayer is no longer + * needed to be started "before" InMoov2 because when boot is called + * everything that is wanted has been started. + * + */ + synchronized public void onBoot() { + + // thinking you shouldn't "boot" twice ? + if (hasBooted) { + log.warn("will not boot again"); + return; + } + + List services = Runtime.getServices(); + for (ServiceInterface si : services) { + if ("Servo".equals(si.getSimpleName())) { + send(si.getFullName(), "setAutoDisable", true); + } + } + + // FIXME - standardize multi-config examples should be available + // moved from startService to allow more simple control + // FIXME standard FileIO copyIfNotExists(src, dst) + try { + // copy config if it doesn't already exist + String resourceBotDir = FileIO.gluePaths(getResourceDir(), "config"); + List files = FileIO.getFileList(resourceBotDir); + for (File f : files) { + String botDir = "data/config/" + f.getName(); + File bDir = new File(botDir); + if (bDir.exists() || !f.isDirectory()) { + log.info("skipping data/config/{}", botDir); + } else { + log.info("will copy new data/config/{}", botDir); + try { + FileIO.copy(f.getAbsolutePath(), botDir); + } catch (Exception e) { + error(e); + } + } + } + } catch (Exception e) { + error(e); + } + + // FIXME - find good way of running an animation "through" a state + if (config.neoPixelBootGreen && getPeer("neoPixel") != null) { + NeoPixel neoPixel = (NeoPixel) getPeer("neoPixel"); + if (neoPixel != null) { + invoke("publishPlayAnimation", config.bootAnimation); + } + } + + if (config.startupSound && getPeer("audioPlayer") != null) { + ((AudioFile) getPeer("audioPlayer")).playBlocking(FileIO.gluePaths(getResourceDir(), "/system/sounds/startupsound.mp3")); + } + + if (config.systemEventsOnBoot) { + // reporting on all services and config started + if (bootedConfig != null) { + // configuration was processed before booting + systemEvent("CONFIG STARTED %s", bootedConfig); + } + + for (String peerKey : peersStarted) { + systemEvent("STARTED %s", peerKey); + } + + if (bootedConfig != null) { + // configuration was processed before booting + systemEvent("CONFIG LOADED %s", bootedConfig); + } + } + + // FIXME - important to do invoke & fsm needs to be consistent order + + // if speaking then turn off animation + + // publish all the errors + + // switch off animations + + // start heartbeat + // say starting heartbeat + if (config.heartbeat) { + startHeartbeat(); + } else { + stopHeartbeat(); + } + + // say finished booting + + fsm.fire("wake"); + + // if (getPeer("mouth") != null) { + // AbstractSpeechSynthesis mouth = + // (AbstractSpeechSynthesis)getPeer("mouth"); + // mouth.setMute(wasMute); + // } + + hasBooted = true; + } + public PredicateEvent onChangePredicate(PredicateEvent event) { log.error("onChangePredicate {}", event); if (event.name.equals("topic")) { @@ -969,12 +1090,6 @@ public void onCreated(String fullname) { log.info("{} created", fullname); } - public void onError(Status status) { - if (errors.size() < 100) { - errors.add(status); - } - } - public void onGestureStatus(Status status) { if (!status.equals(Status.success()) && !status.equals(Status.warn("Python process killed !"))) { error("I cannot execute %s, please check logs", lastGestureExecuted); @@ -999,33 +1114,12 @@ public void onHeartbeat() { return; } - if (config.batteryLevelCheck) { - double batteryLevel = Runtime.getBatteryLevel(); - invoke("publishBatteryLevel", batteryLevel); - // FIXME - thresholding should always have old value or state - // so we don't pump endless errors - if (batteryLevel < 5) { - error("battery level < 5 percent"); - // systemEvent(BATTERY ERROR) - } else if (batteryLevel < 10) { - warn("battery level < 10 percent"); - // systemEvent(BATTERY WARN) - } - } - - // flash error until errors are cleared - if (config.healthCheckFlash) { - if (errors.size() > 0 && ledDisplayMap.containsKey("error")) { - invoke("publishFlash", ledDisplayMap.get("error")); - } else if (ledDisplayMap.containsKey("heartbeat")) { - LedDisplayData heartbeat = ledDisplayMap.get("heartbeat"); - invoke("publishFlash", heartbeat); - } - } - Long lastActivityTime = getLastActivityTime(); - if (lastActivityTime != null && lastActivityTime + (config.stateIdleInterval * 1000) < System.currentTimeMillis()) { + // FIXME lastActivityTime != 0 is bogus - the value should be null if + // never set + if (config.stateIdleInterval != null && lastActivityTime != null && lastActivityTime != 0 + && lastActivityTime + (config.stateIdleInterval * 1000) < System.currentTimeMillis()) { stateLastIdleTime = lastActivityTime; } @@ -1035,8 +1129,8 @@ public void onHeartbeat() { } // interval event firing - if (System.currentTimeMillis() > stateLastRandomTime + (config.stateRandomInterval * 1000)) { - fsm.fire("random"); + if (config.stateRandomInterval != null && System.currentTimeMillis() > stateLastRandomTime + (config.stateRandomInterval * 1000)) { + // fsm.fire("random"); stateLastRandomTime = System.currentTimeMillis(); } @@ -1044,8 +1138,48 @@ public void onHeartbeat() { error(e); } + if (config.pirOnFlash && isPeerStarted("pir") && isPirOn) { + flash("pirOn"); + } + + if (config.batteryLevelCheck) { + double batteryLevel = Runtime.getBatteryLevel(); + invoke("publishBatteryLevel", batteryLevel); + // FIXME - thresholding should always have old value or state + // so we don't pump endless errors + if (batteryLevel < 5) { + error("battery level < 5 percent"); + // systemEvent(BATTERY ERROR) + } else if (batteryLevel < 10) { + warn("battery level < 10 percent"); + // systemEvent(BATTERY WARN) + } + } + + // flash error until errors are cleared + if (config.healthCheckFlash) { + if (errors.size() > 0 && ledDisplayMap.containsKey("error")) { + invoke("publishFlash", ledDisplayMap.get("error")); + } else if (ledDisplayMap.containsKey("heartbeat")) { + LedDisplayData heartbeat = ledDisplayMap.get("heartbeat"); + invoke("publishFlash", heartbeat); + } + } + + } + + public void onInactivity() { + log.info("onInactivity"); + + // powerDown ? + } + /** + * Central hub of input motion control. Potentially, all input from + * joysticks, quest2 controllers and headset, or any IK service could + * be sent here + */ @Override public void onJointAngles(Map angleMap) { log.debug("onJointAngles {}", angleMap); @@ -1065,6 +1199,22 @@ public void onJoystickInput(JoystickData input) throws Exception { // switches to manual control ? } + /** + * Centralized logging system will have all logging from all services, + * including lower level logs that do not propegate as statuses + * + * @param log + * - flushed log from Log service + */ + public void onLogEvents(List log) { + // scan for warn or errors + for (LogEntry entry : log) { + if ("ERROR".equals(entry.level) && errors.size() < 100) { + errors.add(entry); + } + } + } + public void onMoveHead(Map map) { InMoov2Head head = (InMoov2Head) getPeer("head"); if (head != null) { @@ -1086,6 +1236,10 @@ public void onMoveLeftHand(Map map) { } } + // public Message publishPython(String method, Object...data) { + // return Message.createMessage(getName(), getName(), method, data); + // } + public void onMoveRightArm(Map map) { InMoov2Arm rightArm = (InMoov2Arm) getPeer("rightArm"); if (rightArm != null) { @@ -1107,86 +1261,19 @@ public void onMoveTorso(Map map) { } } + + +// public Message publishPython(String method, Object...data) { +// return Message.createMessage(getName(), getName(), method, data); +// } + + public OpenCVData onOpenCVData(OpenCVData data) { + // FIXME - publish event with or without data ? String file reference + return data; + } + /** - * The integration between the FiniteStateMachine (fsm) and the InMoov2 - * service and potentially other services (Python, ProgramAB) happens here. - * - * After boot all state changes get published here. - * - * Some InMoov2 service methods will be called here for "default - * implemenation" of states. If a user doesn't want to have that default - * implementation, they can change it by changing the definition of the state - * machine, and have a new state which will call a Python inmoov2 library - * callback. Overriding, appending, or completely transforming the behavior is - * all easily accomplished by managing the fsm and python inmoov2 library - * callbacks. - * - * Python inmoov2 callbacks ProgramAB topic switching - * - * Depending on config: - * - * - * @param stateChange - * @return - */ - public FiniteStateMachine.StateChange onStateChange(FiniteStateMachine.StateChange stateChange) { - try { - log.error("onStateChange {}", stateChange); - - String state = stateChange.current; - - // getPeer("py4j") ? - // Py4j py4j -// String code = getName()".onStateChange(" -// invoke("publishPython", "onStateChange", stateChange ); - - if (config.systemEventStateChange) { - systemEvent("ON STATE %s", state); - } - - if (config.customSounds && customSoundMap.containsKey(state)) { - invoke("publishPlayAudioFile", customSoundMap.get(state)); - } - - // TODO - only a few InMoov2 state defaults will be called here - if (stateDefaults.contains(state)) { - invoke(state); - } - - // FIXME add topic changes to AIML here ! - // FIXME add clallbacks to inmmoov2 library - - // put configurable filter here ! - - // state substitutions ? - // let python subscribe directly to fsm.publishStateChange - - // if python && configured to do python inmoov2 library callbacks - // do a callback ... default NOOPs should be in library - - // if - // invoke(state); - // depending on configuration .... - // call python ? - // fire fsm events ? - // do defaults ? - } catch (Exception e) { - error(e); - } - return stateChange; - } - -// public Message publishPython(String method, Object...data) { -// return Message.createMessage(getName(), getName(), method, data); -// } - - public OpenCVData onOpenCVData(OpenCVData data) { - // FIXME - publish event with or without data ? String file reference - return data; - } - - /** - * onPeak volume callback TODO - maybe make it variable with volume ? + * onPeak volume callback TODO - maybe make it variable with volume ? * * @param volume */ @@ -1202,40 +1289,19 @@ public void onPeak(double volume) { } /** - * initial callback for Pir sensor Default behavior will be: send fsm event - * onPirOn flash neopixel + * Pir on callback */ public void onPirOn() { - // FIXME - this should be checking a protected "state" - if (!configStarted) { - if (ledDisplayMap.get("pirOn") != null) { - LedDisplayData pirOn = ledDisplayMap.get("pirOn"); - invoke("publishFlash", pirOn); - } - } - + isPirOn = true; fsm.fire("wake"); } - public void powerDown() { - // publishFlash(maxInactivityTimeSeconds, maxInactivityTimeSeconds, - // maxInactivityTimeSeconds, maxInactivityTimeSeconds, - // maxInactivityTimeSeconds, maxInactivityTimeSeconds) - - rest(); - purgeTasks(); // including heartbeat - disable(); - - if (chatBot != null) { - chatBot.sleep(); - } - - if (ear != null) { - // FIXME - bad remove it - what is needed ? - // i think this is legacy wake word - ear.lockOutAllGrammarExcept("power up"); - } - + /** + * Pir off callback + */ + public void onPirOff() { + isPirOn = false; + fsm.fire("sleep"); } @Override @@ -1292,6 +1358,81 @@ public void onStarted(String name) { } } + /** + * The integration between the FiniteStateMachine (fsm) and the InMoov2 + * service and potentially other services (Python, ProgramAB) happens here. + * + * After boot all state changes get published here. + * + * Some InMoov2 service methods will be called here for "default + * implemenation" of states. If a user doesn't want to have that default + * implementation, they can change it by changing the definition of the state + * machine, and have a new state which will call a Python inmoov2 library + * callback. Overriding, appending, or completely transforming the behavior is + * all easily accomplished by managing the fsm and python inmoov2 library + * callbacks. + * + * Python inmoov2 callbacks ProgramAB topic switching + * + * Depending on config: + * + * + * @param stateChange + * @return + */ + public FiniteStateMachine.StateChange onStateChange(FiniteStateMachine.StateChange stateChange) { + try { + log.error("onStateChange {}", stateChange); + + String current = stateChange.current; + String last = stateChange.last; + + // leaving random state + if ("random".equals(last) && !"random".equals(current) && isPeerStarted("random")) { + Random random = (Random) getPeer("random"); + random.disable(); + } + + if ("wake".equals(last)) { + invoke("publishStopAnimation"); + } + + if (config.systemEventStateChange) { + systemEvent("ON STATE %s", current); + } + + if (config.customSounds && customSoundMap.containsKey(current)) { + invoke("publishPlayAudioFile", customSoundMap.get(current)); + } + + // TODO - only a few InMoov2 state defaults will be called here + if (stateDefaults.contains(current)) { + invoke(current); + } + + // FIXME add topic changes to AIML here ! + // FIXME add clallbacks to inmmoov2 library + + // put configurable filter here ! + + // state substitutions ? + // let python subscribe directly to fsm.publishStateChange + + // if python && configured to do python inmoov2 library callbacks + // do a callback ... default NOOPs should be in library + + // if + // invoke(state); + // depending on configuration .... + // call python ? + // fire fsm events ? + // do defaults ? + } catch (Exception e) { + error(e); + } + return stateChange; + } + @Override public void onStopped(String name) { log.info("service {} has stopped"); @@ -1309,6 +1450,27 @@ public void onText(String text) { invoke("publishText", text); } + public void powerDown() { + // publishFlash(maxInactivityTimeSeconds, maxInactivityTimeSeconds, + // maxInactivityTimeSeconds, maxInactivityTimeSeconds, + // maxInactivityTimeSeconds, maxInactivityTimeSeconds) + + rest(); + purgeTasks(); // including heartbeat + disable(); + + if (chatBot != null) { + chatBot.sleep(); + } + + if (ear != null) { + // FIXME - bad remove it - what is needed ? + // i think this is legacy wake word + ear.lockOutAllGrammarExcept("power up"); + } + + } + /** * easy utility to publishMessage * @@ -1325,6 +1487,10 @@ public double publishBatteryLevel(double d) { return d; } + public void publishBoot() { + log.info("publishBoot"); + } + public String publishConfigFinished(String configName) { return configName; } @@ -1339,29 +1505,6 @@ public List publishConfigList() { return configList; } - public String systemEvent(String eventMsg) { - invoke("publishSystemEvent", eventMsg); - return eventMsg; - } - - public String systemEvent(String format, Object... ags) { - String eventMsg = String.format(format, ags); - return systemEvent(eventMsg); - } - - /** - * event publisher for the fsm - although other services potentially can - * consume and filter this event channel - * - * @param event - * @return - */ - public String publishSystemEvent(String event) { - // well, it turned out underscore was a goofy selection, as underscore in - // aiml is wildcard ... duh - return String.format("SYSTEM_EVENT %s", event); - } - public LedDisplayData publishFlash(int r, int g, int b, int count, long timeOn, long timeOff) { LedDisplayData data = new LedDisplayData(); data.red = r; @@ -1373,6 +1516,7 @@ public LedDisplayData publishFlash(int r, int g, int b, int count, long timeOn, return data; } + public LedDisplayData publishFlash(LedDisplayData data) { return data; } @@ -1384,6 +1528,15 @@ public void publishHeartbeat() { log.debug("publishHeartbeat"); } + /** + * if inactivityTime configured, this event is published after there has not + * been in activity since. + */ + public void publishInactivity() { + log.info("publishInactivity"); + fsm.fire("inactvity"); + } + /** * A more extensible interface point than publishEvent FIXME - create * interface for this @@ -1419,33 +1572,36 @@ public Map publishMoveTorso(Map map) { return map; } - public FiniteStateMachine.StateChange publishStateChange(FiniteStateMachine.StateChange state) { - log.info("publishStateChange {}", state); - return state; - } - public String publishPlayAudioFile(String filename) { return filename; } + public String publishPlayAnimation(String animation) { + return animation; + } + /** - * if inactivityTime configured, this event is published after there has not - * been in activity since. + * stop animation event */ - public void publishInactivity() { - log.info("publishInactivity"); - fsm.fire("inactvity"); + public void publishStopAnimation() { } - public void onInactivity() { - log.info("onInactivity"); - - // powerDown ? - + public FiniteStateMachine.StateChange publishStateChange(FiniteStateMachine.StateChange state) { + log.info("publishStateChange {}", state); + return state; } - public String getState() { - return fsm.getCurrent(); + /** + * event publisher for the fsm - although other services potentially can + * consume and filter this event channel + * + * @param event + * @return + */ + public String publishSystemEvent(String event) { + // well, it turned out underscore was a goofy selection, as underscore in + // aiml is wildcard ... duh + return String.format("SYSTEM_EVENT %s", event); } /** @@ -1456,6 +1612,16 @@ public String publishText(String text) { return text; } + /** + * default this will come from idle after some configurable time period + */ + public void random() { + Random random = (Random) getPeer("random"); + if (random != null) { + random.enable(); + } + } + @Override public void releasePeer(String peerKey) { super.releasePeer(peerKey); @@ -1663,6 +1829,11 @@ public void setRightHandSpeed(Double thumb, Double index, Double majeure, Double setHandSpeed("right", thumb, index, majeure, ringFinger, pinky, wrist); } + // ----------------------------------------------------------------------------- + // These are methods added that were in InMoov1 that we no longer had in + // InMoov2. + // From original InMoov1 so we don't loose the + public void setRightHandSpeed(Integer thumb, Integer index, Integer majeure, Integer ringFinger, Integer pinky, Integer wrist) { setHandSpeed("right", (double) thumb, (double) index, (double) majeure, (double) ringFinger, (double) pinky, (double) wrist); } @@ -1698,16 +1869,28 @@ public void setVoice(String name) { } } - public void sleeping() { - log.error("sleeping"); - } - - public void speak(String toSpeak) { - sendToPeer("mouth", "speak", toSpeak); + public void shutdown() { + log.info("shutdown"); + Runtime.shutdown(); } - public void speakAlert(String toSpeak) { - speakBlocking(get("ALERT")); + /** + * ear still listening pir still active + */ + public void sleep() { + log.info("sleep"); + } + + public void sleeping() { + log.error("sleeping"); + } + + public void speak(String toSpeak) { + sendToPeer("mouth", "speak", toSpeak); + } + + public void speakAlert(String toSpeak) { + speakBlocking(get("ALERT")); speakBlocking(toSpeak); } @@ -1933,140 +2116,172 @@ public void startService() { } } - public void publishBoot() { - log.info("publishBoot"); + public void startServos() { + startPeer("head"); + startPeer("leftArm"); + startPeer("leftHand"); + startPeer("rightArm"); + startPeer("rightHand"); + startPeer("torso"); } - boolean wasMutedBeforeBoot = false; + // FIXME .. externalize in a json file included in InMoov2 + public Simulator startSimulator() throws Exception { + Simulator si = (Simulator) startPeer("simulator"); + return si; + } - /** - * At boot all services specified through configuration have started, or if no - * configuration has started minimally the InMoov2 service has started. During - * the processing of config and starting other services data will have - * accumulated, and at boot, some of data may now be inspected and processed - * in a synchronous single threaded way. With reporting after startup, vs - * during, other peer services are not needed (e.g. audioPlayer is no longer - * needed to be started "before" InMoov2 because when boot is called - * everything that is wanted has been started. - * - */ - synchronized public void onBoot() { + public void stop() { + sendToPeer("head", "stop"); + sendToPeer("rightHand", "stop"); + sendToPeer("leftHand", "stop"); + sendToPeer("rightArm", "stop"); + sendToPeer("leftArm", "stop"); + sendToPeer("torso", "stop"); + } - // thinking you shouldn't "boot" twice ? - if (hasBooted) { - log.warn("will not boot again"); - return; - } + public void stopGesture() { + Python p = (Python) Runtime.getService("python"); + p.stop(); + } - List services = Runtime.getServices(); - for (ServiceInterface si : services) { - if ("Servo".equals(si.getSimpleName())) { - send(si.getFullName(), "setAutoDisable", true); - } - } + public void stopHeartbeat() { + purgeTask("publishHeartbeat"); + config.heartbeat = false; + } - // FIXME - standardize multi-config examples should be available - // moved from startService to allow more simple control - // FIXME standard FileIO copyIfNotExists(src, dst) - try { - // copy config if it doesn't already exist - String resourceBotDir = FileIO.gluePaths(getResourceDir(), "config"); - List files = FileIO.getFileList(resourceBotDir); - for (File f : files) { - String botDir = "data/config/" + f.getName(); - File bDir = new File(botDir); - if (bDir.exists() || !f.isDirectory()) { - log.info("skipping data/config/{}", botDir); - } else { - log.info("will copy new data/config/{}", botDir); - try { - FileIO.copy(f.getAbsolutePath(), botDir); - } catch (Exception e) { - error(e); - } - } - } - } catch (Exception e) { - error(e); - } + public void stopNeopixelAnimation() { + sendToPeer("neopixel", "clear"); + } - // FIXME - find good way of running an animation "through" a state - if (config.neoPixelBootGreen && getPeer("neoPixel") != null) { - NeoPixel neoPixel = (NeoPixel) getPeer("neoPixel"); - if (neoPixel != null) { - neoPixel.clear(); - neoPixel.setColor(0, 130, 0); - neoPixel.playAnimation("Larson Scanner"); + public void systemCheck() { + log.error("systemCheck()"); + Runtime runtime = Runtime.getInstance(); + int servoCount = 0; + int servoAttachedCount = 0; + for (ServiceInterface si : Runtime.getServices()) { + if (si.getClass().getSimpleName().equals("Servo")) { + servoCount++; + if (((Servo) si).getController() != null) { + servoAttachedCount++; + } } } - if (config.startupSound && getPeer("audioPlayer") != null) { - ((AudioFile) getPeer("audioPlayer")).playBlocking(FileIO.gluePaths(getResourceDir(), "/system/sounds/startupsound.mp3")); - } + setPredicate("systemServoCount", servoCount); + setPredicate("systemAttachedServoCount", servoAttachedCount); + setPredicate("systemFreeMemory", Runtime.getFreeMemory()); + Platform platform = Runtime.getPlatform(); + setPredicate("system version", platform.getVersion()); + // ERROR buffer !!! + systemEvent("SYSTEMCHECKFINISHED"); // wtf is this? + } - if (config.systemEventsOnBoot) { - // reporting on all services and config started - if (bootedConfig != null) { - // configuration was processed before booting - systemEvent("CONFIG STARTED %s", bootedConfig); - } + public String systemEvent(String eventMsg) { + invoke("publishSystemEvent", eventMsg); + return eventMsg; + } - for (String peerKey : peersStarted) { - systemEvent("STARTED %s", peerKey); - } + public String systemEvent(String format, Object... ags) { + String eventMsg = String.format(format, ags); + return systemEvent(eventMsg); + } - if (bootedConfig != null) { - // configuration was processed before booting - systemEvent("CONFIG LOADED %s", bootedConfig); - } - } + // FIXME - if this is really desired it will drive local references for all + // servos + public void waitTargetPos() { + // FIXME - consider actual reference for this + sendToPeer("head", "waitTargetPos"); + sendToPeer("rightHand", "waitTargetPos"); + sendToPeer("leftHand", "waitTargetPos"); + sendToPeer("rightArm", "waitTargetPos"); + sendToPeer("leftArm", "waitTargetPos"); + sendToPeer("torso", "waitTargetPos"); + } - // FIXME - important to do invoke & fsm needs to be consistent order + public void closeRightHand() { - // if speaking then turn off animation + // if InMoov2Hand.close/open is used directly + // it prevents user's interception of the data + // and forces InMoov2Hand type to be used :( + // pub/sub is the way - // publish all the errors + // hardcoded, but if necessary can be put in config + HashMap map = new HashMap<>(); + map.put("thumb", 130.0); + map.put("index", 180.0); + map.put("majeure", 180.0); + map.put("ringFinger", 180.0); + map.put("pinky", 180.0); + invoke("publishMoveRightHand", map); - // switch off animations + } - // start heartbeat - // say starting heartbeat - if (config.heartbeat) { - startHeartbeat(); - } else { - stopHeartbeat(); - } + public void openRightHand() { + // if InMoov2Hand.close/open is used directly + // it prevents user's interception of the data + // and forces InMoov2Hand type to be used :( + // pub/sub is the way - // say finished booting + // hardcoded, but if necessary can be put in config + HashMap map = new HashMap<>(); + map.put("thumb", 0.0); + map.put("index", 0.0); + map.put("majeure", 0.0); + map.put("ringFinger", 0.0); + map.put("pinky", 0.0); + invoke("publishMoveRightHand", map); + } + + public void closeLeftHand() { - fsm.fire("wake"); + // if InMoov2Hand.close/open is used directly + // it prevents user's interception of the data + // and forces InMoov2Hand type to be used :( + // pub/sub is the way - // if (getPeer("mouth") != null) { - // AbstractSpeechSynthesis mouth = - // (AbstractSpeechSynthesis)getPeer("mouth"); - // mouth.setMute(wasMute); - // } + // hardcoded, but if necessary can be put in config + HashMap map = new HashMap<>(); + map.put("thumb", 130.0); + map.put("index", 180.0); + map.put("majeure", 180.0); + map.put("ringFinger", 180.0); + map.put("pinky", 180.0); + invoke("publishMoveLeftHand", map); - hasBooted = true; } - /** - * default this will come from idle after some configurable time period - */ - public void random() { - Random random = (Random) getPeer("random"); - if (random != null) { - random.enable(); - } + public void openLeftHand() { + // if InMoov2Hand.close/open is used directly + // it prevents user's interception of the data + // and forces InMoov2Hand type to be used :( + // pub/sub is the way + + // hardcoded, but if necessary can be put in config + HashMap map = new HashMap<>(); + map.put("thumb", 0.0); + map.put("index", 0.0); + map.put("majeure", 0.0); + map.put("ringFinger", 0.0); + map.put("pinky", 0.0); + invoke("publishMoveLeftHand", map); } - /** - * ear still listening pir still active - */ - public void sleep() { - log.info("sleep"); + public void openHands() { + openLeftHand(); + openRightHand(); } + public void closeHands() { + closeLeftHand(); + closeRightHand(); + } + + public Event onEvent(Event event) { + + return event; + } + public void wake() { log.info("wake"); // do waking things - based on config @@ -2137,90 +2352,4 @@ public void wake() { } } - public void firstInit() { - log.info("firstInit"); - // cheap way to prevent race condition - // of "wake" firing a state change .. which will spawn - // a system event of FIRST_INIT that will answer this - // question ... - sleep(2000); - ProgramAB chatBot = (ProgramAB) getPeer("chatBot"); - if (chatBot != null) { - chatBot.getResponse("FIRST_INIT"); - } - } - - public void startServos() { - startPeer("head"); - startPeer("leftArm"); - startPeer("leftHand"); - startPeer("rightArm"); - startPeer("rightHand"); - startPeer("torso"); - } - - // FIXME .. externalize in a json file included in InMoov2 - public Simulator startSimulator() throws Exception { - Simulator si = (Simulator) startPeer("simulator"); - return si; - } - - public void stop() { - sendToPeer("head", "stop"); - sendToPeer("rightHand", "stop"); - sendToPeer("leftHand", "stop"); - sendToPeer("rightArm", "stop"); - sendToPeer("leftArm", "stop"); - sendToPeer("torso", "stop"); - } - - public void stopGesture() { - Python p = (Python) Runtime.getService("python"); - p.stop(); - } - - public void stopHeartbeat() { - purgeTask("publishHeartbeat"); - config.heartbeat = false; - } - - public void stopNeopixelAnimation() { - sendToPeer("neopixel", "clear"); - } - - public void systemCheck() { - log.error("systemCheck()"); - Runtime runtime = Runtime.getInstance(); - int servoCount = 0; - int servoAttachedCount = 0; - for (ServiceInterface si : Runtime.getServices()) { - if (si.getClass().getSimpleName().equals("Servo")) { - servoCount++; - if (((Servo) si).getController() != null) { - servoAttachedCount++; - } - } - } - - setPredicate("systemServoCount", servoCount); - setPredicate("systemAttachedServoCount", servoAttachedCount); - setPredicate("systemFreeMemory", Runtime.getFreeMemory()); - Platform platform = Runtime.getPlatform(); - setPredicate("system version", platform.getVersion()); - // ERROR buffer !!! - systemEvent("SYSTEMCHECKFINISHED"); // wtf is this? - } - - // FIXME - if this is really desired it will drive local references for all - // servos - public void waitTargetPos() { - // FIXME - consider actual reference for this - sendToPeer("head", "waitTargetPos"); - sendToPeer("rightHand", "waitTargetPos"); - sendToPeer("leftHand", "waitTargetPos"); - sendToPeer("rightArm", "waitTargetPos"); - sendToPeer("leftArm", "waitTargetPos"); - sendToPeer("torso", "waitTargetPos"); - } - } From d6e43ebc6ee94c22a73cf9392ba8d043f8aa0dba Mon Sep 17 00:00:00 2001 From: grog Date: Tue, 19 Sep 2023 20:10:04 -0700 Subject: [PATCH 026/232] small updates --- .../service/FiniteStateMachine.java | 4 + src/main/java/org/myrobotlab/service/Git.java | 203 ++++++++++-------- .../service/InverseKinematics3D.java | 9 +- .../org/myrobotlab/service/JMonkeyEngine.java | 4 +- src/main/java/org/myrobotlab/service/Log.java | 12 +- .../java/org/myrobotlab/service/NeoPixel.java | 16 ++ .../java/org/myrobotlab/service/OakD.java | 40 +++- src/main/java/org/myrobotlab/service/Pir.java | 68 +++--- .../java/org/myrobotlab/service/Random.java | 27 ++- 9 files changed, 240 insertions(+), 143 deletions(-) diff --git a/src/main/java/org/myrobotlab/service/FiniteStateMachine.java b/src/main/java/org/myrobotlab/service/FiniteStateMachine.java index 280b31b9db..221fcfcffa 100644 --- a/src/main/java/org/myrobotlab/service/FiniteStateMachine.java +++ b/src/main/java/org/myrobotlab/service/FiniteStateMachine.java @@ -73,6 +73,10 @@ public StateChange(String last, String current, String event) { this.current = current; this.event = event; } + + public String toString() { + return String.format("%s --%s--> %s", last, event, current); + } } private static Transition toFsmTransition(StateTransition state) { diff --git a/src/main/java/org/myrobotlab/service/Git.java b/src/main/java/org/myrobotlab/service/Git.java index 1d2d3766f5..8832326052 100644 --- a/src/main/java/org/myrobotlab/service/Git.java +++ b/src/main/java/org/myrobotlab/service/Git.java @@ -3,7 +3,6 @@ import java.io.File; import java.io.IOException; import java.util.ArrayList; -import java.util.Arrays; import java.util.List; import java.util.Map; import java.util.Properties; @@ -31,6 +30,7 @@ import org.eclipse.jgit.lib.TextProgressMonitor; import org.eclipse.jgit.revwalk.RevCommit; import org.eclipse.jgit.storage.file.FileRepositoryBuilder; +import org.eclipse.jgit.submodule.SubmoduleWalk; import org.myrobotlab.framework.Platform; import org.myrobotlab.framework.Service; import org.myrobotlab.logging.Level; @@ -45,7 +45,7 @@ public class Git extends Service { public final static Logger log = LoggerFactory.getLogger(Git.class); - transient static TextProgressMonitor monitor = new TextProgressMonitor(); + transient ProgressMonitor monitor = new ProgressMonitor(); Map repos = new TreeMap<>(); @@ -56,76 +56,43 @@ public static class RepoData { String branch; String location; String url; - List branches; String checkout; transient org.eclipse.jgit.api.Git git; - public RepoData(String location, String url, List branches, String checkout, org.eclipse.jgit.api.Git git) { + public RepoData(String location, String url, String checkout, org.eclipse.jgit.api.Git git) { this.location = location; this.url = url; - this.branches = branches; this.checkout = checkout; this.git = git; } } + // TODO - overload updates to publish + public class ProgressMonitor extends TextProgressMonitor { + + } + public Git(String n, String id) { super(n, id); } - - // max complexity clone - public void clone(String location, String url, List inbranches, String incheckout) throws InvalidRemoteException, TransportException, GitAPIException, IOException { - - File repoLocation = new File(location); - org.eclipse.jgit.api.Git git = null; - Repository repo = null; - - List branches = new ArrayList<>(); - for (String b : inbranches) { - if (!b.contains("refs")) { - branches.add("refs/heads/" + b); - } - } - - String checkout = (incheckout.contains("refs")) ? incheckout : "refs/heads/" + incheckout; - - if (!repoLocation.exists()) { - // clone - log.info("cloning {} {} into {}", url, incheckout, location); - git = org.eclipse.jgit.api.Git.cloneRepository().setProgressMonitor(monitor).setURI(url).setDirectory(repoLocation).setBranchesToClone(branches).setBranch(checkout).call(); - - } else { - // Open an existing repository - String gitDir = repoLocation.getAbsolutePath() + File.separator + ".git"; - log.info("opening repo {} from {}", gitDir, url); - repo = new FileRepositoryBuilder().setGitDir(new File(gitDir)).build(); - git = new org.eclipse.jgit.api.Git(repo); - } - - repo = git.getRepository(); - - // checkout - log.info("checking out {}", incheckout); - // git.branchCreate().setForce(true).setName(incheckout).setStartPoint("origin/" - // + incheckout).call(); - git.branchCreate().setForce(true).setName(incheckout).setStartPoint(incheckout).call(); - git.checkout().setName(incheckout).call(); - - repos.put(location, new RepoData(location, url, inbranches, incheckout, git)); - + + public void clone(String location, String url, String branch, String checkout) throws InvalidRemoteException, TransportException, GitAPIException, IOException { + clone(location, url, branch, checkout, false); } + + // max complexity sync - public void sync(String location, String url, List branches, String checkout) throws InvalidRemoteException, TransportException, GitAPIException, IOException { + public void sync(String location, String url, String branch, String checkout) throws InvalidRemoteException, TransportException, GitAPIException, IOException { // initial clone - clone(location, url, branches, checkout); + clone(location, url, branch, checkout); addTask(checkStatusIntervalMs, "checkStatus"); } public void sync(String location, String url, String checkout) throws InvalidRemoteException, TransportException, GitAPIException, IOException { - sync(location, url, Arrays.asList(checkout), checkout); + sync(location, url, checkout, checkout); } public RevCommit checkStatus() throws WrongRepositoryStateException, InvalidConfigurationException, InvalidRemoteException, CanceledException, RefNotFoundException, @@ -167,7 +134,7 @@ public RevCommit publishPull(RevCommit commit) { return commit; } - private static List getLogs(org.eclipse.jgit.api.Git git, String ref, int maxCount) + private List getLogs(org.eclipse.jgit.api.Git git, String ref, int maxCount) throws RevisionSyntaxException, NoHeadException, MissingObjectException, IncorrectObjectTypeException, AmbiguousObjectException, GitAPIException, IOException { List ret = new ArrayList<>(); Repository repository = git.getRepository(); @@ -193,17 +160,17 @@ public void stopSync() { purgeTasks(); } - static public int pull() throws WrongRepositoryStateException, InvalidConfigurationException, DetachedHeadException, InvalidRemoteException, CanceledException, - RefNotFoundException, NoHeadException, TransportException, IOException, GitAPIException { + public int pull() throws WrongRepositoryStateException, InvalidConfigurationException, DetachedHeadException, InvalidRemoteException, CanceledException, RefNotFoundException, + NoHeadException, TransportException, IOException, GitAPIException { return pull(null, null); } - static public int pull(String branch) throws WrongRepositoryStateException, InvalidConfigurationException, DetachedHeadException, InvalidRemoteException, CanceledException, + public int pull(String branch) throws WrongRepositoryStateException, InvalidConfigurationException, DetachedHeadException, InvalidRemoteException, CanceledException, RefNotFoundException, NoHeadException, TransportException, IOException, GitAPIException { return pull(null, branch); } - static org.eclipse.jgit.api.Git getGit(String rootFolder) throws IOException { + org.eclipse.jgit.api.Git getGit(String rootFolder) throws IOException { if (rootFolder == null) { rootFolder = System.getProperty("user.dir"); } @@ -224,7 +191,7 @@ static org.eclipse.jgit.api.Git getGit(String rootFolder) throws IOException { return git; } - static public int pull(String src, String branch) throws IOException, WrongRepositoryStateException, InvalidConfigurationException, DetachedHeadException, InvalidRemoteException, + public int pull(String src, String branch) throws IOException, WrongRepositoryStateException, InvalidConfigurationException, DetachedHeadException, InvalidRemoteException, CanceledException, RefNotFoundException, NoHeadException, TransportException, GitAPIException { if (src == null) { @@ -278,11 +245,11 @@ static public int pull(String src, String branch) throws IOException, WrongRepos return 0; } - static public void init() throws IllegalStateException, GitAPIException { + public void init() throws IllegalStateException, GitAPIException { init(null); } - static public void init(String directory) throws IllegalStateException, GitAPIException { + public void init(String directory) throws IllegalStateException, GitAPIException { if (directory == null) { directory = System.getProperty("user.dir"); } @@ -291,55 +258,30 @@ static public void init(String directory) throws IllegalStateException, GitAPIEx org.eclipse.jgit.api.Git git = org.eclipse.jgit.api.Git.init().setDirectory(dir).call(); } - public static void main(String[] args) { - try { - - LoggingFactory.init(Level.INFO); - - Properties properties = Platform.gitProperties(); - Git.removeProps(); - log.info("{}", properties); - - /* - * // start the service Git git = (Git) Runtime.start("git", "Git"); - * - * // check out and sync every minute // git.sync("test", - * "https://github.com/MyRobotLab/WorkE.git", "master"); // - * git.sync("/lhome/grperry/github/mrl/myrobotlab", // - * "https://github.com/MyRobotLab/myrobotlab.git", "agent-removal"); - * git.gitPull("agent-removal"); // - * git.sync(System.getProperty("user.dir"), // - * "https://github.com/MyRobotLab/myrobotlab.git", "agent-removal"); - */ - } catch (Exception e) { - log.error("main threw", e); - } - } - - public static String getBranch() throws IOException { + public String getBranch() throws IOException { return getBranch(null); } - public static String getBranch(String src) throws IOException { + public String getBranch(String src) throws IOException { org.eclipse.jgit.api.Git git = getGit(src); return git.getRepository().getBranch(); } - public static Status status() throws NoWorkTreeException, IOException, GitAPIException { + public Status status() throws NoWorkTreeException, IOException, GitAPIException { return status(null); } - public static Status status(String src) throws IOException, NoWorkTreeException, GitAPIException { + public Status status(String src) throws IOException, NoWorkTreeException, GitAPIException { org.eclipse.jgit.api.Git git = getGit(src); Status status = git.status().call(); return status; } - public static void removeProps() { + public void removeProps() { removeProps(null); } - public static void removeProps(String rootFolder) { + public void removeProps(String rootFolder) { if (rootFolder == null) { rootFolder = System.getProperty("user.dir"); } @@ -349,4 +291,89 @@ public static void removeProps(String rootFolder) { } + public static void main(String[] args) { + try { + + LoggingFactory.init(Level.INFO); + + Properties properties = Platform.gitProperties(); + // Git.removeProps(); + log.info("{}", properties); + Git git = (Git) Runtime.start("git", "Git"); + git.clone("./depthai", "https://github.com/luxonis/depthai.git", "main", "refs/tags/v1.13.1-sdk", true); + log.info("here"); + + + } catch (Exception e) { + log.error("main threw", e); + } + } + + // max complexity clone and checkout + public void clone(String location, String url, String branch, String checkout, boolean recursive) throws InvalidRemoteException, TransportException, GitAPIException, IOException { + + File repoLocation = new File(location); + org.eclipse.jgit.api.Git git = null; + Repository repo = null; + + // git clone + + if (!repoLocation.exists()) { + // clone + log.info("cloning {} {} checking out {} into {}", url, branch, checkout, location); + git = org.eclipse.jgit.api.Git.cloneRepository().setProgressMonitor(monitor).setURI(url).setDirectory(repoLocation).setBranch(branch).call(); + + } else { + // Open an existing repository + String gitDir = repoLocation.getAbsolutePath() + File.separator + ".git"; + log.info("opening repo {} from {}", gitDir, url); + repo = new FileRepositoryBuilder().setGitDir(new File(gitDir)).build(); + git = new org.eclipse.jgit.api.Git(repo); + } + + repo = git.getRepository(); + + // git pull + + PullCommand pullCmd = git.pull() + // .setRemote(remoteName) + // .setCredentialsProvider(new + // UsernamePasswordCredentialsProvider(username, password)) + .setRemoteBranchName(branch); + + // Perform the pull operation + pullCmd.call(); + + + // recursive + if (recursive) { + + // Recursively fetch and checkout submodules if they exist + SubmoduleWalk submoduleWalk = SubmoduleWalk.forIndex(repo); + while (submoduleWalk.next()) { + String submodulePath = submoduleWalk.getPath(); + org.eclipse.jgit.api.Git submoduleGit = org.eclipse.jgit.api.Git.open(new File(location, submodulePath)); + submoduleGit.fetch() + .setRemote("origin") + .call(); + submoduleGit.checkout() + .setName(branch) // Replace with the desired branch name + .call(); + } + + } + + if (checkout != null) { + // checkout + log.info("checking out {}", checkout); + // git.branchCreate().setForce(true).setName(incheckout).setStartPoint("origin/" + // + incheckout).call(); + git.branchCreate().setForce(true).setName(branch).setStartPoint(checkout).call(); + git.checkout().setName(checkout).call(); + } + + repos.put(location, new RepoData(location, url, checkout, git)); + + } + } diff --git a/src/main/java/org/myrobotlab/service/InverseKinematics3D.java b/src/main/java/org/myrobotlab/service/InverseKinematics3D.java index 05524a2630..378fd2440c 100644 --- a/src/main/java/org/myrobotlab/service/InverseKinematics3D.java +++ b/src/main/java/org/myrobotlab/service/InverseKinematics3D.java @@ -247,6 +247,12 @@ public void publishTelemetry(String name) { log.info("Servo : {} Angle : {}", jointName, angleMap.get(jointName)); } invoke("publishJointAngles", angleMap); + + InMoov2 i01 = (InMoov2)Runtime.getService("i01"); + if (i01 != null) { + i01.onJointAngles(angleMap); + } + // we want to publish the joint positions // this way we can render on the web gui.. double[][] jointPositionMap = createJointPositionMap(name); @@ -292,8 +298,7 @@ public static void main(String[] args) throws Exception { LoggingFactory.init("info"); String arm = "myArm"; - Runtime.createAndStart("python", "Python"); - Runtime.createAndStart("gui", "SwingGui"); + Runtime.start("python", "Python"); InverseKinematics3D inversekinematics = (InverseKinematics3D) Runtime.start("ik3d", "InverseKinematics3D"); // InverseKinematics3D inversekinematics = new InverseKinematics3D("iksvc"); diff --git a/src/main/java/org/myrobotlab/service/JMonkeyEngine.java b/src/main/java/org/myrobotlab/service/JMonkeyEngine.java index fbc5ef5e99..2174ac739b 100644 --- a/src/main/java/org/myrobotlab/service/JMonkeyEngine.java +++ b/src/main/java/org/myrobotlab/service/JMonkeyEngine.java @@ -1469,7 +1469,7 @@ public void onAnalog(String name, float keyPressed, float tpf) { // PAN -- works(ish) if (mouseMiddle && shiftLeft) { - log.info("PAN !!!!"); + log.debug("panning"); switch (name) { case "mouse-axis-x": case "mouse-axis-x-negative": @@ -2157,7 +2157,7 @@ public void simpleInitApp() { new File(getDataDir()).mkdirs(); new File(getResourceDir()).mkdirs(); - // assetManager.registerLocator("./", FileLocator.class); + assetManager.registerLocator("./", FileLocator.class); assetManager.registerLocator(getDataDir(), FileLocator.class); assetManager.registerLocator(assetsDir, FileLocator.class); assetManager.registerLocator(modelsDir, FileLocator.class); diff --git a/src/main/java/org/myrobotlab/service/Log.java b/src/main/java/org/myrobotlab/service/Log.java index fa88732014..3e1fe48847 100644 --- a/src/main/java/org/myrobotlab/service/Log.java +++ b/src/main/java/org/myrobotlab/service/Log.java @@ -34,7 +34,7 @@ import org.myrobotlab.logging.LoggerFactory; import org.myrobotlab.logging.Logging; import org.myrobotlab.logging.LoggingFactory; -import org.myrobotlab.service.config.ServiceConfig; +import org.myrobotlab.service.config.LogConfig; import org.slf4j.Logger; import ch.qos.logback.classic.spi.ILoggingEvent; @@ -44,7 +44,7 @@ import ch.qos.logback.core.spi.FilterReply; import ch.qos.logback.core.status.Status; -public class Log extends Service implements Appender { +public class Log extends Service implements Appender { public static class LogEntry { public long ts; @@ -81,7 +81,7 @@ public String toString() { * broadcast logging is through publishLogEvent (not broadcastState) */ transient List buffer = new ArrayList<>(); - + /** * logging state */ @@ -192,6 +192,7 @@ public void doAppend(ILoggingEvent event) throws LogbackException { synchronized public void flush() { if (buffer.size() > 0) { invoke("publishLogEvents", buffer); + buffer = new ArrayList<>(maxSize); lastPublishLogTimeTs = System.currentTimeMillis(); } @@ -224,6 +225,11 @@ public List publishLogEvents(List entries) { return entries; } + public List publishErrors(List entries) { + return entries; + } + + @Override public void setContext(Context arg0) { // TODO Auto-generated method stub diff --git a/src/main/java/org/myrobotlab/service/NeoPixel.java b/src/main/java/org/myrobotlab/service/NeoPixel.java index d9fa5e51cb..20db992f20 100644 --- a/src/main/java/org/myrobotlab/service/NeoPixel.java +++ b/src/main/java/org/myrobotlab/service/NeoPixel.java @@ -404,6 +404,14 @@ public void flash(int r, int g, int b) { public void flash(int r, int g, int b, int count) { flash(r, g, b, count, flashTimeOn, flashTimeOff); } + + public void onPlayAnimation(String animation) { + playAnimation(animation); + } + + public void onStopAnimation() { + stopAnimation(); + } public void flash(int r, int g, int b, int count, long timeOn, long timeOff) { LedDisplayData data = new LedDisplayData(); @@ -567,6 +575,14 @@ public void playAnimation(String animation) { log.info("already playing {}", currentAnimation); return; } + +// if ("Snake".equals(animation)){ +// LedDisplayData snake = new LedDisplayData(); +// snake.red = red; +// snake.green = green; +// snake.blue = blue; +// displayQueue.add(null); +// } else if (animations.containsKey(animation)) { currentAnimation = animation; diff --git a/src/main/java/org/myrobotlab/service/OakD.java b/src/main/java/org/myrobotlab/service/OakD.java index 99e9fdbfea..7c0789211c 100644 --- a/src/main/java/org/myrobotlab/service/OakD.java +++ b/src/main/java/org/myrobotlab/service/OakD.java @@ -1,10 +1,12 @@ package org.myrobotlab.service; import org.myrobotlab.framework.Service; +import org.myrobotlab.framework.Status; import org.myrobotlab.logging.Level; import org.myrobotlab.logging.LoggerFactory; import org.myrobotlab.logging.LoggingFactory; -import org.myrobotlab.service.config.ServiceConfig; +import org.myrobotlab.process.GitHub; +import org.myrobotlab.service.config.OakDConfig; import org.slf4j.Logger; /** * @@ -14,16 +16,50 @@ * @author GroG * */ -public class OakD extends Service { +public class OakD extends Service { private static final long serialVersionUID = 1L; public final static Logger log = LoggerFactory.getLogger(OakD.class); + private transient Py4j py4j = null; + private transient Git git = null; + public OakD(String n, String id) { super(n, id); } + public void startService() { + super.startService(); + + py4j = (Py4j)startPeer("py4j"); + git = (Git)startPeer("git"); + + if (config.py4jInstall) { + installDepthAi(); + } + + } + + /** + * starting install of depthapi + */ + public void publishInstallStart() { + } + + public Status publishInstallFinish() { + return Status.error("depth ai install was not successful"); + } + + /** + * For depthai we need to clone its repo and install requirements + * + */ + public void installDepthAi() { + + //git.clone("./", config.depthaiCloneUrl) + py4j.exec(""); + } public static void main(String[] args) { try { diff --git a/src/main/java/org/myrobotlab/service/Pir.java b/src/main/java/org/myrobotlab/service/Pir.java index 5a2f0d750c..eea710f585 100644 --- a/src/main/java/org/myrobotlab/service/Pir.java +++ b/src/main/java/org/myrobotlab/service/Pir.java @@ -9,7 +9,6 @@ import org.myrobotlab.logging.LoggerFactory; import org.myrobotlab.logging.LoggingFactory; import org.myrobotlab.service.config.PirConfig; -import org.myrobotlab.service.config.ServiceConfig; import org.myrobotlab.service.data.PinData; import org.myrobotlab.service.interfaces.PinArrayControl; import org.myrobotlab.service.interfaces.PinDefinition; @@ -52,33 +51,31 @@ public void attach(String name) { } public void setPinArrayControl(String control) { - PirConfig c = (PirConfig) config; - c.controller = control; + config.controller = control; } public void attachPinArrayControl(String control) { - PirConfig c = (PirConfig) config; if (control == null) { error("controller cannot be null"); return; } - if (c.pin == null) { + if (config.pin == null) { error("pin should be set before attaching"); return; } - c.controller = CodecUtils.getShortName(control); + config.controller = CodecUtils.getShortName(control); // fire and forget - send(c.controller, "attach", getName()); + send(config.controller, "attach", getName()); // assume worky isAttached = true; // enable if configured - if (c.enable) { - send(c.controller, "enablePin", c.pin, c.rate); + if (config.enable) { + send(config.controller, "enablePin", config.pin, config.rate); } broadcastState(); @@ -95,16 +92,15 @@ public void detach(String name) { * @param control */ public void detachPinArrayControl(String control) { - PirConfig c = (PirConfig) config; if (control == null) { log.info("detaching null"); return; } - if (c.controller != null) { - if (!c.controller.equals(control)) { - log.warn("attempting to detach {} but this pir is attached to {}", control, c.controller); + if (config.controller != null) { + if (!config.controller.equals(control)) { + log.warn("attempting to detach {} but this pir is attached to {}", control, config.controller); return; } } @@ -112,8 +108,8 @@ public void detachPinArrayControl(String control) { // disable disable(); - send(c.controller, "detach", getName()); - // c.controller = null; left as configuration .. "last controller" + send(config.controller, "detach", getName()); + // config.controller = null; left as configuration .. "last controller" // detached isAttached = false; @@ -128,13 +124,12 @@ public void detachPinArrayControl(String control) { * */ public void disable() { - PirConfig c = (PirConfig) config; - if (c.controller != null && c.pin != null) { - send(c.controller, "disablePin", c.pin); + if (config.controller != null && config.pin != null) { + send(config.controller, "disablePin", config.pin); } - c.enable = false; + config.enable = false; active = null; broadcastState(); } @@ -143,8 +138,7 @@ public void disable() { * Enables polling at the preset poll rate. */ public void enable() { - PirConfig c = (PirConfig) config; - enable(c.rate); + enable(config.rate); } /** @@ -154,14 +148,13 @@ public void enable() { * */ public void enable(int rateHz) { - PirConfig c = (PirConfig) config; - if (c.controller == null) { + if (config.controller == null) { error("pin control not set"); return; } - if (c.pin == null) { + if (config.pin == null) { error("pin not set"); return; } @@ -171,17 +164,16 @@ public void enable(int rateHz) { return; } - c.rate = rateHz; + config.rate = rateHz; /* PinArrayControl.enablePin */ - send(c.controller, "enablePin", c.pin, rateHz); - c.enable = true; + send(config.controller, "enablePin", config.pin, rateHz); + config.enable = true; broadcastState(); } @Override public String getPin() { - PirConfig c = (PirConfig) config; - return c.pin; + return config.pin; } /** @@ -190,8 +182,7 @@ public String getPin() { * @return Hz */ public int getRate() { - PirConfig c = (PirConfig) config; - return c.rate; + return config.rate; } /** @@ -211,8 +202,7 @@ public boolean isActive() { * @return true = Enabled. false = Disabled. */ public boolean isEnabled() { - PirConfig c = (PirConfig) config; - return c.enable; + return config.enable; } @Override @@ -247,13 +237,12 @@ public PirConfig getConfig() { @Override public void onPin(PinData pindata) { - PirConfig c = (PirConfig) config; log.debug("onPin {}", pindata); boolean sense = (pindata.value != 0); // sparse publishing only on state change - if (active == null || active != sense && c.enable) { + if (active == null || active != sense && config.enable) { // state change invoke("publishSense", sense); active = sense; @@ -286,14 +275,12 @@ public void publishPirOff() { */ @Override public void setPin(String pin) { - PirConfig c = (PirConfig) config; - c.pin = pin; + config.pin = pin; } @Deprecated /* use attach(String) */ public void setPinArrayControl(PinArrayControl pinControl) { - PirConfig c = (PirConfig) config; - c.controller = pinControl.getName(); + config.controller = pinControl.getName(); } /** @@ -306,8 +293,7 @@ public void setRate(int rateHz) { error("invalid poll rate - default is 1 Hz valid value is > 0"); return; } - PirConfig c = (PirConfig) config; - c.rate = rateHz; + config.rate = rateHz; } /** diff --git a/src/main/java/org/myrobotlab/service/Random.java b/src/main/java/org/myrobotlab/service/Random.java index 93b8178fd2..2d435ac35d 100644 --- a/src/main/java/org/myrobotlab/service/Random.java +++ b/src/main/java/org/myrobotlab/service/Random.java @@ -183,7 +183,10 @@ public void addRandom(long minIntervalMs, long maxIntervalMs, String name, Strin msg.interval = getRandom(minIntervalMs, maxIntervalMs); log.info("add random message {} in {} ms", key, msg.interval); - addTask(key, 0, msg.interval, "process", key); + if (enabled) { + // only if global enabled is enabled do we start the task + addTask(key, 0, msg.interval, "process", key); + } broadcastState(); } @@ -230,7 +233,11 @@ public void process(String key) { purgeTask(key); if (!msg.oneShot) { msg.interval = getRandom(msg.minIntervalMs, msg.maxIntervalMs); - addTask(key, 0, msg.interval, "process", key); + // must re-schedule unless one shot + if (enabled) { + // only if global enabled is enabled do we start the task + addTask(key, 0, msg.interval, "process", key); + } } } @@ -316,7 +323,10 @@ public void enable(String key) { return; } randomData.get(key).enabled = true; - addTask(key, 0, msg.interval, "process", key); + if (enabled) { + // only if global enabled is enabled do we start the task + addTask(key, 0, msg.interval, "process", key); + } return; } // must be name - disable "all" for this service @@ -325,7 +335,10 @@ public void enable(String key) { if (msg.name.equals(name)) { msg.enabled = true; String fullKey = String.format("%s.%s", msg.name, msg.method); - addTask(fullKey, 0, msg.interval, "process", fullKey); + if (enabled) { + // only if global enabled is enabled do we start the task + addTask(fullKey, 0, msg.interval, "process", fullKey); + } } } } @@ -335,6 +348,7 @@ public void disable() { // events purgeTasks(); enabled = false; + broadcastState(); } public void enable() { @@ -345,7 +359,9 @@ public void enable() { addTask(fullKey, 0, msg.interval, "process", fullKey); } } + enabled = true; + broadcastState(); } public void purge() { @@ -392,9 +408,10 @@ public static void main(String[] args) { List ret = random.getServiceList(); Set mi = random.getMethodsFromName("c1"); List mes = MethodCache.getInstance().query("Clock", "setInterval"); - + random.disable(); random.addRandom(200, 1000, "i01", "setHeadSpeed", 8, 20, 8, 20, 8, 20); random.addRandom(200, 1000, "i01", "moveHead", 65, 115, 65, 115, 65, 115); + random.enable(); // Python python = (Python) Runtime.start("python", "Python"); From dcae69235e339d9747b239ed4f46f2cf5a3b729c Mon Sep 17 00:00:00 2001 From: grog Date: Tue, 19 Sep 2023 20:12:43 -0700 Subject: [PATCH 027/232] intermediate --- .../org/myrobotlab/framework/Service.java | 2 +- .../org/myrobotlab/service/InMoov2Head.java | 37 +++++-- .../java/org/myrobotlab/service/Updater.java | 98 ++++++++++++++++++- .../service/config/InMoov2Config.java | 81 +++++++++++---- 4 files changed, 186 insertions(+), 32 deletions(-) diff --git a/src/main/java/org/myrobotlab/framework/Service.java b/src/main/java/org/myrobotlab/framework/Service.java index 1a3d9e6956..c5f5cc22ac 100644 --- a/src/main/java/org/myrobotlab/framework/Service.java +++ b/src/main/java/org/myrobotlab/framework/Service.java @@ -1525,7 +1525,7 @@ public QueueStats publishQueueStats(QueueStats stats) { * @return the service */ @Override - public Service publishState() { + public Service publishState() { return this; } diff --git a/src/main/java/org/myrobotlab/service/InMoov2Head.java b/src/main/java/org/myrobotlab/service/InMoov2Head.java index 63b34b1198..bff2bb394e 100644 --- a/src/main/java/org/myrobotlab/service/InMoov2Head.java +++ b/src/main/java/org/myrobotlab/service/InMoov2Head.java @@ -142,15 +142,34 @@ public void disable() { eyelidRight.disable(); } - public long getLastActivityTime() { - - long lastActivityTime = Math.max(rothead.getLastActivityTime(), neck.getLastActivityTime()); - lastActivityTime = Math.max(lastActivityTime, eyeX.getLastActivityTime()); - lastActivityTime = Math.max(lastActivityTime, eyeY.getLastActivityTime()); - lastActivityTime = Math.max(lastActivityTime, jaw.getLastActivityTime()); - lastActivityTime = Math.max(lastActivityTime, rollNeck.getLastActivityTime()); - lastActivityTime = Math.max(lastActivityTime, eyelidLeft.getLastActivityTime()); - lastActivityTime = Math.max(lastActivityTime, eyelidRight.getLastActivityTime()); + public Long getLastActivityTime() { + + Long lastActivityTime = Math.max(rothead.getLastActivityTime(), neck.getLastActivityTime()); + if (getPeer("eyeX") != null) { + lastActivityTime = Math.max(lastActivityTime, eyeX.getLastActivityTime()); + } + if (getPeer("eyeY") != null) { + lastActivityTime = Math.max(lastActivityTime, eyeY.getLastActivityTime()); + } + if (getPeer("jaw") != null) { + lastActivityTime = Math.max(lastActivityTime, jaw.getLastActivityTime()); + } + if (getPeer("rollNeck") != null) { + lastActivityTime = Math.max(lastActivityTime, rollNeck.getLastActivityTime()); + } + if (getPeer("rollNeck") != null) { + lastActivityTime = Math.max(lastActivityTime, rothead.getLastActivityTime()); + } + if (getPeer("rollNeck") != null) { + lastActivityTime = Math.max(lastActivityTime, neck.getLastActivityTime()); + } + + if (getPeer("eyelidLeft") != null) { + lastActivityTime = Math.max(lastActivityTime, eyelidLeft.getLastActivityTime()); + } + if (getPeer("eyelidRight") != null) { + lastActivityTime = Math.max(lastActivityTime, eyelidRight.getLastActivityTime()); + } return lastActivityTime; } diff --git a/src/main/java/org/myrobotlab/service/Updater.java b/src/main/java/org/myrobotlab/service/Updater.java index 779dc1c81f..f97f3149e6 100644 --- a/src/main/java/org/myrobotlab/service/Updater.java +++ b/src/main/java/org/myrobotlab/service/Updater.java @@ -4,11 +4,32 @@ import java.io.FilenameFilter; import java.io.IOException; import java.io.UnsupportedEncodingException; +import java.util.ArrayList; import java.util.HashSet; +import java.util.List; import java.util.Properties; import java.util.Set; import java.util.TreeSet; +import org.eclipse.jgit.api.PullCommand; +import org.eclipse.jgit.api.errors.CanceledException; +import org.eclipse.jgit.api.errors.DetachedHeadException; +import org.eclipse.jgit.api.errors.GitAPIException; +import org.eclipse.jgit.api.errors.InvalidConfigurationException; +import org.eclipse.jgit.api.errors.InvalidRemoteException; +import org.eclipse.jgit.api.errors.NoHeadException; +import org.eclipse.jgit.api.errors.RefNotFoundException; +import org.eclipse.jgit.api.errors.TransportException; +import org.eclipse.jgit.api.errors.WrongRepositoryStateException; +import org.eclipse.jgit.errors.AmbiguousObjectException; +import org.eclipse.jgit.errors.IncorrectObjectTypeException; +import org.eclipse.jgit.errors.MissingObjectException; +import org.eclipse.jgit.errors.RevisionSyntaxException; +import org.eclipse.jgit.lib.BranchTrackingStatus; +import org.eclipse.jgit.lib.Repository; +import org.eclipse.jgit.lib.TextProgressMonitor; +import org.eclipse.jgit.revwalk.RevCommit; +import org.eclipse.jgit.storage.file.FileRepositoryBuilder; import org.myrobotlab.codec.CodecUtils; import org.myrobotlab.framework.CmdOptions; import org.myrobotlab.framework.MrlException; @@ -392,10 +413,13 @@ public void checkForUpdates() { if (isSrcMode) { String cwd = System.getProperty("user.dir"); boolean makeBuild = false; - String branch = Git.getBranch(); + + Repository repo = new FileRepositoryBuilder().setGitDir(new File(System.getProperty("user.dir"))).build(); + org.eclipse.jgit.api.Git git = new org.eclipse.jgit.api.Git(repo); + String branch = git.getRepository().getBranch(); log.info("current source branch is \"{}\"", branch); - int commitsBehind = Git.pull(branch); + int commitsBehind = pull(null, branch); if (gitProps == null) { log.info("target/classes/git.properties does not exist - will build"); @@ -413,7 +437,8 @@ public void checkForUpdates() { // FIXME - download mvn if it does not exist ?? // remove git properties before compile - Git.removeProps(); + File props = new File(System.getProperty("user.dir") + File.separator + "target" + File.separator + "classes" + File.separator + "git.properties"); + props.delete(); // FIXME - compile or package mode ! String ret = Maven.mvn(cwd, branch, "compile", System.currentTimeMillis() / 1000, offline); @@ -613,6 +638,73 @@ public boolean accept(File dir, String name) { return false; } + TextProgressMonitor monitor = new TextProgressMonitor(); + + public int pull(String src, String branch) throws IOException, WrongRepositoryStateException, InvalidConfigurationException, DetachedHeadException, InvalidRemoteException, + CanceledException, RefNotFoundException, NoHeadException, TransportException, GitAPIException { + + if (src == null) { + src = System.getProperty("user.dir"); + } + + if (branch == null) { + log.warn("branch is not set - setting to default develop"); + branch = "develop"; + } + + List branches = new ArrayList(); + branches.add("refs/heads/" + branch); + + File repoParentFolder = new File(src); + + org.eclipse.jgit.api.Git git = null; + Repository repo = null; + + // Open an existing repository FIXME Try Git.open(dir) + String gitDir = repoParentFolder.getAbsolutePath() + "/.git"; + repo = new FileRepositoryBuilder().setGitDir(new File(gitDir)).build(); + git = new org.eclipse.jgit.api.Git(repo); + + repo = git.getRepository(); + git.branchCreate().setForce(true).setName(branch).setStartPoint(branch).call(); + git.checkout().setName(branch).call(); + + git.fetch().setProgressMonitor(monitor).call(); + + List localLogs = getLogs(git, "origin/" + branch, 1); + List remoteLogs = getLogs(git, "remotes/origin/" + branch, 1); + + RevCommit localCommit = localLogs.get(0); + RevCommit remoteCommit = remoteLogs.get(0); + + BranchTrackingStatus status = BranchTrackingStatus.of(repo, branch); + + // FIXME - Git.close() file handles + + if (status.getBehindCount() > 0) { + log.info("local ts {}, remote {} - {} pulling", localCommit.getCommitTime(), remoteCommit.getCommitTime(), remoteCommit.getFullMessage()); + PullCommand pullCmd = git.pull(); + pullCmd.setProgressMonitor(monitor); + pullCmd.call(); + git.close(); + return status.getBehindCount(); + } + log.info("no new commits on branch {}", branch); + git.close(); + return 0; + } + + private List getLogs(org.eclipse.jgit.api.Git git, String ref, int maxCount) + throws RevisionSyntaxException, NoHeadException, MissingObjectException, IncorrectObjectTypeException, AmbiguousObjectException, GitAPIException, IOException { + List ret = new ArrayList<>(); + Repository repository = git.getRepository(); + Iterable logs = git.log().setMaxCount(maxCount).add(repository.resolve(ref)).call(); + for (RevCommit rev : logs) { + ret.add(rev); + } + return ret; + } + public static void main(String[] args) { LoggingFactory.init(Level.INFO); diff --git a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java index 7c188e95d5..3634fe4e47 100644 --- a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java +++ b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java @@ -92,6 +92,8 @@ public class InMoov2Config extends ServiceConfig { public boolean pirEnableTracking = false; + public boolean pirOnFlash = true; + /** * play pir sounds when pir switching states sound located in * data/InMoov2/sounds/pir-activated.mp3 sound located in @@ -100,9 +102,9 @@ public class InMoov2Config extends ServiceConfig { public boolean pirPlaySounds = true; public boolean pirWakeUp = true; - - public boolean robotCanMoveHeadWhileSpeaking = true; + public boolean robotCanMoveHeadWhileSpeaking = true; + /** * startup and shutdown will pause inmoov - set the speed to this value then * attempt to move to rest @@ -115,36 +117,36 @@ public class InMoov2Config extends ServiceConfig { public int sleepTimeoutMs = 300000; public boolean startupSound = true; - - /** - * Determines if InMoov2 publish system events during boot state - */ - public boolean systemEventsOnBoot = false; - - /** - * Publish system event when state changes - */ - public boolean systemEventStateChange = true; /** * */ - public boolean stateChangeIsMute = true; - + public boolean stateChangeIsMute = true; /** * Interval in seconds for a idle state event to fire off. * If the fsm is in a state which will allow transitioning, the InMoov2 * state will transition to idle. Heartbeat will fire the event. */ - public int stateIdleInterval = 120; - + public Integer stateIdleInterval = 120; + + /** * Interval in seconds for a random state event to fire off. * If the fsm is in a state which will allow transitioning, the InMoov2 * state will transition to random. Heartbeat will fire the event. */ - public int stateRandomInterval = 120; + public Integer stateRandomInterval = 120; + + /** + * Determines if InMoov2 publish system events during boot state + */ + public boolean systemEventsOnBoot = false; + + /** + * Publish system event when state changes + */ + public boolean systemEventStateChange = true; public int trackingTimeoutMs = 10000; @@ -152,6 +154,8 @@ public class InMoov2Config extends ServiceConfig { public boolean virtual = false; + public String bootAnimation = "Theater Chase"; + public InMoov2Config() { } @@ -176,6 +180,7 @@ public Plan getDefault(Plan plan, String name) { addDefaultPeerConfig(plan, name, "left", "Arduino", false); addDefaultPeerConfig(plan, name, "leftArm", "InMoov2Arm", false); addDefaultPeerConfig(plan, name, "leftHand", "InMoov2Hand", false); + addDefaultPeerConfig(plan, name, "log", "Log", false); addDefaultPeerConfig(plan, name, "mouth", "MarySpeech", false); // a first ! addDefaultPeerConfig(plan, name, "mouth.audioFile", "AudioFile", false); @@ -338,6 +343,7 @@ public Plan getDefault(Plan plan, String name) { fsm.transitions.add(new Transition("idle", "random", "random")); fsm.transitions.add(new Transition("random", "idle", "idle")); fsm.transitions.add(new Transition("idle", "sleep", "sleep")); + fsm.transitions.add(new Transition("sleep", "wake", "wake")); fsm.transitions.add(new Transition("idle", "powerDown", "powerDown")); fsm.transitions.add(new Transition("wake", "firstInit", "firstInit")); // powerDown to shutdown @@ -345,10 +351,11 @@ public Plan getDefault(Plan plan, String name) { // fsm.transitions.add(new Transition("awake", "sleep", "sleeping")); PirConfig pir = (PirConfig) plan.get(getPeerName("pir")); - pir.pin = "23"; + pir.pin = "D23"; pir.controller = name + ".left"; pir.listeners = new ArrayList<>(); - pir.listeners.add(new Listener("publishPirOn", name, "onPirOn")); + pir.listeners.add(new Listener("publishPirOn", name)); + pir.listeners.add(new Listener("publishPirOff", name)); // == Peer - random ============================= RandomConfig random = (RandomConfig) plan.get(getPeerName("random")); @@ -472,6 +479,42 @@ public Plan getDefault(Plan plan, String name) { listeners.add(new Listener("publishConfigFinished", name)); listeners.add(new Listener("publishStateChange", name)); +// listeners.add(new Listener("publishPowerUp", name)); +// listeners.add(new Listener("publishPowerDown", name)); +// listeners.add(new Listener("publishError", name)); + + listeners.add(new Listener("publishMoveHead", name)); + listeners.add(new Listener("publishMoveRightArm", name)); + listeners.add(new Listener("publishMoveLeftArm", name)); + listeners.add(new Listener("publishMoveRightHand", name)); + listeners.add(new Listener("publishMoveLeftHand", name)); + listeners.add(new Listener("publishMoveTorso", name)); + + // service --to--> InMoov2 + AudioFileConfig mouth_audioFile = (AudioFileConfig) plan.get(getPeerName("mouth.audioFile")); + mouth_audioFile.listeners = new ArrayList<>(); + mouth_audioFile.listeners.add(new Listener("publishPeak", name)); + fsm.listeners.add(new Listener("publishStateChange", name, "publishStateChange")); + + + LogConfig log = (LogConfig) plan.get(getPeerName("log")); + log.listeners = new ArrayList<>(); + log.listeners.add(new Listener("publishLogEvents", name)); + +// mouth_audioFile.listeners.add(new Listener("publishAudioEnd", name)); +// mouth_audioFile.listeners.add(new Listener("publishAudioStart", name)); + + // InMoov2 --to--> service + listeners.add(new Listener("publishFlash", getPeerName("neoPixel"), "onLedDisplay")); + listeners.add(new Listener("publishEvent", getPeerName("chatBot"), "getResponse")); + listeners.add(new Listener("publishPlayAudioFile", getPeerName("audioPlayer"))); + + listeners.add(new Listener("publishPlayAnimation", getPeerName("neoPixel"))); + listeners.add(new Listener("publishStopAnimation", getPeerName("neoPixel"))); + + // remove the auto-added starts in the plan's runtime RuntimConfig.registry + plan.removeStartsWith(name + "."); + // listeners.add(new Listener("publishPowerUp", name)); // listeners.add(new Listener("publishPowerDown", name)); // listeners.add(new Listener("publishError", name)); From 332389712acb467dfdf4ba47de2db234bdf29264 Mon Sep 17 00:00:00 2001 From: grog Date: Tue, 19 Sep 2023 20:13:10 -0700 Subject: [PATCH 028/232] caliko --- pom.xml | 23 +++++++++++++++++++++++ 1 file changed, 23 insertions(+) diff --git a/pom.xml b/pom.xml index 0900d2149e..45c2647161 100644 --- a/pom.xml +++ b/pom.xml @@ -1674,6 +1674,18 @@ + + au.edu.federation.caliko + caliko + 1.3.8 + + + + au.edu.federation.caliko.visualisation + caliko-visualisation + 1.3.8 + + com.github.sarxos @@ -1762,6 +1774,12 @@ + + dev.onvoid.webrtc + webrtc-java + 0.7.0 + + org.mockito @@ -1769,6 +1787,11 @@ 3.12.4 test + + au.edu.federation.caliko.demo + caliko-demo + 1.3.8 + From 1d3f08cb1009defae479cb78775c775c875affd4 Mon Sep 17 00:00:00 2001 From: grog Date: Tue, 19 Sep 2023 20:15:55 -0700 Subject: [PATCH 029/232] updates --- src/main/java/org/myrobotlab/kinematics/DHRobotArm.java | 5 ++++- src/main/java/org/myrobotlab/service/InMoov2.java | 2 ++ src/main/java/org/myrobotlab/service/Random.java | 6 +++--- 3 files changed, 9 insertions(+), 4 deletions(-) diff --git a/src/main/java/org/myrobotlab/kinematics/DHRobotArm.java b/src/main/java/org/myrobotlab/kinematics/DHRobotArm.java index 03b8c251b9..6fd3e43b13 100644 --- a/src/main/java/org/myrobotlab/kinematics/DHRobotArm.java +++ b/src/main/java/org/myrobotlab/kinematics/DHRobotArm.java @@ -235,7 +235,10 @@ public boolean moveToGoal(Point goal) { int numSteps = 0; double iterStep = 0.05; // we're in millimeters.. - double errorThreshold = 2.0; + double errorThreshold = 20.0; + + maxIterations = 1000; + // what's the current point while (true) { numSteps++; diff --git a/src/main/java/org/myrobotlab/service/InMoov2.java b/src/main/java/org/myrobotlab/service/InMoov2.java index 3fa91f12af..5b3744fea8 100644 --- a/src/main/java/org/myrobotlab/service/InMoov2.java +++ b/src/main/java/org/myrobotlab/service/InMoov2.java @@ -59,6 +59,8 @@ public class InMoov2 extends Service implements ServiceLifeCycleL static String speechRecognizer = "WebkitSpeechRecognition"; + protected static final Set stateDefaults = new TreeSet<>(); + /** * This method will load a python file into the python interpreter. * diff --git a/src/main/java/org/myrobotlab/service/Random.java b/src/main/java/org/myrobotlab/service/Random.java index 2d435ac35d..dca027aa3a 100644 --- a/src/main/java/org/myrobotlab/service/Random.java +++ b/src/main/java/org/myrobotlab/service/Random.java @@ -191,9 +191,9 @@ public void addRandom(long minIntervalMs, long maxIntervalMs, String name, Strin } public void process(String key) { - if (!enabled) { - return; - } + // if (!enabled) { + // return; + // } RandomMessage msg = randomData.get(key); if (msg == null || !msg.enabled) { From 9c875a8d68f75ff51872741118cf07902c0a3ef6 Mon Sep 17 00:00:00 2001 From: grog Date: Tue, 19 Sep 2023 20:24:32 -0700 Subject: [PATCH 030/232] transfer --- pom.xml | 971 +++++++++--------- .../org/myrobotlab/caliko/Application.java | 82 ++ .../org/myrobotlab/caliko/CalikoDemo3D.java | 148 +++ .../org/myrobotlab/caliko/FabrikModel3D.java | 316 ++++++ .../myrobotlab/caliko/GuiDemoStructure.java | 30 + .../java/org/myrobotlab/caliko/Model.java | 928 +++++++++++++++++ .../org/myrobotlab/caliko/OpenGLWindow.java | 505 +++++++++ .../org/myrobotlab/kinematics/DHRobotArm.java | 5 +- .../java/org/myrobotlab/service/Caliko.java | 401 ++++++++ .../service/FiniteStateMachine.java | 15 + src/main/java/org/myrobotlab/service/Git.java | 203 ++-- .../java/org/myrobotlab/service/InMoov2.java | 948 +++++++++++++---- .../org/myrobotlab/service/InMoov2Head.java | 37 +- .../service/InverseKinematics3D.java | 9 +- .../org/myrobotlab/service/JMonkeyEngine.java | 4 +- src/main/java/org/myrobotlab/service/Log.java | 12 +- .../java/org/myrobotlab/service/NeoPixel.java | 50 + .../java/org/myrobotlab/service/OakD.java | 40 +- src/main/java/org/myrobotlab/service/Pir.java | 68 +- .../java/org/myrobotlab/service/Random.java | 33 +- .../java/org/myrobotlab/service/Updater.java | 98 +- .../service/config/CalikoConfig.java | 36 + .../service/config/InMoov2Config.java | 111 +- .../myrobotlab/service/config/LogConfig.java | 12 + .../myrobotlab/service/config/OakDConfig.java | 32 + .../service/config/WebXRConfig.java | 37 + .../org/myrobotlab/service/data/Event.java | 38 + .../myrobotlab/service/meta/CalikoMeta.java | 41 + .../resource/BoofCV/basket_depth.png | Bin 0 -> 94310 bytes .../resources/resource/BoofCV/basket_rgb.png | Bin 0 -> 579028 bytes .../resources/resource/BoofCV/intrinsic.yaml | 19 + .../resource/BoofCV/visualdepth.yaml | 20 + src/main/resources/resource/Caliko.png | Bin 0 -> 1525 bytes .../resources/resource/Caliko/pyramid.obj | 56 + .../WebGui/app/service/js/WebXRGui.js | 43 + .../WebGui/app/service/views/WebXRGui.html | 64 ++ src/main/resources/resource/WebXR.png | Bin 0 -> 20829 bytes .../myrobotlab/service/ServoMixerTest.java | 31 + .../myrobotlab/service/WebGuiSocketTest.java | 137 +++ 39 files changed, 4715 insertions(+), 865 deletions(-) create mode 100644 src/main/java/org/myrobotlab/caliko/Application.java create mode 100644 src/main/java/org/myrobotlab/caliko/CalikoDemo3D.java create mode 100644 src/main/java/org/myrobotlab/caliko/FabrikModel3D.java create mode 100644 src/main/java/org/myrobotlab/caliko/GuiDemoStructure.java create mode 100644 src/main/java/org/myrobotlab/caliko/Model.java create mode 100644 src/main/java/org/myrobotlab/caliko/OpenGLWindow.java create mode 100644 src/main/java/org/myrobotlab/service/Caliko.java create mode 100644 src/main/java/org/myrobotlab/service/config/CalikoConfig.java create mode 100644 src/main/java/org/myrobotlab/service/config/LogConfig.java create mode 100644 src/main/java/org/myrobotlab/service/config/OakDConfig.java create mode 100644 src/main/java/org/myrobotlab/service/config/WebXRConfig.java create mode 100644 src/main/java/org/myrobotlab/service/data/Event.java create mode 100644 src/main/java/org/myrobotlab/service/meta/CalikoMeta.java create mode 100644 src/main/resources/resource/BoofCV/basket_depth.png create mode 100644 src/main/resources/resource/BoofCV/basket_rgb.png create mode 100644 src/main/resources/resource/BoofCV/intrinsic.yaml create mode 100644 src/main/resources/resource/BoofCV/visualdepth.yaml create mode 100644 src/main/resources/resource/Caliko.png create mode 100644 src/main/resources/resource/Caliko/pyramid.obj create mode 100644 src/main/resources/resource/WebGui/app/service/js/WebXRGui.js create mode 100644 src/main/resources/resource/WebGui/app/service/views/WebXRGui.html create mode 100644 src/main/resources/resource/WebXR.png create mode 100644 src/test/java/org/myrobotlab/service/ServoMixerTest.java create mode 100644 src/test/java/org/myrobotlab/service/WebGuiSocketTest.java diff --git a/pom.xml b/pom.xml index a1507381a2..259b4e77b4 100644 --- a/pom.xml +++ b/pom.xml @@ -1,102 +1,102 @@ - - - 4.0.0 - org.myrobotlab - mrl - 0.0.1-SNAPSHOT - MyRobotLab - Open Source Creative Machine Control - - - false - - - - 1.1. - - ${maven.build.timestamp} - yyyyMMddHHmm - ${timestamp} - ${version.prefix}${build.number} - ${git.branch} - ${NODE_NAME} - ${NODE_LABELS} - - - - 11 - 11 - UTF-8 - - - + + + 4.0.0 + org.myrobotlab + mrl + 0.0.1-SNAPSHOT + MyRobotLab + Open Source Creative Machine Control + + + false + + + + 1.1. + + ${maven.build.timestamp} + yyyyMMddHHmm + ${timestamp} + ${version.prefix}${build.number} + ${git.branch} + ${NODE_NAME} + ${NODE_LABELS} + + + + 11 + 11 + UTF-8 + + + @@ -135,9 +135,9 @@ https://m2.dv8tion.net/releases - - - + + + javazoom @@ -1646,6 +1646,18 @@ + + au.edu.federation.caliko + caliko + 1.3.8 + + + + au.edu.federation.caliko.visualisation + caliko-visualisation + 1.3.8 + + com.github.sarxos @@ -1734,375 +1746,386 @@ - - - org.mockito - mockito-core - 3.12.4 - test - - - - - - - false - src/main/resources - - - false - src/main/java - - ** - - - **/*.java - - - - - - false - src/test/resources - - - false - src/test/java - - ** - - - **/*.java - - - - src/main/resources - ${project.basedir} - - - - - - - - org.codehaus.mojo - properties-maven-plugin - 1.0.0 - - - org.apache.maven.plugins - maven-enforcer-plugin - 3.1.0 - - - - - - - - org.apache.maven.plugins - maven-enforcer-plugin - - - no-duplicate-declared-dependencies - - enforce - - - - - - - - - - - - org.codehaus.mojo - properties-maven-plugin - - - initialize - - read-project-properties - - - - build.properties - - - - - - - - - - org.apache.maven.plugins - maven-shade-plugin - 3.1.0 - - - package - - shade - - - myrobotlab - - true - myrobotlab-full - false - - - - - org.myrobotlab.service.Runtime - ${version} - ${version} - - ${build.number} - ${maven.build.timestamp} - ${agent.name} - ${user.name} - - - ${git.tags} - ${git.branch} - ${git.dirty} - ${git.remote.origin.url} - ${git.commit.id} - ${git.commit.id.abbrev} - ${git.commit.id.full} - ${git.commit.id.describe} - ${git.commit.id.describe-short} - ${git.commit.user.name} - ${git.commit.user.email} - - ${git.commit.time} - ${git.closest.tag.name} - ${git.closest.tag.commit.count} - ${git.build.user.name} - ${git.build.user.email} - ${git.build.time} - ${git.build.version} - - - - - - - *:* - - module-info.class - META-INF/*.SF - META-INF/*.DSA - META-INF/*.RSA - - - - - - - - - - org.apache.maven.plugins - maven-assembly-plugin - - - assembly.xml - - myrobotlab - false - - - - trigger-assembly - package - - single - - - - - - - true - org.apache.maven.plugins - maven-compiler-plugin - 2.3.2 - - 11 - 11 - true - true - -parameters - - - - - org.apache.maven.plugins - maven-resources-plugin - 2.4.3 - - - - pl.project13.maven - git-commit-id-plugin - 4.9.10 - - - initialize - get-the-git-infos - - revision - - - - - ${project.basedir}/.git - git - false - true - ${project.build.outputDirectory}/git.properties - - - false - false - -dirty - - - - - - maven-surefire-plugin - org.apache.maven.plugins - 2.22.2 - - -Djava.library.path=libraries/native -Djna.library.path=libraries/native - - **/*Test.java - - - **/integration/* - - - - - - - - org.apache.maven.plugins - maven-clean-plugin - 2.3 - - - - data/.myrobotlab - false - - - libraries - - ** - - false - - - data - - ** - - - - resource - - ** - - - - src/main/resources/resource/framework - - **/serviceData.json - - false - - - - - - - - - - - - org.apache.maven.plugins - maven-surefire-report-plugin - 2.22.2 - - - org.apache.maven.plugins - maven-javadoc-plugin - 3.0.1 - - - - - myrobotlab - http://myrobotlab.org - - - github - https://github.com/MyRobotLab/myrobotlab/issues - - + + dev.onvoid.webrtc + webrtc-java + 0.7.0 + + + + + org.mockito + mockito-core + 3.12.4 + test + + + au.edu.federation.caliko.demo + caliko-demo + 1.3.8 + + + + + + + false + src/main/resources + + + false + src/main/java + + ** + + + **/*.java + + + + + + false + src/test/resources + + + false + src/test/java + + ** + + + **/*.java + + + + src/main/resources + ${project.basedir} + + + + + + + + org.codehaus.mojo + properties-maven-plugin + 1.0.0 + + + org.apache.maven.plugins + maven-enforcer-plugin + 3.1.0 + + + + + + + + org.apache.maven.plugins + maven-enforcer-plugin + + + no-duplicate-declared-dependencies + + enforce + + + + + + + + + + + + org.codehaus.mojo + properties-maven-plugin + + + initialize + + read-project-properties + + + + build.properties + + + + + + + + + + org.apache.maven.plugins + maven-shade-plugin + 3.1.0 + + + package + + shade + + + myrobotlab + + true + myrobotlab-full + false + + + + + org.myrobotlab.service.Runtime + ${version} + ${version} + + ${build.number} + ${maven.build.timestamp} + ${agent.name} + ${user.name} + + + ${git.tags} + ${git.branch} + ${git.dirty} + ${git.remote.origin.url} + ${git.commit.id} + ${git.commit.id.abbrev} + ${git.commit.id.full} + ${git.commit.id.describe} + ${git.commit.id.describe-short} + ${git.commit.user.name} + ${git.commit.user.email} + + ${git.commit.time} + ${git.closest.tag.name} + ${git.closest.tag.commit.count} + ${git.build.user.name} + ${git.build.user.email} + ${git.build.time} + ${git.build.version} + + + + + + + *:* + + module-info.class + META-INF/*.SF + META-INF/*.DSA + META-INF/*.RSA + + + + + + + + + + org.apache.maven.plugins + maven-assembly-plugin + + + assembly.xml + + myrobotlab + false + + + + trigger-assembly + package + + single + + + + + + + true + org.apache.maven.plugins + maven-compiler-plugin + 2.3.2 + + 11 + 11 + true + true + -parameters + + + + + org.apache.maven.plugins + maven-resources-plugin + 2.4.3 + + + + pl.project13.maven + git-commit-id-plugin + 4.9.10 + + + initialize + get-the-git-infos + + revision + + + + + ${project.basedir}/.git + git + false + true + ${project.build.outputDirectory}/git.properties + + + false + false + -dirty + + + + + + maven-surefire-plugin + org.apache.maven.plugins + 2.22.2 + + -Djava.library.path=libraries/native -Djna.library.path=libraries/native + + **/*Test.java + + + **/integration/* + + + + + + + + org.apache.maven.plugins + maven-clean-plugin + 2.3 + + + + data/.myrobotlab + false + + + libraries + + ** + + false + + + data + + ** + + + + resource + + ** + + + + src/main/resources/resource/framework + + **/serviceData.json + + false + + + + + + + + + + + + org.apache.maven.plugins + maven-surefire-report-plugin + 2.22.2 + + + org.apache.maven.plugins + maven-javadoc-plugin + 3.0.1 + + + + + myrobotlab + http://myrobotlab.org + + + github + https://github.com/MyRobotLab/myrobotlab/issues + + diff --git a/src/main/java/org/myrobotlab/caliko/Application.java b/src/main/java/org/myrobotlab/caliko/Application.java new file mode 100644 index 0000000000..d8474c157e --- /dev/null +++ b/src/main/java/org/myrobotlab/caliko/Application.java @@ -0,0 +1,82 @@ +package org.myrobotlab.caliko; + +import static org.lwjgl.glfw.GLFW.glfwPollEvents; +import static org.lwjgl.glfw.GLFW.glfwWindowShouldClose; +import static org.lwjgl.opengl.GL11.GL_COLOR_BUFFER_BIT; +import static org.lwjgl.opengl.GL11.GL_DEPTH_BUFFER_BIT; +import static org.lwjgl.opengl.GL11.glClear; + +import org.myrobotlab.service.Caliko; + +import au.edu.federation.caliko.demo.CalikoDemo; +import au.edu.federation.utils.Vec3f; + +/** + * An example application to demonstrate the Caliko library in both 2D and 3D + * modes. + * + * Use up/down cursors to change between 2D/3D mode and left/right cursors to + * change demos. In 2D mode clicking using the left mouse button (LMB) changes + * the target location, and you can click and drag. In 3D mode, use W/S/A/D to + * move the camera and the mouse with LMB held down to look. + * + * See the README.txt for further documentation and controls. + * + * @author Al Lansley + * @version 1.0 - 31/01/2016 + */ +public class Application { + // Define cardinal axes + final Vec3f X_AXIS = new Vec3f(1.0f, 0.0f, 0.0f); + final Vec3f Y_AXIS = new Vec3f(0.0f, 1.0f, 0.0f); + final Vec3f Z_AXIS = new Vec3f(0.0f, 0.0f, 1.0f); + + // State tracking variables + boolean use3dDemo = true; + int demoNumber = 7; + boolean fixedBaseMode = true; + boolean rotateBasesMode = false; + boolean drawLines = true; + boolean drawAxes = false; + boolean drawModels = true; + boolean drawConstraints = true; + boolean leftMouseButtonDown = false; + boolean paused = true; + + // Create our window and OpenGL context + int windowWidth = 800; + int windowHeight = 600; + public OpenGLWindow window = null; + + // Declare a CalikoDemo object which can run our 3D and 2D demonstration + // scenarios + transient private CalikoDemo demo; + transient private Caliko service; + public boolean running = true; + + public Application(Caliko service) { + this.service = service; + window = new OpenGLWindow(this, service, windowWidth, windowHeight); + demo = new CalikoDemo3D(this); + mainLoop(); + window.cleanup(); + } + + public Caliko getService() { + return service; + } + + private void mainLoop() { + // Run the rendering loop until the user closes the window or presses Escape + while (!glfwWindowShouldClose(window.mWindowId) && running) { + // Clear the screen and depth buffer then draw the demo + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); + demo.draw(); + + // Swap the front and back colour buffers and poll for events + window.swapBuffers(); + glfwPollEvents(); + } + } + +} // End of Application class diff --git a/src/main/java/org/myrobotlab/caliko/CalikoDemo3D.java b/src/main/java/org/myrobotlab/caliko/CalikoDemo3D.java new file mode 100644 index 0000000000..8e977fe9d7 --- /dev/null +++ b/src/main/java/org/myrobotlab/caliko/CalikoDemo3D.java @@ -0,0 +1,148 @@ +package org.myrobotlab.caliko; + +import au.edu.federation.caliko.FabrikBone3D; +import au.edu.federation.caliko.FabrikChain3D; +import au.edu.federation.caliko.FabrikStructure3D; +import au.edu.federation.caliko.demo.CalikoDemo; +import au.edu.federation.caliko.demo3d.CalikoDemoStructure3D; +import au.edu.federation.caliko.visualisation.Axis; +import au.edu.federation.caliko.visualisation.Camera; +import au.edu.federation.caliko.visualisation.FabrikConstraint3D; +import au.edu.federation.caliko.visualisation.FabrikLine3D; +// import au.edu.federation.caliko.visualisation.FabrikModel3D; +import au.edu.federation.caliko.visualisation.Grid; +import au.edu.federation.caliko.visualisation.MovingTarget3D; +import au.edu.federation.utils.Mat4f; +import au.edu.federation.utils.Utils; +import au.edu.federation.utils.Vec3f; + +/** + * Class to demonstrate some of the features of the Caliko library in 3D. + * + * @author Al Lansley + * @version 0.7.1 - 20/07/2016 + */ +public class CalikoDemo3D implements CalikoDemo +{ + static float defaultBoneLength = 10.0f; + static float boneLineWidth = 5.0f; + static float constraintLineWidth = 2.0f; + static float baseRotationAmountDegs = 0.3f; + + // Set yo a camera which we'll use to navigate. Params: location, orientation, width and height of window. + static Camera camera = new Camera(new Vec3f(0.0f, 00.0f, 150.0f), new Vec3f(), 800, 600); + + // Setup some grids to aid orientation + static float extent = 1000.0f; + static float gridLevel = 100.0f; + static int subdivisions = 20; + static Grid lowerGrid = new Grid(extent, extent, -gridLevel, subdivisions); + static Grid upperGrid = new Grid(extent, extent, gridLevel, subdivisions); + + // An axis to show the X/Y/Z orientation of each bone. Params: Axis length, axis line width + static Axis axis = new Axis(3.0f, 1.0f); + + // A constraint we can use to draw any joint angle restrictions of ball and hinge joints + static FabrikConstraint3D constraint = new FabrikConstraint3D(); + + // A simple Wavefront .OBJ format model of a pyramid to display around each bone (set to draw with a 1.0f line width) + static FabrikModel3D model = new FabrikModel3D("/pyramid.obj", 1.0f); + + // Setup moving target. Params: location, extents, interpolation frames, grid height for vertical bar + static MovingTarget3D target = new MovingTarget3D(new Vec3f(0, -30, 0), new Vec3f(60.0f), 200, gridLevel); + + private FabrikStructure3D mStructure; + + private CalikoDemoStructure3D demoStructure3d; + + private transient Application application; + + /** + * Constructor. + * + * @param demoNumber The number of the demo to set up. + */ + public CalikoDemo3D(Application application) + { + this.application = application; + setup(0); + } + + /** + * Set up a demo consisting of an arrangement of 3D IK chains with a given configuration. + * + * @param demoNumber The number of the demo to set up. + */ + public void setup(int demoNumber) + { + this.mStructure = application.getService().getStructure(); + + this.demoStructure3d = new GuiDemoStructure(application.getService(), null); + + // Set the appropriate window title and make an initial solve pass of the structure + application.window.setWindowTitle(this.mStructure.getName()); + //structure.updateTarget( target.getCurrentLocation() ); + } + + /** Set all chains in the structure to be in fixed-base mode whereby the base locations cannot move. */ + public void setFixedBaseMode(boolean value) { mStructure.setFixedBaseMode(value); } + + /** Handle the movement of the camera using the W/S/A/D keys. */ + public void handleCameraMovement(int key, int action) { camera.handleKeypress(key, action); } + + public void draw() + { + // Move the camera based on keypresses and mouse movement + camera.move(1.0f / 60.0f); + + // Get the ModelViewProjection matrix as we use it multiple times + Mat4f mvpMatrix = application.window.getMvpMatrix(); + + // Draw our grids + lowerGrid.draw(mvpMatrix); + upperGrid.draw(mvpMatrix); + + // If we're not paused then step the target and solve the structure for the new target location + if (!application.paused) + { + target.step(); + this.demoStructure3d.drawTarget(mvpMatrix); + + // Solve the structure (chains with embedded targets will use those, otherwise the provided target is used) + mStructure.solveForTarget( target.getCurrentLocation() ); + + FabrikChain3D chain = application.getService().getChain("default"); + + for (FabrikBone3D bone : chain.getChain()) { + bone.getStartLocation().getGlobalPitchDegs(); + bone.getStartLocation().getGlobalYawDegs(); + + System.out.println("Bone X: " + bone.getStartLocation().toString()); + } + + } + + // If we're in rotate base mode then rotate the base location(s) of all chains in the structure + if (application.rotateBasesMode) + { + int numChains = mStructure.getNumChains(); + for (int loop = 0; loop < numChains; ++loop) + { + Vec3f base = mStructure.getChain(loop).getBaseLocation(); + base = Vec3f.rotateAboutAxisDegs(base, baseRotationAmountDegs, CalikoDemoStructure3D.Y_AXIS); + mStructure.getChain(loop).setBaseLocation(base); + } + } + + // Draw the target + target.draw(Utils.YELLOW, 8.0f, mvpMatrix); + + // Draw the structure as required + // Note: bone lines are drawn in the bone colour, models are drawn in white by default but you can specify a colour to the draw method, + // axes are drawn X/Y/Z as Red/Green/Blue and constraints are drawn the colours specified in the FabrikConstraint3D class. + if (application.drawLines) { FabrikLine3D.draw(mStructure, boneLineWidth, mvpMatrix); } + if (application.drawModels) { model.drawStructure(mStructure, camera.getViewMatrix(), application.window.mProjectionMatrix); } + if (application.drawAxes) { axis.draw(mStructure, camera.getViewMatrix(), application.window.mProjectionMatrix); } + if (application.drawConstraints) { constraint.draw(mStructure, constraintLineWidth, mvpMatrix); } + } +} diff --git a/src/main/java/org/myrobotlab/caliko/FabrikModel3D.java b/src/main/java/org/myrobotlab/caliko/FabrikModel3D.java new file mode 100644 index 0000000000..470f98b01f --- /dev/null +++ b/src/main/java/org/myrobotlab/caliko/FabrikModel3D.java @@ -0,0 +1,316 @@ +package org.myrobotlab.caliko; + +import java.nio.FloatBuffer; + +import au.edu.federation.caliko.FabrikBone3D; +import au.edu.federation.caliko.FabrikChain3D; +import au.edu.federation.caliko.FabrikStructure3D; +import au.edu.federation.caliko.visualisation.ShaderProgram; +import au.edu.federation.utils.Colour4f; +import au.edu.federation.utils.Mat3f; +import au.edu.federation.utils.Mat4f; +import au.edu.federation.utils.Utils; + +import static org.lwjgl.opengl.GL11.*; +import static org.lwjgl.opengl.GL15.*; +import static org.lwjgl.opengl.GL20.*; +import static org.lwjgl.opengl.GL30.*; + +/** + * A class to represent a 3D model that can easily be attached to a FabrikBone3D object. + * + * @author Al Lansley + * @version 0.3.1 - 20/07/2016 + */ +public class FabrikModel3D +{ + // Each vertex has three positional components - the x, y and z values. + private static final int VERTEX_COMPONENTS = 3; + + // A single static ShaderProgram is used to draw all axes + private static ShaderProgram shaderProgram; + + // Vertex shader source + private static final String VERTEX_SHADER_SOURCE = + "#version 330" + Utils.NEW_LINE + + "in vec3 vertexLocation; // Incoming vertex attribute" + Utils.NEW_LINE + + "uniform mat4 mvpMatrix; // Combined Model/View/Projection matrix " + Utils.NEW_LINE + + "void main(void) {" + Utils.NEW_LINE + + " gl_Position = mvpMatrix * vec4(vertexLocation, 1.0); // Project our geometry" + Utils.NEW_LINE + + "}"; + + // Fragment shader source + private static final String FRAGMENT_SHADER_SOURCE = + "#version 330" + Utils.NEW_LINE + + "out vec4 outputColour;" + Utils.NEW_LINE + + "uniform vec4 colour;" + Utils.NEW_LINE + + "void main() {" + Utils.NEW_LINE + + " outputColour = colour;" + Utils.NEW_LINE + + "}"; + + // Hold id values for the Vertex Array Object (VAO) and Vertex Buffer Object (VBO) + private static int vaoId; + private static int vboId; + + // Float buffers for the ModelViewProjection matrix and model colour + private static FloatBuffer mvpMatrixFB; + private static FloatBuffer colourFB; + + // We'll keep track of and restore the current OpenGL line width, which we'll store in this FloatBuffer. + // Note: Although we only need a single float for this, LWJGL insists upon a minimum size of 16 floats. + private static FloatBuffer currentLineWidthFB; + + // ----- Non-Static Properties ----- + + // The FloatBuffer which will contain our vertex data - as we may load multiple different models this cannot be static + private FloatBuffer vertexFB; + + /** The actual Model associated with this FabrikModel3D. */ + private Model model; + + /** The float array storing the axis vertex (including colour) data. */ + private float[] modelData; + + /** + * The line width with which to draw the model in pixels. + * + * @default 1.0f + */ + private float mLineWidth = 1.0f; + + static { + mvpMatrixFB = Utils.createFloatBuffer(16); + colourFB = Utils.createFloatBuffer(16); + currentLineWidthFB = Utils.createFloatBuffer(16); + + // ----- Grid shader program setup ----- + + shaderProgram = new ShaderProgram(); + shaderProgram.initFromStrings(VERTEX_SHADER_SOURCE, FRAGMENT_SHADER_SOURCE); + + // ----- Grid shader attributes and uniforms ----- + + // Add the shader attributes and uniforms + shaderProgram.addAttribute("vertexLocation"); + shaderProgram.addUniform("mvpMatrix"); + shaderProgram.addUniform("colour"); + + // ----- Set up our Vertex Array Object (VAO) to hold the shader attributes ----- + + // Create a VAO and bind to it + vaoId = glGenVertexArrays(); + glBindVertexArray(vaoId); + + // ----- Vertex Buffer Object (VBO) ----- + + // Create a VBO and bind to it + vboId = glGenBuffers(); + glBindBuffer(GL_ARRAY_BUFFER, vboId); + + // Note: We do NOT copy the data into the buffer at this time - we do that on draw! + + // Vertex attribute configuration + glVertexAttribPointer(shaderProgram.attribute("vertexLocation"), // Vertex location attribute index + VERTEX_COMPONENTS, // Number of components per vertex + GL_FLOAT, // Data type + false, // Normalised? + VERTEX_COMPONENTS * Float.BYTES, // Stride + 0); // Offset + + // Unbind VBO + glBindBuffer(GL_ARRAY_BUFFER, 0); + + // Enable the vertex attributes + glEnableVertexAttribArray(shaderProgram.attribute("vertexLocation")); + + // Unbind VAO - all the buffer and attribute settings above will now be associated with our VAO + glBindVertexArray(0); + } + + /** + * Default constructor. + * + * @param modelFilename The filename of the model to load. + * @param lineWidth The width of the lines used to draw the model in pixels. + */ + // Note: width is along +/- x-axis, depth is along +/- z-axis, height is the location on + // the y-axis, numDivisions is how many lines to draw across each axis + public FabrikModel3D(String modelFilename, float lineWidth) + { + // Load the model, get the vertex data and put it into our vertex FloatBuffer + model = new Model(modelFilename); + modelData = model.getVertexFloatArray(); + vertexFB = Utils.createFloatBuffer(model.getNumVertices() * VERTEX_COMPONENTS); + + mLineWidth = lineWidth; + + } // End of constructor + + /** Private method to actually draw the model. */ + private void drawModel(float lineWidth, Colour4f colour, Mat4f mvpMatrix) + { + // Enable our shader program and bind to our VAO + shaderProgram.use(); + glBindVertexArray(vaoId); + + // Bind to our VBO so we can update the axis data for this particular axis object + glBindBuffer(GL_ARRAY_BUFFER, vboId); + + // Copy the data for this particular model into the vertex float buffer + // Note: The model is scaled to each individual bone length, hence the GL_DYNAMIC_DRAW performance hint. + vertexFB.put(modelData); + vertexFB.flip(); + glBufferData(GL_ARRAY_BUFFER, vertexFB, GL_DYNAMIC_DRAW); + + // Provide the mvp matrix uniform data + mvpMatrixFB.put( mvpMatrix.toArray() ); + mvpMatrixFB.flip(); + glUniformMatrix4fv(shaderProgram.uniform("mvpMatrix"), false, mvpMatrixFB); + + // Provide the model vertex colour data + colourFB.put( colour.toArray() ); + colourFB.flip(); + glUniform4fv(shaderProgram.uniform("colour"), colourFB); + + // Store the current GL_LINE_WIDTH + // IMPORTANT: We MUST allocate a minimum of 16 floats in our FloatBuffer in LWJGL, we CANNOT just get a FloatBuffer with 1 float! + // ALSO: glPushAttrib(GL_LINE_BIT); /* do stuff */ glPopAttrib(); should work instead of this in theory - but LWJGL fails with 'function not supported'. + glGetFloatv(GL_LINE_WIDTH, currentLineWidthFB); + + /// Set the GL_LINE_WIDTH to be the width requested, as passed to the constructor + glLineWidth(lineWidth); + + // Draw the model as lines + glDrawArrays( GL_LINES, 0, model.getNumVertices() ); + + // Reset the line width to the previous value + glLineWidth( currentLineWidthFB.get(0) ); + + // Unbind from our VBO + glBindBuffer(GL_ARRAY_BUFFER, 0); + + // Unbind from our VAO + glBindVertexArray(0); + + // Disable our shader program + shaderProgram.disable(); + } + + /** + * Draw a bone using the model loaded on this FabrikModel3D. + * + * @param bone The bone to draw. + * @param viewMatrix The view matrix, typically retrieved from the camera. + * @param projectionMatrix The projection matrix of our scene. + * @param colour The colour of the lines used to draw the bone. + */ + public void drawBone(FabrikBone3D bone, Mat4f viewMatrix, Mat4f projectionMatrix, Colour4f colour) + { + // Clone the model and scale the clone to be twice as wide and deep, and scaled along the z-axis to match the bone length + Model modelCopy = Model.clone(model); + modelCopy.scale( 2.0f, 2.0f, bone.length() ); + + // Get our scaled model data + modelData = modelCopy.getVertexFloatArray(); + + // Construct a model matrix for this bone + Mat4f modelMatrix = new Mat4f( Mat3f.createRotationMatrix( bone.getDirectionUV().normalised() ), bone.getStartLocation() ); + + // Construct a ModelViewProjection and draw the model for this bone + Mat4f mvpMatrix = projectionMatrix.times(viewMatrix).times(modelMatrix); + this.drawModel(mLineWidth, colour, mvpMatrix); + } + + /** + * Draw a bone using the model loaded on this FabrikModel3D using a default colour of white at full opacity. + * + * @param bone The bone to draw. + * @param viewMatrix The view matrix, typically retrieved from the camera. + * @param projectionMatrix The projection matrix of our scene. + */ + public void drawBone(FabrikBone3D bone, Mat4f viewMatrix, Mat4f projectionMatrix) + { + this.drawBone(bone, viewMatrix, projectionMatrix, Utils.WHITE); + } + + /** + * Draw a chain using the model loaded on this FabrikModel3D. + * + * @param chain The FabrikChain3D to draw the model as bones on. + * @param viewMatrix The view matrix, typically retrieved from the camera. + * @param projectionMatrix The projection matrix of our scene. + * @param colour The colour of the lines used to draw the model. + */ + public void drawChain(FabrikChain3D chain, Mat4f viewMatrix, Mat4f projectionMatrix, Colour4f colour) + { + int numBones = chain.getNumBones(); + for (int loop = 0; loop < numBones; ++loop) + { + this.drawBone( chain.getBone(loop), viewMatrix, projectionMatrix, colour ); + } + } + + /** + * Draw a chain using the model loaded on this FabrikModel3D using a default colour of white at full opacity. + * + * @param chain The FabrikChain3D to draw the model as bones on. + * @param viewMatrix The view matrix, typically retrieved from the camera. + * @param projectionMatrix The projection matrix of our scene. + */ + public void drawChain(FabrikChain3D chain, Mat4f viewMatrix, Mat4f projectionMatrix) + { + int numBones = chain.getNumBones(); + for (int loop = 0; loop < numBones; ++loop) + { + this.drawBone( chain.getBone(loop), viewMatrix, projectionMatrix, Utils.WHITE); + } + } + + /** + * Draw a structure using the model loaded on this FabrikModel3D. + * + * @param structure The FabrikStructure3D to draw the model as bones on. + * @param viewMatrix The view matrix, typically retrieved from the camera. + * @param projectionMatrix The projection matrix of our scene. + * @param colour The colour of the lines used to draw the model. + */ + public void drawStructure(FabrikStructure3D structure, Mat4f viewMatrix, Mat4f projectionMatrix, Colour4f colour) + { + int numChains = structure.getNumChains(); + for (int loop = 0; loop < numChains; ++loop) + { + this.drawChain( structure.getChain(loop), viewMatrix, projectionMatrix, colour ); + } + } + + /** + * Draw a structure using the model loaded on this FabrikModel3D using a default colour of white at full opacity. + * + * @param structure The FabrikStructure3D to draw the model as bones on. + * @param viewMatrix The view matrix, typically retrieved from the camera. + * @param projectionMatrix The projection matrix of our scene. + */ + public void drawStructure(FabrikStructure3D structure, Mat4f viewMatrix, Mat4f projectionMatrix) + { + int numChains = structure.getNumChains(); + for (int loop = 0; loop < numChains; ++loop) + { + this.drawChain( structure.getChain(loop), viewMatrix, projectionMatrix, Utils.WHITE); + } + } + + /** + * Line width property setter. + *

    + * Valid line widths are between 1.0f an 32.0f - values outside of this range will result + * in an IllegalArgumentException being thrown. + * + * @param lineWidth The width of the line used to draw this FabrikModel3D in pixels. + */ + void setLineWidth(float lineWidth) + { + Utils.validateLineWidth(lineWidth); + mLineWidth = lineWidth; + } + +} // End of FabrikModel3D class diff --git a/src/main/java/org/myrobotlab/caliko/GuiDemoStructure.java b/src/main/java/org/myrobotlab/caliko/GuiDemoStructure.java new file mode 100644 index 0000000000..b1b7c6b824 --- /dev/null +++ b/src/main/java/org/myrobotlab/caliko/GuiDemoStructure.java @@ -0,0 +1,30 @@ +package org.myrobotlab.caliko; + +import org.myrobotlab.service.Caliko; + +import au.edu.federation.caliko.demo3d.CalikoDemoStructure3D; +import au.edu.federation.utils.Mat4f; + +public class GuiDemoStructure extends CalikoDemoStructure3D { + + private transient Caliko service; + protected String name; + + public GuiDemoStructure(Caliko service, String name) { + this.service = service; + this.name = name; + } + + @Override + public void setup() { + // TODO Auto-generated method stub + + } + + @Override + public void drawTarget(Mat4f mvpMatrix) { + // TODO Auto-generated method stub + + } + +} diff --git a/src/main/java/org/myrobotlab/caliko/Model.java b/src/main/java/org/myrobotlab/caliko/Model.java new file mode 100644 index 0000000000..887934bdc6 --- /dev/null +++ b/src/main/java/org/myrobotlab/caliko/Model.java @@ -0,0 +1,928 @@ +package org.myrobotlab.caliko; + +import java.io.BufferedReader; +import java.io.FileNotFoundException; +import java.io.IOException; +import java.io.InputStream; +import java.io.InputStreamReader; +import java.util.ArrayList; +import java.util.List; + +import au.edu.federation.utils.Vec3f; +import au.edu.federation.utils.Vec3i; + +//TODO: This is pretty ineficient - change all the for..each loops to be normals loops to stop Java allocating memory. +//TODO: Also provide a proper copy-constructor rather than a clone method - they should do the same thing. + +/** + * A class to represent and load a 3D model in WaveFront .OBJ format. + *

    + * Vertices, normals, and faces with or without normal indices are supported. + *

    + * Models must be stored as triangles, not quads. + *

    + * There is no support for textures, texture coordinates, or grouped objects at this time. + * + * @author Al Lansley + * @version 0.5.1 - 07/01/2016 + */ +public class Model +{ + private static boolean VERBOSE = false; + private static final String NUMBER_OF_VERTICES_LOG = "Number of vertices in data array: %d (%d bytes)"; + private static final String NUMBER_OF_NORMALS_LOG = "Number of normals in data array: %d (%d bytes)"; + private static final String WRONG_COMPONENT_COUNT_LOG = "Found %s data with wrong component count at line number: %d - Skipping!"; + + // ---------- Private Properties ---------- + + // These are the models values as read from the file - they are not the final, consolidated model data + private List vertices = new ArrayList<>(); + private List normals = new ArrayList<>(); + private List normalIndices = new ArrayList<>(); + private List faces = new ArrayList<>(); + //ArrayList texCoords = new ArrayList(); + + // The vertexData and normalData arrays are the final consolidated data which we can draw with. + // + // Note: If the model has only vertices and/or normals, then the vertexData and normalData will be a direct 'unwrapped' + // version of the vertices and normals arrays. However, if we're using faces then there will likely be a lower number of + // vertices / normals as each vertex / normal may be used more than once in the model - the end result of this is that + // the vertexData and normalData will likely be larger than the 'as-read-from-file' vertices and normals arrays because + // of this duplication of values from the face data. + private List vertexData = new ArrayList<>(); + private List normalData = new ArrayList<>(); + //ArrayList texCoordData = new ArrayList(); + + // Counters to keep track of how many vertices, normals, normal indices, texture coordinates and faces + private int numVertices; + private int numNormals; + private int numNormalIndices; + private int numFaces; + //private int numTexCoords; + + // ---------- Public Methods ---------- + + /** Default constructor. */ + public Model() { } + + /** + * Constructor which creates a model object and loads the model from file. + * + * @param filename The file to load the model data from. + */ + public Model(String filename) { load(filename); } + + /** Enable verbose messages. */ + public static void enableVerbose() { VERBOSE = true; } + + /** Disable verbose messages. */ + public static void disableVerbose() { VERBOSE = false; } + + // Method provide create a deep copy of a Model so we can say copyOfMyModel.equals(myModel); + // Note: We only deep copy the vertexData and normalData arrays, not all the vectors! + public static Model clone(Model sourceModel) + { + // Create a new Model which we will clone across the data to from our source model + Model model = new Model(); + + // Update the counts of vertices and normals for the clone to match the source model + model.numVertices = sourceModel.getNumVertices(); + model.numNormals = sourceModel.getNumNormals(); + + // If the source model has vertices then copy them across to the clone... + if (model.numVertices > 0) + { + // For (foo IN bar) loops leak memory - go old-school + int vertCount = sourceModel.getNumVertices(); + for (int loop = 0; loop < vertCount; loop++) + { + //model.vertexData.add(f) + } + for ( Float f : sourceModel.getVertexData() ) { + model.vertexData.add(f); + } + } + else // ...or abort if we have no vertices to copy! + { + throw new RuntimeException("Model created using clone method has 0 vertices!"); + } + + // If the source model has normals then copy them across to the clone... + if (model.numNormals > 0) + { + for ( Float f : sourceModel.getNormalData() ) { + model.normalData.add(f); + } + } + else // ...or (potentially) inform the user if they are no normals. This is not necessarily a deal breaker though, so we don't abort. + { + if (VERBOSE) { + System.out.println( "Model created using clone method has 0 normals - continuing..."); + } + } + + // Display final status if appropriate + if (VERBOSE) { + System.out.println( "Model successfully cloned."); + } + + // Finally, return our cloned model + return model; + } + + /** + * Load a .OBJ model from file. + *

    + * By default, no feedback is provided on the model loading. If you wish to see what's going on + * internally, call Model.enableVerbose() before loading the model - this will display statistics + * about any vertices/normals/normal indices/faces found in the model, as well as any malformed data. + *

    + * If the model file does not contain any vertices then a RuntimeException is thrown. + * If the file cannot be found then a FileNotFoundException is thrown. + * If there was a file-system-type error when reading the file then an IOException is thrown. + * + * @param filename The name of the Wavefront .OBJ format model to load, include the path if necessary. + * @return Whether the file loaded successfully or not. Loading with warnings still counts as a + * successful load - if necessary enable verbose mode to ensure your model loaded cleanly. + */ + public boolean load(String filename) + { + // Load the model file + boolean modelLoadedCleanly = loadModel(filename); + + // Did we load the file without errors? + if (VERBOSE) + { + if (modelLoadedCleanly) { + System.out.println("Model loaded cleanly."); + } + else { + System.out.println("Model loaded with errors."); + } + } + + // Do we have vertices? If not then this is a non-recoverable error and we abort! + if ( hasVertices() ) + { + if (VERBOSE) + { + System.out.println("Model vertex count: " + getNumVertices() ); + if ( hasFaces() ) { + System.out.println( "Model face count: " + getNumFaces() ); + } + if ( hasNormals() ) { + System.out.println( "Model normal count: " + getNumNormals() ); + } + if ( hasNormalIndices() ) { + System.out.println( "Model normal index count: " + getNumNormalIndices() ); + } + } + } + else { throw new RuntimeException("Model has no vertices."); } + + // Transfer the loaded data in our vectors to the data arrays + setupData(); + + // Delete the vertices, normals, normalIndices and faces Lists as we now have the final + // data stored in the vertexData and normalData Lists. + vertices.clear(); + normals.clear(); + normalIndices.clear(); + faces.clear(); + vertices = null; + normals = null; + normalIndices = null; + faces = null; + + // Indicate that the model loaded successfully + return true; + } + + + // ---------- Getters ---------- + + /** + * Get the vertex data as a list of floats. + * + * @return The vertex data. + */ + public List getVertexData() { return vertexData; } + + /** + * Get the vertex normals as a list of floats. + * + * @return The vertex normal data. + */ + public List getNormalData() { return normalData; } + + /** + * Get the vertex data as a float array suitable for transfer into a FloatBuffer for drawing. + * + * @return The vertex data as a float array. + **/ + public float[] getVertexFloatArray() + { + // How many floats are there in our list of vertex data? + int numVertexFloats = vertexData.size(); + + // Create an array big enough to hold them + float[] vertexFloatArray = new float[numVertexFloats]; + + // Loop over each item in the list, setting it to the appropriate element in the array + for (int loop = 0; loop < numVertexFloats; loop++) { + vertexFloatArray[loop] = vertexData.get(loop); + } + + // Finally, return the float array + return vertexFloatArray; + } + + /** + * Get the vertex normal data as a float array suitable for transfer into a FloatBuffer for drawing. + * + * @return The vertex normal data as a float array. + */ + public float[] getNormalFloatArray() + { + // How many floats are there in our list of normal data? + int numNormalFloats = normalData.size(); + + // Create an array big enough to hold them + float[] normalFloatArray = new float[numNormalFloats]; + + // Loop over each item in the list, setting it to the appropriate element in the array + for (int loop = 0; loop < numNormalFloats; loop++) { + normalFloatArray[loop] = normalData.get(loop); + } + + // Finally, return the float array + return normalFloatArray; + } + + // Methods to get the sizes of various data arrays + // Note: Type.BYTES returns the size of on object of this type in Bytes, and we multiply + // by 3 because there are 3 components to a vertex (x/y/z), normal (s/t/p) and 3 vertexes comprising a face (i.e. triangle) + + /** + * Get the vertex data size in bytes. + * + * @return The vertex data size in bytes. + */ + public int getVertexDataSizeBytes() { return numVertices * 3 * Float.BYTES; } + + /** + * Get the vertex normal data size in bytes. + * + * @return The vertex normal data size in bytes. + */ + public int getNormalDataSizeBytes() { return numNormals * 3 * Float.BYTES; } + + /** + * Get the face data size in bytes. + * + * @return The face data size in bytes. + **/ + public int getFaceDataSizeBytes() { return numFaces * 3 * Integer.BYTES; } + + /** + * Get the number of vertices in this model. + * + * @return The number of vertices in this model. + */ + public int getNumVertices() { return numVertices; } + + /** + * Get the number of vertex normals in this model. + * + * @return The number of normals in this model. + */ + public int getNumNormals() { return numNormals; } + + /** Get the number of normal indices in this model. + * + * + * @return The number of normal indices in this model. + */ + public int getNumNormalIndices() { return numNormalIndices; } + + /** + * Get the number of faces in this model. + * + * @return The number of faces in this model. + */ + public int getNumFaces() { return numFaces; } + + // ---------- Utility Methods ---------- + + /** + * Scale this model uniformly along the x/y/z axes. + * + * @param scale The amount to scale the model. + **/ + public void scale(float scale) + { + int numVerts = vertexData.size(); + for (int loop = 0; loop < numVerts; ++loop) { + vertexData.set(loop, vertexData.get(loop) * scale); + } + } + + /** + * Scale this model on the X axis. + * + * @param scale The amount to scale the model on the X axis. + */ + public void scaleX(float scale) + { + int numVerts = vertexData.size(); + for (int loop = 0; loop < numVerts; loop += 3) { + vertexData.set( loop, vertexData.get(loop) * scale); + } + } + + /** + * Scale this model on the Y axis. + * + * @param scale The amount to scale the model on the Y axis. + */ + public void scaleY(float scale) + { + int numVerts = vertexData.size(); + for (int loop = 1; loop < numVerts; loop += 3) { + vertexData.set( loop, vertexData.get(loop) * scale); + } + } + + /** + * Scale this model on the Z axis. + * + * @param scale The amount to scale the model on the Z axis. + */ + public void scaleZ(float scale) + { + int numVerts = vertexData.size(); + for (int loop = 2; loop < numVerts; loop += 3) { + vertexData.set( loop, vertexData.get(loop) * scale); + } + } + + /** + * Scale this model by various amounts along separate axes. + * + * @param xScale The amount to scale the model on the X axis. + * @param yScale The amount to scale the model on the Y axis. + * @param zScale The amount to scale the model on the Z axis. + */ + public void scale(float xScale, float yScale, float zScale) + { + int numVerts = vertexData.size(); + for (int loop = 0; loop < numVerts; ++loop) + { + switch (loop % 3) + { + case 0: + vertexData.set(loop, vertexData.get(loop) * xScale); + break; + case 1: + vertexData.set(loop, vertexData.get(loop) * yScale); + break; + case 2: + vertexData.set(loop, vertexData.get(loop) * zScale); + break; + } + } + } + + /** Print out the vertices of this model. */ + public void printVertices() { + for (Vec3f v : vertices) { + System.out.println( "Vertex: " + v.toString() ); + } + } + + /** + * Print out the vertex normal data for this model. + *

    + * Note: This is the contents of the normals list, not the (possibly expanded) normalData array. + */ + public void printNormals() + { + for (Vec3f n : normals) { + System.out.println( "Normal: " + n.toString() ); + } + } + + /** + * Print the face data of this model. + *

    + * Note: Faces are ONE indexed, not zero indexed. + */ + public void printFaces() + { + for (Vec3i face : faces) { + System.out.println( "Face: " + face.toString() ); + } + } + + /** + * Print the vertex data of this model. + *

    + * Note: This is the contents of the vertexlData array which is actually used when drawing - and which may be + * different to the 'vertices' list when using faces (where vertices get re-used). + */ + public void printVertexData() + { + for (int loop = 0; loop < vertexData.size(); loop += 3) + { + System.out.println( "Vertex data element " + (loop / 3) + " is x: " + vertexData.get(loop) + "\ty: " + vertexData.get(loop+1) + "\tz: " + vertexData.get(loop+2) ); + } + } + + /** + * Print the normal data of this model. + *

    + * Note: This is the contents of the normalData array which is actually used when drawing - and which may be + * different to the 'normals' list when using faces (where normals get re-used). + */ + public void printNormalData() + { + for (int loop = 0; loop < normalData.size(); loop += 3) + { + System.out.println( "Normal data element " + (loop / 3) + " is x: " + normalData.get(loop) + "\ty: " + normalData.get(loop+1) + "\tz: " + normalData.get(loop+2)); + } + } + + // ---------- Private Methods ---------- + + // Method to read through the model file adding all vertices, faces and normals to our + // vertices, faces and normals vectors. + + // Note: This does NOT transfer the data into our vertexData, faceData or normalData arrays! + // That must be done as a separate step by calling setupData() after building up the + // arraylists with this method! + + // Also: This method does not decrement the face number of normal index by 1 (because .OBJ + // files start their counts at 1) to put them in a range starting from 0, that job + // is done in the setupData() method performed after calling this method! + private boolean loadModel(String filename) + { + // Initialise lists + vertices = new ArrayList<>(); + normals = new ArrayList<>(); + normalIndices = new ArrayList<>(); + faces = new ArrayList<>(); + //texCoords = new ArrayList(); + normalData = new ArrayList<>(); + //texCoordData = new ArrayList(); + + // Our vectors of attributes are initially empty + numVertices = 0; + numNormals = 0; + numNormalIndices = 0; + numFaces = 0; + //numTexCoords = 0; + + boolean loadedCleanly = true; + + // Counter to keep track of what line we're on + int lineCount = 0; + + // Use this for jar packaged resources + InputStream is = this.getClass().getResourceAsStream(filename); + try (BufferedReader br = new BufferedReader( new InputStreamReader(is) ) ) // This version loads from within jar archive, required for caliko-demo-jar-with-resources.jar + //try (BufferedReader br = new BufferedReader( new FileReader(filename) ) ) // Use this for loading from file in Eclipse or such + { + // We'll read through the file one line at a time - this will hold the current line we're working on + String line; + + // While there are lines left to read in the file... + while ((line = br.readLine()) != null) + { + ++lineCount; + + // If the line isn't empty (the 1 character is the carriage return), process it... + if (line.length() > 1) + { + // Split line on spaces into an array of strings.The + on the end of "\\s+" means 'do not accept + // blank entries' which can occur if you have two consecutive space characters (as happens when + // you export a .obj from 3ds max - you get "v 1.23 4.56 7.89" etc.) + String[] token = line.split("\\s+"); + + // If the first token is "v", then we're dealing with vertex data + if ( "v".equalsIgnoreCase(token[0]) ) + { + // As long as there's 4 tokens on the line... + if (token.length == 4) + { + // ...get the remaining 3 tokens as the x/y/z float values... + float x = Float.parseFloat(token[1]); + float y = Float.parseFloat(token[2]); + float z = Float.parseFloat(token[3]); + + // ... and push them into the vertices vector ... + vertices.add( new Vec3f(x, y, z) ); + + // .. then increase our vertex count. + numVertices++; + } + else // If we got vertex data without 3 components - whine! + { + loadedCleanly = false; + System.out.printf(WRONG_COMPONENT_COUNT_LOG,"vertex",lineCount); + } + + } + else if ( "vn".equalsIgnoreCase(token[0]) ) // If the first token is "vn", then we're dealing with a vertex normal + { + // As long as there's 4 tokens on the line... + if (token.length == 4) + { + // ...get the remaining 3 tokens as the x/y/z normal float values... + float normalX = Float.parseFloat(token[1]); + float normalY = Float.parseFloat(token[2]); + float normalZ = Float.parseFloat(token[3]); + + // ... and push them into the normals vector ... + normals.add( new Vec3f(normalX, normalY, normalZ) ); + + // .. then increase our normal count. + numNormals++; + } + else // If we got normal data without 3 components - whine! + { + loadedCleanly = false; + System.out.printf(WRONG_COMPONENT_COUNT_LOG,"normal",lineCount); + } + + } // End of vertex line parsing + + // If the first token is "f", then we're dealing with faces + // + // Note: Faces can be described in two ways - we can have data like 'f 123 456 789' which means that the face is comprised + // of vertex 123, vertex 456 and vertex 789. Or, we have have data like f 123//111 456//222 789//333 which means that + // the face is comprised of vertex 123 using normal 111, vertex 456 using normal 222 and vertex 789 using normal 333. + else if ( "f".equalsIgnoreCase(token[0]) ) + { + // Check if there's a double-slash in the line + int pos = line.indexOf("//"); + + // As long as there's four tokens on the line and they don't contain a "//"... + if ( (token.length == 4) && (pos == -1) ) + { + // ...get the face vertex numbers as ints ... + int v1 = Integer.parseInt(token[1]); + int v2 = Integer.parseInt(token[2]); + int v3 = Integer.parseInt(token[3]); + + // ... and push them into the faces vector ... + faces.add( new Vec3i(v1, v2, v3) ); + + // .. then increase our face count. + numFaces++; + } + else if ( (token.length == 4) && (pos != -1) ) // 4 tokens and found 'vertex//normal' notation? + { + // ----- Get the 1st of three tokens as a String ----- + + // Find where the double-slash starts in that token + int faceEndPos = token[1].indexOf("//"); + + // Put sub-String from the start to the beginning of the double-slash into our subToken String + String faceToken1 = token[1].substring(0, faceEndPos); + + // Convert face token value to int + int ft1 = Integer.parseInt(faceToken1); + + // Mark the start of our next subtoken + int nextTokenStartPos = faceEndPos + 2; + + // Copy from first character after the "//" to the end of the token + String normalToken1 = token[1].substring(nextTokenStartPos); + + // Convert normal token value to int + int nt1 = Integer.parseInt(normalToken1); + + // ----- Get the 2nd of three tokens as a String ----- + + // Find where the double-slash starts in that token + faceEndPos = token[2].indexOf("//"); + + // Put sub-String from the start to the beginning of the double-slash into our subToken String + String faceToken2 = token[2].substring(0, faceEndPos); + + // Convert face token value to int + int ft2 = Integer.parseInt(faceToken2); + + // Mark the start of our next subtoken + nextTokenStartPos = faceEndPos + 2; + + // Copy from first character after the "//" to the end of the token + String normalToken2 = token[2].substring(nextTokenStartPos); + + // Convert normal token value to int + int nt2 = Integer.parseInt(normalToken2); + + // ----- Get the 3rd of three tokens as a String ----- + + // Find where the double-slash starts in that token + faceEndPos = token[3].indexOf("//"); + + // Put sub-String from the start to the beginning of the double-slash into our subToken String + String faceToken3 = token[3].substring(0, faceEndPos); + + // Convert face token value to int + int ft3 = Integer.parseInt(faceToken3); + + // Mark the start of our next subtoken + nextTokenStartPos = faceEndPos + 2; + + // Copy from first character after the "//" to the end + String normalToken3 = token[3].substring(nextTokenStartPos); + + // Convert normal token value to int + int nt3 = Integer.parseInt(normalToken3); + + + // Finally, add the face to the faces array list and increment the face count... + faces.add( new Vec3i(ft1, ft2, ft3) ); + numFaces++; + + // ...and do the same for the normal indices and the normal index count. + normalIndices.add( new Vec3i(nt1, nt2, nt3) ); + numNormalIndices++; + + } + else // If we got face data without 3 components - whine! + { + loadedCleanly = false; + System.out.printf(WRONG_COMPONENT_COUNT_LOG,"face",lineCount); + } + + } // End of if token is "f" (i.e. face indices) + + // IMPLIED ELSE: If first token is something we don't recognise then we ignore it as a comment. + + } // End of line parsing section + + } // End of if line length > 1 check + + // No need to close the file ( i.e. br.close() ) - try-with-resources does that for us. + } + catch (FileNotFoundException fnfe) { fnfe.printStackTrace(); } + catch (IOException ioe) { ioe.printStackTrace(); } + + // Return our boolean flag to say whether we loaded the model cleanly or not + return loadedCleanly; + } + + // ----- Helper Methods ----- + + /** + * Return whether or not this model contains vertex data. + * + * @return whether or not this model contains vertex data. + */ + public boolean hasVertices() { return (numVertices > 0); } + + /** + * Return whether or not this model contains face data. + * + * @return whether or not this model contains face data. + */ + public boolean hasFaces() { return (numFaces > 0); } + + /** + * Return whether or not this model contains normal data. + * + * @return whether or not this model contains normal data. + */ + public boolean hasNormals() { return (numNormals > 0); } + + /** + * Return whether or not this model contains normal index data. + * + * @return whether or not this model contains normal index data. + */ + public boolean hasNormalIndices() { return (numNormalIndices > 0); } + + /** + * Set up our plain arrays of floats for OpenGL to work with. + *

    + * Note: We CANNOT have size mismatches! The vertex count must match the + * normal count i.e. every vertex must have precisely ONE normal - no more, no less! + */ + private void setupData() + { + if (VERBOSE) { + System.out.println( "Setting up model data to draw as arrays."); + } + + // If we ONLY have vertex data, then transfer just that... + if ( ( hasVertices() ) && ( !hasFaces() ) && ( !hasNormals() ) ) + { + if (VERBOSE) { + System.out.println( "Model has no faces or normals. Transferring vertex data only."); + } + + // Reset the vertex count + numVertices = 0; + + // Transfer all vertices from the vertices vector to the vertexData array + for (Vec3f v : vertices) + { + vertexData.add( v.x ); + vertexData.add( v.y ); + vertexData.add( v.z ); + ++numVertices; + } + + // Print a summary of the vertex data + if (VERBOSE) { + System.out.printf( NUMBER_OF_VERTICES_LOG, numVertices, getVertexDataSizeBytes()); + } + } + // If we have vertices AND faces BUT NOT normals... + else if ( ( hasVertices() ) && ( hasFaces() ) && ( !hasNormals() ) ) + { + if (VERBOSE) { + System.out.println("Model has vertices and faces, but no normals. Per-face normals will be generated.") ; + } + + // Create the vertexData and normalData arrays from the vector of faces + // Note: We generate the face normals ourselves. + int vertexCount = 0; + int normalCount = 0; + + for (Vec3i iv : faces) + { + // Get the numbers of the three vertices that this face is comprised of + int firstVertexNum = iv.x; + int secondVertexNum = iv.y; + int thirdVertexNum = iv.z; + + // Now that we have the vertex numbers, we need to get the actual vertices + // Note: We subtract 1 from the number of the vertex because faces start at + // face number 1 in the .OBJ format, while in our code the first vertex + // will be at location zero. + Vec3f faceVert1 = vertices.get(firstVertexNum - 1); + Vec3f faceVert2 = vertices.get(secondVertexNum - 1); + Vec3f faceVert3 = vertices.get(thirdVertexNum - 1); + + // Now that we have the 3 vertices, we need to calculate the normal of the face + // formed by these vertices... + + // Convert this vertex data into a pure form + Vec3f v1 = faceVert2.minus(faceVert1); + Vec3f v2 = faceVert3.minus(faceVert1); + + // Generate the normal as the cross product and normalise it + Vec3f normal = v1.cross(v2); + Vec3f normalisedNormal = normal.normalise(); + + // Put the vertex data into our vertexData array + vertexData.add( faceVert1.x ); + vertexData.add( faceVert1.y ); + vertexData.add( faceVert1.z ); + vertexCount++; + + vertexData.add( faceVert2.x ); + vertexData.add( faceVert2.y ); + vertexData.add( faceVert2.z ); + vertexCount++; + + vertexData.add( faceVert3.x ); + vertexData.add( faceVert3.y ); + vertexData.add( faceVert3.z ); + vertexCount++; + + // Put the normal data into our normalData array + // + // Note: we put the same normal into the normalData array for each of the 3 vertices comprising the face! + // This gives use a 'faceted' looking model, but is easy! You could try to calculate an interpolated + // normal based on surrounding normals, but that's not a trivial task (although 3ds max will do it for you + // if you load up the model and export it with normals!) + normalData.add( normalisedNormal.x ); + normalData.add( normalisedNormal.y ); + normalData.add( normalisedNormal.z ); + normalCount++; + + normalData.add( normalisedNormal.x ); + normalData.add( normalisedNormal.y ); + normalData.add( normalisedNormal.z ); + normalCount++; + + normalData.add( normalisedNormal.x ); + normalData.add( normalisedNormal.y ); + normalData.add( normalisedNormal.z ); + normalCount++; + + } // End of loop iterating over the model faces + + numVertices = vertexCount; + numNormals = normalCount; + + if (VERBOSE) + { + System.out.printf( NUMBER_OF_VERTICES_LOG, numVertices, getVertexDataSizeBytes()); + System.out.printf( NUMBER_OF_NORMALS_LOG, numNormals, getNormalDataSizeBytes()); + } + } + // If we have vertices AND faces AND normals AND normalIndices... + else if ( ( hasVertices() ) && ( hasFaces() ) && ( hasNormals() ) && ( hasNormalIndices() ) ) + { + if (VERBOSE) + { + System.out.println("Model has vertices, faces, normals & normal indices. Transferring data."); + } + + //FIXME: Change this to use the numVertices and numNormals directly - I don't see a reason to use separate vertexCount and normalCount vars... + + int vertexCount = 0; + int normalCount = 0; + + // Look up each vertex specified by each face and add the vertex data to the vertexData array + for (Vec3i iv : faces) + { + // Get the numbers of the three vertices that this face is comprised of + int firstVertexNum = iv.x; + int secondVertexNum = iv.y; + int thirdVertexNum = iv.z; + + // Now that we have the vertex numbers, we need to get the actual vertices + // Note: We subtract 1 from the number of the vertex because faces start at + // face number 1 in the .oBJ format, while in our code the first vertex + // will be at location zero. + Vec3f faceVert1 = vertices.get(firstVertexNum - 1); + Vec3f faceVert2 = vertices.get(secondVertexNum - 1); + Vec3f faceVert3 = vertices.get(thirdVertexNum - 1); + + // Put the vertex data into our vertexData array + vertexData.add( faceVert1.x ); + vertexData.add( faceVert1.y ); + vertexData.add( faceVert1.z ); + ++vertexCount; + + vertexData.add( faceVert2.x ); + vertexData.add( faceVert2.y ); + vertexData.add( faceVert2.z ); + ++vertexCount; + + vertexData.add( faceVert3.x ); + vertexData.add( faceVert3.y ); + vertexData.add( faceVert3.z ); + ++vertexCount; + } + + // Look up each normal specified by each normal index and add the normal data to the normalData array + for (Vec3i normInd : normalIndices) + { + // Get the numbers of the three normals that this face uses + int firstNormalNum = normInd.x; + int secondNormalNum = normInd.y; + int thirdNormalNum = normInd.z; + + // Now that we have the normal index numbers, we need to get the actual normals + // Note: We subtract 1 from the number of the normal because normals start at + // number 1 in the .obJ format, while in our code the first vertex + // will be at location zero. + Vec3f normal1 = normals.get(firstNormalNum - 1); + Vec3f normal2 = normals.get(secondNormalNum - 1); + Vec3f normal3 = normals.get(thirdNormalNum - 1); + + // Put the normal data into our normalData array + normalData.add( normal1.x ); + normalData.add( normal1.y ); + normalData.add( normal1.z ); + normalCount++; + + normalData.add( normal2.x ); + normalData.add( normal2.y ); + normalData.add( normal2.z ); + normalCount++; + + normalData.add( normal3.x ); + normalData.add( normal3.y ); + normalData.add( normal3.z ); + normalCount++; + + } // End of loop iterating over the model faces + + numVertices = vertexCount; + numNormals = normalCount; + + if (VERBOSE) + { + System.out.printf( NUMBER_OF_VERTICES_LOG, numVertices, getVertexDataSizeBytes()); + System.out.printf( NUMBER_OF_NORMALS_LOG, numNormals, getNormalDataSizeBytes()); + } + } + else + { + System.out.println("Something bad happened in Model.setupData() =("); + } + + } // End of setupData method + +} // End of Model class diff --git a/src/main/java/org/myrobotlab/caliko/OpenGLWindow.java b/src/main/java/org/myrobotlab/caliko/OpenGLWindow.java new file mode 100644 index 0000000000..9582c6adf7 --- /dev/null +++ b/src/main/java/org/myrobotlab/caliko/OpenGLWindow.java @@ -0,0 +1,505 @@ +package org.myrobotlab.caliko; + +import static org.lwjgl.glfw.GLFW.GLFW_CONTEXT_VERSION_MAJOR; +import static org.lwjgl.glfw.GLFW.GLFW_CONTEXT_VERSION_MINOR; +import static org.lwjgl.glfw.GLFW.GLFW_CURSOR; +import static org.lwjgl.glfw.GLFW.GLFW_CURSOR_DISABLED; +import static org.lwjgl.glfw.GLFW.GLFW_CURSOR_NORMAL; +import static org.lwjgl.glfw.GLFW.GLFW_FOCUSED; +import static org.lwjgl.glfw.GLFW.GLFW_KEY_A; +import static org.lwjgl.glfw.GLFW.GLFW_KEY_C; +import static org.lwjgl.glfw.GLFW.GLFW_KEY_D; +import static org.lwjgl.glfw.GLFW.GLFW_KEY_DOWN; +import static org.lwjgl.glfw.GLFW.GLFW_KEY_ESCAPE; +import static org.lwjgl.glfw.GLFW.GLFW_KEY_F; +import static org.lwjgl.glfw.GLFW.GLFW_KEY_L; +import static org.lwjgl.glfw.GLFW.GLFW_KEY_LEFT; +import static org.lwjgl.glfw.GLFW.GLFW_KEY_M; +import static org.lwjgl.glfw.GLFW.GLFW_KEY_P; +import static org.lwjgl.glfw.GLFW.GLFW_KEY_R; +import static org.lwjgl.glfw.GLFW.GLFW_KEY_RIGHT; +import static org.lwjgl.glfw.GLFW.GLFW_KEY_S; +import static org.lwjgl.glfw.GLFW.GLFW_KEY_SPACE; +import static org.lwjgl.glfw.GLFW.GLFW_KEY_UP; +import static org.lwjgl.glfw.GLFW.GLFW_KEY_W; +import static org.lwjgl.glfw.GLFW.GLFW_KEY_X; +import static org.lwjgl.glfw.GLFW.GLFW_MOUSE_BUTTON_1; +import static org.lwjgl.glfw.GLFW.GLFW_OPENGL_CORE_PROFILE; +import static org.lwjgl.glfw.GLFW.GLFW_OPENGL_PROFILE; +import static org.lwjgl.glfw.GLFW.GLFW_PRESS; +import static org.lwjgl.glfw.GLFW.GLFW_RELEASE; +import static org.lwjgl.glfw.GLFW.GLFW_REPEAT; +import static org.lwjgl.glfw.GLFW.GLFW_RESIZABLE; +import static org.lwjgl.glfw.GLFW.GLFW_SAMPLES; +import static org.lwjgl.glfw.GLFW.GLFW_TRUE; +import static org.lwjgl.glfw.GLFW.GLFW_VISIBLE; +import static org.lwjgl.glfw.GLFW.glfwCreateWindow; +import static org.lwjgl.glfw.GLFW.glfwDestroyWindow; +import static org.lwjgl.glfw.GLFW.glfwGetPrimaryMonitor; +import static org.lwjgl.glfw.GLFW.glfwGetVideoMode; +import static org.lwjgl.glfw.GLFW.glfwInit; +import static org.lwjgl.glfw.GLFW.glfwMakeContextCurrent; +import static org.lwjgl.glfw.GLFW.glfwSetCursorPos; +import static org.lwjgl.glfw.GLFW.glfwSetCursorPosCallback; +import static org.lwjgl.glfw.GLFW.glfwSetErrorCallback; +import static org.lwjgl.glfw.GLFW.glfwSetInputMode; +import static org.lwjgl.glfw.GLFW.glfwSetKeyCallback; +import static org.lwjgl.glfw.GLFW.glfwSetMouseButtonCallback; +import static org.lwjgl.glfw.GLFW.glfwSetWindowPos; +import static org.lwjgl.glfw.GLFW.glfwSetWindowShouldClose; +import static org.lwjgl.glfw.GLFW.glfwSetWindowSizeCallback; +import static org.lwjgl.glfw.GLFW.glfwSetWindowTitle; +import static org.lwjgl.glfw.GLFW.glfwShowWindow; +import static org.lwjgl.glfw.GLFW.glfwSwapBuffers; +import static org.lwjgl.glfw.GLFW.glfwSwapInterval; +import static org.lwjgl.glfw.GLFW.glfwTerminate; +import static org.lwjgl.glfw.GLFW.glfwWindowHint; +import static org.lwjgl.opengl.GL11.GL_BLEND; +import static org.lwjgl.opengl.GL11.GL_DEPTH_TEST; +import static org.lwjgl.opengl.GL11.GL_LEQUAL; +import static org.lwjgl.opengl.GL11.GL_ONE_MINUS_SRC_ALPHA; +import static org.lwjgl.opengl.GL11.GL_SRC_ALPHA; +import static org.lwjgl.opengl.GL11.glBlendFunc; +import static org.lwjgl.opengl.GL11.glClearColor; +import static org.lwjgl.opengl.GL11.glClearDepth; +import static org.lwjgl.opengl.GL11.glDepthFunc; +import static org.lwjgl.opengl.GL11.glEnable; +import static org.lwjgl.opengl.GL11.glViewport; +import static org.lwjgl.system.MemoryUtil.NULL; + +import org.lwjgl.glfw.GLFWCursorPosCallback; +import org.lwjgl.glfw.GLFWErrorCallback; +import org.lwjgl.glfw.GLFWKeyCallback; +import org.lwjgl.glfw.GLFWMouseButtonCallback; +import org.lwjgl.glfw.GLFWVidMode; +import org.lwjgl.glfw.GLFWWindowSizeCallback; +import org.lwjgl.opengl.GL; +import org.myrobotlab.service.Caliko; +import org.myrobotlab.service.config.CalikoConfig; + +import au.edu.federation.caliko.visualisation.Axis; +import au.edu.federation.caliko.visualisation.Camera; +import au.edu.federation.caliko.visualisation.Grid; +//import au.edu.federation.caliko.demo2d.CalikoDemoStructure2DFactory.CalikoDemoStructure2DEnum; +//import au.edu.federation.caliko.demo3d.CalikoDemoStructure3DFactory.CalikoDemoStructure3DEnum; +import au.edu.federation.utils.Mat4f; +import au.edu.federation.utils.Utils; +import au.edu.federation.utils.Vec2f; +import au.edu.federation.utils.Vec3f; + +/** + * Class to set up an OpenGL window. + * + * @author Al Lansley + * @version 0.3 - 07/12/2015 + */ +public class OpenGLWindow +{ + + // Mouse cursor locations in screen-space and world-space + public Vec2f screenSpaceMousePos = null; + public Vec2f worldSpaceMousePos = new Vec2f(); + + // Window properties + long mWindowId; + int mWindowWidth; + int mWindowHeight; + float mAspectRatio; + + // Matrices + Mat4f mProjectionMatrix; + Mat4f mModelMatrix = new Mat4f(1.0f); + Mat4f mMvpMatrix = new Mat4f(); + + // Matrix properties + boolean mOrthographicProjection; // Use orthographic projection? If false, we use a standard perspective projection + float mVertFoVDegs; + float mZNear; + float mZFar; + float mOrthoExtent; + + // We need to strongly reference callback instances so that they don't get garbage collected. + private GLFWErrorCallback errorCallback; + private GLFWKeyCallback keyCallback; + private GLFWWindowSizeCallback windowSizeCallback; + private GLFWMouseButtonCallback mouseButtonCallback; + private GLFWCursorPosCallback cursorPosCallback; + + CalikoConfig config = null; + + Caliko service = null; + public Application application; + + // Constructor + public OpenGLWindow(Application application, Caliko service, int windowWidth, int windowHeight, float vertFoVDegs, float zNear, float zFar, float orthoExtent) + { + this.service = service; + this.application = application; + + // Set properties and create the projection matrix + mWindowWidth = windowWidth <= 0 ? 1 : windowWidth; + mWindowHeight = windowHeight <= 0 ? 1 : windowHeight; + mAspectRatio = (float)mWindowWidth / (float)mWindowHeight; + + mVertFoVDegs = vertFoVDegs; + mZNear = zNear; + mZFar = zFar; + mOrthoExtent = orthoExtent; + + config = service.getConfig(); + + screenSpaceMousePos = new Vec2f(config.windowWidth / 2.0f, config.windowHeight / 2.0f); + +// if (config.use3dDemo) + + mOrthographicProjection = false; + mProjectionMatrix = Mat4f.createPerspectiveProjectionMatrix(mVertFoVDegs, mAspectRatio, mZNear, mZFar); + +// else +// { +// mOrthographicProjection = true; +// mProjectionMatrix = Mat4f.createOrthographicProjectionMatrix(-mOrthoExtent, mOrthoExtent, mOrthoExtent, -mOrthoExtent, mZNear, mZFar); +// } + + // Setup the error callback to output to System.err + glfwSetErrorCallback(errorCallback = GLFWErrorCallback.createPrint(System.err)); + + // Initialize GLFW. Most GLFW functions will not work before doing this. + if ( !glfwInit() ) { throw new IllegalStateException("Unable to initialize GLFW"); } + + // ----- Specify window hints ----- + // Note: Window hints must be specified after glfwInit() (which resets them) and before glfwCreateWindow where the context is created. + glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3); // Request OpenGL version 3.3 (the minimum we can get away with) + glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3); + glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE); // We want a core profile without any deprecated functionality... + //glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE); // ...however we do NOT want a forward compatible profile as they've removed line widths! + glfwWindowHint(GLFW_RESIZABLE, GLFW_TRUE); // We want the window to be resizable + glfwWindowHint(GLFW_VISIBLE, GLFW_TRUE); // We want the window to be visible (false makes it hidden after creation) + glfwWindowHint(GLFW_FOCUSED, GLFW_TRUE); // We want the window to take focus on creation + glfwWindowHint(GLFW_SAMPLES, 4); // Ask for 4x anti-aliasing (this doesn't mean we'll get it, though) + + // Create the window + mWindowId = glfwCreateWindow(mWindowWidth, mWindowHeight, "LWJGL3 Test", NULL, NULL); + if (mWindowId == NULL) { throw new RuntimeException("Failed to create the GLFW window"); } + + // Get the resolution of the primary monitor + GLFWVidMode vidmode = glfwGetVideoMode( glfwGetPrimaryMonitor() ); + int windowHorizOffset = (vidmode.width() - mWindowWidth) / 2; + int windowVertOffset = (vidmode.height() - mWindowHeight) / 2; + + glfwSetWindowPos(mWindowId, windowHorizOffset, windowVertOffset); // Center our window + glfwMakeContextCurrent(mWindowId); // Make the OpenGL context current + glfwSwapInterval(1); // Swap buffers every frame (i.e. enable vSync) + + // This line is critical for LWJGL's interoperation with GLFW's OpenGL context, or any context that is managed externally. + // LWJGL detects the context that is current in the current thread, creates the ContextCapabilities instance and makes + // the OpenGL bindings available for use. + glfwMakeContextCurrent(mWindowId); + + // Enumerate the capabilities of the current OpenGL context, loading forward compatible capabilities + GL.createCapabilities(true); + + // Setup our keyboard, mouse and window resize callback functions + setupCallbacks(); + + // ---------- OpenGL settings ----------- + + // Set the clear color + glClearColor(0.0f, 0.0f, 0.0f, 0.0f); + + // Specify the size of the viewport. Params: xOrigin, yOrigin, width, height + glViewport(0, 0, mWindowWidth, mWindowHeight); + + // Enable depth testing + glDepthFunc(GL_LEQUAL); + glEnable(GL_DEPTH_TEST); + + // When we clear the depth buffer, we'll clear the entire buffer + glClearDepth(1.0f); + + // Enable blending to use alpha channels + // Note: blending must be enabled to use transparency / alpha values in our fragment shaders. + glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + glEnable(GL_BLEND); + + glfwShowWindow(mWindowId); // Make the window visible + } + + // Constructor with some sensible projection matrix values hard-coded + public OpenGLWindow(Application application, Caliko service, int width, int height) { this(application, service, width, height, 35.0f, 1.0f, 5000.0f, 120.0f); } + + /** Return a calculated ModelViewProjection matrix. + *

    + * This MVP matrix is the result of multiplying the projection matrix by the view matrix obtained from the camera, and + * as such is really a ProjectionView matrix or 'identity MVP', however you'd like to term it. + * + * If you want a MVP matrix specific to your model, simply multiply this matrix by your desired model matrix to create + * a MVP matrix specific to your model. + * + * @return A calculate ModelViewProjection matrix. + */ + public Mat4f getMvpMatrix() { return mProjectionMatrix.times( service.getCamera().getViewMatrix() ); } + + /** + * Return the projection matrix. + * + * @return The projection matrix. + */ + public Mat4f getProjectionMatrix() { return mProjectionMatrix; } + + /** Swap the front and back buffers to update the display. */ + public void swapBuffers() { glfwSwapBuffers(mWindowId); } + + /** + * Set the window title to the specified String argument. + * + * @param title The String that will be used as the title of the window. + */ + public void setWindowTitle(String title) { glfwSetWindowTitle(mWindowId, title); } + + /** Destroy the window, finish up glfw and release all callback methods. */ + public void cleanup() + { + // Free the window callbacks and destroy the window + //glfwFreeCallbacks(mWindowId); + cursorPosCallback.close(); + mouseButtonCallback.close(); + windowSizeCallback.close(); + keyCallback.close(); + + glfwDestroyWindow(mWindowId); + + // Terminate GLFW and free the error callback + glfwTerminate(); + glfwSetErrorCallback(null).free(); + } + + // Setup keyboard, mouse cursor, mouse button and window resize callback methods. + private void setupCallbacks() + { + // Key callback + glfwSetKeyCallback(mWindowId, keyCallback = GLFWKeyCallback.create( (long window, int key, int scancode, int action, int mods) -> + { + if (action == GLFW_PRESS) + { + switch (key) + { +// // Setup demos +// case GLFW_KEY_RIGHT: +// if (config.use3dDemo) +// { +// if (config.demoNumber < CalikoDemoStructure3DEnum.values().length) { config.demoNumber++; } +// } +// else // 2D Demo mode +// { +// if (config.demoNumber < CalikoDemoStructure2DEnum.values().length) { config.demoNumber++; } +// } +// config.demo.setup(config.demoNumber); +// break; +// case GLFW_KEY_LEFT: +// if (config.demoNumber > 1) { config.demoNumber--; } +// config.demo.setup(config.demoNumber); +// break; +// +// // Toggle fixed base mode +// case GLFW_KEY_F: +// config.fixedBaseMode = !config.fixedBaseMode; +// config.demo.setFixedBaseMode(config.fixedBaseMode); +// break; +// // Toggle rotating bases +// case GLFW_KEY_R: +// config.rotateBasesMode = !config.rotateBasesMode; +// break; + + // Various drawing options + case GLFW_KEY_C: + config.drawConstraints = !config.drawConstraints; + break; + case GLFW_KEY_L: + config.drawLines = !config.drawLines; + break; + case GLFW_KEY_M: + config.drawModels = !config.drawModels; + break; + case GLFW_KEY_P: + mOrthographicProjection = !mOrthographicProjection; + if (mOrthographicProjection) + { + mProjectionMatrix = Mat4f.createOrthographicProjectionMatrix(-mOrthoExtent, mOrthoExtent, mOrthoExtent, -mOrthoExtent, mZNear, mZFar); + } + else + { + mProjectionMatrix = Mat4f.createPerspectiveProjectionMatrix(mVertFoVDegs, mAspectRatio, mZNear, mZFar); + } + break; + case GLFW_KEY_X: + config.drawAxes = !config.drawAxes; + break; + + // Camera controls + case GLFW_KEY_W: + case GLFW_KEY_S: + case GLFW_KEY_A: + case GLFW_KEY_D: + // if (config.use3dDemo) { config.demo.handleCameraMovement(key, action); } + break; + + // Close the window + case GLFW_KEY_ESCAPE: + glfwSetWindowShouldClose(window, true); + break; + + // Cycle through / switch between 2D and 3D demos with the up and down cursors + case GLFW_KEY_UP: + case GLFW_KEY_DOWN: + config.use3dDemo = !config.use3dDemo; + config.demoNumber = 1; + + // Viewing 2D demos? + if (!config.use3dDemo) + { + mOrthographicProjection = true; + mProjectionMatrix = Mat4f.createOrthographicProjectionMatrix(-mOrthoExtent, mOrthoExtent, mOrthoExtent, -mOrthoExtent, mZNear, mZFar); + // config.demo = new CalikoDemo2D(config.demoNumber); + } + else // Viewing 3D demos + { + mOrthographicProjection = false; + mProjectionMatrix = Mat4f.createPerspectiveProjectionMatrix(mVertFoVDegs, mAspectRatio, mZNear, mZFar); + // config.demo = new CalikoDemo3D(config.demoNumber); + } + break; + + // Dynamic add/remove bones for first demo +// case GLFW_KEY_COMMA: +// if (config.demoNumber == 1 && config.structure.getChain(0).getNumBones() > 1) +// { +// config.structure.getChain(0).removeBone(0); +// } +// break; +// case GLFW_KEY_PERIOD: +// if (config.demoNumber == 1) +// { +// config.structure.getChain(0).addConsecutiveBone(config.X_AXIS, config.defaultBoneLength); +// } +// break; + + case GLFW_KEY_SPACE: + application.paused = !application.paused; + break; + + } // End of switch + + } + else if (action == GLFW_REPEAT || action == GLFW_RELEASE) // Camera must also handle repeat or release actions + { + switch (key) + { + case GLFW_KEY_W: + case GLFW_KEY_S: + case GLFW_KEY_A: + case GLFW_KEY_D: + //if (config.use3dDemo) { config.demo.handleCameraMovement(key, action); } + break; + } + } + })); + + // Mouse cursor position callback + glfwSetCursorPosCallback(mWindowId, cursorPosCallback = GLFWCursorPosCallback.create( (long windowId, double mouseX, double mouseY) -> + { + // Update the screen space mouse location + screenSpaceMousePos.set( (float)mouseX, (float)mouseY ); + + // If we're holding down the LMB, then... + if (config.leftMouseButtonDown) + { + // ...in the 3D demo we update the camera look direction... + if (config.use3dDemo) + { + service.getCamera().handleMouseMove(mouseX, mouseY); + } + else // ...while in the 2D demo we update the 2D target. + { + // Convert the mouse position in screen-space coordinates to our orthographic world-space coordinates +// worldSpaceMousePos.set( Utils.convertRange(screenSpaceMousePos.x, 0.0f, mWindowWidth, -mOrthoExtent, mOrthoExtent), +// -Utils.convertRange(screenSpaceMousePos.y, 0.0f, mWindowHeight, -mOrthoExtent, mOrthoExtent) ); +// +// CalikoDemo2D.mStructure.solveForTarget(worldSpaceMousePos); + } + } + })); + + // Mouse button callback + glfwSetMouseButtonCallback(mWindowId, mouseButtonCallback = GLFWMouseButtonCallback.create( (long windowId, int button, int action, int mods) -> + { + // If the left mouse button was the button that invoked the callback... + if (button == GLFW_MOUSE_BUTTON_1) + { + // ...then set the LMB status flag accordingly + // Note: We cannot simply toggle the flag here as double-clicking the title bar to fullscreen the window confuses it and we + // then end up mouselook-ing without the LMB being held down! + if (action == GLFW_PRESS) { config.leftMouseButtonDown = true; } else { config.leftMouseButtonDown = false; } + + if (config.use3dDemo) + { + // Immediately set the cursor position to the centre of the screen so our view doesn't "jump" on first cursor position change + glfwSetCursorPos(windowId, ((double)mWindowWidth / 2), ((double)mWindowHeight / 2) ); + + switch (action) + { + case GLFW_PRESS: + // Make the mouse cursor hidden and put it into a 'virtual' mode where its values are not limited + glfwSetInputMode(mWindowId, GLFW_CURSOR, GLFW_CURSOR_DISABLED); + break; + + case GLFW_RELEASE: + // Restore the mouse cursor to normal and reset the camera last cursor position to be the middle of the window + glfwSetInputMode(windowId, GLFW_CURSOR, GLFW_CURSOR_NORMAL); + service.getCamera().resetLastCursorPosition(); + break; + } + } + else + { + // Convert the mouse position in screen-space coordinates to our orthographic world-space coordinates + worldSpaceMousePos.set( Utils.convertRange(screenSpaceMousePos.x, 0.0f, mWindowWidth, -mOrthoExtent, mOrthoExtent), + -Utils.convertRange(screenSpaceMousePos.y, 0.0f, mWindowHeight, -mOrthoExtent, mOrthoExtent) ); + + // CalikoDemo2D.mStructure.solveForTarget(worldSpaceMousePos); + } + + // Nothing needs be done in 2D demo mode - the config.leftMouseButtonDown flag plus the mouse cursor handler take care of it. + } + })); + + // Window size callback + glfwSetWindowSizeCallback(mWindowId, windowSizeCallback = GLFWWindowSizeCallback.create( (long windowId, int windowWidth, int windowHeight) -> + { + // Update our window width and height and recalculate the aspect ratio + if (windowWidth <= 0) { windowWidth = 1; } + if (windowHeight <= 0) { windowHeight = 1; } + mWindowWidth = windowWidth; + mWindowHeight = windowHeight; + mAspectRatio = (float)mWindowWidth / (float)mWindowHeight; + + // Let our camera know about the new size so it can correctly recentre the mouse cursor + service.getCamera().updateWindowSize(windowWidth, windowHeight); + + // Update our viewport + glViewport(0, 0, mWindowWidth, mWindowHeight); + + // Recalculate our projection matrix + if (mOrthographicProjection) + { + mProjectionMatrix = Mat4f.createOrthographicProjectionMatrix(-mOrthoExtent, mOrthoExtent, mOrthoExtent, -mOrthoExtent, mZNear, mZFar); + } + else + { + mProjectionMatrix = Mat4f.createPerspectiveProjectionMatrix(mVertFoVDegs, mAspectRatio, mZNear, mZFar); + } + })); + + } // End of setupCallbacks method + +} // End of OpenGLWindow class \ No newline at end of file diff --git a/src/main/java/org/myrobotlab/kinematics/DHRobotArm.java b/src/main/java/org/myrobotlab/kinematics/DHRobotArm.java index 03b8c251b9..6fd3e43b13 100644 --- a/src/main/java/org/myrobotlab/kinematics/DHRobotArm.java +++ b/src/main/java/org/myrobotlab/kinematics/DHRobotArm.java @@ -235,7 +235,10 @@ public boolean moveToGoal(Point goal) { int numSteps = 0; double iterStep = 0.05; // we're in millimeters.. - double errorThreshold = 2.0; + double errorThreshold = 20.0; + + maxIterations = 1000; + // what's the current point while (true) { numSteps++; diff --git a/src/main/java/org/myrobotlab/service/Caliko.java b/src/main/java/org/myrobotlab/service/Caliko.java new file mode 100644 index 0000000000..01381f1161 --- /dev/null +++ b/src/main/java/org/myrobotlab/service/Caliko.java @@ -0,0 +1,401 @@ +package org.myrobotlab.service; + +import java.util.HashMap; +import java.util.Map; + +import org.myrobotlab.caliko.Application; +import org.myrobotlab.framework.Service; +import org.myrobotlab.logging.Level; +import org.myrobotlab.logging.LoggerFactory; +import org.myrobotlab.logging.LoggingFactory; +import org.myrobotlab.service.config.CalikoConfig; +import org.slf4j.Logger; + +import au.edu.federation.caliko.FabrikBone3D; +import au.edu.federation.caliko.FabrikChain3D; +import au.edu.federation.caliko.FabrikChain3D.BaseboneConstraintType3D; +import au.edu.federation.caliko.FabrikJoint3D.JointType; +import au.edu.federation.caliko.FabrikStructure3D; +import au.edu.federation.caliko.visualisation.Camera; +import au.edu.federation.utils.Colour4f; +import au.edu.federation.utils.Utils; +import au.edu.federation.utils.Vec3f; + +public class Caliko extends Service { + + private class WindowWorker extends Thread { + + Application application; + String name; + Caliko service; + + public WindowWorker(Caliko service, String name) { + super(String.format("%s.WindowWorker.%s", service.getName(), name)); + this.name = name; + this.service = service; + } + + public void run() { + try { + application = new Application(service); + } catch (Exception e) { + error(e); + shutdown(); + } + } + + public void shutdown() { + application.running = false; + windows.remove(name); + application.window.cleanup(); + } + + } + + public final static Logger log = LoggerFactory.getLogger(Caliko.class); + + private static final long serialVersionUID = 1L; + +// public static final Vec3f X_AXIS = new Vec3f(1.0f, 0.0f, 0.0f); +// +// public static final Vec3f Y_AXIS = new Vec3f(0.0f, 1.0f, 0.0f); +// +// public static final Vec3f Z_AXIS = new Vec3f(0.0f, 0.0f, 1.0f); +// +// public static final Vec3f NEG_X_AXIS = new Vec3f(-1.0f, -0.0f, -0.0f); +// +// public static final Vec3f NEG_Y_AXIS = new Vec3f(-0.0f, -1.0f, -0.0f); +// +// public static final Vec3f NEG_Z_AXIS = new Vec3f(-0.0f, -0.0f, -1.0f); + + + public static void main(String[] args) { + try { + + LoggingFactory.init(Level.INFO); + + // identical to command line start + // Runtime.startConfig("inmoov2"); + Runtime.main(new String[] { "--log-level", "info", "-s", "webgui", "WebGui", "intro", "Intro", "python", "Python" }); + + Caliko caliko = (Caliko) Runtime.start("caliko", "Caliko"); + caliko.test(); + + boolean done = true; + if (done) + return; + + Runtime.start("webgui", "WebGui"); + caliko.test(); + // Runtime.start("webgui", "WebGui"); + log.info("here"); + + } catch (Exception e) { + log.error("main threw", e); + } + } + + private transient Map chains = new HashMap<>(); + + private transient FabrikStructure3D structure; + + protected int windowHeight = 600; + + transient private Map windows = new HashMap<>(); + + protected int windowWidth = 800; + + private transient Camera camera = new Camera(new Vec3f(0.0f, 00.0f, 150.0f), new Vec3f(), windowWidth, windowHeight); + + public Caliko(String n, String id) { + super(n, id); + structure = new FabrikStructure3D(n); + } + + public void addBaseBone(float startX, float startY, float startZ, float endX, float endY, float endZ) { + addChain("default"); + addBone("default", startX, startY, startZ, endX, endY, endX, "-x", 0.0f, "red"); + } + + public void addBone(String chainName, float startX, float startY, float startZ, float endX, float endY, float endZ, String axis, float constraints, String color) { + if (!chains.containsKey(chainName)) { + error("%s chain does not exist", chainName); + } + FabrikBone3D basebone = new FabrikBone3D(new Vec3f(startX, startY, startZ), new Vec3f(endX, endY, endZ)); + basebone.setColour(getColor(color)); + FabrikChain3D chain = chains.get(chainName); + chain.addBone(basebone); + // TODO set type + chain.setRotorBaseboneConstraint(BaseboneConstraintType3D.GLOBAL_ROTOR, getAxis(axis), constraints); + } + + public void addChain(String name) { + if (chains.containsKey(name)) { + error("chain %s already exists", name); + return; + } + FabrikChain3D chain = new FabrikChain3D(); + structure.addChain(chain); + chains.put(name, chain); + } + + public void addFreelyRotatingHingedBone(String directionUV, float length, String hingeRotationAxis, String color) { + addFreelyRotatingHingedBone("default", directionUV, length, hingeRotationAxis, color); + } + + /** + * Add a consecutive hinge constrained bone to the end of this chain. The bone + * may rotate freely about the hinge axis. + *

    + * The bone will be drawn with a default colour of white. + *

    + * This method can only be used when the IK chain contains a basebone, as + * without it we do not have a start location for this bone (i.e. the end + * location of the previous bone). + *

    + * If this method is executed on a chain which does not contain a basebone + * then a RuntimeException is thrown. If this method is provided with a + * direction unit vector of zero, then an IllegalArgumentException is thrown. + * If the joint type requested is not JointType.LOCAL_HINGE or + * JointType.GLOBAL_HINGE then an IllegalArgumentException is thrown. If this + * method is provided with a hinge rotation axis unit vector of zero, then an + * IllegalArgumentException is thrown. + * + * @param directionUV + * The initial direction of the new bone. + * @param length + * The length of the new bone. + * @param jointType + * The type of hinge joint to be used - either JointType.LOCAL or + * JointType.GLOBAL. + * @param hingeRotationAxis + * The axis about which the hinge joint freely rotates. + * @param colour + * The colour to draw the bone. + */ + public void addFreelyRotatingHingedBone(String chainName, String directionUV, float length, String hingeRotationAxis, String color) { + if (!chains.containsKey(chainName)) { + error("%s chain does not exist", chainName); + } + FabrikChain3D chain = chains.get(chainName); + chain.addConsecutiveFreelyRotatingHingedBone(getAxis(directionUV), length, JointType.LOCAL_HINGE, getAxis(hingeRotationAxis), getColor(color)); + } + + public void addHingeBone(String directionUV, float length, String hingeRotationAxis, float clockwiseDegs, float anticlockwiseDegs, String hingeReferenceAxis, String color) { + addHingeBone("default", directionUV, length, hingeRotationAxis, clockwiseDegs, anticlockwiseDegs, hingeReferenceAxis, color); + } + + /** + * Add a consecutive hinge constrained bone to the end of this IK chain. + *

    + * The hinge type may be a global hinge where the rotation axis is specified + * in world-space, or a local hinge, where the rotation axis is relative to + * the previous bone in the chain. + *

    + * If this method is executed on a chain which does not contain a basebone + * then a RuntimeException is thrown. If this method is provided with bone + * direction or hinge constraint axis of zero then an IllegalArgumentException + * is thrown. If the joint type requested is not LOCAL_HINGE or GLOBAL_HINGE + * then an IllegalArgumentException is thrown. + * + * @param chainName The name of chain + * @param directionUV + * The initial direction of the new bone. + * @param length + * The length of the new bone. + * @param jointType + * The joint type of the new bone. + * @param hingeRotationAxis + * The axis about which the hinge rotates. + * @param clockwiseDegs + * The clockwise constraint angle in degrees. + * @param anticlockwiseDegs + * The anticlockwise constraint angle in degrees. + * @param hingeReferenceAxis + * The axis about which any clockwise/anticlockwise rotation + * constraints are enforced. + * @param colour + * The colour to draw the bone. + */ + public void addHingeBone(String chainName, String directionUV, float length, String hingeRotationAxis, float clockwiseDegs, float anticlockwiseDegs, String hingeReferenceAxis, + String color) { + if (!chains.containsKey(chainName)) { + error("%s chain does not exist", chainName); + } + FabrikChain3D chain = chains.get(chainName); + chain.addConsecutiveHingedBone(getAxis(directionUV), length, JointType.LOCAL_HINGE, getAxis(hingeRotationAxis), clockwiseDegs, anticlockwiseDegs, getAxis(hingeReferenceAxis), + getColor(color)); + } + + Vec3f getAxis(String axis) { + if (axis == null) { + return null; + } + axis = axis.toLowerCase(); + if ("x".equals(axis)) { + return new Vec3f(1.0f, 0.0f, 0.0f); + } else if ("-x".equals(axis)) { + return new Vec3f(-1.0f, -0.0f, -0.0f); + } else if ("y".equals(axis)) { + return new Vec3f(0.0f, 1.0f, 0.0f); + } else if ("-y".equals(axis)) { + return new Vec3f(-0.0f, -1.0f, -0.0f); + } else if ("z".equals(axis)) { + return new Vec3f(0.0f, 0.0f, 1.0f); + } else if ("-z".equals(axis)) { + return new Vec3f(-0.0f, -0.0f, -1.0f); + } else { + error("axis %s not found", axis); + return null; + } + } + + public Camera getCamera() { + return camera; + } + + Colour4f getColor(String color) { + if (color == null) { + return Utils.GREY; + } + color = color.toLowerCase(); + if ("red".equals(color)) { + return Utils.RED; + } + if ("green".equals(color)) { + return Utils.GREEN; + } + if ("blue".equals(color)) { + return Utils.BLUE; + } + if ("black".equals(color)) { + return Utils.BLACK; + } + if ("grey".equals(color)) { + return Utils.GREY; + } + if ("white".equals(color)) { + return Utils.WHITE; + } + if ("yellow".equals(color)) { + return Utils.YELLOW; + } + if ("cyan".equals(color)) { + return Utils.CYAN; + } + if ("magenta".equals(color)) { + return Utils.MAGENTA; + } + return Utils.GREY; + } + + public FabrikStructure3D getStructure() { + return structure; + } + + public void openWindow(String name) { + if (windows.containsKey(name)) { + info("%s already started", name); + return; + } + WindowWorker worker = new WindowWorker(this, name); + windows.put(name, worker); + worker.start(); + } + + public void stopService() { + super.stopService(); + for (WindowWorker worker : windows.values()) { + worker.shutdown(); + } + } + + public void test() { + + /* @param directionUV The initial direction of the new bone. + * @param hingeRotationAxis The axis about which the hinge rotates. + * @param hingeReferenceAxis The axis about which any clockwise/anticlockwise rotation constraints are enforced. + */ + + addBaseBone(0, 10, 0, -10, 10, 0); + // addHingeBone("x", 5, "x", 70, 10, "z", "grey"); + addHingeBone("-x", 5, "x", 10, 60, "z", "grey"); + addHingeBone("-y", 20, "z", 90, 90, "-y", "red"); + addFreelyRotatingHingedBone("y", 18, "y", "grey"); + + FabrikChain3D chain = chains.get("default"); + chain.solveForTarget(new Vec3f(-30, -300, -30)); + + for (FabrikBone3D bone : chains.get("default").getChain()) { + bone.getStartLocation().getGlobalPitchDegs(); + bone.getStartLocation().getGlobalYawDegs(); + Vec3f.getDirectionUV(bone.getStartLocation(), bone.getEndLocation()); + + System.out.println("Bone X: " + bone.getStartLocation().toString()); + } + + openWindow("default"); + + log.info("here"); + + // FabrikBone3D base =new FabrikBone3D(new Vec3f(),new + // Vec3f(0.0f,50.0f,0.0f)); + // + // chain.addBone(base); + // FabrikBone3D bone1 = new FabrikBone3D(new Vec3f(0.0f,50.0f,0.0f), new + // Vec3f(0f, 0f, 100f)); + // FabrikBone3D bone2 = new FabrikBone3D(new Vec3f(0f, 0f, 100f), new + // Vec3f(0f, 0f, 200f)); + + // chain.setEff + + // for(intboneLoop =0;boneLoop + // <5;++boneLoop){chain.addConsecutiveBone(newVec2f(0.0f,1.0f),50.0f); + + // Create a FabrikStructure3D + // FabrikStructure3D structure = new FabrikStructure3D(); + // + // // Create bones and joints + // FabrikBone3D root = new FabrikBone3D(0, 0, 0); + // FabrikBone3D bone1 = new FabrikBone3D(0, 0, 100); + // FabrikBone3D bone2 = new FabrikBone3D(0, 0, 100); + // + // // Create joints (optional but can be used for constraints) + // FabrikJoint3D joint1 = new FabrikJoint3D(); + // FabrikJoint3D joint2 = new FabrikJoint3D(); + // + // // Add bones and joints to the structure + // structure.addBone(root); + // structure.addBone(bone1); + // structure.addBone(bone2); + // + // // Set up the chain + // FabrikChain3D chain = new FabrikChain3D("ChainName"); + // chain.addBone(root); + // chain.addBone(bone1); + // chain.addBone(bone2); + // + // // Set the target position for the end effector (bone2) + // chain.setEffectorLocation(0, 0, 300); + // + // // Solve the IK problem + // structure.solveForTarget(chain.getEffectorLocation()); + // + // // Print the bone positions after solving + // for (FabrikBone3D bone : structure.getChain("ChainName").getChain()) { + // System.out.println("Bone X: " + bone.getStartLocation().getX() + + // ", Y: " + bone.getStartLocation().getY() + + // ", Z: " + bone.getStartLocation().getZ()); + // } + // + } + + public FabrikChain3D getChain(String name) { + if (!chains.containsKey(name)) { + error("no chain %s", name); + return null; + } + return chains.get(name); + } + +} diff --git a/src/main/java/org/myrobotlab/service/FiniteStateMachine.java b/src/main/java/org/myrobotlab/service/FiniteStateMachine.java index a093f61565..e82bdfe744 100644 --- a/src/main/java/org/myrobotlab/service/FiniteStateMachine.java +++ b/src/main/java/org/myrobotlab/service/FiniteStateMachine.java @@ -58,6 +58,21 @@ public class Tuple { public Transition transition; public StateTransition stateTransition; } + + public class StateChange { + public String last; + public String current; + public String event; + public StateChange(String last, String current, String event) { + this.last = last; + this.current = current; + this.event = event; + } + + public String toString() { + return String.format("%s --%s--> %s", last, event, current); + } + } private static Transition toFsmTransition(StateTransition state) { Transition transition = new Transition(); diff --git a/src/main/java/org/myrobotlab/service/Git.java b/src/main/java/org/myrobotlab/service/Git.java index 1d2d3766f5..8832326052 100644 --- a/src/main/java/org/myrobotlab/service/Git.java +++ b/src/main/java/org/myrobotlab/service/Git.java @@ -3,7 +3,6 @@ import java.io.File; import java.io.IOException; import java.util.ArrayList; -import java.util.Arrays; import java.util.List; import java.util.Map; import java.util.Properties; @@ -31,6 +30,7 @@ import org.eclipse.jgit.lib.TextProgressMonitor; import org.eclipse.jgit.revwalk.RevCommit; import org.eclipse.jgit.storage.file.FileRepositoryBuilder; +import org.eclipse.jgit.submodule.SubmoduleWalk; import org.myrobotlab.framework.Platform; import org.myrobotlab.framework.Service; import org.myrobotlab.logging.Level; @@ -45,7 +45,7 @@ public class Git extends Service { public final static Logger log = LoggerFactory.getLogger(Git.class); - transient static TextProgressMonitor monitor = new TextProgressMonitor(); + transient ProgressMonitor monitor = new ProgressMonitor(); Map repos = new TreeMap<>(); @@ -56,76 +56,43 @@ public static class RepoData { String branch; String location; String url; - List branches; String checkout; transient org.eclipse.jgit.api.Git git; - public RepoData(String location, String url, List branches, String checkout, org.eclipse.jgit.api.Git git) { + public RepoData(String location, String url, String checkout, org.eclipse.jgit.api.Git git) { this.location = location; this.url = url; - this.branches = branches; this.checkout = checkout; this.git = git; } } + // TODO - overload updates to publish + public class ProgressMonitor extends TextProgressMonitor { + + } + public Git(String n, String id) { super(n, id); } - - // max complexity clone - public void clone(String location, String url, List inbranches, String incheckout) throws InvalidRemoteException, TransportException, GitAPIException, IOException { - - File repoLocation = new File(location); - org.eclipse.jgit.api.Git git = null; - Repository repo = null; - - List branches = new ArrayList<>(); - for (String b : inbranches) { - if (!b.contains("refs")) { - branches.add("refs/heads/" + b); - } - } - - String checkout = (incheckout.contains("refs")) ? incheckout : "refs/heads/" + incheckout; - - if (!repoLocation.exists()) { - // clone - log.info("cloning {} {} into {}", url, incheckout, location); - git = org.eclipse.jgit.api.Git.cloneRepository().setProgressMonitor(monitor).setURI(url).setDirectory(repoLocation).setBranchesToClone(branches).setBranch(checkout).call(); - - } else { - // Open an existing repository - String gitDir = repoLocation.getAbsolutePath() + File.separator + ".git"; - log.info("opening repo {} from {}", gitDir, url); - repo = new FileRepositoryBuilder().setGitDir(new File(gitDir)).build(); - git = new org.eclipse.jgit.api.Git(repo); - } - - repo = git.getRepository(); - - // checkout - log.info("checking out {}", incheckout); - // git.branchCreate().setForce(true).setName(incheckout).setStartPoint("origin/" - // + incheckout).call(); - git.branchCreate().setForce(true).setName(incheckout).setStartPoint(incheckout).call(); - git.checkout().setName(incheckout).call(); - - repos.put(location, new RepoData(location, url, inbranches, incheckout, git)); - + + public void clone(String location, String url, String branch, String checkout) throws InvalidRemoteException, TransportException, GitAPIException, IOException { + clone(location, url, branch, checkout, false); } + + // max complexity sync - public void sync(String location, String url, List branches, String checkout) throws InvalidRemoteException, TransportException, GitAPIException, IOException { + public void sync(String location, String url, String branch, String checkout) throws InvalidRemoteException, TransportException, GitAPIException, IOException { // initial clone - clone(location, url, branches, checkout); + clone(location, url, branch, checkout); addTask(checkStatusIntervalMs, "checkStatus"); } public void sync(String location, String url, String checkout) throws InvalidRemoteException, TransportException, GitAPIException, IOException { - sync(location, url, Arrays.asList(checkout), checkout); + sync(location, url, checkout, checkout); } public RevCommit checkStatus() throws WrongRepositoryStateException, InvalidConfigurationException, InvalidRemoteException, CanceledException, RefNotFoundException, @@ -167,7 +134,7 @@ public RevCommit publishPull(RevCommit commit) { return commit; } - private static List getLogs(org.eclipse.jgit.api.Git git, String ref, int maxCount) + private List getLogs(org.eclipse.jgit.api.Git git, String ref, int maxCount) throws RevisionSyntaxException, NoHeadException, MissingObjectException, IncorrectObjectTypeException, AmbiguousObjectException, GitAPIException, IOException { List ret = new ArrayList<>(); Repository repository = git.getRepository(); @@ -193,17 +160,17 @@ public void stopSync() { purgeTasks(); } - static public int pull() throws WrongRepositoryStateException, InvalidConfigurationException, DetachedHeadException, InvalidRemoteException, CanceledException, - RefNotFoundException, NoHeadException, TransportException, IOException, GitAPIException { + public int pull() throws WrongRepositoryStateException, InvalidConfigurationException, DetachedHeadException, InvalidRemoteException, CanceledException, RefNotFoundException, + NoHeadException, TransportException, IOException, GitAPIException { return pull(null, null); } - static public int pull(String branch) throws WrongRepositoryStateException, InvalidConfigurationException, DetachedHeadException, InvalidRemoteException, CanceledException, + public int pull(String branch) throws WrongRepositoryStateException, InvalidConfigurationException, DetachedHeadException, InvalidRemoteException, CanceledException, RefNotFoundException, NoHeadException, TransportException, IOException, GitAPIException { return pull(null, branch); } - static org.eclipse.jgit.api.Git getGit(String rootFolder) throws IOException { + org.eclipse.jgit.api.Git getGit(String rootFolder) throws IOException { if (rootFolder == null) { rootFolder = System.getProperty("user.dir"); } @@ -224,7 +191,7 @@ static org.eclipse.jgit.api.Git getGit(String rootFolder) throws IOException { return git; } - static public int pull(String src, String branch) throws IOException, WrongRepositoryStateException, InvalidConfigurationException, DetachedHeadException, InvalidRemoteException, + public int pull(String src, String branch) throws IOException, WrongRepositoryStateException, InvalidConfigurationException, DetachedHeadException, InvalidRemoteException, CanceledException, RefNotFoundException, NoHeadException, TransportException, GitAPIException { if (src == null) { @@ -278,11 +245,11 @@ static public int pull(String src, String branch) throws IOException, WrongRepos return 0; } - static public void init() throws IllegalStateException, GitAPIException { + public void init() throws IllegalStateException, GitAPIException { init(null); } - static public void init(String directory) throws IllegalStateException, GitAPIException { + public void init(String directory) throws IllegalStateException, GitAPIException { if (directory == null) { directory = System.getProperty("user.dir"); } @@ -291,55 +258,30 @@ static public void init(String directory) throws IllegalStateException, GitAPIEx org.eclipse.jgit.api.Git git = org.eclipse.jgit.api.Git.init().setDirectory(dir).call(); } - public static void main(String[] args) { - try { - - LoggingFactory.init(Level.INFO); - - Properties properties = Platform.gitProperties(); - Git.removeProps(); - log.info("{}", properties); - - /* - * // start the service Git git = (Git) Runtime.start("git", "Git"); - * - * // check out and sync every minute // git.sync("test", - * "https://github.com/MyRobotLab/WorkE.git", "master"); // - * git.sync("/lhome/grperry/github/mrl/myrobotlab", // - * "https://github.com/MyRobotLab/myrobotlab.git", "agent-removal"); - * git.gitPull("agent-removal"); // - * git.sync(System.getProperty("user.dir"), // - * "https://github.com/MyRobotLab/myrobotlab.git", "agent-removal"); - */ - } catch (Exception e) { - log.error("main threw", e); - } - } - - public static String getBranch() throws IOException { + public String getBranch() throws IOException { return getBranch(null); } - public static String getBranch(String src) throws IOException { + public String getBranch(String src) throws IOException { org.eclipse.jgit.api.Git git = getGit(src); return git.getRepository().getBranch(); } - public static Status status() throws NoWorkTreeException, IOException, GitAPIException { + public Status status() throws NoWorkTreeException, IOException, GitAPIException { return status(null); } - public static Status status(String src) throws IOException, NoWorkTreeException, GitAPIException { + public Status status(String src) throws IOException, NoWorkTreeException, GitAPIException { org.eclipse.jgit.api.Git git = getGit(src); Status status = git.status().call(); return status; } - public static void removeProps() { + public void removeProps() { removeProps(null); } - public static void removeProps(String rootFolder) { + public void removeProps(String rootFolder) { if (rootFolder == null) { rootFolder = System.getProperty("user.dir"); } @@ -349,4 +291,89 @@ public static void removeProps(String rootFolder) { } + public static void main(String[] args) { + try { + + LoggingFactory.init(Level.INFO); + + Properties properties = Platform.gitProperties(); + // Git.removeProps(); + log.info("{}", properties); + Git git = (Git) Runtime.start("git", "Git"); + git.clone("./depthai", "https://github.com/luxonis/depthai.git", "main", "refs/tags/v1.13.1-sdk", true); + log.info("here"); + + + } catch (Exception e) { + log.error("main threw", e); + } + } + + // max complexity clone and checkout + public void clone(String location, String url, String branch, String checkout, boolean recursive) throws InvalidRemoteException, TransportException, GitAPIException, IOException { + + File repoLocation = new File(location); + org.eclipse.jgit.api.Git git = null; + Repository repo = null; + + // git clone + + if (!repoLocation.exists()) { + // clone + log.info("cloning {} {} checking out {} into {}", url, branch, checkout, location); + git = org.eclipse.jgit.api.Git.cloneRepository().setProgressMonitor(monitor).setURI(url).setDirectory(repoLocation).setBranch(branch).call(); + + } else { + // Open an existing repository + String gitDir = repoLocation.getAbsolutePath() + File.separator + ".git"; + log.info("opening repo {} from {}", gitDir, url); + repo = new FileRepositoryBuilder().setGitDir(new File(gitDir)).build(); + git = new org.eclipse.jgit.api.Git(repo); + } + + repo = git.getRepository(); + + // git pull + + PullCommand pullCmd = git.pull() + // .setRemote(remoteName) + // .setCredentialsProvider(new + // UsernamePasswordCredentialsProvider(username, password)) + .setRemoteBranchName(branch); + + // Perform the pull operation + pullCmd.call(); + + + // recursive + if (recursive) { + + // Recursively fetch and checkout submodules if they exist + SubmoduleWalk submoduleWalk = SubmoduleWalk.forIndex(repo); + while (submoduleWalk.next()) { + String submodulePath = submoduleWalk.getPath(); + org.eclipse.jgit.api.Git submoduleGit = org.eclipse.jgit.api.Git.open(new File(location, submodulePath)); + submoduleGit.fetch() + .setRemote("origin") + .call(); + submoduleGit.checkout() + .setName(branch) // Replace with the desired branch name + .call(); + } + + } + + if (checkout != null) { + // checkout + log.info("checking out {}", checkout); + // git.branchCreate().setForce(true).setName(incheckout).setStartPoint("origin/" + // + incheckout).call(); + git.branchCreate().setForce(true).setName(branch).setStartPoint(checkout).call(); + git.checkout().setName(checkout).call(); + } + + repos.put(location, new RepoData(location, url, checkout, git)); + + } + } diff --git a/src/main/java/org/myrobotlab/service/InMoov2.java b/src/main/java/org/myrobotlab/service/InMoov2.java index 51dac5ae44..93ffd39f0f 100644 --- a/src/main/java/org/myrobotlab/service/InMoov2.java +++ b/src/main/java/org/myrobotlab/service/InMoov2.java @@ -25,10 +25,11 @@ import org.myrobotlab.opencv.OpenCVData; import org.myrobotlab.programab.PredicateEvent; import org.myrobotlab.programab.Response; +import org.myrobotlab.service.Log.LogEntry; import org.myrobotlab.service.abstracts.AbstractSpeechRecognizer; import org.myrobotlab.service.abstracts.AbstractSpeechSynthesis; import org.myrobotlab.service.config.InMoov2Config; -import org.myrobotlab.service.config.ServiceConfig; +import org.myrobotlab.service.data.Event; import org.myrobotlab.service.data.JoystickData; import org.myrobotlab.service.data.LedDisplayData; import org.myrobotlab.service.data.Locale; @@ -54,6 +55,8 @@ public class InMoov2 extends Service implements ServiceLifeCycleL static String speechRecognizer = "WebkitSpeechRecognition"; + protected static final Set stateDefaults = new TreeSet<>(); + /** * This method will load a python file into the python interpreter. * @@ -93,6 +96,23 @@ public static boolean loadFile(String file) { return true; } + public static void main(String[] args) { + try { + + LoggingFactory.init(Level.ERROR); + // identical to command line start + // Runtime.startConfig("inmoov2"); + Runtime.main(new String[] { "--log-level", "info", "-s", "webgui", "WebGui", "intro", "Intro", "python", "Python" }); + } catch (Exception e) { + log.error("main threw", e); + } + } + + /** + * the config that was processed before booting, if there was one. + */ + String bootedConfig = null; + protected transient ProgramAB chatBot; protected List configList; @@ -103,16 +123,35 @@ public static boolean loadFile(String file) { */ protected boolean configStarted = false; - String currentConfigurationName = "default"; + /** + * map of events or states to sounds + */ + protected Map customSoundMap = new TreeMap<>(); protected transient SpeechRecognizer ear; + protected List errors = new ArrayList<>(); + + /** + * The finite state machine is core to managing state of InMoov2. There is + * very little benefit gained in having the interactions pub/sub. Therefore, + * there will be a direct reference to the fsm. If different state graph is + * needed, then the fsm can provide that service. + */ + private transient FiniteStateMachine fsm = null; // waiting controable threaded gestures we warn user protected boolean gestureAlreadyStarted = false; protected Set gestures = new TreeSet(); + /** + * Prevents actions or events from happening when InMoov2 is first booted + */ + private boolean hasBooted = false; + + protected boolean isPirOn = false; + protected transient HtmlFilter htmlFilter; protected transient ImageDisplay imageDisplay; @@ -121,28 +160,66 @@ public static boolean loadFile(String file) { protected Long lastPirActivityTime; - protected LedDisplayData led = new LedDisplayData(); + protected Map ledDisplayMap = new TreeMap<>(); /** * supported locales */ protected Map locales = null; - protected int maxInactivityTimeSeconds = 120; - protected transient SpeechSynthesis mouth; protected boolean mute = false; protected transient OpenCV opencv; + protected List peersStarted = new ArrayList<>(); + protected transient Python python; + protected long stateLastIdleTime = System.currentTimeMillis(); + + protected long stateLastRandomTime = System.currentTimeMillis(); + protected String voiceSelected; + protected boolean wasMutedBeforeBoot = false; public InMoov2(String n, String id) { super(n, id); + + // add the default InMoov2 state handlers - so the FSM can invoke them + // this is hardcode, because it requires Java methods in InMoov2 + // so it makes sense to hardcode them... + // if a user needs something different, it will happen in pyton-land + // consequence it this will need maintenance if there are new InMoov2 java + // state handlers + stateDefaults.add("wake"); + stateDefaults.add("firstInit"); + stateDefaults.add("idle"); + stateDefaults.add("random"); + stateDefaults.add("sleep"); // listens & dreams, no opencv, waits for + // wakeWord, pir active + stateDefaults.add("powerDown"); // stops heartbeat, listening ? + stateDefaults.add("shutdown");// ends mrl + + ledDisplayMap.put("error", new LedDisplayData(120, 0, 0, 3, 30, 30)); + ledDisplayMap.put("info", new LedDisplayData(0, 0, 120, 1, 30, 30)); + ledDisplayMap.put("success", new LedDisplayData(0, 0, 120, 2, 30, 30)); + ledDisplayMap.put("warn", new LedDisplayData(100, 100, 0, 3, 30, 30)); + ledDisplayMap.put("heartbeat", new LedDisplayData(210, 110, 0, 2, 100, 30)); + ledDisplayMap.put("pirOn", new LedDisplayData(60, 200, 90, 3, 100, 30)); + ledDisplayMap.put("onPeakColor", new LedDisplayData(180, 53, 21, 3, 60, 30)); + + customSoundMap.put("boot", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/confirmation.wav")); + customSoundMap.put("wake", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/ting.wav")); + customSoundMap.put("firstInit", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/select.wav")); + customSoundMap.put("idle", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/start.wav")); + customSoundMap.put("random", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/reveal.wav")); + customSoundMap.put("sleep", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/back.wav")); + customSoundMap.put("powerDown", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/ting.wav")); + customSoundMap.put("shutdown", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/marimba.wav")); + } public void addTextListener(TextListener service) { @@ -451,9 +528,46 @@ public void finishedGesture(String nameOfGesture) { } } - // FIXME - this isn't the callback for fsm - why is it needed here ? - public void fire(String event) { - invoke("publishEvent", event); + public void firstInit() { + log.info("firstInit"); + // cheap way to prevent race condition + // of "wake" firing a state change .. which will spawn + // a system event of FIRST_INIT that will answer this + // question ... + sleep(2000); + ProgramAB chatBot = (ProgramAB) getPeer("chatBot"); + if (chatBot != null) { + chatBot.getResponse("FIRST_INIT"); + } + } + + public void flash(String name) { + LedDisplayData led = ledDisplayMap.get(name); + if (led == null) { + led = ledDisplayMap.get("default"); + } + invoke("publishFlash", led.red, led.green, led.blue, led.count, led.timeOn, led.timeOff); + } + + /** + * used to configure a flashing event - could use configuration to signal + * different colors and states + * + * @return + */ + public void flash() { + if (ledDisplayMap.get("default") != null) { + LedDisplayData led = ledDisplayMap.get("default"); + invoke("publishFlash", led.red, led.green, led.blue, led.count, led.timeOn, led.timeOff); + } + } + + public void flash(int r, int g, int b, int count) { + // FIXME - this should be checking a protected "state" + if (ledDisplayMap.get("default") != null) { + LedDisplayData led = ledDisplayMap.get("default"); + invoke("publishFlash", r, g, b, count, led.timeOn, led.timeOff); + } } public void fullSpeed() { @@ -572,6 +686,10 @@ public InMoov2Hand getRightHand() { return (InMoov2Hand) getPeer("rightHand"); } + public String getState() { + return fsm.getCurrent(); + } + /** * matches on language only not variant expands language match to full InMoov2 * bot locale @@ -616,12 +734,10 @@ public void halfSpeed() { } /** - * execute python scripts in the init directory on startup of the service - * - * @throws IOException + * pir active ear listening for wakeword */ - public void loadInitScripts() throws IOException { - loadScripts(getResourceDir() + fs + "init"); + public void idle() { + log.info("idle"); } public boolean isCameraOn() { @@ -815,6 +931,115 @@ public void moveTorsoBlocking(Double topStom, Double midStom, Double lowStom) { sendToPeer("torso", "moveToBlocking", topStom, midStom, lowStom); } + /** + * At boot all services specified through configuration have started, or if no + * configuration has started minimally the InMoov2 service has started. During + * the processing of config and starting other services data will have + * accumulated, and at boot, some of data may now be inspected and processed + * in a synchronous single threaded way. With reporting after startup, vs + * during, other peer services are not needed (e.g. audioPlayer is no longer + * needed to be started "before" InMoov2 because when boot is called + * everything that is wanted has been started. + * + */ + synchronized public void onBoot() { + + // thinking you shouldn't "boot" twice ? + if (hasBooted) { + log.warn("will not boot again"); + return; + } + + List services = Runtime.getServices(); + for (ServiceInterface si : services) { + if ("Servo".equals(si.getSimpleName())) { + send(si.getFullName(), "setAutoDisable", true); + } + } + + // FIXME - standardize multi-config examples should be available + // moved from startService to allow more simple control + // FIXME standard FileIO copyIfNotExists(src, dst) + try { + // copy config if it doesn't already exist + String resourceBotDir = FileIO.gluePaths(getResourceDir(), "config"); + List files = FileIO.getFileList(resourceBotDir); + for (File f : files) { + String botDir = "data/config/" + f.getName(); + File bDir = new File(botDir); + if (bDir.exists() || !f.isDirectory()) { + log.info("skipping data/config/{}", botDir); + } else { + log.info("will copy new data/config/{}", botDir); + try { + FileIO.copy(f.getAbsolutePath(), botDir); + } catch (Exception e) { + error(e); + } + } + } + } catch (Exception e) { + error(e); + } + + // FIXME - find good way of running an animation "through" a state + if (config.neoPixelBootGreen && getPeer("neoPixel") != null) { + NeoPixel neoPixel = (NeoPixel) getPeer("neoPixel"); + if (neoPixel != null) { + invoke("publishPlayAnimation", config.bootAnimation); + } + } + + if (config.startupSound && getPeer("audioPlayer") != null) { + ((AudioFile) getPeer("audioPlayer")).playBlocking(FileIO.gluePaths(getResourceDir(), "/system/sounds/startupsound.mp3")); + } + + if (config.systemEventsOnBoot) { + // reporting on all services and config started + if (bootedConfig != null) { + // configuration was processed before booting + systemEvent("CONFIG STARTED %s", bootedConfig); + } + + for (String peerKey : peersStarted) { + systemEvent("STARTED %s", peerKey); + } + + if (bootedConfig != null) { + // configuration was processed before booting + systemEvent("CONFIG LOADED %s", bootedConfig); + } + } + + // FIXME - important to do invoke & fsm needs to be consistent order + + // if speaking then turn off animation + + // publish all the errors + + // switch off animations + + // start heartbeat + // say starting heartbeat + if (config.heartbeat) { + startHeartbeat(); + } else { + stopHeartbeat(); + } + + // say finished booting + + fsm.fire("wake"); + + // if (getPeer("mouth") != null) { + // AbstractSpeechSynthesis mouth = + // (AbstractSpeechSynthesis)getPeer("mouth"); + // mouth.setMute(wasMute); + // } + + hasBooted = true; + } + public PredicateEvent onChangePredicate(PredicateEvent event) { log.error("onChangePredicate {}", event); if (event.name.equals("topic")) { @@ -843,12 +1068,6 @@ public void onCreated(String fullname) { log.info("{} created", fullname); } - public void onFinishedConfig(String configName) { - log.info("onFinishedConfig"); - // invoke("publishEvent", "configFinished"); - invoke("publishFinishedConfig", configName); - } - public void onGestureStatus(Status status) { if (!status.equals(Status.success()) && !status.equals(Status.warn("Python process killed !"))) { error("I cannot execute %s, please check logs", lastGestureExecuted); @@ -858,6 +1077,87 @@ public void onGestureStatus(Status status) { unsubscribe("python", "publishStatus", this.getName(), "onGestureStatus"); } + /** + * A generalized recurring event which can preform checks and various other + * methods or tasks. Heartbeats will not start until after boot stage. + */ + public void onHeartbeat() { + try { + // heartbeats can start before config is + // done processing - so the following should + // not be dependent on config + + if (!hasBooted) { + log.info("boot hasn't completed, will not process heartbeat"); + return; + } + + Long lastActivityTime = getLastActivityTime(); + + // FIXME lastActivityTime != 0 is bogus - the value should be null if + // never set + if (config.stateIdleInterval != null && lastActivityTime != null && lastActivityTime != 0 + && lastActivityTime + (config.stateIdleInterval * 1000) < System.currentTimeMillis()) { + stateLastIdleTime = lastActivityTime; + } + + if (System.currentTimeMillis() > stateLastIdleTime + (config.stateIdleInterval * 1000)) { + fsm.fire("idle"); + stateLastIdleTime = System.currentTimeMillis(); + } + + // interval event firing + if (config.stateRandomInterval != null && System.currentTimeMillis() > stateLastRandomTime + (config.stateRandomInterval * 1000)) { + // fsm.fire("random"); + stateLastRandomTime = System.currentTimeMillis(); + } + + } catch (Exception e) { + error(e); + } + + if (config.pirOnFlash && isPeerStarted("pir") && isPirOn) { + flash("pirOn"); + } + + if (config.batteryLevelCheck) { + double batteryLevel = Runtime.getBatteryLevel(); + invoke("publishBatteryLevel", batteryLevel); + // FIXME - thresholding should always have old value or state + // so we don't pump endless errors + if (batteryLevel < 5) { + error("battery level < 5 percent"); + // systemEvent(BATTERY ERROR) + } else if (batteryLevel < 10) { + warn("battery level < 10 percent"); + // systemEvent(BATTERY WARN) + } + } + + // flash error until errors are cleared + if (config.healthCheckFlash) { + if (errors.size() > 0 && ledDisplayMap.containsKey("error")) { + invoke("publishFlash", ledDisplayMap.get("error")); + } else if (ledDisplayMap.containsKey("heartbeat")) { + LedDisplayData heartbeat = ledDisplayMap.get("heartbeat"); + invoke("publishFlash", heartbeat); + } + } + + } + + public void onInactivity() { + log.info("onInactivity"); + + // powerDown ? + + } + + /** + * Central hub of input motion control. Potentially, all input from + * joysticks, quest2 controllers and headset, or any IK service could + * be sent here + */ @Override public void onJointAngles(Map angleMap) { log.debug("onJointAngles {}", angleMap); @@ -878,21 +1178,66 @@ public void onJoystickInput(JoystickData input) throws Exception { invoke("publishEvent", "joystick"); } - public String onNewState(String state) { - log.error("onNewState {}", state); + /** + * Centralized logging system will have all logging from all services, + * including lower level logs that do not propegate as statuses + * + * @param log + * - flushed log from Log service + */ + public void onLogEvents(List log) { + // scan for warn or errors + for (LogEntry entry : log) { + if ("ERROR".equals(entry.level) && errors.size() < 100) { + errors.add(entry); + } + } + } - // put configurable filter here ! + public void onMoveHead(Map map) { + InMoov2Head head = (InMoov2Head) getPeer("head"); + if (head != null) { + head.onMove(map); + } + } - // state substitutions ? - // let python subscribe directly to fsm.publishNewState + public void onMoveLeftArm(Map map) { + InMoov2Arm leftArm = (InMoov2Arm) getPeer("leftArm"); + if (leftArm != null) { + leftArm.onMove(map); + } + } - // if - invoke(state); - // depending on configuration .... - // call python ? - // fire fsm events ? - // do defaults ? - return state; + public void onMoveLeftHand(Map map) { + InMoov2Hand leftHand = (InMoov2Hand) getPeer("leftHand"); + if (leftHand != null) { + leftHand.onMove(map); + } + } + + // public Message publishPython(String method, Object...data) { + // return Message.createMessage(getName(), getName(), method, data); + // } + + public void onMoveRightArm(Map map) { + InMoov2Arm rightArm = (InMoov2Arm) getPeer("rightArm"); + if (rightArm != null) { + rightArm.onMove(map); + } + } + + public void onMoveRightHand(Map map) { + InMoov2Hand rightHand = (InMoov2Hand) getPeer("rightHand"); + if (rightHand != null) { + rightHand.onMove(map); + } + } + + public void onMoveTorso(Map map) { + InMoov2Torso torso = (InMoov2Torso) getPeer("torso"); + if (torso != null) { + torso.onMove(map); + } } public OpenCVData onOpenCVData(OpenCVData data) { @@ -901,35 +1246,35 @@ public OpenCVData onOpenCVData(OpenCVData data) { } /** - * initial callback for Pir sensor Default behavior will be: send fsm event - * onPirOn flash neopixel + * onPeak volume callback TODO - maybe make it variable with volume ? + * + * @param volume + */ + public void onPeak(double volume) { + if (config.neoPixelFlashWhenSpeaking && !configStarted) { + if (volume > 0.5) { + if (ledDisplayMap.get("onPeakColor") != null) { + LedDisplayData onPeakColor = ledDisplayMap.get("onPeakColor"); + invoke("publishFlash", onPeakColor); + } + } + } + } + + /** + * Pir on callback */ public void onPirOn() { - led.action = "flash"; - led.red = 50; - led.green = 100; - led.blue = 150; - led.count = 5; - led.interval = 500; - // FIXME flash on config.flashOnBoot - invoke("publishFlash"); - // pirOn event vs wake event - invoke("publishEvent", "WAKE"); + isPirOn = true; + fsm.fire("wake"); } - // GOOD GOOD GOOD - LOOPBACK - flexible and replacable by python - // yet provides a stable default, which can be fully replaced - // Works using common pub/sub rules - // TODO - this is a loopback power up - // its replaceable by typical subscription rules - public void onPowerUp() { - // CON - type aware - NeoPixel neoPixel = (NeoPixel) getPeer("neoPixel"); - // CON - necessary NPE checking - if (neoPixel != null) { - neoPixel.setColor(0, 130, 0); - neoPixel.playAnimation("Larson Scanner"); - } + /** + * Pir off callback + */ + public void onPirOff() { + isPirOn = false; + fsm.fire("sleep"); } @Override @@ -1101,6 +1446,81 @@ public void onStarted(String name) { } } + /** + * The integration between the FiniteStateMachine (fsm) and the InMoov2 + * service and potentially other services (Python, ProgramAB) happens here. + * + * After boot all state changes get published here. + * + * Some InMoov2 service methods will be called here for "default + * implemenation" of states. If a user doesn't want to have that default + * implementation, they can change it by changing the definition of the state + * machine, and have a new state which will call a Python inmoov2 library + * callback. Overriding, appending, or completely transforming the behavior is + * all easily accomplished by managing the fsm and python inmoov2 library + * callbacks. + * + * Python inmoov2 callbacks ProgramAB topic switching + * + * Depending on config: + * + * + * @param stateChange + * @return + */ + public FiniteStateMachine.StateChange onStateChange(FiniteStateMachine.StateChange stateChange) { + try { + log.error("onStateChange {}", stateChange); + + String current = stateChange.current; + String last = stateChange.last; + + // leaving random state + if ("random".equals(last) && !"random".equals(current) && isPeerStarted("random")) { + Random random = (Random) getPeer("random"); + random.disable(); + } + + if ("wake".equals(last)) { + invoke("publishStopAnimation"); + } + + if (config.systemEventStateChange) { + systemEvent("ON STATE %s", current); + } + + if (config.customSounds && customSoundMap.containsKey(current)) { + invoke("publishPlayAudioFile", customSoundMap.get(current)); + } + + // TODO - only a few InMoov2 state defaults will be called here + if (stateDefaults.contains(current)) { + invoke(current); + } + + // FIXME add topic changes to AIML here ! + // FIXME add clallbacks to inmmoov2 library + + // put configurable filter here ! + + // state substitutions ? + // let python subscribe directly to fsm.publishStateChange + + // if python && configured to do python inmoov2 library callbacks + // do a callback ... default NOOPs should be in library + + // if + // invoke(state); + // depending on configuration .... + // call python ? + // fire fsm events ? + // do defaults ? + } catch (Exception e) { + error(e); + } + return stateChange; + } + @Override public void onStopped(String name) { // using release peer for peer releasing @@ -1117,36 +1537,25 @@ public void onText(String text) { invoke("publishText", text); } - // TODO FIX/CHECK this, migrate from python land public void powerDown() { + // publishFlash(maxInactivityTimeSeconds, maxInactivityTimeSeconds, + // maxInactivityTimeSeconds, maxInactivityTimeSeconds, + // maxInactivityTimeSeconds, maxInactivityTimeSeconds) rest(); - purgeTasks(); + purgeTasks(); // including heartbeat disable(); - if (ear != null) { - ear.lockOutAllGrammarExcept("power up"); + if (chatBot != null) { + chatBot.sleep(); } - // FIXME - DO NOT DO THIS !!!! SIMPLY PUBLISH A POWER DOWN EVENT AND PYTHON - // CAN SUBSCRIBE - // AND MAINTAIN A SET OF onPowerDown: callback methods - python.execMethod("power_down"); - } - - // TODO FIX/CHECK this, migrate from python land - // FIXME - defaultPowerUp switchable + override - public void powerUp() { - enable(); - rest(); - if (ear != null) { - ear.clearLock(); + // FIXME - bad remove it - what is needed ? + // i think this is legacy wake word + ear.lockOutAllGrammarExcept("power up"); } - beginCheckingOnInactivity(); - - python.execMethod("power_up"); } /** @@ -1167,10 +1576,11 @@ public String publishStartConfig(String configName) { return configName; } - public String publishFinishedConfig(String configName) { - info("config %s finished", configName); - invoke("publishEvent", "CONFIG LOADED " + configName); + public void publishBoot() { + log.info("publishBoot"); + } + public String publishConfigFinished(String configName) { return configName; } @@ -1184,15 +1594,19 @@ public List publishConfigList() { return configList; } - /** - * event publisher for the fsm - although other services potentially can - * consume and filter this event channel - * - * @param event - * @return - */ - public String publishEvent(String event) { - return String.format("SYSTEM_EVENT %s", event); + public LedDisplayData publishFlash(int r, int g, int b, int count, long timeOn, long timeOff) { + LedDisplayData data = new LedDisplayData(); + data.red = r; + data.green = g; + data.blue = b; + data.count = count; + data.timeOn = timeOn; + data.timeOff = timeOff; + return data; + } + + public LedDisplayData publishFlash(LedDisplayData data) { + return data; } /** @@ -1217,8 +1631,17 @@ public String publishHeartbeat() { } /** - * A more extensible interface point than publishEvent - * FIXME - create interface for this + * if inactivityTime configured, this event is published after there has not + * been in activity since. + */ + public void publishInactivity() { + log.info("publishInactivity"); + fsm.fire("inactvity"); + } + + /** + * A more extensible interface point than publishEvent FIXME - create + * interface for this * * @param msg * @return @@ -1298,23 +1721,36 @@ public HashMap publishMoveRightArm(Double bicep, Double rotate, return map; } - public HashMap publishMoveRightHand(Double thumb, Double index, Double majeure, Double ringFinger, Double pinky, Double wrist) { - HashMap map = new HashMap<>(); - map.put("thumb", thumb); - map.put("index", index); - map.put("majeure", majeure); - map.put("ringFinger", ringFinger); - map.put("pinky", pinky); - map.put("wrist", wrist); - return map; + public String publishPlayAudioFile(String filename) { + return filename; } - public HashMap publishMoveTorso(Double topStom, Double midStom, Double lowStom) { - HashMap map = new HashMap<>(); - map.put("topStom", topStom); - map.put("midStom", midStom); - map.put("lowStom", lowStom); - return map; + public String publishPlayAnimation(String animation) { + return animation; + } + + /** + * stop animation event + */ + public void publishStopAnimation() { + } + + public FiniteStateMachine.StateChange publishStateChange(FiniteStateMachine.StateChange state) { + log.info("publishStateChange {}", state); + return state; + } + + /** + * event publisher for the fsm - although other services potentially can + * consume and filter this event channel + * + * @param event + * @return + */ + public String publishSystemEvent(String event) { + // well, it turned out underscore was a goofy selection, as underscore in + // aiml is wildcard ... duh + return String.format("SYSTEM_EVENT %s", event); } /** @@ -1325,6 +1761,16 @@ public String publishText(String text) { return text; } + /** + * default this will come from idle after some configurable time period + */ + public void random() { + Random random = (Random) getPeer("random"); + if (random != null) { + random.enable(); + } + } + @Override public void releasePeer(String peerKey) { super.releasePeer(peerKey); @@ -1532,6 +1978,11 @@ public void setRightHandSpeed(Double thumb, Double index, Double majeure, Double setHandSpeed("right", thumb, index, majeure, ringFinger, pinky, wrist); } + // ----------------------------------------------------------------------------- + // These are methods added that were in InMoov1 that we no longer had in + // InMoov2. + // From original InMoov1 so we don't loose the + public void setRightHandSpeed(Integer thumb, Integer index, Integer majeure, Integer ringFinger, Integer pinky, Integer wrist) { setHandSpeed("right", (double) thumb, (double) index, (double) majeure, (double) ringFinger, (double) pinky, (double) wrist); } @@ -1562,10 +2013,17 @@ public void setVoice(String name) { } } - // ----------------------------------------------------------------------------- - // These are methods added that were in InMoov1 that we no longer had in - // InMoov2. - // From original InMoov1 so we don't loose the + public void shutdown() { + log.info("shutdown"); + Runtime.shutdown(); + } + + /** + * ear still listening pir still active + */ + public void sleep() { + log.info("sleep"); + } public void sleeping() { log.error("sleeping"); @@ -1790,53 +2248,33 @@ public void startService() { // get service start and release life cycle events runtime.attachServiceLifeCycleListener(getName()); - - List services = Runtime.getServices(); - for (ServiceInterface si : services) { - if ("Servo".equals(si.getSimpleName())) { - send(si.getFullName(), "setAutoDisable", true); - } - } - - // get events of new services and shutdown - subscribe("runtime", "shutdown"); - // power up loopback subscription - addListener(getName(), "powerUp"); - - subscribe("runtime", "publishConfigList"); - if (runtime.isProcessingConfig()) { - invoke("publishEvent", "configStarted"); - } - subscribe("runtime", "publishStartConfig"); - subscribe("runtime", "publishFinishedConfig"); - // chatbot getresponse attached to publishEvent - addListener("publishEvent", getPeerName("chatBot"), "getResponse"); + // subscribe to config processing events + // runtime callbacks publish the same a local + subscribe("runtime", "publishConfigStarted", "publishConfigStarted"); + subscribe("runtime", "publishConfigFinished", "publishConfigFinished"); - try { - // copy config if it doesn't already exist - String resourceBotDir = FileIO.gluePaths(getResourceDir(), "config"); - List files = FileIO.getFileList(resourceBotDir); - for (File f : files) { - String botDir = "data/config/" + f.getName(); - File bDir = new File(botDir); - if (bDir.exists() || !f.isDirectory()) { - log.info("skipping data/config/{}", botDir); - } else { - log.info("will copy new data/config/{}", botDir); - try { - FileIO.copy(f.getAbsolutePath(), botDir); - } catch (Exception e) { - error(e); - } - } + runtime.invoke("publishConfigList"); + + // iterate through existing started service + // add them to peers booted + for (String name : Runtime.getServiceNames()) { + String peerKey = getPeerKey(name); + if (peerKey != null) { + peersStarted.add(peerKey); } - } catch (Exception e) { - error(e); } - runtime.invoke("publishConfigList"); + if (runtime.isProcessingConfig()) { + // if InMoov2 was started as part of a config set + // set here so boot can be delayed until the config + // set is done + configStarted = true; + bootedConfig = runtime.getConfigName(); + } else { + invoke("publishBoot"); + } } public void startServos() { @@ -1870,6 +2308,7 @@ public void stopGesture() { public void stopHeartbeat() { purgeTask("publishHeartbeat"); + config.heartbeat = false; } public void stopNeopixelAnimation() { @@ -1896,7 +2335,17 @@ public void systemCheck() { Platform platform = Runtime.getPlatform(); setPredicate("system version", platform.getVersion()); // ERROR buffer !!! - invoke("publishEvent", "systemCheckFinished"); + systemEvent("SYSTEMCHECKFINISHED"); // wtf is this? + } + + public String systemEvent(String eventMsg) { + invoke("publishSystemEvent", eventMsg); + return eventMsg; + } + + public String systemEvent(String format, Object... ags) { + String eventMsg = String.format(format, ags); + return systemEvent(eventMsg); } // FIXME - if this is really desired it will drive local references for all @@ -1911,89 +2360,156 @@ public void waitTargetPos() { sendToPeer("torso", "waitTargetPos"); } + public void closeRightHand() { - public static void main(String[] args) { - try { - - LoggingFactory.init(Level.ERROR); - // Platform.setVirtual(true); - // Runtime.start("s01", "Servo"); - // Runtime.start("intro", "Intro"); - - // Runtime.startConfig("pr-1213-1"); - - Runtime.main(new String[] {"--log-level", "info", "-s", "webgui", "WebGui", "intro", "Intro", "python", "Python"}); - - boolean done = true; - if (done) { - return; - } - + // if InMoov2Hand.close/open is used directly + // it prevents user's interception of the data + // and forces InMoov2Hand type to be used :( + // pub/sub is the way - WebGui webgui = (WebGui) Runtime.create("webgui", "WebGui"); - // webgui.setSsl(true); - webgui.autoStartBrowser(false); - // webgui.setPort(8888); - webgui.startService(); + // hardcoded, but if necessary can be put in config + HashMap map = new HashMap<>(); + map.put("thumb", 130.0); + map.put("index", 180.0); + map.put("majeure", 180.0); + map.put("ringFinger", 180.0); + map.put("pinky", 180.0); + invoke("publishMoveRightHand", map); - Runtime.start("python", "Python"); - // Runtime.start("ros", "Ros"); - Runtime.start("intro", "Intro"); - // InMoov2 i01 = (InMoov2) Runtime.start("i01", "InMoov2"); - // i01.startPeer("simulator"); - // Runtime.startConfig("i01-05"); - // Runtime.startConfig("pir-01"); + } - // Polly polly = (Polly)Runtime.start("i01.mouth", "Polly"); - // i01 = (InMoov2) Runtime.start("i01", "InMoov2"); + public void openRightHand() { + // if InMoov2Hand.close/open is used directly + // it prevents user's interception of the data + // and forces InMoov2Hand type to be used :( + // pub/sub is the way + // hardcoded, but if necessary can be put in config + HashMap map = new HashMap<>(); + map.put("thumb", 0.0); + map.put("index", 0.0); + map.put("majeure", 0.0); + map.put("ringFinger", 0.0); + map.put("pinky", 0.0); + invoke("publishMoveRightHand", map); + } + + public void closeLeftHand() { + + // if InMoov2Hand.close/open is used directly + // it prevents user's interception of the data + // and forces InMoov2Hand type to be used :( + // pub/sub is the way + + // hardcoded, but if necessary can be put in config + HashMap map = new HashMap<>(); + map.put("thumb", 130.0); + map.put("index", 180.0); + map.put("majeure", 180.0); + map.put("ringFinger", 180.0); + map.put("pinky", 180.0); + invoke("publishMoveLeftHand", map); - // polly.speakBlocking("Hi, to be or not to be that is the question, - // wheather to take arms against a see of trouble, and by aposing them end - // them, to sleep, to die"); - // i01.startPeer("mouth"); - // i01.speakBlocking("Hi, to be or not to be that is the question, - // wheather to take arms against a see of trouble, and by aposing them end - // them, to sleep, to die"); + } - Runtime.start("python", "Python"); + public void openLeftHand() { + // if InMoov2Hand.close/open is used directly + // it prevents user's interception of the data + // and forces InMoov2Hand type to be used :( + // pub/sub is the way - // i01.startSimulator(); - Plan plan = Runtime.load("webgui", "WebGui"); - // WebGuiConfig webgui = (WebGuiConfig) plan.get("webgui"); - // webgui.autoStartBrowser = false; - Runtime.startConfig("webgui"); - Runtime.start("webgui", "WebGui"); + // hardcoded, but if necessary can be put in config + HashMap map = new HashMap<>(); + map.put("thumb", 0.0); + map.put("index", 0.0); + map.put("majeure", 0.0); + map.put("ringFinger", 0.0); + map.put("pinky", 0.0); + invoke("publishMoveLeftHand", map); + } - Random random = (Random) Runtime.start("random", "Random"); + public void openHands() { + openLeftHand(); + openRightHand(); + } - random.addRandom(3000, 8000, "i01", "setLeftArmSpeed", 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0); - random.addRandom(3000, 8000, "i01", "setRightArmSpeed", 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0); + public void closeHands() { + closeLeftHand(); + closeRightHand(); + } + + public Event onEvent(Event event) { + + return event; + } + + public void wake() { + log.info("wake"); + // do waking things - based on config + + // blink + + // wake gesture + // callback + // imoov2[{name}]["onWake"](this) + /** + * 

    +     i01.speakBlocking("I was sleeping")
+     lookrightside()
+     sleep(2)
+     lookleftside()
+     sleep(4)
+     relax()
+     ear.clearLock()
+     sleep(2)
+     i01.finishedGesture()
+     *
    + */ + + /** + * 
    +     * // legacy
+     * enable();
+     * rest();
+     * 
+     * if (ear != null) {
+     *   ear.clearLock();
+     * }
+     * 
+     * // beginCheckingOnInactivity();
+     * // BAD BAD BAD !!!
+     * publishEvent("powerUp"); // before or after loopback
+     *
    + **/ + // was a relax gesture .. might want to ask about it .. + + // if ear start listening + AbstractSpeechRecognizer ear = (AbstractSpeechRecognizer) getPeer("ear"); + if (ear != null) { + ear.startListening(); + } - random.addRandom(3000, 8000, "i01", "moveLeftArm", 0.0, 5.0, 85.0, 95.0, 25.0, 30.0, 10.0, 15.0); - random.addRandom(3000, 8000, "i01", "moveRightArm", 0.0, 5.0, 85.0, 95.0, 25.0, 30.0, 10.0, 15.0); + // attempt recognize where its at - random.addRandom(3000, 8000, "i01", "setLeftHandSpeed", 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0); - random.addRandom(3000, 8000, "i01", "setRightHandSpeed", 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0); + // attempt to recognize people - random.addRandom(3000, 8000, "i01", "moveRightHand", 10.0, 160.0, 10.0, 60.0, 10.0, 60.0, 10.0, 60.0, 10.0, 60.0, 130.0, 175.0); - random.addRandom(3000, 8000, "i01", "moveLeftHand", 10.0, 160.0, 10.0, 60.0, 10.0, 60.0, 10.0, 60.0, 10.0, 60.0, 5.0, 40.0); + // look for activity - random.addRandom(200, 1000, "i01", "setHeadSpeed", 8.0, 20.0, 8.0, 20.0, 8.0, 20.0); - random.addRandom(200, 1000, "i01", "moveHead", 70.0, 110.0, 65.0, 115.0, 70.0, 110.0); + // say hello - random.addRandom(200, 1000, "i01", "setTorsoSpeed", 2.0, 5.0, 2.0, 5.0, 2.0, 5.0); - random.addRandom(200, 1000, "i01", "moveTorso", 85.0, 95.0, 88.0, 93.0, 70.0, 110.0); + // start animation (configurable) - random.save(); + rest(); -// i01.startChatBot(); -// -// i01.startAll("COM3", "COM4"); - Runtime.start("python", "Python"); + // should "session be determined by recognition?" + ProgramAB chatBot = (ProgramAB) getPeer("chatBot"); - } catch (Exception e) { - log.error("main threw", e); + if (chatBot != null) { + String firstinit = chatBot.getPredicate("firstinit"); + // wtf - "ok" really, for a boolean? + if (!"ok".equals(firstinit)) { + fsm.fire("firstInit"); + } } } diff --git a/src/main/java/org/myrobotlab/service/InMoov2Head.java b/src/main/java/org/myrobotlab/service/InMoov2Head.java index 11d71fba7c..a8b3fb2b4f 100644 --- a/src/main/java/org/myrobotlab/service/InMoov2Head.java +++ b/src/main/java/org/myrobotlab/service/InMoov2Head.java @@ -142,15 +142,34 @@ public void disable() { eyelidRight.disable(); } - public long getLastActivityTime() { - - long lastActivityTime = Math.max(rothead.getLastActivityTime(), neck.getLastActivityTime()); - lastActivityTime = Math.max(lastActivityTime, eyeX.getLastActivityTime()); - lastActivityTime = Math.max(lastActivityTime, eyeY.getLastActivityTime()); - lastActivityTime = Math.max(lastActivityTime, jaw.getLastActivityTime()); - lastActivityTime = Math.max(lastActivityTime, rollNeck.getLastActivityTime()); - lastActivityTime = Math.max(lastActivityTime, eyelidLeft.getLastActivityTime()); - lastActivityTime = Math.max(lastActivityTime, eyelidRight.getLastActivityTime()); + public Long getLastActivityTime() { + + Long lastActivityTime = Math.max(rothead.getLastActivityTime(), neck.getLastActivityTime()); + if (getPeer("eyeX") != null) { + lastActivityTime = Math.max(lastActivityTime, eyeX.getLastActivityTime()); + } + if (getPeer("eyeY") != null) { + lastActivityTime = Math.max(lastActivityTime, eyeY.getLastActivityTime()); + } + if (getPeer("jaw") != null) { + lastActivityTime = Math.max(lastActivityTime, jaw.getLastActivityTime()); + } + if (getPeer("rollNeck") != null) { + lastActivityTime = Math.max(lastActivityTime, rollNeck.getLastActivityTime()); + } + if (getPeer("rollNeck") != null) { + lastActivityTime = Math.max(lastActivityTime, rothead.getLastActivityTime()); + } + if (getPeer("rollNeck") != null) { + lastActivityTime = Math.max(lastActivityTime, neck.getLastActivityTime()); + } + + if (getPeer("eyelidLeft") != null) { + lastActivityTime = Math.max(lastActivityTime, eyelidLeft.getLastActivityTime()); + } + if (getPeer("eyelidRight") != null) { + lastActivityTime = Math.max(lastActivityTime, eyelidRight.getLastActivityTime()); + } return lastActivityTime; } diff --git a/src/main/java/org/myrobotlab/service/InverseKinematics3D.java b/src/main/java/org/myrobotlab/service/InverseKinematics3D.java index 05524a2630..378fd2440c 100644 --- a/src/main/java/org/myrobotlab/service/InverseKinematics3D.java +++ b/src/main/java/org/myrobotlab/service/InverseKinematics3D.java @@ -247,6 +247,12 @@ public void publishTelemetry(String name) { log.info("Servo : {} Angle : {}", jointName, angleMap.get(jointName)); } invoke("publishJointAngles", angleMap); + + InMoov2 i01 = (InMoov2)Runtime.getService("i01"); + if (i01 != null) { + i01.onJointAngles(angleMap); + } + // we want to publish the joint positions // this way we can render on the web gui.. double[][] jointPositionMap = createJointPositionMap(name); @@ -292,8 +298,7 @@ public static void main(String[] args) throws Exception { LoggingFactory.init("info"); String arm = "myArm"; - Runtime.createAndStart("python", "Python"); - Runtime.createAndStart("gui", "SwingGui"); + Runtime.start("python", "Python"); InverseKinematics3D inversekinematics = (InverseKinematics3D) Runtime.start("ik3d", "InverseKinematics3D"); // InverseKinematics3D inversekinematics = new InverseKinematics3D("iksvc"); diff --git a/src/main/java/org/myrobotlab/service/JMonkeyEngine.java b/src/main/java/org/myrobotlab/service/JMonkeyEngine.java index fbc5ef5e99..2174ac739b 100644 --- a/src/main/java/org/myrobotlab/service/JMonkeyEngine.java +++ b/src/main/java/org/myrobotlab/service/JMonkeyEngine.java @@ -1469,7 +1469,7 @@ public void onAnalog(String name, float keyPressed, float tpf) { // PAN -- works(ish) if (mouseMiddle && shiftLeft) { - log.info("PAN !!!!"); + log.debug("panning"); switch (name) { case "mouse-axis-x": case "mouse-axis-x-negative": @@ -2157,7 +2157,7 @@ public void simpleInitApp() { new File(getDataDir()).mkdirs(); new File(getResourceDir()).mkdirs(); - // assetManager.registerLocator("./", FileLocator.class); + assetManager.registerLocator("./", FileLocator.class); assetManager.registerLocator(getDataDir(), FileLocator.class); assetManager.registerLocator(assetsDir, FileLocator.class); assetManager.registerLocator(modelsDir, FileLocator.class); diff --git a/src/main/java/org/myrobotlab/service/Log.java b/src/main/java/org/myrobotlab/service/Log.java index fa88732014..3e1fe48847 100644 --- a/src/main/java/org/myrobotlab/service/Log.java +++ b/src/main/java/org/myrobotlab/service/Log.java @@ -34,7 +34,7 @@ import org.myrobotlab.logging.LoggerFactory; import org.myrobotlab.logging.Logging; import org.myrobotlab.logging.LoggingFactory; -import org.myrobotlab.service.config.ServiceConfig; +import org.myrobotlab.service.config.LogConfig; import org.slf4j.Logger; import ch.qos.logback.classic.spi.ILoggingEvent; @@ -44,7 +44,7 @@ import ch.qos.logback.core.spi.FilterReply; import ch.qos.logback.core.status.Status; -public class Log extends Service implements Appender { +public class Log extends Service implements Appender { public static class LogEntry { public long ts; @@ -81,7 +81,7 @@ public String toString() { * broadcast logging is through publishLogEvent (not broadcastState) */ transient List buffer = new ArrayList<>(); - + /** * logging state */ @@ -192,6 +192,7 @@ public void doAppend(ILoggingEvent event) throws LogbackException { synchronized public void flush() { if (buffer.size() > 0) { invoke("publishLogEvents", buffer); + buffer = new ArrayList<>(maxSize); lastPublishLogTimeTs = System.currentTimeMillis(); } @@ -224,6 +225,11 @@ public List publishLogEvents(List entries) { return entries; } + public List publishErrors(List entries) { + return entries; + } + + @Override public void setContext(Context arg0) { // TODO Auto-generated method stub diff --git a/src/main/java/org/myrobotlab/service/NeoPixel.java b/src/main/java/org/myrobotlab/service/NeoPixel.java index e13daf273d..924f7ef219 100644 --- a/src/main/java/org/myrobotlab/service/NeoPixel.java +++ b/src/main/java/org/myrobotlab/service/NeoPixel.java @@ -60,6 +60,12 @@ private class AnimationRunner implements Runnable { public void run() { try { running = true; + while (running) { + LedDisplayData led = displayQueue.take(); + // save existing state if necessary .. + // stop animations if running + // String lastAnimation = currentAnimation; + if ((led.count > 0) && (currentAnimation == null)){ while (running) { equalizer(); @@ -430,6 +436,33 @@ public void flash(int count, long interval, int r, int g, int b) { } + public void flash(int r, int g, int b, int count) { + flash(r, g, b, count, flashTimeOn, flashTimeOff); + } + + public void flash(int r, int g, int b, int count, long timeOn, long timeOff) { + LedDisplayData data = new LedDisplayData(); + data.red = r; + data.green = g; + data.blue = b; + data.count = count; + data.timeOn = timeOn; + data.timeOff = timeOff; + displayQueue.add(data); + } + + public void onPlayAnimation(String animation) { + playAnimation(animation); + } + + public void onStopAnimation() { + stopAnimation(); + } + + public void onFlash(LedDisplayData data) { + displayQueue.add(data); + } + public void flashBrightness(double brightNess) { NeoPixelConfig c = (NeoPixelConfig)config; @@ -580,6 +613,23 @@ public int getRed() { @Override public void playAnimation(String animation) { + if (animation == null) { + log.info("playAnimation null"); + return; + } + + if (animation.equals(currentAnimation)) { + log.info("already playing {}", currentAnimation); + return; + } + +// if ("Snake".equals(animation)){ +// LedDisplayData snake = new LedDisplayData(); +// snake.red = red; +// snake.green = green; +// snake.blue = blue; +// displayQueue.add(null); +// } else if (animations.containsKey(animation)) { currentAnimation = animation; diff --git a/src/main/java/org/myrobotlab/service/OakD.java b/src/main/java/org/myrobotlab/service/OakD.java index 99e9fdbfea..7c0789211c 100644 --- a/src/main/java/org/myrobotlab/service/OakD.java +++ b/src/main/java/org/myrobotlab/service/OakD.java @@ -1,10 +1,12 @@ package org.myrobotlab.service; import org.myrobotlab.framework.Service; +import org.myrobotlab.framework.Status; import org.myrobotlab.logging.Level; import org.myrobotlab.logging.LoggerFactory; import org.myrobotlab.logging.LoggingFactory; -import org.myrobotlab.service.config.ServiceConfig; +import org.myrobotlab.process.GitHub; +import org.myrobotlab.service.config.OakDConfig; import org.slf4j.Logger; /** * @@ -14,16 +16,50 @@ * @author GroG * */ -public class OakD extends Service { +public class OakD extends Service { private static final long serialVersionUID = 1L; public final static Logger log = LoggerFactory.getLogger(OakD.class); + private transient Py4j py4j = null; + private transient Git git = null; + public OakD(String n, String id) { super(n, id); } + public void startService() { + super.startService(); + + py4j = (Py4j)startPeer("py4j"); + git = (Git)startPeer("git"); + + if (config.py4jInstall) { + installDepthAi(); + } + + } + + /** + * starting install of depthapi + */ + public void publishInstallStart() { + } + + public Status publishInstallFinish() { + return Status.error("depth ai install was not successful"); + } + + /** + * For depthai we need to clone its repo and install requirements + * + */ + public void installDepthAi() { + + //git.clone("./", config.depthaiCloneUrl) + py4j.exec(""); + } public static void main(String[] args) { try { diff --git a/src/main/java/org/myrobotlab/service/Pir.java b/src/main/java/org/myrobotlab/service/Pir.java index 5a2f0d750c..eea710f585 100644 --- a/src/main/java/org/myrobotlab/service/Pir.java +++ b/src/main/java/org/myrobotlab/service/Pir.java @@ -9,7 +9,6 @@ import org.myrobotlab.logging.LoggerFactory; import org.myrobotlab.logging.LoggingFactory; import org.myrobotlab.service.config.PirConfig; -import org.myrobotlab.service.config.ServiceConfig; import org.myrobotlab.service.data.PinData; import org.myrobotlab.service.interfaces.PinArrayControl; import org.myrobotlab.service.interfaces.PinDefinition; @@ -52,33 +51,31 @@ public void attach(String name) { } public void setPinArrayControl(String control) { - PirConfig c = (PirConfig) config; - c.controller = control; + config.controller = control; } public void attachPinArrayControl(String control) { - PirConfig c = (PirConfig) config; if (control == null) { error("controller cannot be null"); return; } - if (c.pin == null) { + if (config.pin == null) { error("pin should be set before attaching"); return; } - c.controller = CodecUtils.getShortName(control); + config.controller = CodecUtils.getShortName(control); // fire and forget - send(c.controller, "attach", getName()); + send(config.controller, "attach", getName()); // assume worky isAttached = true; // enable if configured - if (c.enable) { - send(c.controller, "enablePin", c.pin, c.rate); + if (config.enable) { + send(config.controller, "enablePin", config.pin, config.rate); } broadcastState(); @@ -95,16 +92,15 @@ public void detach(String name) { * @param control */ public void detachPinArrayControl(String control) { - PirConfig c = (PirConfig) config; if (control == null) { log.info("detaching null"); return; } - if (c.controller != null) { - if (!c.controller.equals(control)) { - log.warn("attempting to detach {} but this pir is attached to {}", control, c.controller); + if (config.controller != null) { + if (!config.controller.equals(control)) { + log.warn("attempting to detach {} but this pir is attached to {}", control, config.controller); return; } } @@ -112,8 +108,8 @@ public void detachPinArrayControl(String control) { // disable disable(); - send(c.controller, "detach", getName()); - // c.controller = null; left as configuration .. "last controller" + send(config.controller, "detach", getName()); + // config.controller = null; left as configuration .. "last controller" // detached isAttached = false; @@ -128,13 +124,12 @@ public void detachPinArrayControl(String control) { * */ public void disable() { - PirConfig c = (PirConfig) config; - if (c.controller != null && c.pin != null) { - send(c.controller, "disablePin", c.pin); + if (config.controller != null && config.pin != null) { + send(config.controller, "disablePin", config.pin); } - c.enable = false; + config.enable = false; active = null; broadcastState(); } @@ -143,8 +138,7 @@ public void disable() { * Enables polling at the preset poll rate. */ public void enable() { - PirConfig c = (PirConfig) config; - enable(c.rate); + enable(config.rate); } /** @@ -154,14 +148,13 @@ public void enable() { * */ public void enable(int rateHz) { - PirConfig c = (PirConfig) config; - if (c.controller == null) { + if (config.controller == null) { error("pin control not set"); return; } - if (c.pin == null) { + if (config.pin == null) { error("pin not set"); return; } @@ -171,17 +164,16 @@ public void enable(int rateHz) { return; } - c.rate = rateHz; + config.rate = rateHz; /* PinArrayControl.enablePin */ - send(c.controller, "enablePin", c.pin, rateHz); - c.enable = true; + send(config.controller, "enablePin", config.pin, rateHz); + config.enable = true; broadcastState(); } @Override public String getPin() { - PirConfig c = (PirConfig) config; - return c.pin; + return config.pin; } /** @@ -190,8 +182,7 @@ public String getPin() { * @return Hz */ public int getRate() { - PirConfig c = (PirConfig) config; - return c.rate; + return config.rate; } /** @@ -211,8 +202,7 @@ public boolean isActive() { * @return true = Enabled. false = Disabled. */ public boolean isEnabled() { - PirConfig c = (PirConfig) config; - return c.enable; + return config.enable; } @Override @@ -247,13 +237,12 @@ public PirConfig getConfig() { @Override public void onPin(PinData pindata) { - PirConfig c = (PirConfig) config; log.debug("onPin {}", pindata); boolean sense = (pindata.value != 0); // sparse publishing only on state change - if (active == null || active != sense && c.enable) { + if (active == null || active != sense && config.enable) { // state change invoke("publishSense", sense); active = sense; @@ -286,14 +275,12 @@ public void publishPirOff() { */ @Override public void setPin(String pin) { - PirConfig c = (PirConfig) config; - c.pin = pin; + config.pin = pin; } @Deprecated /* use attach(String) */ public void setPinArrayControl(PinArrayControl pinControl) { - PirConfig c = (PirConfig) config; - c.controller = pinControl.getName(); + config.controller = pinControl.getName(); } /** @@ -306,8 +293,7 @@ public void setRate(int rateHz) { error("invalid poll rate - default is 1 Hz valid value is > 0"); return; } - PirConfig c = (PirConfig) config; - c.rate = rateHz; + config.rate = rateHz; } /** diff --git a/src/main/java/org/myrobotlab/service/Random.java b/src/main/java/org/myrobotlab/service/Random.java index 93b8178fd2..dca027aa3a 100644 --- a/src/main/java/org/myrobotlab/service/Random.java +++ b/src/main/java/org/myrobotlab/service/Random.java @@ -183,14 +183,17 @@ public void addRandom(long minIntervalMs, long maxIntervalMs, String name, Strin msg.interval = getRandom(minIntervalMs, maxIntervalMs); log.info("add random message {} in {} ms", key, msg.interval); - addTask(key, 0, msg.interval, "process", key); + if (enabled) { + // only if global enabled is enabled do we start the task + addTask(key, 0, msg.interval, "process", key); + } broadcastState(); } public void process(String key) { - if (!enabled) { - return; - } + // if (!enabled) { + // return; + // } RandomMessage msg = randomData.get(key); if (msg == null || !msg.enabled) { @@ -230,7 +233,11 @@ public void process(String key) { purgeTask(key); if (!msg.oneShot) { msg.interval = getRandom(msg.minIntervalMs, msg.maxIntervalMs); - addTask(key, 0, msg.interval, "process", key); + // must re-schedule unless one shot + if (enabled) { + // only if global enabled is enabled do we start the task + addTask(key, 0, msg.interval, "process", key); + } } } @@ -316,7 +323,10 @@ public void enable(String key) { return; } randomData.get(key).enabled = true; - addTask(key, 0, msg.interval, "process", key); + if (enabled) { + // only if global enabled is enabled do we start the task + addTask(key, 0, msg.interval, "process", key); + } return; } // must be name - disable "all" for this service @@ -325,7 +335,10 @@ public void enable(String key) { if (msg.name.equals(name)) { msg.enabled = true; String fullKey = String.format("%s.%s", msg.name, msg.method); - addTask(fullKey, 0, msg.interval, "process", fullKey); + if (enabled) { + // only if global enabled is enabled do we start the task + addTask(fullKey, 0, msg.interval, "process", fullKey); + } } } } @@ -335,6 +348,7 @@ public void disable() { // events purgeTasks(); enabled = false; + broadcastState(); } public void enable() { @@ -345,7 +359,9 @@ public void enable() { addTask(fullKey, 0, msg.interval, "process", fullKey); } } + enabled = true; + broadcastState(); } public void purge() { @@ -392,9 +408,10 @@ public static void main(String[] args) { List ret = random.getServiceList(); Set mi = random.getMethodsFromName("c1"); List mes = MethodCache.getInstance().query("Clock", "setInterval"); - + random.disable(); random.addRandom(200, 1000, "i01", "setHeadSpeed", 8, 20, 8, 20, 8, 20); random.addRandom(200, 1000, "i01", "moveHead", 65, 115, 65, 115, 65, 115); + random.enable(); // Python python = (Python) Runtime.start("python", "Python"); diff --git a/src/main/java/org/myrobotlab/service/Updater.java b/src/main/java/org/myrobotlab/service/Updater.java index 779dc1c81f..f97f3149e6 100644 --- a/src/main/java/org/myrobotlab/service/Updater.java +++ b/src/main/java/org/myrobotlab/service/Updater.java @@ -4,11 +4,32 @@ import java.io.FilenameFilter; import java.io.IOException; import java.io.UnsupportedEncodingException; +import java.util.ArrayList; import java.util.HashSet; +import java.util.List; import java.util.Properties; import java.util.Set; import java.util.TreeSet; +import org.eclipse.jgit.api.PullCommand; +import org.eclipse.jgit.api.errors.CanceledException; +import org.eclipse.jgit.api.errors.DetachedHeadException; +import org.eclipse.jgit.api.errors.GitAPIException; +import org.eclipse.jgit.api.errors.InvalidConfigurationException; +import org.eclipse.jgit.api.errors.InvalidRemoteException; +import org.eclipse.jgit.api.errors.NoHeadException; +import org.eclipse.jgit.api.errors.RefNotFoundException; +import org.eclipse.jgit.api.errors.TransportException; +import org.eclipse.jgit.api.errors.WrongRepositoryStateException; +import org.eclipse.jgit.errors.AmbiguousObjectException; +import org.eclipse.jgit.errors.IncorrectObjectTypeException; +import org.eclipse.jgit.errors.MissingObjectException; +import org.eclipse.jgit.errors.RevisionSyntaxException; +import org.eclipse.jgit.lib.BranchTrackingStatus; +import org.eclipse.jgit.lib.Repository; +import org.eclipse.jgit.lib.TextProgressMonitor; +import org.eclipse.jgit.revwalk.RevCommit; +import org.eclipse.jgit.storage.file.FileRepositoryBuilder; import org.myrobotlab.codec.CodecUtils; import org.myrobotlab.framework.CmdOptions; import org.myrobotlab.framework.MrlException; @@ -392,10 +413,13 @@ public void checkForUpdates() { if (isSrcMode) { String cwd = System.getProperty("user.dir"); boolean makeBuild = false; - String branch = Git.getBranch(); + + Repository repo = new FileRepositoryBuilder().setGitDir(new File(System.getProperty("user.dir"))).build(); + org.eclipse.jgit.api.Git git = new org.eclipse.jgit.api.Git(repo); + String branch = git.getRepository().getBranch(); log.info("current source branch is \"{}\"", branch); - int commitsBehind = Git.pull(branch); + int commitsBehind = pull(null, branch); if (gitProps == null) { log.info("target/classes/git.properties does not exist - will build"); @@ -413,7 +437,8 @@ public void checkForUpdates() { // FIXME - download mvn if it does not exist ?? // remove git properties before compile - Git.removeProps(); + File props = new File(System.getProperty("user.dir") + File.separator + "target" + File.separator + "classes" + File.separator + "git.properties"); + props.delete(); // FIXME - compile or package mode ! String ret = Maven.mvn(cwd, branch, "compile", System.currentTimeMillis() / 1000, offline); @@ -613,6 +638,73 @@ public boolean accept(File dir, String name) { return false; } + TextProgressMonitor monitor = new TextProgressMonitor(); + + public int pull(String src, String branch) throws IOException, WrongRepositoryStateException, InvalidConfigurationException, DetachedHeadException, InvalidRemoteException, + CanceledException, RefNotFoundException, NoHeadException, TransportException, GitAPIException { + + if (src == null) { + src = System.getProperty("user.dir"); + } + + if (branch == null) { + log.warn("branch is not set - setting to default develop"); + branch = "develop"; + } + + List branches = new ArrayList(); + branches.add("refs/heads/" + branch); + + File repoParentFolder = new File(src); + + org.eclipse.jgit.api.Git git = null; + Repository repo = null; + + // Open an existing repository FIXME Try Git.open(dir) + String gitDir = repoParentFolder.getAbsolutePath() + "/.git"; + repo = new FileRepositoryBuilder().setGitDir(new File(gitDir)).build(); + git = new org.eclipse.jgit.api.Git(repo); + + repo = git.getRepository(); + git.branchCreate().setForce(true).setName(branch).setStartPoint(branch).call(); + git.checkout().setName(branch).call(); + + git.fetch().setProgressMonitor(monitor).call(); + + List localLogs = getLogs(git, "origin/" + branch, 1); + List remoteLogs = getLogs(git, "remotes/origin/" + branch, 1); + + RevCommit localCommit = localLogs.get(0); + RevCommit remoteCommit = remoteLogs.get(0); + + BranchTrackingStatus status = BranchTrackingStatus.of(repo, branch); + + // FIXME - Git.close() file handles + + if (status.getBehindCount() > 0) { + log.info("local ts {}, remote {} - {} pulling", localCommit.getCommitTime(), remoteCommit.getCommitTime(), remoteCommit.getFullMessage()); + PullCommand pullCmd = git.pull(); + pullCmd.setProgressMonitor(monitor); + pullCmd.call(); + git.close(); + return status.getBehindCount(); + } + log.info("no new commits on branch {}", branch); + git.close(); + return 0; + } + + private List getLogs(org.eclipse.jgit.api.Git git, String ref, int maxCount) + throws RevisionSyntaxException, NoHeadException, MissingObjectException, IncorrectObjectTypeException, AmbiguousObjectException, GitAPIException, IOException { + List ret = new ArrayList<>(); + Repository repository = git.getRepository(); + Iterable logs = git.log().setMaxCount(maxCount).add(repository.resolve(ref)).call(); + for (RevCommit rev : logs) { + ret.add(rev); + } + return ret; + } + public static void main(String[] args) { LoggingFactory.init(Level.INFO); diff --git a/src/main/java/org/myrobotlab/service/config/CalikoConfig.java b/src/main/java/org/myrobotlab/service/config/CalikoConfig.java new file mode 100644 index 0000000000..d1c3ff9554 --- /dev/null +++ b/src/main/java/org/myrobotlab/service/config/CalikoConfig.java @@ -0,0 +1,36 @@ +package org.myrobotlab.service.config; + +import java.util.HashMap; +import java.util.Map; + +import org.myrobotlab.service.Pid.PidData; + +public class CalikoConfig extends ServiceConfig { + + public Map data = new HashMap<>(); + + public boolean use3dDemo; + + public int demoNumber; + + public boolean drawConstraints; + + public Object rotateBasesMode; + + public boolean drawLines; + + public boolean drawModels; + + public boolean fixedBaseMode; + + public boolean drawAxes; + + public boolean paused; + + public boolean leftMouseButtonDown; + + public int windowWidth; + + public int windowHeight; + +} diff --git a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java index ecb2d59c4e..8e07cbf5ee 100644 --- a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java +++ b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java @@ -56,7 +56,9 @@ public class InMoov2Config extends ServiceConfig { public boolean openCVFlipPicture=false; public boolean pirEnableTracking = false; - + + public boolean pirOnFlash = true; + /** * play pir sounds when pir switching states * sound located in data/InMoov2/sounds/pir-activated.mp3 @@ -65,10 +67,9 @@ public class InMoov2Config extends ServiceConfig { public boolean pirPlaySounds = true; public boolean pirWakeUp = true; - - public boolean robotCanMoveHeadWhileSpeaking = true; - + public boolean robotCanMoveHeadWhileSpeaking = true; + /** * startup and shutdown will pause inmoov - set the speed to this value then * attempt to move to rest @@ -81,13 +82,45 @@ public class InMoov2Config extends ServiceConfig { public int sleepTimeoutMs=300000; public boolean startupSound = true; - - public int trackingTimeoutMs=10000; + /** + * + */ + public boolean stateChangeIsMute = true; + + /** + * Interval in seconds for a idle state event to fire off. + * If the fsm is in a state which will allow transitioning, the InMoov2 + * state will transition to idle. Heartbeat will fire the event. + */ + public Integer stateIdleInterval = 120; + + + /** + * Interval in seconds for a random state event to fire off. + * If the fsm is in a state which will allow transitioning, the InMoov2 + * state will transition to random. Heartbeat will fire the event. + */ + public Integer stateRandomInterval = 120; + + /** + * Determines if InMoov2 publish system events during boot state + */ + public boolean systemEventsOnBoot = false; + + /** + * Publish system event when state changes + */ + public boolean systemEventStateChange = true; + + public int trackingTimeoutMs = 10000; + public String unlockInsult = "forgive me"; public boolean virtual = false; + public String bootAnimation = "Theater Chase"; + public InMoov2Config() { } @@ -112,6 +145,7 @@ public Plan getDefault(Plan plan, String name) { addDefaultPeerConfig(plan, name, "left", "Arduino", false); addDefaultPeerConfig(plan, name, "leftArm", "InMoov2Arm", false); addDefaultPeerConfig(plan, name, "leftHand", "InMoov2Hand", false); + addDefaultPeerConfig(plan, name, "log", "Log", false); addDefaultPeerConfig(plan, name, "mouth", "MarySpeech", false); addDefaultPeerConfig(plan, name, "mouthControl", "MouthControl", false); addDefaultPeerConfig(plan, name, "neoPixel", "NeoPixel", false); @@ -256,22 +290,28 @@ public Plan getDefault(Plan plan, String name) { FiniteStateMachineConfig fsm = (FiniteStateMachineConfig) plan.get(getPeerName("fsm")); // TODO - events easily gotten from InMoov data ?? auto callbacks in python if exists ? fsm.current = "boot"; - fsm.transitions.add(new Transition("boot", "configStarted", "applyingConfig")); - fsm.transitions.add(new Transition("applyingConfig", "getUserInfo", "getUserInfo")); - fsm.transitions.add(new Transition("applyingConfig", "systemCheck", "systemCheck")); - fsm.transitions.add(new Transition("applyingConfig", "wake", "awake")); - fsm.transitions.add(new Transition("getUserInfo", "systemCheck", "systemCheck")); - fsm.transitions.add(new Transition("systemCheck", "systemCheckFinished", "awake")); - fsm.transitions.add(new Transition("awake", "sleep", "sleeping")); + fsm.transitions.add(new Transition("boot", "wake", "wake")); + fsm.transitions.add(new Transition("wake", "idle", "idle")); + fsm.transitions.add(new Transition("firstInit", "idle", "idle")); + fsm.transitions.add(new Transition("idle", "random", "random")); + fsm.transitions.add(new Transition("random", "idle", "idle")); + fsm.transitions.add(new Transition("idle", "sleep", "sleep")); + fsm.transitions.add(new Transition("sleep", "wake", "wake")); + fsm.transitions.add(new Transition("idle", "powerDown", "powerDown")); + fsm.transitions.add(new Transition("wake", "firstInit", "firstInit")); + // powerDown to shutdown +// fsm.transitions.add(new Transition("systemCheck", "systemCheckFinished", "awake")); +// fsm.transitions.add(new Transition("awake", "sleep", "sleeping")); PirConfig pir = (PirConfig) plan.get(getPeerName("pir")); - pir.pin = "23"; + pir.pin = "D23"; pir.controller = name + ".left"; pir.listeners = new ArrayList<>(); - pir.listeners.add(new Listener("publishPirOn", name, "onPirOn")); - + pir.listeners.add(new Listener("publishPirOn", name)); + pir.listeners.add(new Listener("publishPirOff", name)); + // == Peer - random ============================= RandomConfig random = (RandomConfig) plan.get(getPeerName("random")); random.enabled = false; @@ -388,6 +428,45 @@ public Plan getDefault(Plan plan, String name) { listeners.add(new Listener("publishEvent", name + ".fsm")); + // loopbacks allow user to override or extend with python + listeners.add(new Listener("publishBoot", name)); + listeners.add(new Listener("publishHeartbeat", name)); + listeners.add(new Listener("publishConfigFinished", name)); + listeners.add(new Listener("publishStateChange", name)); + +// listeners.add(new Listener("publishPowerUp", name)); +// listeners.add(new Listener("publishPowerDown", name)); +// listeners.add(new Listener("publishError", name)); + + listeners.add(new Listener("publishMoveHead", name)); + listeners.add(new Listener("publishMoveRightArm", name)); + listeners.add(new Listener("publishMoveLeftArm", name)); + listeners.add(new Listener("publishMoveRightHand", name)); + listeners.add(new Listener("publishMoveLeftHand", name)); + listeners.add(new Listener("publishMoveTorso", name)); + + // service --to--> InMoov2 + AudioFileConfig mouth_audioFile = (AudioFileConfig) plan.get(getPeerName("mouth.audioFile")); + mouth_audioFile.listeners = new ArrayList<>(); + mouth_audioFile.listeners.add(new Listener("publishPeak", name)); + fsm.listeners.add(new Listener("publishStateChange", name, "publishStateChange")); + + + LogConfig log = (LogConfig) plan.get(getPeerName("log")); + log.listeners = new ArrayList<>(); + log.listeners.add(new Listener("publishLogEvents", name)); + +// mouth_audioFile.listeners.add(new Listener("publishAudioEnd", name)); +// mouth_audioFile.listeners.add(new Listener("publishAudioStart", name)); + + // InMoov2 --to--> service + listeners.add(new Listener("publishFlash", getPeerName("neoPixel"), "onLedDisplay")); + listeners.add(new Listener("publishEvent", getPeerName("chatBot"), "getResponse")); + listeners.add(new Listener("publishPlayAudioFile", getPeerName("audioPlayer"))); + + listeners.add(new Listener("publishPlayAnimation", getPeerName("neoPixel"))); + listeners.add(new Listener("publishStopAnimation", getPeerName("neoPixel"))); + // remove the auto-added starts in the plan's runtime RuntimConfig.registry plan.removeStartsWith(name + "."); diff --git a/src/main/java/org/myrobotlab/service/config/LogConfig.java b/src/main/java/org/myrobotlab/service/config/LogConfig.java new file mode 100644 index 0000000000..09f74a9481 --- /dev/null +++ b/src/main/java/org/myrobotlab/service/config/LogConfig.java @@ -0,0 +1,12 @@ +package org.myrobotlab.service.config; + +public class LogConfig extends ServiceConfig { + + public String currentUserName; + + /** + * level of log error, warn, info, debug + */ + String level = "info"; + +} diff --git a/src/main/java/org/myrobotlab/service/config/OakDConfig.java b/src/main/java/org/myrobotlab/service/config/OakDConfig.java new file mode 100644 index 0000000000..6a7295da1c --- /dev/null +++ b/src/main/java/org/myrobotlab/service/config/OakDConfig.java @@ -0,0 +1,32 @@ +package org.myrobotlab.service.config; + +import org.myrobotlab.framework.Plan; + +public class OakDConfig extends ServiceConfig { + + + /** + * install through py4j + */ + public boolean py4jInstall = true; + + /** + * the depthai clone + */ + public String depthaiCloneUrl = "https://github.com/luxonis/depthai.git"; + + /** + * pin the repo + */ + public String depthAiSha = "dde0ba57dba673f67a62e4fb080f22d6cfcd3224"; + + @Override + public Plan getDefault(Plan plan, String name) { + super.getDefault(plan, name); + addDefaultPeerConfig(plan, name, "py4j", "Py4j"); + addDefaultPeerConfig(plan, name, "git", "Git"); + return plan; + } + + +} diff --git a/src/main/java/org/myrobotlab/service/config/WebXRConfig.java b/src/main/java/org/myrobotlab/service/config/WebXRConfig.java new file mode 100644 index 0000000000..2990f1c60d --- /dev/null +++ b/src/main/java/org/myrobotlab/service/config/WebXRConfig.java @@ -0,0 +1,37 @@ +package org.myrobotlab.service.config; + +import java.util.HashMap; +import java.util.Map; + +import org.myrobotlab.framework.Plan; +import org.myrobotlab.math.MapperSimple; + +public class WebXRConfig extends ServiceConfig { + + public Map> eventMappings = new HashMap<>(); + + public Map> controllerMappings = new HashMap<>(); + + + public Plan getDefault(Plan plan, String name) { + super.getDefault(plan, name); + + Map map = new HashMap<>(); + MapperSimple mapper = new MapperSimple(-0.5, 0.5, 0, 180); + map.put("i01.head.neck", mapper); + controllerMappings.put("head.orientation.pitch", map); + + map = new HashMap<>(); + mapper = new MapperSimple(-0.5, 0.5, 0, 180); + map.put("i01.head.rothead", mapper); + controllerMappings.put("head.orientation.yaw", map); + + map = new HashMap<>(); + mapper = new MapperSimple(-0.5, 0.5, 0, 180); + map.put("i01.head.roll", mapper); + controllerMappings.put("head.orientation.roll", map); + + return plan; + } + +} diff --git a/src/main/java/org/myrobotlab/service/data/Event.java b/src/main/java/org/myrobotlab/service/data/Event.java new file mode 100644 index 0000000000..9a3572035c --- /dev/null +++ b/src/main/java/org/myrobotlab/service/data/Event.java @@ -0,0 +1,38 @@ +package org.myrobotlab.service.data; + +import java.util.Map; + +/** + * Generalized Event POJO class, started by WebXR but intended to be used + * in other event generating services + * + * @author GroG + * + */ +public class Event { + /** + * Identifier of the event typically its the identifier of some + * detail of the source of the event e.g. in WebXR it is the uuid + */ + public String id; + + /** + * type of event WebXR has sqeezestart sqeezeend and others + */ + public String type; + + + /** + * Value of the event, could be string or numeric or boolean + */ + public Object value; + + + /** + * Meta data regarding the event, could be additional values like + * "handedness" in WebXR + */ + public Map meta; + + +} diff --git a/src/main/java/org/myrobotlab/service/meta/CalikoMeta.java b/src/main/java/org/myrobotlab/service/meta/CalikoMeta.java new file mode 100644 index 0000000000..61c6351aac --- /dev/null +++ b/src/main/java/org/myrobotlab/service/meta/CalikoMeta.java @@ -0,0 +1,41 @@ +package org.myrobotlab.service.meta; + +import org.myrobotlab.logging.LoggerFactory; +import org.myrobotlab.service.meta.abstracts.MetaData; +import org.slf4j.Logger; + +public class CalikoMeta extends MetaData { + private static final long serialVersionUID = 1L; + public final static Logger log = LoggerFactory.getLogger(CalikoMeta.class); + + /** + * This class is contains all the meta data details of a service. It's peers, + * dependencies, and all other meta data related to the service. + * + */ + public CalikoMeta() { + + // add a cool description + addDescription("used as a general template"); + + // false will prevent it being seen in the ui + setAvailable(true); + + // add dependencies if necessary + // for the solver + addDependency("au.edu.federation.caliko", "caliko", "1.3.8"); + + // for the ui + addDependency("au.edu.federation.caliko.visualisation", "caliko-visualisation", "1.3.8"); + addDependency("au.edu.federation.caliko.visualisation", "caliko-demo", "1.3.8"); + + // add it to one or many categories + addCategory("ik", "inverse kinematics"); + + // add a sponsor to this service + // the person who will do maintenance + // setSponsor("GroG"); + + } + +} diff --git a/src/main/resources/resource/BoofCV/basket_depth.png b/src/main/resources/resource/BoofCV/basket_depth.png new file mode 100644 index 0000000000000000000000000000000000000000..14773053550348e3d3c492b36a03f064ef183d53 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new file mode 100644 index 0000000000..b911c9a497 --- /dev/null +++ b/src/main/resources/resource/BoofCV/visualdepth.yaml @@ -0,0 +1,20 @@ +# RGB Depth Camera Calibration +model: visual_depth +max_depth: 10000 +no_depth: 0 +intrinsic: + pinhole: + fx: 529.74137370586 + fy: 529.5715453060717 + cx: 312.57382117058427 + cy: 257.05061008728114 + width: 640 + height: 480 + skew: 0.0 + model: pinhole_radial_tangential + radial_tangential: + radial: + - 0.17889353480851655 + - -0.32301207366192053 + t1: 0.0 + t2: 0.0 \ No newline at end of file diff --git a/src/main/resources/resource/Caliko.png b/src/main/resources/resource/Caliko.png new file mode 100644 index 0000000000000000000000000000000000000000..3ddbc8369516b4d5f1b9ca6abcc43e80a2734878 GIT binary patch literal 1525 zcmVEX>4Tx04R}tkvmAkP!xv$riu?LB6d)5$WWauh>AFB6^c+H)C#RSnB4RQO&XFE z7e~Rh;NWAi>fqw6tAnc`2tGhuU7QqMq{MTRLW>v=T=@9!`48v*7Z7SCrde&{fTr7K zG9DAtnN_jl6k~y#OK6gCM`(($aTfzH_myN1wJ!urjql-VPY}g!b%IXf~gTt5l2)_r};wK 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0.0f +# Bottom Left Back +v -0.5f -0.5f 0.0f + + + +# SQUARE +# Top Left Back +v -0.5f 0.5f 0.0f +# Center Front +v 0.0f 0.0f 1.0f + +# Top Right Back +v 0.5f 0.5f 0.0f +# Center Front +v 0.0f 0.0f 1.0f + +# Bottom Left Back +v -0.5f -0.5f 0.0f +# Center Front +v 0.0f 0.0f 1.0f + +# Bottom Right Back +v 0.5f -0.5f 0.0f +# Center Front +v 0.0f 0.0f 1.0f \ No newline at end of file diff --git a/src/main/resources/resource/WebGui/app/service/js/WebXRGui.js b/src/main/resources/resource/WebGui/app/service/js/WebXRGui.js new file mode 100644 index 0000000000..52fd02c526 --- /dev/null +++ b/src/main/resources/resource/WebGui/app/service/js/WebXRGui.js @@ -0,0 +1,43 @@ +angular.module('mrlapp.service.WebXRGui', []).controller('WebXRGuiCtrl', ['$scope', 'mrl', function($scope, mrl) { + console.info('WebXRGuiCtrl') + var _self = this + var msg = this.msg + $scope.poses = {} + $scope.events = {} + $scope.jointAngles = {} + + this.updateState = function(service) { + $scope.service = service + } + + this.onMsg = function(inMsg) { + let data = inMsg.data[0] + switch (inMsg.method) { + case 'onState': + _self.updateState(data) + $scope.$apply() + break + case 'onPose': + $scope.poses[data.name] = data + $scope.$apply() + break + case 'onEvent': + $scope.events[data.uuid] = data + $scope.$apply() + break + case 'onJointAngles': + $scope.jointAngles = {...$scope.jointAngles, ...data} + $scope.$apply() + break + default: + console.error("ERROR - unhandled method " + $scope.name + " " + inMsg.method) + break + } + } + + msg.subscribe('publishPose') + msg.subscribe('publishEvent') + msg.subscribe('publishJointAngles') + msg.subscribe(this) +} +]) diff --git a/src/main/resources/resource/WebGui/app/service/views/WebXRGui.html b/src/main/resources/resource/WebGui/app/service/views/WebXRGui.html new file mode 100644 index 0000000000..ff09de61bc --- /dev/null +++ b/src/main/resources/resource/WebGui/app/service/views/WebXRGui.html @@ -0,0 +1,64 @@ +

    + +
    Controllers
    + + + + + + + + + + + + + + + + + + + + + + + +
    namexyzpitchrollyaw
    {{pose.name}}{{pose.position.x.toFixed(2)}}{{pose.position.y.toFixed(2)}}{{pose.position.z.toFixed(2)}}{{pose.orientation.pitch.toFixed(2)}}{{pose.orientation.roll.toFixed(2)}}{{pose.orientation.yaw.toFixed(2)}}

    + +
    Events
    + + + + + + + + + + + + + + + + + +
    idhandednesstypevalue
    {{event.id}}{{event.meta.handedness}}{{event.type}}{{event.value}}

    + +
    Joint Angles
    + + + + + + + + + + + + + +
    jointangle
    {{key}}{{value.toFixed(2)}}
    +
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z%%(B%`TY!55KgG5pDJmQXn6uMXX9Zc(KLfnImWM17+Z+SPB+55Cra1nA~_&dPXoz` zgWBTWoV4tKI??J-O}?}%QK*gXyt2U2;;G+$R5Kna2-&%eS5*N!KWkKVM}(_476*;h zAYX#|Qg!)t@Nv@b3lVR`m)<5FT{LGMEh2dGALB+iP79_*`FcnbRdes2Rm^$YWQwP?x?tVXWv_ykch!Ou??IPHOtGe84VfFX zK2^fNXajCs?|Y)wLC{85crjA&rF%NxGa42cNs{9l2#{(@=~V^}TQOb6gEodSdIoOY^kf%oz7ek*v0CM|MIzPhGossNS z4W7#_xW^mPso6eYj%;jzkde?ot*DMGo@o~Kjl=TOTba?qB)4pk1F7_aoTZ>UOkkzg z@3m0RWc~yKFTg%7V<`tO=a>HnWSa8EX$*DI{4-{8kgtI_Ay0#+c?+h@Kduxujapp&~}lYMa7{{gCq$A$m^ literal 0 HcmV?d00001 diff --git a/src/test/java/org/myrobotlab/service/ServoMixerTest.java b/src/test/java/org/myrobotlab/service/ServoMixerTest.java new file mode 100644 index 0000000000..da5c35683b --- /dev/null +++ b/src/test/java/org/myrobotlab/service/ServoMixerTest.java @@ -0,0 +1,31 @@ +package org.myrobotlab.service; + +import org.junit.Test; +import org.myrobotlab.kinematics.Gesture; +import org.myrobotlab.kinematics.GesturePart; +import org.myrobotlab.test.AbstractTest; + +public class ServoMixerTest extends AbstractTest { + + @Test + public void testService() throws Exception { + + Servo s1 = (Servo)Runtime.start("s1", "Servo"); + Servo s2 = (Servo)Runtime.start("s2", "Servo"); + + ServoMixer mixer = (ServoMixer)Runtime.start("mixer", "ServoMixer"); + String gestureFileName = "mixerTest-1"; + // mixer.addNewGestureFile(gestureFileName); + Gesture gesture = new Gesture(); + + s1.moveTo(5); + s2.moveTo(5); + mixer.savePose("pose-1"); + + GesturePart part1 = new GesturePart(); + + gesture.getParts().add(null); + + } + +} \ No newline at end of file diff --git a/src/test/java/org/myrobotlab/service/WebGuiSocketTest.java b/src/test/java/org/myrobotlab/service/WebGuiSocketTest.java new file mode 100644 index 0000000000..5a57823b8b --- /dev/null +++ b/src/test/java/org/myrobotlab/service/WebGuiSocketTest.java @@ -0,0 +1,137 @@ +package org.myrobotlab.service; + +import static org.junit.Assert.assertEquals; + +import java.util.LinkedHashMap; +import java.util.List; +import java.util.concurrent.BlockingQueue; +import java.util.concurrent.LinkedBlockingQueue; +import java.util.concurrent.TimeUnit; + +import org.junit.After; +import org.junit.Before; +import org.junit.Test; +import org.myrobotlab.codec.CodecUtils; +import org.myrobotlab.framework.MRLListener; +import org.myrobotlab.framework.Service; +import org.myrobotlab.logging.LoggerFactory; +import org.slf4j.Logger; + +import okhttp3.OkHttpClient; +import okhttp3.Request; +import okhttp3.WebSocket; +import okhttp3.WebSocketListener; + +public class WebGuiSocketTest { + + protected final static Logger log = LoggerFactory.getLogger(WebGuiSocketTest.class); + + protected WebSocket webSocket; + protected WebSocketListener webSocketListener; + protected BlockingQueue msgQueue = new LinkedBlockingQueue<>(); + protected WebGui webgui2; + + @Before + public void setUp() { + webgui2 = (WebGui) Runtime.create("webgui2", "WebGui"); + webgui2.autoStartBrowser(false); + webgui2.setPort(8889); + webgui2.startService(); + + Service.sleep(3); + OkHttpClient okHttpClient = new OkHttpClient(); + Request request = new Request.Builder() + .url("ws://localhost:8889/api/messages?user=root&pwd=pwd&session_id=2309adf3dlkdk&id=webgui-client").build(); + webSocketListener = new WebSocketListener() { + @Override + public void onOpen(WebSocket webSocket, okhttp3.Response response) { + // WebSocket connection is established + log.info("onOpen"); + } + + @Override + public void onMessage(WebSocket webSocket, String msg) { + log.info("onMessage {}", msg); + msgQueue.add(msg); + } + + @Override + public void onFailure(WebSocket webSocket, Throwable t, okhttp3.Response response) { + // Handle WebSocket failure + log.info("onFailure"); + } + }; + + webSocket = okHttpClient.newWebSocket(request, webSocketListener); + } + + @After + public void teardown() { + webSocket.cancel(); + } + + @Test + public void testWebSocketConnection() throws InterruptedException { + // Use a CountDownLatch to wait for the WebSocket connection to be + // established + // CountDownLatch latch = new CountDownLatch(1); + // webSocket.listener().onOpen(webSocket, null); + // Wait for the connection to be established + // assertTrue("WebSocket connection timeout", latch.await(5, TimeUnit.SECONDS)); + + + // if sucessfully connected we'll get an + // 1. addListener from its runtime for describe + // 2. then a describe is sent with a parameter that describes the requesting platform + + String json = msgQueue.poll(5, TimeUnit.SECONDS); + LinkedHashMapmsg = (LinkedHashMap)CodecUtils.fromJson(json); + assertEquals("runtime", msg.get("name")); + assertEquals("addListener", msg.get("method")); + Object data = msg.get("data"); + List p0 = (List)msg.get("data"); + MRLListener listener = CodecUtils.fromJson((String)p0.get(0), MRLListener.class); + assertEquals("describe", listener.topicMethod); + assertEquals("onDescribe", listener.callbackMethod); + assertEquals(String.format("runtime@%s", webgui2.getId()), listener.callbackName); + + // the client can optionally do the same thing + // send an addListener for describe + // then send a describe + + String addListener = "{\n" + + " \"msgId\": 1690173331106,\n" + + " \"name\": \"runtime\",\n" + + " \"method\": \"addListener\",\n" + + " \"sender\": \"runtime@p1\",\n" + + " \"sendingMethod\": \"sendTo\",\n" + + " \"data\": [\n" + + " \"\\\"describe\\\"\",\n" + + " \"\\\"runtime@p1\\\"\"\n" + + " ],\n" + + " \"encoding\": \"json\"\n" + + "}"; + + // FIXME - make describe + // String describe = + + // assert describe info + + //.info(json); + log.info("here"); + + } + + @Test + public void testWebSocketMessage() throws InterruptedException { + // Use a CountDownLatch to wait for the WebSocket message +// CountDownLatch latch = new CountDownLatch(1); +// +// String expectedMessage = "Hello, WebSocket!"; +// webSocket.listener().onMessage(webSocket, expectedMessage); +// +// // Wait for the message to be received +// assertTrue("WebSocket message timeout", latch.await(5, TimeUnit.SECONDS)); + } + +} From cc329accf6eabc8b53908417eeec36b54fdf1d4d Mon Sep 17 00:00:00 2001 From: grog Date: Tue, 19 Sep 2023 20:32:51 -0700 Subject: [PATCH 031/232] transfer2 --- pom.xml | 971 +++++++++--------- .../org/myrobotlab/kinematics/DHRobotArm.java | 5 +- .../service/FiniteStateMachine.java | 15 + src/main/java/org/myrobotlab/service/Git.java | 203 ++-- .../java/org/myrobotlab/service/InMoov2.java | 948 +++++++++++++---- .../org/myrobotlab/service/InMoov2Head.java | 37 +- .../service/InverseKinematics3D.java | 9 +- .../org/myrobotlab/service/JMonkeyEngine.java | 4 +- src/main/java/org/myrobotlab/service/Log.java | 12 +- .../java/org/myrobotlab/service/NeoPixel.java | 50 + .../java/org/myrobotlab/service/OakD.java | 40 +- src/main/java/org/myrobotlab/service/Pir.java | 68 +- .../java/org/myrobotlab/service/Random.java | 33 +- .../java/org/myrobotlab/service/Updater.java | 98 +- .../java/org/myrobotlab/service/WebXR.java | 155 +++ .../service/config/InMoov2Config.java | 111 +- .../org/myrobotlab/vertx/ApiVerticle.java | 97 ++ .../myrobotlab/vertx/WebSocketHandler.java | 108 ++ 18 files changed, 2099 insertions(+), 865 deletions(-) create mode 100644 src/main/java/org/myrobotlab/service/WebXR.java create mode 100644 src/main/java/org/myrobotlab/vertx/ApiVerticle.java create mode 100644 src/main/java/org/myrobotlab/vertx/WebSocketHandler.java diff --git a/pom.xml b/pom.xml index a1507381a2..259b4e77b4 100644 --- a/pom.xml +++ b/pom.xml @@ -1,102 +1,102 @@ - - - 4.0.0 - org.myrobotlab - mrl - 0.0.1-SNAPSHOT - MyRobotLab - Open Source Creative Machine Control - - - false - - - - 1.1. - - ${maven.build.timestamp} - yyyyMMddHHmm - ${timestamp} - ${version.prefix}${build.number} - ${git.branch} - ${NODE_NAME} - ${NODE_LABELS} - - - - 11 - 11 - UTF-8 - - - + + + 4.0.0 + org.myrobotlab + mrl + 0.0.1-SNAPSHOT + MyRobotLab + Open Source Creative Machine Control + + + false + + + + 1.1. + + ${maven.build.timestamp} + yyyyMMddHHmm + ${timestamp} + ${version.prefix}${build.number} + ${git.branch} + ${NODE_NAME} + ${NODE_LABELS} + + + + 11 + 11 + UTF-8 + + + @@ -135,9 +135,9 @@ https://m2.dv8tion.net/releases - - - + + + javazoom @@ -1646,6 +1646,18 @@ + + au.edu.federation.caliko + caliko + 1.3.8 + + + + au.edu.federation.caliko.visualisation + caliko-visualisation + 1.3.8 + + com.github.sarxos @@ -1734,375 +1746,386 @@ - - - org.mockito - mockito-core - 3.12.4 - test - - - - - - - false - src/main/resources - - - false - src/main/java - - ** - - - **/*.java - - - - - - false - src/test/resources - - - false - src/test/java - - ** - - - **/*.java - - - - src/main/resources - ${project.basedir} - - - - - - - - org.codehaus.mojo - properties-maven-plugin - 1.0.0 - - - org.apache.maven.plugins - maven-enforcer-plugin - 3.1.0 - - - - - - - - org.apache.maven.plugins - maven-enforcer-plugin - - - no-duplicate-declared-dependencies - - enforce - - - - - - - - - - - - org.codehaus.mojo - properties-maven-plugin - - - initialize - - read-project-properties - - - - build.properties - - - - - - - - - - org.apache.maven.plugins - maven-shade-plugin - 3.1.0 - - - package - - shade - - - myrobotlab - - true - myrobotlab-full - false - - - - - org.myrobotlab.service.Runtime - ${version} - ${version} - - ${build.number} - ${maven.build.timestamp} - ${agent.name} - ${user.name} - - - ${git.tags} - ${git.branch} - ${git.dirty} - ${git.remote.origin.url} - ${git.commit.id} - ${git.commit.id.abbrev} - ${git.commit.id.full} - ${git.commit.id.describe} - ${git.commit.id.describe-short} - ${git.commit.user.name} - ${git.commit.user.email} - - ${git.commit.time} - ${git.closest.tag.name} - ${git.closest.tag.commit.count} - ${git.build.user.name} - ${git.build.user.email} - ${git.build.time} - ${git.build.version} - - - - - - - *:* - - module-info.class - META-INF/*.SF - META-INF/*.DSA - META-INF/*.RSA - - - - - - - - - - org.apache.maven.plugins - maven-assembly-plugin - - - assembly.xml - - myrobotlab - false - - - - trigger-assembly - package - - single - - - - - - - true - org.apache.maven.plugins - maven-compiler-plugin - 2.3.2 - - 11 - 11 - true - true - -parameters - - - - - org.apache.maven.plugins - maven-resources-plugin - 2.4.3 - - - - pl.project13.maven - git-commit-id-plugin - 4.9.10 - - - initialize - get-the-git-infos - - revision - - - - - ${project.basedir}/.git - git - false - true - ${project.build.outputDirectory}/git.properties - - - false - false - -dirty - - - - - - maven-surefire-plugin - org.apache.maven.plugins - 2.22.2 - - -Djava.library.path=libraries/native -Djna.library.path=libraries/native - - **/*Test.java - - - **/integration/* - - - - - - - - org.apache.maven.plugins - maven-clean-plugin - 2.3 - - - - data/.myrobotlab - false - - - libraries - - ** - - false - - - data - - ** - - - - resource - - ** - - - - src/main/resources/resource/framework - - **/serviceData.json - - false - - - - - - - - - - - - org.apache.maven.plugins - maven-surefire-report-plugin - 2.22.2 - - - org.apache.maven.plugins - maven-javadoc-plugin - 3.0.1 - - - - - myrobotlab - http://myrobotlab.org - - - github - https://github.com/MyRobotLab/myrobotlab/issues - - + + dev.onvoid.webrtc + webrtc-java + 0.7.0 + + + + + org.mockito + mockito-core + 3.12.4 + test + + + au.edu.federation.caliko.demo + caliko-demo + 1.3.8 + + + + + + + false + src/main/resources + + + false + src/main/java + + ** + + + **/*.java + + + + + + false + src/test/resources + + + false + src/test/java + + ** + + + **/*.java + + + + src/main/resources + ${project.basedir} + + + + + + + + org.codehaus.mojo + properties-maven-plugin + 1.0.0 + + + org.apache.maven.plugins + maven-enforcer-plugin + 3.1.0 + + + + + + + + org.apache.maven.plugins + maven-enforcer-plugin + + + no-duplicate-declared-dependencies + + enforce + + + + + + + + + + + + org.codehaus.mojo + properties-maven-plugin + + + initialize + + read-project-properties + + + + build.properties + + + + + + + + + + org.apache.maven.plugins + maven-shade-plugin + 3.1.0 + + + package + + shade + + + myrobotlab + + true + myrobotlab-full + false + + + + + org.myrobotlab.service.Runtime + ${version} + ${version} + + ${build.number} + ${maven.build.timestamp} + ${agent.name} + ${user.name} + + + ${git.tags} + ${git.branch} + ${git.dirty} + ${git.remote.origin.url} + ${git.commit.id} + ${git.commit.id.abbrev} + ${git.commit.id.full} + ${git.commit.id.describe} + ${git.commit.id.describe-short} + ${git.commit.user.name} + ${git.commit.user.email} + + ${git.commit.time} + ${git.closest.tag.name} + ${git.closest.tag.commit.count} + ${git.build.user.name} + ${git.build.user.email} + ${git.build.time} + ${git.build.version} + + + + + + + *:* + + module-info.class + META-INF/*.SF + META-INF/*.DSA + META-INF/*.RSA + + + + + + + + + + org.apache.maven.plugins + maven-assembly-plugin + + + assembly.xml + + myrobotlab + false + + + + trigger-assembly + package + + single + + + + + + + true + org.apache.maven.plugins + maven-compiler-plugin + 2.3.2 + + 11 + 11 + true + true + -parameters + + + + + org.apache.maven.plugins + maven-resources-plugin + 2.4.3 + + + + pl.project13.maven + git-commit-id-plugin + 4.9.10 + + + initialize + get-the-git-infos + + revision + + + + + ${project.basedir}/.git + git + false + true + ${project.build.outputDirectory}/git.properties + + + false + false + -dirty + + + + + + maven-surefire-plugin + org.apache.maven.plugins + 2.22.2 + + -Djava.library.path=libraries/native -Djna.library.path=libraries/native + + **/*Test.java + + + **/integration/* + + + + + + + + org.apache.maven.plugins + maven-clean-plugin + 2.3 + + + + data/.myrobotlab + false + + + libraries + + ** + + false + + + data + + ** + + + + resource + + ** + + + + src/main/resources/resource/framework + + **/serviceData.json + + false + + + + + + + + + + + + org.apache.maven.plugins + maven-surefire-report-plugin + 2.22.2 + + + org.apache.maven.plugins + maven-javadoc-plugin + 3.0.1 + + + + + myrobotlab + http://myrobotlab.org + + + github + https://github.com/MyRobotLab/myrobotlab/issues + + diff --git a/src/main/java/org/myrobotlab/kinematics/DHRobotArm.java b/src/main/java/org/myrobotlab/kinematics/DHRobotArm.java index 03b8c251b9..6fd3e43b13 100644 --- a/src/main/java/org/myrobotlab/kinematics/DHRobotArm.java +++ b/src/main/java/org/myrobotlab/kinematics/DHRobotArm.java @@ -235,7 +235,10 @@ public boolean moveToGoal(Point goal) { int numSteps = 0; double iterStep = 0.05; // we're in millimeters.. - double errorThreshold = 2.0; + double errorThreshold = 20.0; + + maxIterations = 1000; + // what's the current point while (true) { numSteps++; diff --git a/src/main/java/org/myrobotlab/service/FiniteStateMachine.java b/src/main/java/org/myrobotlab/service/FiniteStateMachine.java index a093f61565..e82bdfe744 100644 --- a/src/main/java/org/myrobotlab/service/FiniteStateMachine.java +++ b/src/main/java/org/myrobotlab/service/FiniteStateMachine.java @@ -58,6 +58,21 @@ public class Tuple { public Transition transition; public StateTransition stateTransition; } + + public class StateChange { + public String last; + public String current; + public String event; + public StateChange(String last, String current, String event) { + this.last = last; + this.current = current; + this.event = event; + } + + public String toString() { + return String.format("%s --%s--> %s", last, event, current); + } + } private static Transition toFsmTransition(StateTransition state) { Transition transition = new Transition(); diff --git a/src/main/java/org/myrobotlab/service/Git.java b/src/main/java/org/myrobotlab/service/Git.java index 1d2d3766f5..8832326052 100644 --- a/src/main/java/org/myrobotlab/service/Git.java +++ b/src/main/java/org/myrobotlab/service/Git.java @@ -3,7 +3,6 @@ import java.io.File; import java.io.IOException; import java.util.ArrayList; -import java.util.Arrays; import java.util.List; import java.util.Map; import java.util.Properties; @@ -31,6 +30,7 @@ import org.eclipse.jgit.lib.TextProgressMonitor; import org.eclipse.jgit.revwalk.RevCommit; import org.eclipse.jgit.storage.file.FileRepositoryBuilder; +import org.eclipse.jgit.submodule.SubmoduleWalk; import org.myrobotlab.framework.Platform; import org.myrobotlab.framework.Service; import org.myrobotlab.logging.Level; @@ -45,7 +45,7 @@ public class Git extends Service { public final static Logger log = LoggerFactory.getLogger(Git.class); - transient static TextProgressMonitor monitor = new TextProgressMonitor(); + transient ProgressMonitor monitor = new ProgressMonitor(); Map repos = new TreeMap<>(); @@ -56,76 +56,43 @@ public static class RepoData { String branch; String location; String url; - List branches; String checkout; transient org.eclipse.jgit.api.Git git; - public RepoData(String location, String url, List branches, String checkout, org.eclipse.jgit.api.Git git) { + public RepoData(String location, String url, String checkout, org.eclipse.jgit.api.Git git) { this.location = location; this.url = url; - this.branches = branches; this.checkout = checkout; this.git = git; } } + // TODO - overload updates to publish + public class ProgressMonitor extends TextProgressMonitor { + + } + public Git(String n, String id) { super(n, id); } - - // max complexity clone - public void clone(String location, String url, List inbranches, String incheckout) throws InvalidRemoteException, TransportException, GitAPIException, IOException { - - File repoLocation = new File(location); - org.eclipse.jgit.api.Git git = null; - Repository repo = null; - - List branches = new ArrayList<>(); - for (String b : inbranches) { - if (!b.contains("refs")) { - branches.add("refs/heads/" + b); - } - } - - String checkout = (incheckout.contains("refs")) ? incheckout : "refs/heads/" + incheckout; - - if (!repoLocation.exists()) { - // clone - log.info("cloning {} {} into {}", url, incheckout, location); - git = org.eclipse.jgit.api.Git.cloneRepository().setProgressMonitor(monitor).setURI(url).setDirectory(repoLocation).setBranchesToClone(branches).setBranch(checkout).call(); - - } else { - // Open an existing repository - String gitDir = repoLocation.getAbsolutePath() + File.separator + ".git"; - log.info("opening repo {} from {}", gitDir, url); - repo = new FileRepositoryBuilder().setGitDir(new File(gitDir)).build(); - git = new org.eclipse.jgit.api.Git(repo); - } - - repo = git.getRepository(); - - // checkout - log.info("checking out {}", incheckout); - // git.branchCreate().setForce(true).setName(incheckout).setStartPoint("origin/" - // + incheckout).call(); - git.branchCreate().setForce(true).setName(incheckout).setStartPoint(incheckout).call(); - git.checkout().setName(incheckout).call(); - - repos.put(location, new RepoData(location, url, inbranches, incheckout, git)); - + + public void clone(String location, String url, String branch, String checkout) throws InvalidRemoteException, TransportException, GitAPIException, IOException { + clone(location, url, branch, checkout, false); } + + // max complexity sync - public void sync(String location, String url, List branches, String checkout) throws InvalidRemoteException, TransportException, GitAPIException, IOException { + public void sync(String location, String url, String branch, String checkout) throws InvalidRemoteException, TransportException, GitAPIException, IOException { // initial clone - clone(location, url, branches, checkout); + clone(location, url, branch, checkout); addTask(checkStatusIntervalMs, "checkStatus"); } public void sync(String location, String url, String checkout) throws InvalidRemoteException, TransportException, GitAPIException, IOException { - sync(location, url, Arrays.asList(checkout), checkout); + sync(location, url, checkout, checkout); } public RevCommit checkStatus() throws WrongRepositoryStateException, InvalidConfigurationException, InvalidRemoteException, CanceledException, RefNotFoundException, @@ -167,7 +134,7 @@ public RevCommit publishPull(RevCommit commit) { return commit; } - private static List getLogs(org.eclipse.jgit.api.Git git, String ref, int maxCount) + private List getLogs(org.eclipse.jgit.api.Git git, String ref, int maxCount) throws RevisionSyntaxException, NoHeadException, MissingObjectException, IncorrectObjectTypeException, AmbiguousObjectException, GitAPIException, IOException { List ret = new ArrayList<>(); Repository repository = git.getRepository(); @@ -193,17 +160,17 @@ public void stopSync() { purgeTasks(); } - static public int pull() throws WrongRepositoryStateException, InvalidConfigurationException, DetachedHeadException, InvalidRemoteException, CanceledException, - RefNotFoundException, NoHeadException, TransportException, IOException, GitAPIException { + public int pull() throws WrongRepositoryStateException, InvalidConfigurationException, DetachedHeadException, InvalidRemoteException, CanceledException, RefNotFoundException, + NoHeadException, TransportException, IOException, GitAPIException { return pull(null, null); } - static public int pull(String branch) throws WrongRepositoryStateException, InvalidConfigurationException, DetachedHeadException, InvalidRemoteException, CanceledException, + public int pull(String branch) throws WrongRepositoryStateException, InvalidConfigurationException, DetachedHeadException, InvalidRemoteException, CanceledException, RefNotFoundException, NoHeadException, TransportException, IOException, GitAPIException { return pull(null, branch); } - static org.eclipse.jgit.api.Git getGit(String rootFolder) throws IOException { + org.eclipse.jgit.api.Git getGit(String rootFolder) throws IOException { if (rootFolder == null) { rootFolder = System.getProperty("user.dir"); } @@ -224,7 +191,7 @@ static org.eclipse.jgit.api.Git getGit(String rootFolder) throws IOException { return git; } - static public int pull(String src, String branch) throws IOException, WrongRepositoryStateException, InvalidConfigurationException, DetachedHeadException, InvalidRemoteException, + public int pull(String src, String branch) throws IOException, WrongRepositoryStateException, InvalidConfigurationException, DetachedHeadException, InvalidRemoteException, CanceledException, RefNotFoundException, NoHeadException, TransportException, GitAPIException { if (src == null) { @@ -278,11 +245,11 @@ static public int pull(String src, String branch) throws IOException, WrongRepos return 0; } - static public void init() throws IllegalStateException, GitAPIException { + public void init() throws IllegalStateException, GitAPIException { init(null); } - static public void init(String directory) throws IllegalStateException, GitAPIException { + public void init(String directory) throws IllegalStateException, GitAPIException { if (directory == null) { directory = System.getProperty("user.dir"); } @@ -291,55 +258,30 @@ static public void init(String directory) throws IllegalStateException, GitAPIEx org.eclipse.jgit.api.Git git = org.eclipse.jgit.api.Git.init().setDirectory(dir).call(); } - public static void main(String[] args) { - try { - - LoggingFactory.init(Level.INFO); - - Properties properties = Platform.gitProperties(); - Git.removeProps(); - log.info("{}", properties); - - /* - * // start the service Git git = (Git) Runtime.start("git", "Git"); - * - * // check out and sync every minute // git.sync("test", - * "https://github.com/MyRobotLab/WorkE.git", "master"); // - * git.sync("/lhome/grperry/github/mrl/myrobotlab", // - * "https://github.com/MyRobotLab/myrobotlab.git", "agent-removal"); - * git.gitPull("agent-removal"); // - * git.sync(System.getProperty("user.dir"), // - * "https://github.com/MyRobotLab/myrobotlab.git", "agent-removal"); - */ - } catch (Exception e) { - log.error("main threw", e); - } - } - - public static String getBranch() throws IOException { + public String getBranch() throws IOException { return getBranch(null); } - public static String getBranch(String src) throws IOException { + public String getBranch(String src) throws IOException { org.eclipse.jgit.api.Git git = getGit(src); return git.getRepository().getBranch(); } - public static Status status() throws NoWorkTreeException, IOException, GitAPIException { + public Status status() throws NoWorkTreeException, IOException, GitAPIException { return status(null); } - public static Status status(String src) throws IOException, NoWorkTreeException, GitAPIException { + public Status status(String src) throws IOException, NoWorkTreeException, GitAPIException { org.eclipse.jgit.api.Git git = getGit(src); Status status = git.status().call(); return status; } - public static void removeProps() { + public void removeProps() { removeProps(null); } - public static void removeProps(String rootFolder) { + public void removeProps(String rootFolder) { if (rootFolder == null) { rootFolder = System.getProperty("user.dir"); } @@ -349,4 +291,89 @@ public static void removeProps(String rootFolder) { } + public static void main(String[] args) { + try { + + LoggingFactory.init(Level.INFO); + + Properties properties = Platform.gitProperties(); + // Git.removeProps(); + log.info("{}", properties); + Git git = (Git) Runtime.start("git", "Git"); + git.clone("./depthai", "https://github.com/luxonis/depthai.git", "main", "refs/tags/v1.13.1-sdk", true); + log.info("here"); + + + } catch (Exception e) { + log.error("main threw", e); + } + } + + // max complexity clone and checkout + public void clone(String location, String url, String branch, String checkout, boolean recursive) throws InvalidRemoteException, TransportException, GitAPIException, IOException { + + File repoLocation = new File(location); + org.eclipse.jgit.api.Git git = null; + Repository repo = null; + + // git clone + + if (!repoLocation.exists()) { + // clone + log.info("cloning {} {} checking out {} into {}", url, branch, checkout, location); + git = org.eclipse.jgit.api.Git.cloneRepository().setProgressMonitor(monitor).setURI(url).setDirectory(repoLocation).setBranch(branch).call(); + + } else { + // Open an existing repository + String gitDir = repoLocation.getAbsolutePath() + File.separator + ".git"; + log.info("opening repo {} from {}", gitDir, url); + repo = new FileRepositoryBuilder().setGitDir(new File(gitDir)).build(); + git = new org.eclipse.jgit.api.Git(repo); + } + + repo = git.getRepository(); + + // git pull + + PullCommand pullCmd = git.pull() + // .setRemote(remoteName) + // .setCredentialsProvider(new + // UsernamePasswordCredentialsProvider(username, password)) + .setRemoteBranchName(branch); + + // Perform the pull operation + pullCmd.call(); + + + // recursive + if (recursive) { + + // Recursively fetch and checkout submodules if they exist + SubmoduleWalk submoduleWalk = SubmoduleWalk.forIndex(repo); + while (submoduleWalk.next()) { + String submodulePath = submoduleWalk.getPath(); + org.eclipse.jgit.api.Git submoduleGit = org.eclipse.jgit.api.Git.open(new File(location, submodulePath)); + submoduleGit.fetch() + .setRemote("origin") + .call(); + submoduleGit.checkout() + .setName(branch) // Replace with the desired branch name + .call(); + } + + } + + if (checkout != null) { + // checkout + log.info("checking out {}", checkout); + // git.branchCreate().setForce(true).setName(incheckout).setStartPoint("origin/" + // + incheckout).call(); + git.branchCreate().setForce(true).setName(branch).setStartPoint(checkout).call(); + git.checkout().setName(checkout).call(); + } + + repos.put(location, new RepoData(location, url, checkout, git)); + + } + } diff --git a/src/main/java/org/myrobotlab/service/InMoov2.java b/src/main/java/org/myrobotlab/service/InMoov2.java index 51dac5ae44..93ffd39f0f 100644 --- a/src/main/java/org/myrobotlab/service/InMoov2.java +++ b/src/main/java/org/myrobotlab/service/InMoov2.java @@ -25,10 +25,11 @@ import org.myrobotlab.opencv.OpenCVData; import org.myrobotlab.programab.PredicateEvent; import org.myrobotlab.programab.Response; +import org.myrobotlab.service.Log.LogEntry; import org.myrobotlab.service.abstracts.AbstractSpeechRecognizer; import org.myrobotlab.service.abstracts.AbstractSpeechSynthesis; import org.myrobotlab.service.config.InMoov2Config; -import org.myrobotlab.service.config.ServiceConfig; +import org.myrobotlab.service.data.Event; import org.myrobotlab.service.data.JoystickData; import org.myrobotlab.service.data.LedDisplayData; import org.myrobotlab.service.data.Locale; @@ -54,6 +55,8 @@ public class InMoov2 extends Service implements ServiceLifeCycleL static String speechRecognizer = "WebkitSpeechRecognition"; + protected static final Set stateDefaults = new TreeSet<>(); + /** * This method will load a python file into the python interpreter. * @@ -93,6 +96,23 @@ public static boolean loadFile(String file) { return true; } + public static void main(String[] args) { + try { + + LoggingFactory.init(Level.ERROR); + // identical to command line start + // Runtime.startConfig("inmoov2"); + Runtime.main(new String[] { "--log-level", "info", "-s", "webgui", "WebGui", "intro", "Intro", "python", "Python" }); + } catch (Exception e) { + log.error("main threw", e); + } + } + + /** + * the config that was processed before booting, if there was one. + */ + String bootedConfig = null; + protected transient ProgramAB chatBot; protected List configList; @@ -103,16 +123,35 @@ public static boolean loadFile(String file) { */ protected boolean configStarted = false; - String currentConfigurationName = "default"; + /** + * map of events or states to sounds + */ + protected Map customSoundMap = new TreeMap<>(); protected transient SpeechRecognizer ear; + protected List errors = new ArrayList<>(); + + /** + * The finite state machine is core to managing state of InMoov2. There is + * very little benefit gained in having the interactions pub/sub. Therefore, + * there will be a direct reference to the fsm. If different state graph is + * needed, then the fsm can provide that service. + */ + private transient FiniteStateMachine fsm = null; // waiting controable threaded gestures we warn user protected boolean gestureAlreadyStarted = false; protected Set gestures = new TreeSet(); + /** + * Prevents actions or events from happening when InMoov2 is first booted + */ + private boolean hasBooted = false; + + protected boolean isPirOn = false; + protected transient HtmlFilter htmlFilter; protected transient ImageDisplay imageDisplay; @@ -121,28 +160,66 @@ public static boolean loadFile(String file) { protected Long lastPirActivityTime; - protected LedDisplayData led = new LedDisplayData(); + protected Map ledDisplayMap = new TreeMap<>(); /** * supported locales */ protected Map locales = null; - protected int maxInactivityTimeSeconds = 120; - protected transient SpeechSynthesis mouth; protected boolean mute = false; protected transient OpenCV opencv; + protected List peersStarted = new ArrayList<>(); + protected transient Python python; + protected long stateLastIdleTime = System.currentTimeMillis(); + + protected long stateLastRandomTime = System.currentTimeMillis(); + protected String voiceSelected; + protected boolean wasMutedBeforeBoot = false; public InMoov2(String n, String id) { super(n, id); + + // add the default InMoov2 state handlers - so the FSM can invoke them + // this is hardcode, because it requires Java methods in InMoov2 + // so it makes sense to hardcode them... + // if a user needs something different, it will happen in pyton-land + // consequence it this will need maintenance if there are new InMoov2 java + // state handlers + stateDefaults.add("wake"); + stateDefaults.add("firstInit"); + stateDefaults.add("idle"); + stateDefaults.add("random"); + stateDefaults.add("sleep"); // listens & dreams, no opencv, waits for + // wakeWord, pir active + stateDefaults.add("powerDown"); // stops heartbeat, listening ? + stateDefaults.add("shutdown");// ends mrl + + ledDisplayMap.put("error", new LedDisplayData(120, 0, 0, 3, 30, 30)); + ledDisplayMap.put("info", new LedDisplayData(0, 0, 120, 1, 30, 30)); + ledDisplayMap.put("success", new LedDisplayData(0, 0, 120, 2, 30, 30)); + ledDisplayMap.put("warn", new LedDisplayData(100, 100, 0, 3, 30, 30)); + ledDisplayMap.put("heartbeat", new LedDisplayData(210, 110, 0, 2, 100, 30)); + ledDisplayMap.put("pirOn", new LedDisplayData(60, 200, 90, 3, 100, 30)); + ledDisplayMap.put("onPeakColor", new LedDisplayData(180, 53, 21, 3, 60, 30)); + + customSoundMap.put("boot", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/confirmation.wav")); + customSoundMap.put("wake", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/ting.wav")); + customSoundMap.put("firstInit", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/select.wav")); + customSoundMap.put("idle", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/start.wav")); + customSoundMap.put("random", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/reveal.wav")); + customSoundMap.put("sleep", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/back.wav")); + customSoundMap.put("powerDown", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/ting.wav")); + customSoundMap.put("shutdown", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/marimba.wav")); + } public void addTextListener(TextListener service) { @@ -451,9 +528,46 @@ public void finishedGesture(String nameOfGesture) { } } - // FIXME - this isn't the callback for fsm - why is it needed here ? - public void fire(String event) { - invoke("publishEvent", event); + public void firstInit() { + log.info("firstInit"); + // cheap way to prevent race condition + // of "wake" firing a state change .. which will spawn + // a system event of FIRST_INIT that will answer this + // question ... + sleep(2000); + ProgramAB chatBot = (ProgramAB) getPeer("chatBot"); + if (chatBot != null) { + chatBot.getResponse("FIRST_INIT"); + } + } + + public void flash(String name) { + LedDisplayData led = ledDisplayMap.get(name); + if (led == null) { + led = ledDisplayMap.get("default"); + } + invoke("publishFlash", led.red, led.green, led.blue, led.count, led.timeOn, led.timeOff); + } + + /** + * used to configure a flashing event - could use configuration to signal + * different colors and states + * + * @return + */ + public void flash() { + if (ledDisplayMap.get("default") != null) { + LedDisplayData led = ledDisplayMap.get("default"); + invoke("publishFlash", led.red, led.green, led.blue, led.count, led.timeOn, led.timeOff); + } + } + + public void flash(int r, int g, int b, int count) { + // FIXME - this should be checking a protected "state" + if (ledDisplayMap.get("default") != null) { + LedDisplayData led = ledDisplayMap.get("default"); + invoke("publishFlash", r, g, b, count, led.timeOn, led.timeOff); + } } public void fullSpeed() { @@ -572,6 +686,10 @@ public InMoov2Hand getRightHand() { return (InMoov2Hand) getPeer("rightHand"); } + public String getState() { + return fsm.getCurrent(); + } + /** * matches on language only not variant expands language match to full InMoov2 * bot locale @@ -616,12 +734,10 @@ public void halfSpeed() { } /** - * execute python scripts in the init directory on startup of the service - * - * @throws IOException + * pir active ear listening for wakeword */ - public void loadInitScripts() throws IOException { - loadScripts(getResourceDir() + fs + "init"); + public void idle() { + log.info("idle"); } public boolean isCameraOn() { @@ -815,6 +931,115 @@ public void moveTorsoBlocking(Double topStom, Double midStom, Double lowStom) { sendToPeer("torso", "moveToBlocking", topStom, midStom, lowStom); } + /** + * At boot all services specified through configuration have started, or if no + * configuration has started minimally the InMoov2 service has started. During + * the processing of config and starting other services data will have + * accumulated, and at boot, some of data may now be inspected and processed + * in a synchronous single threaded way. With reporting after startup, vs + * during, other peer services are not needed (e.g. audioPlayer is no longer + * needed to be started "before" InMoov2 because when boot is called + * everything that is wanted has been started. + * + */ + synchronized public void onBoot() { + + // thinking you shouldn't "boot" twice ? + if (hasBooted) { + log.warn("will not boot again"); + return; + } + + List services = Runtime.getServices(); + for (ServiceInterface si : services) { + if ("Servo".equals(si.getSimpleName())) { + send(si.getFullName(), "setAutoDisable", true); + } + } + + // FIXME - standardize multi-config examples should be available + // moved from startService to allow more simple control + // FIXME standard FileIO copyIfNotExists(src, dst) + try { + // copy config if it doesn't already exist + String resourceBotDir = FileIO.gluePaths(getResourceDir(), "config"); + List files = FileIO.getFileList(resourceBotDir); + for (File f : files) { + String botDir = "data/config/" + f.getName(); + File bDir = new File(botDir); + if (bDir.exists() || !f.isDirectory()) { + log.info("skipping data/config/{}", botDir); + } else { + log.info("will copy new data/config/{}", botDir); + try { + FileIO.copy(f.getAbsolutePath(), botDir); + } catch (Exception e) { + error(e); + } + } + } + } catch (Exception e) { + error(e); + } + + // FIXME - find good way of running an animation "through" a state + if (config.neoPixelBootGreen && getPeer("neoPixel") != null) { + NeoPixel neoPixel = (NeoPixel) getPeer("neoPixel"); + if (neoPixel != null) { + invoke("publishPlayAnimation", config.bootAnimation); + } + } + + if (config.startupSound && getPeer("audioPlayer") != null) { + ((AudioFile) getPeer("audioPlayer")).playBlocking(FileIO.gluePaths(getResourceDir(), "/system/sounds/startupsound.mp3")); + } + + if (config.systemEventsOnBoot) { + // reporting on all services and config started + if (bootedConfig != null) { + // configuration was processed before booting + systemEvent("CONFIG STARTED %s", bootedConfig); + } + + for (String peerKey : peersStarted) { + systemEvent("STARTED %s", peerKey); + } + + if (bootedConfig != null) { + // configuration was processed before booting + systemEvent("CONFIG LOADED %s", bootedConfig); + } + } + + // FIXME - important to do invoke & fsm needs to be consistent order + + // if speaking then turn off animation + + // publish all the errors + + // switch off animations + + // start heartbeat + // say starting heartbeat + if (config.heartbeat) { + startHeartbeat(); + } else { + stopHeartbeat(); + } + + // say finished booting + + fsm.fire("wake"); + + // if (getPeer("mouth") != null) { + // AbstractSpeechSynthesis mouth = + // (AbstractSpeechSynthesis)getPeer("mouth"); + // mouth.setMute(wasMute); + // } + + hasBooted = true; + } + public PredicateEvent onChangePredicate(PredicateEvent event) { log.error("onChangePredicate {}", event); if (event.name.equals("topic")) { @@ -843,12 +1068,6 @@ public void onCreated(String fullname) { log.info("{} created", fullname); } - public void onFinishedConfig(String configName) { - log.info("onFinishedConfig"); - // invoke("publishEvent", "configFinished"); - invoke("publishFinishedConfig", configName); - } - public void onGestureStatus(Status status) { if (!status.equals(Status.success()) && !status.equals(Status.warn("Python process killed !"))) { error("I cannot execute %s, please check logs", lastGestureExecuted); @@ -858,6 +1077,87 @@ public void onGestureStatus(Status status) { unsubscribe("python", "publishStatus", this.getName(), "onGestureStatus"); } + /** + * A generalized recurring event which can preform checks and various other + * methods or tasks. Heartbeats will not start until after boot stage. + */ + public void onHeartbeat() { + try { + // heartbeats can start before config is + // done processing - so the following should + // not be dependent on config + + if (!hasBooted) { + log.info("boot hasn't completed, will not process heartbeat"); + return; + } + + Long lastActivityTime = getLastActivityTime(); + + // FIXME lastActivityTime != 0 is bogus - the value should be null if + // never set + if (config.stateIdleInterval != null && lastActivityTime != null && lastActivityTime != 0 + && lastActivityTime + (config.stateIdleInterval * 1000) < System.currentTimeMillis()) { + stateLastIdleTime = lastActivityTime; + } + + if (System.currentTimeMillis() > stateLastIdleTime + (config.stateIdleInterval * 1000)) { + fsm.fire("idle"); + stateLastIdleTime = System.currentTimeMillis(); + } + + // interval event firing + if (config.stateRandomInterval != null && System.currentTimeMillis() > stateLastRandomTime + (config.stateRandomInterval * 1000)) { + // fsm.fire("random"); + stateLastRandomTime = System.currentTimeMillis(); + } + + } catch (Exception e) { + error(e); + } + + if (config.pirOnFlash && isPeerStarted("pir") && isPirOn) { + flash("pirOn"); + } + + if (config.batteryLevelCheck) { + double batteryLevel = Runtime.getBatteryLevel(); + invoke("publishBatteryLevel", batteryLevel); + // FIXME - thresholding should always have old value or state + // so we don't pump endless errors + if (batteryLevel < 5) { + error("battery level < 5 percent"); + // systemEvent(BATTERY ERROR) + } else if (batteryLevel < 10) { + warn("battery level < 10 percent"); + // systemEvent(BATTERY WARN) + } + } + + // flash error until errors are cleared + if (config.healthCheckFlash) { + if (errors.size() > 0 && ledDisplayMap.containsKey("error")) { + invoke("publishFlash", ledDisplayMap.get("error")); + } else if (ledDisplayMap.containsKey("heartbeat")) { + LedDisplayData heartbeat = ledDisplayMap.get("heartbeat"); + invoke("publishFlash", heartbeat); + } + } + + } + + public void onInactivity() { + log.info("onInactivity"); + + // powerDown ? + + } + + /** + * Central hub of input motion control. Potentially, all input from + * joysticks, quest2 controllers and headset, or any IK service could + * be sent here + */ @Override public void onJointAngles(Map angleMap) { log.debug("onJointAngles {}", angleMap); @@ -878,21 +1178,66 @@ public void onJoystickInput(JoystickData input) throws Exception { invoke("publishEvent", "joystick"); } - public String onNewState(String state) { - log.error("onNewState {}", state); + /** + * Centralized logging system will have all logging from all services, + * including lower level logs that do not propegate as statuses + * + * @param log + * - flushed log from Log service + */ + public void onLogEvents(List log) { + // scan for warn or errors + for (LogEntry entry : log) { + if ("ERROR".equals(entry.level) && errors.size() < 100) { + errors.add(entry); + } + } + } - // put configurable filter here ! + public void onMoveHead(Map map) { + InMoov2Head head = (InMoov2Head) getPeer("head"); + if (head != null) { + head.onMove(map); + } + } - // state substitutions ? - // let python subscribe directly to fsm.publishNewState + public void onMoveLeftArm(Map map) { + InMoov2Arm leftArm = (InMoov2Arm) getPeer("leftArm"); + if (leftArm != null) { + leftArm.onMove(map); + } + } - // if - invoke(state); - // depending on configuration .... - // call python ? - // fire fsm events ? - // do defaults ? - return state; + public void onMoveLeftHand(Map map) { + InMoov2Hand leftHand = (InMoov2Hand) getPeer("leftHand"); + if (leftHand != null) { + leftHand.onMove(map); + } + } + + // public Message publishPython(String method, Object...data) { + // return Message.createMessage(getName(), getName(), method, data); + // } + + public void onMoveRightArm(Map map) { + InMoov2Arm rightArm = (InMoov2Arm) getPeer("rightArm"); + if (rightArm != null) { + rightArm.onMove(map); + } + } + + public void onMoveRightHand(Map map) { + InMoov2Hand rightHand = (InMoov2Hand) getPeer("rightHand"); + if (rightHand != null) { + rightHand.onMove(map); + } + } + + public void onMoveTorso(Map map) { + InMoov2Torso torso = (InMoov2Torso) getPeer("torso"); + if (torso != null) { + torso.onMove(map); + } } public OpenCVData onOpenCVData(OpenCVData data) { @@ -901,35 +1246,35 @@ public OpenCVData onOpenCVData(OpenCVData data) { } /** - * initial callback for Pir sensor Default behavior will be: send fsm event - * onPirOn flash neopixel + * onPeak volume callback TODO - maybe make it variable with volume ? + * + * @param volume + */ + public void onPeak(double volume) { + if (config.neoPixelFlashWhenSpeaking && !configStarted) { + if (volume > 0.5) { + if (ledDisplayMap.get("onPeakColor") != null) { + LedDisplayData onPeakColor = ledDisplayMap.get("onPeakColor"); + invoke("publishFlash", onPeakColor); + } + } + } + } + + /** + * Pir on callback */ public void onPirOn() { - led.action = "flash"; - led.red = 50; - led.green = 100; - led.blue = 150; - led.count = 5; - led.interval = 500; - // FIXME flash on config.flashOnBoot - invoke("publishFlash"); - // pirOn event vs wake event - invoke("publishEvent", "WAKE"); + isPirOn = true; + fsm.fire("wake"); } - // GOOD GOOD GOOD - LOOPBACK - flexible and replacable by python - // yet provides a stable default, which can be fully replaced - // Works using common pub/sub rules - // TODO - this is a loopback power up - // its replaceable by typical subscription rules - public void onPowerUp() { - // CON - type aware - NeoPixel neoPixel = (NeoPixel) getPeer("neoPixel"); - // CON - necessary NPE checking - if (neoPixel != null) { - neoPixel.setColor(0, 130, 0); - neoPixel.playAnimation("Larson Scanner"); - } + /** + * Pir off callback + */ + public void onPirOff() { + isPirOn = false; + fsm.fire("sleep"); } @Override @@ -1101,6 +1446,81 @@ public void onStarted(String name) { } } + /** + * The integration between the FiniteStateMachine (fsm) and the InMoov2 + * service and potentially other services (Python, ProgramAB) happens here. + * + * After boot all state changes get published here. + * + * Some InMoov2 service methods will be called here for "default + * implemenation" of states. If a user doesn't want to have that default + * implementation, they can change it by changing the definition of the state + * machine, and have a new state which will call a Python inmoov2 library + * callback. Overriding, appending, or completely transforming the behavior is + * all easily accomplished by managing the fsm and python inmoov2 library + * callbacks. + * + * Python inmoov2 callbacks ProgramAB topic switching + * + * Depending on config: + * + * + * @param stateChange + * @return + */ + public FiniteStateMachine.StateChange onStateChange(FiniteStateMachine.StateChange stateChange) { + try { + log.error("onStateChange {}", stateChange); + + String current = stateChange.current; + String last = stateChange.last; + + // leaving random state + if ("random".equals(last) && !"random".equals(current) && isPeerStarted("random")) { + Random random = (Random) getPeer("random"); + random.disable(); + } + + if ("wake".equals(last)) { + invoke("publishStopAnimation"); + } + + if (config.systemEventStateChange) { + systemEvent("ON STATE %s", current); + } + + if (config.customSounds && customSoundMap.containsKey(current)) { + invoke("publishPlayAudioFile", customSoundMap.get(current)); + } + + // TODO - only a few InMoov2 state defaults will be called here + if (stateDefaults.contains(current)) { + invoke(current); + } + + // FIXME add topic changes to AIML here ! + // FIXME add clallbacks to inmmoov2 library + + // put configurable filter here ! + + // state substitutions ? + // let python subscribe directly to fsm.publishStateChange + + // if python && configured to do python inmoov2 library callbacks + // do a callback ... default NOOPs should be in library + + // if + // invoke(state); + // depending on configuration .... + // call python ? + // fire fsm events ? + // do defaults ? + } catch (Exception e) { + error(e); + } + return stateChange; + } + @Override public void onStopped(String name) { // using release peer for peer releasing @@ -1117,36 +1537,25 @@ public void onText(String text) { invoke("publishText", text); } - // TODO FIX/CHECK this, migrate from python land public void powerDown() { + // publishFlash(maxInactivityTimeSeconds, maxInactivityTimeSeconds, + // maxInactivityTimeSeconds, maxInactivityTimeSeconds, + // maxInactivityTimeSeconds, maxInactivityTimeSeconds) rest(); - purgeTasks(); + purgeTasks(); // including heartbeat disable(); - if (ear != null) { - ear.lockOutAllGrammarExcept("power up"); + if (chatBot != null) { + chatBot.sleep(); } - // FIXME - DO NOT DO THIS !!!! SIMPLY PUBLISH A POWER DOWN EVENT AND PYTHON - // CAN SUBSCRIBE - // AND MAINTAIN A SET OF onPowerDown: callback methods - python.execMethod("power_down"); - } - - // TODO FIX/CHECK this, migrate from python land - // FIXME - defaultPowerUp switchable + override - public void powerUp() { - enable(); - rest(); - if (ear != null) { - ear.clearLock(); + // FIXME - bad remove it - what is needed ? + // i think this is legacy wake word + ear.lockOutAllGrammarExcept("power up"); } - beginCheckingOnInactivity(); - - python.execMethod("power_up"); } /** @@ -1167,10 +1576,11 @@ public String publishStartConfig(String configName) { return configName; } - public String publishFinishedConfig(String configName) { - info("config %s finished", configName); - invoke("publishEvent", "CONFIG LOADED " + configName); + public void publishBoot() { + log.info("publishBoot"); + } + public String publishConfigFinished(String configName) { return configName; } @@ -1184,15 +1594,19 @@ public List publishConfigList() { return configList; } - /** - * event publisher for the fsm - although other services potentially can - * consume and filter this event channel - * - * @param event - * @return - */ - public String publishEvent(String event) { - return String.format("SYSTEM_EVENT %s", event); + public LedDisplayData publishFlash(int r, int g, int b, int count, long timeOn, long timeOff) { + LedDisplayData data = new LedDisplayData(); + data.red = r; + data.green = g; + data.blue = b; + data.count = count; + data.timeOn = timeOn; + data.timeOff = timeOff; + return data; + } + + public LedDisplayData publishFlash(LedDisplayData data) { + return data; } /** @@ -1217,8 +1631,17 @@ public String publishHeartbeat() { } /** - * A more extensible interface point than publishEvent - * FIXME - create interface for this + * if inactivityTime configured, this event is published after there has not + * been in activity since. + */ + public void publishInactivity() { + log.info("publishInactivity"); + fsm.fire("inactvity"); + } + + /** + * A more extensible interface point than publishEvent FIXME - create + * interface for this * * @param msg * @return @@ -1298,23 +1721,36 @@ public HashMap publishMoveRightArm(Double bicep, Double rotate, return map; } - public HashMap publishMoveRightHand(Double thumb, Double index, Double majeure, Double ringFinger, Double pinky, Double wrist) { - HashMap map = new HashMap<>(); - map.put("thumb", thumb); - map.put("index", index); - map.put("majeure", majeure); - map.put("ringFinger", ringFinger); - map.put("pinky", pinky); - map.put("wrist", wrist); - return map; + public String publishPlayAudioFile(String filename) { + return filename; } - public HashMap publishMoveTorso(Double topStom, Double midStom, Double lowStom) { - HashMap map = new HashMap<>(); - map.put("topStom", topStom); - map.put("midStom", midStom); - map.put("lowStom", lowStom); - return map; + public String publishPlayAnimation(String animation) { + return animation; + } + + /** + * stop animation event + */ + public void publishStopAnimation() { + } + + public FiniteStateMachine.StateChange publishStateChange(FiniteStateMachine.StateChange state) { + log.info("publishStateChange {}", state); + return state; + } + + /** + * event publisher for the fsm - although other services potentially can + * consume and filter this event channel + * + * @param event + * @return + */ + public String publishSystemEvent(String event) { + // well, it turned out underscore was a goofy selection, as underscore in + // aiml is wildcard ... duh + return String.format("SYSTEM_EVENT %s", event); } /** @@ -1325,6 +1761,16 @@ public String publishText(String text) { return text; } + /** + * default this will come from idle after some configurable time period + */ + public void random() { + Random random = (Random) getPeer("random"); + if (random != null) { + random.enable(); + } + } + @Override public void releasePeer(String peerKey) { super.releasePeer(peerKey); @@ -1532,6 +1978,11 @@ public void setRightHandSpeed(Double thumb, Double index, Double majeure, Double setHandSpeed("right", thumb, index, majeure, ringFinger, pinky, wrist); } + // ----------------------------------------------------------------------------- + // These are methods added that were in InMoov1 that we no longer had in + // InMoov2. + // From original InMoov1 so we don't loose the + public void setRightHandSpeed(Integer thumb, Integer index, Integer majeure, Integer ringFinger, Integer pinky, Integer wrist) { setHandSpeed("right", (double) thumb, (double) index, (double) majeure, (double) ringFinger, (double) pinky, (double) wrist); } @@ -1562,10 +2013,17 @@ public void setVoice(String name) { } } - // ----------------------------------------------------------------------------- - // These are methods added that were in InMoov1 that we no longer had in - // InMoov2. - // From original InMoov1 so we don't loose the + public void shutdown() { + log.info("shutdown"); + Runtime.shutdown(); + } + + /** + * ear still listening pir still active + */ + public void sleep() { + log.info("sleep"); + } public void sleeping() { log.error("sleeping"); @@ -1790,53 +2248,33 @@ public void startService() { // get service start and release life cycle events runtime.attachServiceLifeCycleListener(getName()); - - List services = Runtime.getServices(); - for (ServiceInterface si : services) { - if ("Servo".equals(si.getSimpleName())) { - send(si.getFullName(), "setAutoDisable", true); - } - } - - // get events of new services and shutdown - subscribe("runtime", "shutdown"); - // power up loopback subscription - addListener(getName(), "powerUp"); - - subscribe("runtime", "publishConfigList"); - if (runtime.isProcessingConfig()) { - invoke("publishEvent", "configStarted"); - } - subscribe("runtime", "publishStartConfig"); - subscribe("runtime", "publishFinishedConfig"); - // chatbot getresponse attached to publishEvent - addListener("publishEvent", getPeerName("chatBot"), "getResponse"); + // subscribe to config processing events + // runtime callbacks publish the same a local + subscribe("runtime", "publishConfigStarted", "publishConfigStarted"); + subscribe("runtime", "publishConfigFinished", "publishConfigFinished"); - try { - // copy config if it doesn't already exist - String resourceBotDir = FileIO.gluePaths(getResourceDir(), "config"); - List files = FileIO.getFileList(resourceBotDir); - for (File f : files) { - String botDir = "data/config/" + f.getName(); - File bDir = new File(botDir); - if (bDir.exists() || !f.isDirectory()) { - log.info("skipping data/config/{}", botDir); - } else { - log.info("will copy new data/config/{}", botDir); - try { - FileIO.copy(f.getAbsolutePath(), botDir); - } catch (Exception e) { - error(e); - } - } + runtime.invoke("publishConfigList"); + + // iterate through existing started service + // add them to peers booted + for (String name : Runtime.getServiceNames()) { + String peerKey = getPeerKey(name); + if (peerKey != null) { + peersStarted.add(peerKey); } - } catch (Exception e) { - error(e); } - runtime.invoke("publishConfigList"); + if (runtime.isProcessingConfig()) { + // if InMoov2 was started as part of a config set + // set here so boot can be delayed until the config + // set is done + configStarted = true; + bootedConfig = runtime.getConfigName(); + } else { + invoke("publishBoot"); + } } public void startServos() { @@ -1870,6 +2308,7 @@ public void stopGesture() { public void stopHeartbeat() { purgeTask("publishHeartbeat"); + config.heartbeat = false; } public void stopNeopixelAnimation() { @@ -1896,7 +2335,17 @@ public void systemCheck() { Platform platform = Runtime.getPlatform(); setPredicate("system version", platform.getVersion()); // ERROR buffer !!! - invoke("publishEvent", "systemCheckFinished"); + systemEvent("SYSTEMCHECKFINISHED"); // wtf is this? + } + + public String systemEvent(String eventMsg) { + invoke("publishSystemEvent", eventMsg); + return eventMsg; + } + + public String systemEvent(String format, Object... ags) { + String eventMsg = String.format(format, ags); + return systemEvent(eventMsg); } // FIXME - if this is really desired it will drive local references for all @@ -1911,89 +2360,156 @@ public void waitTargetPos() { sendToPeer("torso", "waitTargetPos"); } + public void closeRightHand() { - public static void main(String[] args) { - try { - - LoggingFactory.init(Level.ERROR); - // Platform.setVirtual(true); - // Runtime.start("s01", "Servo"); - // Runtime.start("intro", "Intro"); - - // Runtime.startConfig("pr-1213-1"); - - Runtime.main(new String[] {"--log-level", "info", "-s", "webgui", "WebGui", "intro", "Intro", "python", "Python"}); - - boolean done = true; - if (done) { - return; - } - + // if InMoov2Hand.close/open is used directly + // it prevents user's interception of the data + // and forces InMoov2Hand type to be used :( + // pub/sub is the way - WebGui webgui = (WebGui) Runtime.create("webgui", "WebGui"); - // webgui.setSsl(true); - webgui.autoStartBrowser(false); - // webgui.setPort(8888); - webgui.startService(); + // hardcoded, but if necessary can be put in config + HashMap map = new HashMap<>(); + map.put("thumb", 130.0); + map.put("index", 180.0); + map.put("majeure", 180.0); + map.put("ringFinger", 180.0); + map.put("pinky", 180.0); + invoke("publishMoveRightHand", map); - Runtime.start("python", "Python"); - // Runtime.start("ros", "Ros"); - Runtime.start("intro", "Intro"); - // InMoov2 i01 = (InMoov2) Runtime.start("i01", "InMoov2"); - // i01.startPeer("simulator"); - // Runtime.startConfig("i01-05"); - // Runtime.startConfig("pir-01"); + } - // Polly polly = (Polly)Runtime.start("i01.mouth", "Polly"); - // i01 = (InMoov2) Runtime.start("i01", "InMoov2"); + public void openRightHand() { + // if InMoov2Hand.close/open is used directly + // it prevents user's interception of the data + // and forces InMoov2Hand type to be used :( + // pub/sub is the way + // hardcoded, but if necessary can be put in config + HashMap map = new HashMap<>(); + map.put("thumb", 0.0); + map.put("index", 0.0); + map.put("majeure", 0.0); + map.put("ringFinger", 0.0); + map.put("pinky", 0.0); + invoke("publishMoveRightHand", map); + } + + public void closeLeftHand() { + + // if InMoov2Hand.close/open is used directly + // it prevents user's interception of the data + // and forces InMoov2Hand type to be used :( + // pub/sub is the way + + // hardcoded, but if necessary can be put in config + HashMap map = new HashMap<>(); + map.put("thumb", 130.0); + map.put("index", 180.0); + map.put("majeure", 180.0); + map.put("ringFinger", 180.0); + map.put("pinky", 180.0); + invoke("publishMoveLeftHand", map); - // polly.speakBlocking("Hi, to be or not to be that is the question, - // wheather to take arms against a see of trouble, and by aposing them end - // them, to sleep, to die"); - // i01.startPeer("mouth"); - // i01.speakBlocking("Hi, to be or not to be that is the question, - // wheather to take arms against a see of trouble, and by aposing them end - // them, to sleep, to die"); + } - Runtime.start("python", "Python"); + public void openLeftHand() { + // if InMoov2Hand.close/open is used directly + // it prevents user's interception of the data + // and forces InMoov2Hand type to be used :( + // pub/sub is the way - // i01.startSimulator(); - Plan plan = Runtime.load("webgui", "WebGui"); - // WebGuiConfig webgui = (WebGuiConfig) plan.get("webgui"); - // webgui.autoStartBrowser = false; - Runtime.startConfig("webgui"); - Runtime.start("webgui", "WebGui"); + // hardcoded, but if necessary can be put in config + HashMap map = new HashMap<>(); + map.put("thumb", 0.0); + map.put("index", 0.0); + map.put("majeure", 0.0); + map.put("ringFinger", 0.0); + map.put("pinky", 0.0); + invoke("publishMoveLeftHand", map); + } - Random random = (Random) Runtime.start("random", "Random"); + public void openHands() { + openLeftHand(); + openRightHand(); + } - random.addRandom(3000, 8000, "i01", "setLeftArmSpeed", 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0); - random.addRandom(3000, 8000, "i01", "setRightArmSpeed", 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0); + public void closeHands() { + closeLeftHand(); + closeRightHand(); + } + + public Event onEvent(Event event) { + + return event; + } + + public void wake() { + log.info("wake"); + // do waking things - based on config + + // blink + + // wake gesture + // callback + // imoov2[{name}]["onWake"](this) + /** + * 
    +     i01.speakBlocking("I was sleeping")
+     lookrightside()
+     sleep(2)
+     lookleftside()
+     sleep(4)
+     relax()
+     ear.clearLock()
+     sleep(2)
+     i01.finishedGesture()
+     *
    + */ + + /** + * 
    +     * // legacy
+     * enable();
+     * rest();
+     * 
+     * if (ear != null) {
+     *   ear.clearLock();
+     * }
+     * 
+     * // beginCheckingOnInactivity();
+     * // BAD BAD BAD !!!
+     * publishEvent("powerUp"); // before or after loopback
+     *
    + **/ + // was a relax gesture .. might want to ask about it .. + + // if ear start listening + AbstractSpeechRecognizer ear = (AbstractSpeechRecognizer) getPeer("ear"); + if (ear != null) { + ear.startListening(); + } - random.addRandom(3000, 8000, "i01", "moveLeftArm", 0.0, 5.0, 85.0, 95.0, 25.0, 30.0, 10.0, 15.0); - random.addRandom(3000, 8000, "i01", "moveRightArm", 0.0, 5.0, 85.0, 95.0, 25.0, 30.0, 10.0, 15.0); + // attempt recognize where its at - random.addRandom(3000, 8000, "i01", "setLeftHandSpeed", 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0); - random.addRandom(3000, 8000, "i01", "setRightHandSpeed", 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0); + // attempt to recognize people - random.addRandom(3000, 8000, "i01", "moveRightHand", 10.0, 160.0, 10.0, 60.0, 10.0, 60.0, 10.0, 60.0, 10.0, 60.0, 130.0, 175.0); - random.addRandom(3000, 8000, "i01", "moveLeftHand", 10.0, 160.0, 10.0, 60.0, 10.0, 60.0, 10.0, 60.0, 10.0, 60.0, 5.0, 40.0); + // look for activity - random.addRandom(200, 1000, "i01", "setHeadSpeed", 8.0, 20.0, 8.0, 20.0, 8.0, 20.0); - random.addRandom(200, 1000, "i01", "moveHead", 70.0, 110.0, 65.0, 115.0, 70.0, 110.0); + // say hello - random.addRandom(200, 1000, "i01", "setTorsoSpeed", 2.0, 5.0, 2.0, 5.0, 2.0, 5.0); - random.addRandom(200, 1000, "i01", "moveTorso", 85.0, 95.0, 88.0, 93.0, 70.0, 110.0); + // start animation (configurable) - random.save(); + rest(); -// i01.startChatBot(); -// -// i01.startAll("COM3", "COM4"); - Runtime.start("python", "Python"); + // should "session be determined by recognition?" + ProgramAB chatBot = (ProgramAB) getPeer("chatBot"); - } catch (Exception e) { - log.error("main threw", e); + if (chatBot != null) { + String firstinit = chatBot.getPredicate("firstinit"); + // wtf - "ok" really, for a boolean? + if (!"ok".equals(firstinit)) { + fsm.fire("firstInit"); + } } } diff --git a/src/main/java/org/myrobotlab/service/InMoov2Head.java b/src/main/java/org/myrobotlab/service/InMoov2Head.java index 11d71fba7c..a8b3fb2b4f 100644 --- a/src/main/java/org/myrobotlab/service/InMoov2Head.java +++ b/src/main/java/org/myrobotlab/service/InMoov2Head.java @@ -142,15 +142,34 @@ public void disable() { eyelidRight.disable(); } - public long getLastActivityTime() { - - long lastActivityTime = Math.max(rothead.getLastActivityTime(), neck.getLastActivityTime()); - lastActivityTime = Math.max(lastActivityTime, eyeX.getLastActivityTime()); - lastActivityTime = Math.max(lastActivityTime, eyeY.getLastActivityTime()); - lastActivityTime = Math.max(lastActivityTime, jaw.getLastActivityTime()); - lastActivityTime = Math.max(lastActivityTime, rollNeck.getLastActivityTime()); - lastActivityTime = Math.max(lastActivityTime, eyelidLeft.getLastActivityTime()); - lastActivityTime = Math.max(lastActivityTime, eyelidRight.getLastActivityTime()); + public Long getLastActivityTime() { + + Long lastActivityTime = Math.max(rothead.getLastActivityTime(), neck.getLastActivityTime()); + if (getPeer("eyeX") != null) { + lastActivityTime = Math.max(lastActivityTime, eyeX.getLastActivityTime()); + } + if (getPeer("eyeY") != null) { + lastActivityTime = Math.max(lastActivityTime, eyeY.getLastActivityTime()); + } + if (getPeer("jaw") != null) { + lastActivityTime = Math.max(lastActivityTime, jaw.getLastActivityTime()); + } + if (getPeer("rollNeck") != null) { + lastActivityTime = Math.max(lastActivityTime, rollNeck.getLastActivityTime()); + } + if (getPeer("rollNeck") != null) { + lastActivityTime = Math.max(lastActivityTime, rothead.getLastActivityTime()); + } + if (getPeer("rollNeck") != null) { + lastActivityTime = Math.max(lastActivityTime, neck.getLastActivityTime()); + } + + if (getPeer("eyelidLeft") != null) { + lastActivityTime = Math.max(lastActivityTime, eyelidLeft.getLastActivityTime()); + } + if (getPeer("eyelidRight") != null) { + lastActivityTime = Math.max(lastActivityTime, eyelidRight.getLastActivityTime()); + } return lastActivityTime; } diff --git a/src/main/java/org/myrobotlab/service/InverseKinematics3D.java b/src/main/java/org/myrobotlab/service/InverseKinematics3D.java index 05524a2630..378fd2440c 100644 --- a/src/main/java/org/myrobotlab/service/InverseKinematics3D.java +++ b/src/main/java/org/myrobotlab/service/InverseKinematics3D.java @@ -247,6 +247,12 @@ public void publishTelemetry(String name) { log.info("Servo : {} Angle : {}", jointName, angleMap.get(jointName)); } invoke("publishJointAngles", angleMap); + + InMoov2 i01 = (InMoov2)Runtime.getService("i01"); + if (i01 != null) { + i01.onJointAngles(angleMap); + } + // we want to publish the joint positions // this way we can render on the web gui.. double[][] jointPositionMap = createJointPositionMap(name); @@ -292,8 +298,7 @@ public static void main(String[] args) throws Exception { LoggingFactory.init("info"); String arm = "myArm"; - Runtime.createAndStart("python", "Python"); - Runtime.createAndStart("gui", "SwingGui"); + Runtime.start("python", "Python"); InverseKinematics3D inversekinematics = (InverseKinematics3D) Runtime.start("ik3d", "InverseKinematics3D"); // InverseKinematics3D inversekinematics = new InverseKinematics3D("iksvc"); diff --git a/src/main/java/org/myrobotlab/service/JMonkeyEngine.java b/src/main/java/org/myrobotlab/service/JMonkeyEngine.java index fbc5ef5e99..2174ac739b 100644 --- a/src/main/java/org/myrobotlab/service/JMonkeyEngine.java +++ b/src/main/java/org/myrobotlab/service/JMonkeyEngine.java @@ -1469,7 +1469,7 @@ public void onAnalog(String name, float keyPressed, float tpf) { // PAN -- works(ish) if (mouseMiddle && shiftLeft) { - log.info("PAN !!!!"); + log.debug("panning"); switch (name) { case "mouse-axis-x": case "mouse-axis-x-negative": @@ -2157,7 +2157,7 @@ public void simpleInitApp() { new File(getDataDir()).mkdirs(); new File(getResourceDir()).mkdirs(); - // assetManager.registerLocator("./", FileLocator.class); + assetManager.registerLocator("./", FileLocator.class); assetManager.registerLocator(getDataDir(), FileLocator.class); assetManager.registerLocator(assetsDir, FileLocator.class); assetManager.registerLocator(modelsDir, FileLocator.class); diff --git a/src/main/java/org/myrobotlab/service/Log.java b/src/main/java/org/myrobotlab/service/Log.java index fa88732014..3e1fe48847 100644 --- a/src/main/java/org/myrobotlab/service/Log.java +++ b/src/main/java/org/myrobotlab/service/Log.java @@ -34,7 +34,7 @@ import org.myrobotlab.logging.LoggerFactory; import org.myrobotlab.logging.Logging; import org.myrobotlab.logging.LoggingFactory; -import org.myrobotlab.service.config.ServiceConfig; +import org.myrobotlab.service.config.LogConfig; import org.slf4j.Logger; import ch.qos.logback.classic.spi.ILoggingEvent; @@ -44,7 +44,7 @@ import ch.qos.logback.core.spi.FilterReply; import ch.qos.logback.core.status.Status; -public class Log extends Service implements Appender { +public class Log extends Service implements Appender { public static class LogEntry { public long ts; @@ -81,7 +81,7 @@ public String toString() { * broadcast logging is through publishLogEvent (not broadcastState) */ transient List buffer = new ArrayList<>(); - + /** * logging state */ @@ -192,6 +192,7 @@ public void doAppend(ILoggingEvent event) throws LogbackException { synchronized public void flush() { if (buffer.size() > 0) { invoke("publishLogEvents", buffer); + buffer = new ArrayList<>(maxSize); lastPublishLogTimeTs = System.currentTimeMillis(); } @@ -224,6 +225,11 @@ public List publishLogEvents(List entries) { return entries; } + public List publishErrors(List entries) { + return entries; + } + + @Override public void setContext(Context arg0) { // TODO Auto-generated method stub diff --git a/src/main/java/org/myrobotlab/service/NeoPixel.java b/src/main/java/org/myrobotlab/service/NeoPixel.java index e13daf273d..924f7ef219 100644 --- a/src/main/java/org/myrobotlab/service/NeoPixel.java +++ b/src/main/java/org/myrobotlab/service/NeoPixel.java @@ -60,6 +60,12 @@ private class AnimationRunner implements Runnable { public void run() { try { running = true; + while (running) { + LedDisplayData led = displayQueue.take(); + // save existing state if necessary .. + // stop animations if running + // String lastAnimation = currentAnimation; + if ((led.count > 0) && (currentAnimation == null)){ while (running) { equalizer(); @@ -430,6 +436,33 @@ public void flash(int count, long interval, int r, int g, int b) { } + public void flash(int r, int g, int b, int count) { + flash(r, g, b, count, flashTimeOn, flashTimeOff); + } + + public void flash(int r, int g, int b, int count, long timeOn, long timeOff) { + LedDisplayData data = new LedDisplayData(); + data.red = r; + data.green = g; + data.blue = b; + data.count = count; + data.timeOn = timeOn; + data.timeOff = timeOff; + displayQueue.add(data); + } + + public void onPlayAnimation(String animation) { + playAnimation(animation); + } + + public void onStopAnimation() { + stopAnimation(); + } + + public void onFlash(LedDisplayData data) { + displayQueue.add(data); + } + public void flashBrightness(double brightNess) { NeoPixelConfig c = (NeoPixelConfig)config; @@ -580,6 +613,23 @@ public int getRed() { @Override public void playAnimation(String animation) { + if (animation == null) { + log.info("playAnimation null"); + return; + } + + if (animation.equals(currentAnimation)) { + log.info("already playing {}", currentAnimation); + return; + } + +// if ("Snake".equals(animation)){ +// LedDisplayData snake = new LedDisplayData(); +// snake.red = red; +// snake.green = green; +// snake.blue = blue; +// displayQueue.add(null); +// } else if (animations.containsKey(animation)) { currentAnimation = animation; diff --git a/src/main/java/org/myrobotlab/service/OakD.java b/src/main/java/org/myrobotlab/service/OakD.java index 99e9fdbfea..7c0789211c 100644 --- a/src/main/java/org/myrobotlab/service/OakD.java +++ b/src/main/java/org/myrobotlab/service/OakD.java @@ -1,10 +1,12 @@ package org.myrobotlab.service; import org.myrobotlab.framework.Service; +import org.myrobotlab.framework.Status; import org.myrobotlab.logging.Level; import org.myrobotlab.logging.LoggerFactory; import org.myrobotlab.logging.LoggingFactory; -import org.myrobotlab.service.config.ServiceConfig; +import org.myrobotlab.process.GitHub; +import org.myrobotlab.service.config.OakDConfig; import org.slf4j.Logger; /** * @@ -14,16 +16,50 @@ * @author GroG * */ -public class OakD extends Service { +public class OakD extends Service { private static final long serialVersionUID = 1L; public final static Logger log = LoggerFactory.getLogger(OakD.class); + private transient Py4j py4j = null; + private transient Git git = null; + public OakD(String n, String id) { super(n, id); } + public void startService() { + super.startService(); + + py4j = (Py4j)startPeer("py4j"); + git = (Git)startPeer("git"); + + if (config.py4jInstall) { + installDepthAi(); + } + + } + + /** + * starting install of depthapi + */ + public void publishInstallStart() { + } + + public Status publishInstallFinish() { + return Status.error("depth ai install was not successful"); + } + + /** + * For depthai we need to clone its repo and install requirements + * + */ + public void installDepthAi() { + + //git.clone("./", config.depthaiCloneUrl) + py4j.exec(""); + } public static void main(String[] args) { try { diff --git a/src/main/java/org/myrobotlab/service/Pir.java b/src/main/java/org/myrobotlab/service/Pir.java index 5a2f0d750c..eea710f585 100644 --- a/src/main/java/org/myrobotlab/service/Pir.java +++ b/src/main/java/org/myrobotlab/service/Pir.java @@ -9,7 +9,6 @@ import org.myrobotlab.logging.LoggerFactory; import org.myrobotlab.logging.LoggingFactory; import org.myrobotlab.service.config.PirConfig; -import org.myrobotlab.service.config.ServiceConfig; import org.myrobotlab.service.data.PinData; import org.myrobotlab.service.interfaces.PinArrayControl; import org.myrobotlab.service.interfaces.PinDefinition; @@ -52,33 +51,31 @@ public void attach(String name) { } public void setPinArrayControl(String control) { - PirConfig c = (PirConfig) config; - c.controller = control; + config.controller = control; } public void attachPinArrayControl(String control) { - PirConfig c = (PirConfig) config; if (control == null) { error("controller cannot be null"); return; } - if (c.pin == null) { + if (config.pin == null) { error("pin should be set before attaching"); return; } - c.controller = CodecUtils.getShortName(control); + config.controller = CodecUtils.getShortName(control); // fire and forget - send(c.controller, "attach", getName()); + send(config.controller, "attach", getName()); // assume worky isAttached = true; // enable if configured - if (c.enable) { - send(c.controller, "enablePin", c.pin, c.rate); + if (config.enable) { + send(config.controller, "enablePin", config.pin, config.rate); } broadcastState(); @@ -95,16 +92,15 @@ public void detach(String name) { * @param control */ public void detachPinArrayControl(String control) { - PirConfig c = (PirConfig) config; if (control == null) { log.info("detaching null"); return; } - if (c.controller != null) { - if (!c.controller.equals(control)) { - log.warn("attempting to detach {} but this pir is attached to {}", control, c.controller); + if (config.controller != null) { + if (!config.controller.equals(control)) { + log.warn("attempting to detach {} but this pir is attached to {}", control, config.controller); return; } } @@ -112,8 +108,8 @@ public void detachPinArrayControl(String control) { // disable disable(); - send(c.controller, "detach", getName()); - // c.controller = null; left as configuration .. "last controller" + send(config.controller, "detach", getName()); + // config.controller = null; left as configuration .. "last controller" // detached isAttached = false; @@ -128,13 +124,12 @@ public void detachPinArrayControl(String control) { * */ public void disable() { - PirConfig c = (PirConfig) config; - if (c.controller != null && c.pin != null) { - send(c.controller, "disablePin", c.pin); + if (config.controller != null && config.pin != null) { + send(config.controller, "disablePin", config.pin); } - c.enable = false; + config.enable = false; active = null; broadcastState(); } @@ -143,8 +138,7 @@ public void disable() { * Enables polling at the preset poll rate. */ public void enable() { - PirConfig c = (PirConfig) config; - enable(c.rate); + enable(config.rate); } /** @@ -154,14 +148,13 @@ public void enable() { * */ public void enable(int rateHz) { - PirConfig c = (PirConfig) config; - if (c.controller == null) { + if (config.controller == null) { error("pin control not set"); return; } - if (c.pin == null) { + if (config.pin == null) { error("pin not set"); return; } @@ -171,17 +164,16 @@ public void enable(int rateHz) { return; } - c.rate = rateHz; + config.rate = rateHz; /* PinArrayControl.enablePin */ - send(c.controller, "enablePin", c.pin, rateHz); - c.enable = true; + send(config.controller, "enablePin", config.pin, rateHz); + config.enable = true; broadcastState(); } @Override public String getPin() { - PirConfig c = (PirConfig) config; - return c.pin; + return config.pin; } /** @@ -190,8 +182,7 @@ public String getPin() { * @return Hz */ public int getRate() { - PirConfig c = (PirConfig) config; - return c.rate; + return config.rate; } /** @@ -211,8 +202,7 @@ public boolean isActive() { * @return true = Enabled. false = Disabled. */ public boolean isEnabled() { - PirConfig c = (PirConfig) config; - return c.enable; + return config.enable; } @Override @@ -247,13 +237,12 @@ public PirConfig getConfig() { @Override public void onPin(PinData pindata) { - PirConfig c = (PirConfig) config; log.debug("onPin {}", pindata); boolean sense = (pindata.value != 0); // sparse publishing only on state change - if (active == null || active != sense && c.enable) { + if (active == null || active != sense && config.enable) { // state change invoke("publishSense", sense); active = sense; @@ -286,14 +275,12 @@ public void publishPirOff() { */ @Override public void setPin(String pin) { - PirConfig c = (PirConfig) config; - c.pin = pin; + config.pin = pin; } @Deprecated /* use attach(String) */ public void setPinArrayControl(PinArrayControl pinControl) { - PirConfig c = (PirConfig) config; - c.controller = pinControl.getName(); + config.controller = pinControl.getName(); } /** @@ -306,8 +293,7 @@ public void setRate(int rateHz) { error("invalid poll rate - default is 1 Hz valid value is > 0"); return; } - PirConfig c = (PirConfig) config; - c.rate = rateHz; + config.rate = rateHz; } /** diff --git a/src/main/java/org/myrobotlab/service/Random.java b/src/main/java/org/myrobotlab/service/Random.java index 93b8178fd2..dca027aa3a 100644 --- a/src/main/java/org/myrobotlab/service/Random.java +++ b/src/main/java/org/myrobotlab/service/Random.java @@ -183,14 +183,17 @@ public void addRandom(long minIntervalMs, long maxIntervalMs, String name, Strin msg.interval = getRandom(minIntervalMs, maxIntervalMs); log.info("add random message {} in {} ms", key, msg.interval); - addTask(key, 0, msg.interval, "process", key); + if (enabled) { + // only if global enabled is enabled do we start the task + addTask(key, 0, msg.interval, "process", key); + } broadcastState(); } public void process(String key) { - if (!enabled) { - return; - } + // if (!enabled) { + // return; + // } RandomMessage msg = randomData.get(key); if (msg == null || !msg.enabled) { @@ -230,7 +233,11 @@ public void process(String key) { purgeTask(key); if (!msg.oneShot) { msg.interval = getRandom(msg.minIntervalMs, msg.maxIntervalMs); - addTask(key, 0, msg.interval, "process", key); + // must re-schedule unless one shot + if (enabled) { + // only if global enabled is enabled do we start the task + addTask(key, 0, msg.interval, "process", key); + } } } @@ -316,7 +323,10 @@ public void enable(String key) { return; } randomData.get(key).enabled = true; - addTask(key, 0, msg.interval, "process", key); + if (enabled) { + // only if global enabled is enabled do we start the task + addTask(key, 0, msg.interval, "process", key); + } return; } // must be name - disable "all" for this service @@ -325,7 +335,10 @@ public void enable(String key) { if (msg.name.equals(name)) { msg.enabled = true; String fullKey = String.format("%s.%s", msg.name, msg.method); - addTask(fullKey, 0, msg.interval, "process", fullKey); + if (enabled) { + // only if global enabled is enabled do we start the task + addTask(fullKey, 0, msg.interval, "process", fullKey); + } } } } @@ -335,6 +348,7 @@ public void disable() { // events purgeTasks(); enabled = false; + broadcastState(); } public void enable() { @@ -345,7 +359,9 @@ public void enable() { addTask(fullKey, 0, msg.interval, "process", fullKey); } } + enabled = true; + broadcastState(); } public void purge() { @@ -392,9 +408,10 @@ public static void main(String[] args) { List ret = random.getServiceList(); Set mi = random.getMethodsFromName("c1"); List mes = MethodCache.getInstance().query("Clock", "setInterval"); - + random.disable(); random.addRandom(200, 1000, "i01", "setHeadSpeed", 8, 20, 8, 20, 8, 20); random.addRandom(200, 1000, "i01", "moveHead", 65, 115, 65, 115, 65, 115); + random.enable(); // Python python = (Python) Runtime.start("python", "Python"); diff --git a/src/main/java/org/myrobotlab/service/Updater.java b/src/main/java/org/myrobotlab/service/Updater.java index 779dc1c81f..f97f3149e6 100644 --- a/src/main/java/org/myrobotlab/service/Updater.java +++ b/src/main/java/org/myrobotlab/service/Updater.java @@ -4,11 +4,32 @@ import java.io.FilenameFilter; import java.io.IOException; import java.io.UnsupportedEncodingException; +import java.util.ArrayList; import java.util.HashSet; +import java.util.List; import java.util.Properties; import java.util.Set; import java.util.TreeSet; +import org.eclipse.jgit.api.PullCommand; +import org.eclipse.jgit.api.errors.CanceledException; +import org.eclipse.jgit.api.errors.DetachedHeadException; +import org.eclipse.jgit.api.errors.GitAPIException; +import org.eclipse.jgit.api.errors.InvalidConfigurationException; +import org.eclipse.jgit.api.errors.InvalidRemoteException; +import org.eclipse.jgit.api.errors.NoHeadException; +import org.eclipse.jgit.api.errors.RefNotFoundException; +import org.eclipse.jgit.api.errors.TransportException; +import org.eclipse.jgit.api.errors.WrongRepositoryStateException; +import org.eclipse.jgit.errors.AmbiguousObjectException; +import org.eclipse.jgit.errors.IncorrectObjectTypeException; +import org.eclipse.jgit.errors.MissingObjectException; +import org.eclipse.jgit.errors.RevisionSyntaxException; +import org.eclipse.jgit.lib.BranchTrackingStatus; +import org.eclipse.jgit.lib.Repository; +import org.eclipse.jgit.lib.TextProgressMonitor; +import org.eclipse.jgit.revwalk.RevCommit; +import org.eclipse.jgit.storage.file.FileRepositoryBuilder; import org.myrobotlab.codec.CodecUtils; import org.myrobotlab.framework.CmdOptions; import org.myrobotlab.framework.MrlException; @@ -392,10 +413,13 @@ public void checkForUpdates() { if (isSrcMode) { String cwd = System.getProperty("user.dir"); boolean makeBuild = false; - String branch = Git.getBranch(); + + Repository repo = new FileRepositoryBuilder().setGitDir(new File(System.getProperty("user.dir"))).build(); + org.eclipse.jgit.api.Git git = new org.eclipse.jgit.api.Git(repo); + String branch = git.getRepository().getBranch(); log.info("current source branch is \"{}\"", branch); - int commitsBehind = Git.pull(branch); + int commitsBehind = pull(null, branch); if (gitProps == null) { log.info("target/classes/git.properties does not exist - will build"); @@ -413,7 +437,8 @@ public void checkForUpdates() { // FIXME - download mvn if it does not exist ?? // remove git properties before compile - Git.removeProps(); + File props = new File(System.getProperty("user.dir") + File.separator + "target" + File.separator + "classes" + File.separator + "git.properties"); + props.delete(); // FIXME - compile or package mode ! String ret = Maven.mvn(cwd, branch, "compile", System.currentTimeMillis() / 1000, offline); @@ -613,6 +638,73 @@ public boolean accept(File dir, String name) { return false; } + TextProgressMonitor monitor = new TextProgressMonitor(); + + public int pull(String src, String branch) throws IOException, WrongRepositoryStateException, InvalidConfigurationException, DetachedHeadException, InvalidRemoteException, + CanceledException, RefNotFoundException, NoHeadException, TransportException, GitAPIException { + + if (src == null) { + src = System.getProperty("user.dir"); + } + + if (branch == null) { + log.warn("branch is not set - setting to default develop"); + branch = "develop"; + } + + List branches = new ArrayList(); + branches.add("refs/heads/" + branch); + + File repoParentFolder = new File(src); + + org.eclipse.jgit.api.Git git = null; + Repository repo = null; + + // Open an existing repository FIXME Try Git.open(dir) + String gitDir = repoParentFolder.getAbsolutePath() + "/.git"; + repo = new FileRepositoryBuilder().setGitDir(new File(gitDir)).build(); + git = new org.eclipse.jgit.api.Git(repo); + + repo = git.getRepository(); + git.branchCreate().setForce(true).setName(branch).setStartPoint(branch).call(); + git.checkout().setName(branch).call(); + + git.fetch().setProgressMonitor(monitor).call(); + + List localLogs = getLogs(git, "origin/" + branch, 1); + List remoteLogs = getLogs(git, "remotes/origin/" + branch, 1); + + RevCommit localCommit = localLogs.get(0); + RevCommit remoteCommit = remoteLogs.get(0); + + BranchTrackingStatus status = BranchTrackingStatus.of(repo, branch); + + // FIXME - Git.close() file handles + + if (status.getBehindCount() > 0) { + log.info("local ts {}, remote {} - {} pulling", localCommit.getCommitTime(), remoteCommit.getCommitTime(), remoteCommit.getFullMessage()); + PullCommand pullCmd = git.pull(); + pullCmd.setProgressMonitor(monitor); + pullCmd.call(); + git.close(); + return status.getBehindCount(); + } + log.info("no new commits on branch {}", branch); + git.close(); + return 0; + } + + private List getLogs(org.eclipse.jgit.api.Git git, String ref, int maxCount) + throws RevisionSyntaxException, NoHeadException, MissingObjectException, IncorrectObjectTypeException, AmbiguousObjectException, GitAPIException, IOException { + List ret = new ArrayList<>(); + Repository repository = git.getRepository(); + Iterable logs = git.log().setMaxCount(maxCount).add(repository.resolve(ref)).call(); + for (RevCommit rev : logs) { + ret.add(rev); + } + return ret; + } + public static void main(String[] args) { LoggingFactory.init(Level.INFO); diff --git a/src/main/java/org/myrobotlab/service/WebXR.java b/src/main/java/org/myrobotlab/service/WebXR.java new file mode 100644 index 0000000000..63a3f1f3ed --- /dev/null +++ b/src/main/java/org/myrobotlab/service/WebXR.java @@ -0,0 +1,155 @@ +package org.myrobotlab.service; + +import java.util.HashMap; +import java.util.Map; + +import org.myrobotlab.framework.Service; +import org.myrobotlab.kinematics.Point; +import org.myrobotlab.logging.Level; +import org.myrobotlab.logging.LoggerFactory; +import org.myrobotlab.logging.LoggingFactory; +import org.myrobotlab.math.MapperSimple; +import org.myrobotlab.service.config.WebXRConfig; +import org.myrobotlab.service.data.Event; +import org.myrobotlab.service.data.Pose; +import org.slf4j.Logger; + +public class WebXR extends Service { + + private static final long serialVersionUID = 1L; + + public final static Logger log = LoggerFactory.getLogger(WebXR.class); + + public WebXR(String n, String id) { + super(n, id); + } + + public Event publishEvent(Event event) { + if (log.isDebugEnabled()) { + log.debug("publishEvent {}", event); + } + + String path = String.format("event.%s.%s", event.meta.get("handedness"), event.type); + if (event.value != null) { + path = path + "." + event.value.toString(); + } + + if (config.eventMappings.containsKey(path)) { + // TODO - future might be events -> message that goes to ServoMixer .e.g mixer.playGesture("closeHand") + // or sadly Python execute script for total chaos :P + invoke("publishJointAngles", config.eventMappings.get(path)); + } + + return event; + } + + /** + * Pose is the x,y,z and pitch, roll, yaw of all the devices WebXR found. + * Hopefully, this includes headset, and hand controllers. + * WebXRConfig processes a mapping between these values (usually in radians) to + * servo positions, and will then publish JointAngles for servos. + * + * @param pose + * @return + */ + public Pose publishPose(Pose pose) { + if (log.isDebugEnabled()) { + log.debug("publishPose {}", pose); + } + // process mappings config into joint angles + Map map = new HashMap<>(); + + String path = String.format("%s.orientation.roll", pose.name); + if (config.controllerMappings.containsKey(path)) { + Map mapper = config.controllerMappings.get(path); + for (String name : mapper.keySet()) { + map.put(name, mapper.get(name).calcOutput(pose.orientation.roll)); + } + } + + path = String.format("%s.orientation.pitch", pose.name); + if (config.controllerMappings.containsKey(path)) { + Map mapper = config.controllerMappings.get(path); + for (String name : mapper.keySet()) { + map.put(name, mapper.get(name).calcOutput(pose.orientation.pitch)); + } + } + + path = String.format("%s.orientation.yaw", pose.name); + if (config.controllerMappings.containsKey(path)) { + Map mapper = config.controllerMappings.get(path); + for (String name : mapper.keySet()) { + map.put(name, mapper.get(name).calcOutput(pose.orientation.yaw)); + } + } + + InverseKinematics3D ik = (InverseKinematics3D)Runtime.getService("ik3d"); + if (ik != null && pose.name.equals("left")) { + ik.setCurrentArm("left", InMoov2Arm.getDHRobotArm("i01", "left")); + + ik.centerAllJoints("left"); + + for (int i = 0; i < 1000; ++i) { + + ik.centerAllJoints("left"); + ik.moveTo("left", 0, 0.0+ i * 0.02, 0.0); + + + // ik.moveTo(pose.name, new Point(0, -200, 50)); + } + + // map name + // and then map all position and rotation too :P + Point p = new Point(70 + pose.position.x, -550 + pose.position.y, pose.position.z); + + ik.moveTo(pose.name, p); + } + + if (map.size() > 0) { + invoke("publishJointAngles", map); + } + + // TODO - publishQuaternion + // invoke("publishQuaternion", map); + + return pose; + } + + public Map publishJointAngles(Map map) { + for (String name: map.keySet()) { + log.info("{}.moveTo {}", name, map.get(name)); + } + return map; + } + + public static void main(String[] args) { + try { + + LoggingFactory.init(Level.INFO); + + // identical to command line start + // Runtime.startConfig("inmoov2"); + Runtime.main(new String[] { "--log-level", "info", "-s", "webgui", "WebGui", "intro", "Intro", "python", "Python" }); + boolean done = true; + if (done) + return; + + Runtime.startConfig("webxr"); + boolean done2 = true; + if (done2) + return; + + Runtime.start("webxr", "WebXR"); + WebGui webgui = (WebGui) Runtime.create("webgui", "WebGui"); + // webgui.setSsl(true); + webgui.autoStartBrowser(false); + webgui.startService(); + Runtime.start("vertx", "Vertx"); + InMoov2 i01 = (InMoov2) Runtime.start("i01", "InMoov2"); + i01.startPeer("simulator"); + + } catch (Exception e) { + log.error("main threw", e); + } + } +} diff --git a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java index ecb2d59c4e..8e07cbf5ee 100644 --- a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java +++ b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java @@ -56,7 +56,9 @@ public class InMoov2Config extends ServiceConfig { public boolean openCVFlipPicture=false; public boolean pirEnableTracking = false; - + + public boolean pirOnFlash = true; + /** * play pir sounds when pir switching states * sound located in data/InMoov2/sounds/pir-activated.mp3 @@ -65,10 +67,9 @@ public class InMoov2Config extends ServiceConfig { public boolean pirPlaySounds = true; public boolean pirWakeUp = true; - - public boolean robotCanMoveHeadWhileSpeaking = true; - + public boolean robotCanMoveHeadWhileSpeaking = true; + /** * startup and shutdown will pause inmoov - set the speed to this value then * attempt to move to rest @@ -81,13 +82,45 @@ public class InMoov2Config extends ServiceConfig { public int sleepTimeoutMs=300000; public boolean startupSound = true; - - public int trackingTimeoutMs=10000; + /** + * + */ + public boolean stateChangeIsMute = true; + + /** + * Interval in seconds for a idle state event to fire off. + * If the fsm is in a state which will allow transitioning, the InMoov2 + * state will transition to idle. Heartbeat will fire the event. + */ + public Integer stateIdleInterval = 120; + + + /** + * Interval in seconds for a random state event to fire off. + * If the fsm is in a state which will allow transitioning, the InMoov2 + * state will transition to random. Heartbeat will fire the event. + */ + public Integer stateRandomInterval = 120; + + /** + * Determines if InMoov2 publish system events during boot state + */ + public boolean systemEventsOnBoot = false; + + /** + * Publish system event when state changes + */ + public boolean systemEventStateChange = true; + + public int trackingTimeoutMs = 10000; + public String unlockInsult = "forgive me"; public boolean virtual = false; + public String bootAnimation = "Theater Chase"; + public InMoov2Config() { } @@ -112,6 +145,7 @@ public Plan getDefault(Plan plan, String name) { addDefaultPeerConfig(plan, name, "left", "Arduino", false); addDefaultPeerConfig(plan, name, "leftArm", "InMoov2Arm", false); addDefaultPeerConfig(plan, name, "leftHand", "InMoov2Hand", false); + addDefaultPeerConfig(plan, name, "log", "Log", false); addDefaultPeerConfig(plan, name, "mouth", "MarySpeech", false); addDefaultPeerConfig(plan, name, "mouthControl", "MouthControl", false); addDefaultPeerConfig(plan, name, "neoPixel", "NeoPixel", false); @@ -256,22 +290,28 @@ public Plan getDefault(Plan plan, String name) { FiniteStateMachineConfig fsm = (FiniteStateMachineConfig) plan.get(getPeerName("fsm")); // TODO - events easily gotten from InMoov data ?? auto callbacks in python if exists ? fsm.current = "boot"; - fsm.transitions.add(new Transition("boot", "configStarted", "applyingConfig")); - fsm.transitions.add(new Transition("applyingConfig", "getUserInfo", "getUserInfo")); - fsm.transitions.add(new Transition("applyingConfig", "systemCheck", "systemCheck")); - fsm.transitions.add(new Transition("applyingConfig", "wake", "awake")); - fsm.transitions.add(new Transition("getUserInfo", "systemCheck", "systemCheck")); - fsm.transitions.add(new Transition("systemCheck", "systemCheckFinished", "awake")); - fsm.transitions.add(new Transition("awake", "sleep", "sleeping")); + fsm.transitions.add(new Transition("boot", "wake", "wake")); + fsm.transitions.add(new Transition("wake", "idle", "idle")); + fsm.transitions.add(new Transition("firstInit", "idle", "idle")); + fsm.transitions.add(new Transition("idle", "random", "random")); + fsm.transitions.add(new Transition("random", "idle", "idle")); + fsm.transitions.add(new Transition("idle", "sleep", "sleep")); + fsm.transitions.add(new Transition("sleep", "wake", "wake")); + fsm.transitions.add(new Transition("idle", "powerDown", "powerDown")); + fsm.transitions.add(new Transition("wake", "firstInit", "firstInit")); + // powerDown to shutdown +// fsm.transitions.add(new Transition("systemCheck", "systemCheckFinished", "awake")); +// fsm.transitions.add(new Transition("awake", "sleep", "sleeping")); PirConfig pir = (PirConfig) plan.get(getPeerName("pir")); - pir.pin = "23"; + pir.pin = "D23"; pir.controller = name + ".left"; pir.listeners = new ArrayList<>(); - pir.listeners.add(new Listener("publishPirOn", name, "onPirOn")); - + pir.listeners.add(new Listener("publishPirOn", name)); + pir.listeners.add(new Listener("publishPirOff", name)); + // == Peer - random ============================= RandomConfig random = (RandomConfig) plan.get(getPeerName("random")); random.enabled = false; @@ -388,6 +428,45 @@ public Plan getDefault(Plan plan, String name) { listeners.add(new Listener("publishEvent", name + ".fsm")); + // loopbacks allow user to override or extend with python + listeners.add(new Listener("publishBoot", name)); + listeners.add(new Listener("publishHeartbeat", name)); + listeners.add(new Listener("publishConfigFinished", name)); + listeners.add(new Listener("publishStateChange", name)); + +// listeners.add(new Listener("publishPowerUp", name)); +// listeners.add(new Listener("publishPowerDown", name)); +// listeners.add(new Listener("publishError", name)); + + listeners.add(new Listener("publishMoveHead", name)); + listeners.add(new Listener("publishMoveRightArm", name)); + listeners.add(new Listener("publishMoveLeftArm", name)); + listeners.add(new Listener("publishMoveRightHand", name)); + listeners.add(new Listener("publishMoveLeftHand", name)); + listeners.add(new Listener("publishMoveTorso", name)); + + // service --to--> InMoov2 + AudioFileConfig mouth_audioFile = (AudioFileConfig) plan.get(getPeerName("mouth.audioFile")); + mouth_audioFile.listeners = new ArrayList<>(); + mouth_audioFile.listeners.add(new Listener("publishPeak", name)); + fsm.listeners.add(new Listener("publishStateChange", name, "publishStateChange")); + + + LogConfig log = (LogConfig) plan.get(getPeerName("log")); + log.listeners = new ArrayList<>(); + log.listeners.add(new Listener("publishLogEvents", name)); + +// mouth_audioFile.listeners.add(new Listener("publishAudioEnd", name)); +// mouth_audioFile.listeners.add(new Listener("publishAudioStart", name)); + + // InMoov2 --to--> service + listeners.add(new Listener("publishFlash", getPeerName("neoPixel"), "onLedDisplay")); + listeners.add(new Listener("publishEvent", getPeerName("chatBot"), "getResponse")); + listeners.add(new Listener("publishPlayAudioFile", getPeerName("audioPlayer"))); + + listeners.add(new Listener("publishPlayAnimation", getPeerName("neoPixel"))); + listeners.add(new Listener("publishStopAnimation", getPeerName("neoPixel"))); + // remove the auto-added starts in the plan's runtime RuntimConfig.registry plan.removeStartsWith(name + "."); diff --git a/src/main/java/org/myrobotlab/vertx/ApiVerticle.java b/src/main/java/org/myrobotlab/vertx/ApiVerticle.java new file mode 100644 index 0000000000..a61bd32a1f --- /dev/null +++ b/src/main/java/org/myrobotlab/vertx/ApiVerticle.java @@ -0,0 +1,97 @@ +package org.myrobotlab.vertx; + +import org.myrobotlab.service.config.VertxConfig; +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; + +import io.vertx.core.AbstractVerticle; +import io.vertx.core.http.HttpMethod; +import io.vertx.core.http.HttpServer; +import io.vertx.core.http.HttpServerOptions; +import io.vertx.core.net.SelfSignedCertificate; +import io.vertx.ext.web.Router; +import io.vertx.ext.web.handler.CorsHandler; +import io.vertx.ext.web.handler.StaticHandler; + +/** + * verticle to handle api requests + * + * @author GroG + */ +public class ApiVerticle extends AbstractVerticle { + + public final static Logger log = LoggerFactory.getLogger(ApiVerticle.class); + + private Router router; + + transient private org.myrobotlab.service.Vertx service; + + public ApiVerticle(org.myrobotlab.service.Vertx service) { + super(); + this.service = service; + } + + @Override + public void start() throws Exception { + // process configuration and create handlers + log.info("starting api verticle"); + VertxConfig config = (VertxConfig) service.getConfig(); + + // create a router + router = Router.router(vertx); + + // handle cors requests + router.route().handler(CorsHandler.create("*").allowedMethod(HttpMethod.GET).allowedMethod(HttpMethod.OPTIONS).allowedHeader("Accept").allowedHeader("Authorization") + .allowedHeader("Content-Type")); + + // static file routing + + //StaticHandler root = StaticHandler.create("src/main/resources/resource/Vertx/app"); + // StaticHandler root = StaticHandler.create("src/main/resources/resource/Vertx/app"); + StaticHandler root = StaticHandler.create("../robotlab-x-app/build/"); + root.setCachingEnabled(false); + root.setDirectoryListing(true); + root.setIndexPage("index.html"); + // root.setAllowRootFileSystemAccess(true); + // root.setWebRoot(null); + router.route("/*").handler(root); + + + // router.get("/health").handler(this::generateHealth); + // router.get("/api/transaction/:customer/:tid").handler(this::handleTransaction); + + // create the HTTP server and pass the + // "accept" method to the request handler + HttpServerOptions httpOptions = new HttpServerOptions(); + + if (config.ssl) { + SelfSignedCertificate certificate = SelfSignedCertificate.create(); + httpOptions.setSsl(true); + httpOptions.setKeyCertOptions(certificate.keyCertOptions()); + httpOptions.setTrustOptions(certificate.trustOptions()); + } + httpOptions.setPort(config.port); + + + HttpServer server = vertx.createHttpServer(httpOptions); + // TODO - this is where multiple workers would be defined + // .createHttpServer() + + // WebSocketHandler webSocketHandler = new WebSocketHandler(service); + // server.webSocketHandler(webSocketHandler); + + // FIXME - don't do "long" or "common" processing in the start() + // FIXME - how to do this -> server.webSocketHandler(this::handleWebSocket); + server.webSocketHandler(new WebSocketHandler(service)); + server.requestHandler(router); + // start servers + server.listen(); + } + + + @Override + public void stop() throws Exception { + log.info("stopping api verticle"); + } + +} diff --git a/src/main/java/org/myrobotlab/vertx/WebSocketHandler.java b/src/main/java/org/myrobotlab/vertx/WebSocketHandler.java new file mode 100644 index 0000000000..46df333391 --- /dev/null +++ b/src/main/java/org/myrobotlab/vertx/WebSocketHandler.java @@ -0,0 +1,108 @@ +package org.myrobotlab.vertx; + +import java.lang.reflect.Method; + +import org.myrobotlab.codec.CodecUtils; +import org.myrobotlab.framework.MethodCache; +import org.myrobotlab.framework.interfaces.ServiceInterface; +import org.myrobotlab.logging.LoggerFactory; +import org.myrobotlab.service.Runtime; +import org.slf4j.Logger; + +import io.vertx.core.Handler; +import io.vertx.core.http.ServerWebSocket; + +/** + * Minimal Handler for all websocket messages coming from the react js client. + * + * TODO - what else besides text messages - websocket binary streams ??? text stream ? + * + * @author GroG + * + */ +public class WebSocketHandler implements Handler { + + public final static Logger log = LoggerFactory.getLogger(WebSocketHandler.class); + + /** + * reference to the MRL Vertx service / websocket and http server + */ + transient private org.myrobotlab.service.Vertx service = null; + + /** + * reference to the websocket text message handler + */ + TextMessageHandler textMessageHandler = null; + + public static class TextMessageHandler implements Handler { + + org.myrobotlab.service.Vertx service = null; + + public TextMessageHandler(org.myrobotlab.service.Vertx service) { + this.service = service; + } + + @Override + public void handle(String json) { + log.info("handling {}", json); + + Method method; + try { + + org.myrobotlab.framework.Message msg = CodecUtils.fromJson(json, org.myrobotlab.framework.Message.class); + + Class clazz = Runtime.getClass(msg.name); + if (clazz == null) { + log.error("cannot derive local type from service {}", msg.name); + return; + } + + MethodCache cache = MethodCache.getInstance(); + Object[] params = cache.getDecodedJsonParameters(clazz, msg.method, msg.data); + + method = cache.getMethod(clazz, msg.method, params); + if (method == null) { + service.error("method cache could not find %s.%s(%s)", clazz.getSimpleName(), msg.method, msg.data); + return; + } + + // FIXME - probably shouldn't be invoking, probable should be putting + // the message on the out queue ... not sure + ServiceInterface si = Runtime.getService(msg.name); + // Object ret = method.invoke(si, params); + + // put msg on mrl msg bus :) + // service.in(msg); <- NOT DECODE PARAMS !! + + // if ((new Random()).nextInt(100) == 0) { + // ctx.close(); - will close the websocket !!! + // } else { + // ctx.writeTextMessage("ping"); Useful is writing back + // } + + // replace with typed parameters + msg.data = params; + // queue the message + si.in(msg); + + } catch (Exception e) { + service.error(e); + } + } + } + + public WebSocketHandler(org.myrobotlab.service.Vertx service) { + this.service = service; + this.textMessageHandler = new TextMessageHandler(service); + } + + @Override + public void handle(ServerWebSocket event) { + + // ctx.writeTextMessage("ping"); FIXME - query ? + // FIXME - thread-safe ? how many connections mapped to objects ? + event.textMessageHandler(new TextMessageHandler(service)); + + } + +} From cf072b0b0ac8aabb98e885b3f2281e0faf868320 Mon Sep 17 00:00:00 2001 From: grog Date: Tue, 19 Sep 2023 20:39:35 -0700 Subject: [PATCH 032/232] last of the merge problems hopefully --- .../java/org/myrobotlab/service/InMoov2.java | 102 ------------------ .../java/org/myrobotlab/service/NeoPixel.java | 29 ----- .../service/config/InMoov2Config.java | 20 +--- 3 files changed, 3 insertions(+), 148 deletions(-) diff --git a/src/main/java/org/myrobotlab/service/InMoov2.java b/src/main/java/org/myrobotlab/service/InMoov2.java index dccde82fb8..2227e64cde 100644 --- a/src/main/java/org/myrobotlab/service/InMoov2.java +++ b/src/main/java/org/myrobotlab/service/InMoov2.java @@ -59,8 +59,6 @@ public class InMoov2 extends Service implements ServiceLifeCycleL static String speechRecognizer = "WebkitSpeechRecognition"; - protected static final Set stateDefaults = new TreeSet<>(); - /** * This method will load a python file into the python interpreter. * @@ -1238,97 +1236,6 @@ public void onMoveLeftHand(Map map) { } } - // public Message publishPython(String method, Object...data) { - // return Message.createMessage(getName(), getName(), method, data); - // } - - public void onMoveRightArm(Map map) { - InMoov2Arm rightArm = (InMoov2Arm) getPeer("rightArm"); - if (rightArm != null) { - rightArm.onMove(map); - } - } - - public void onMoveRightHand(Map map) { - InMoov2Hand rightHand = (InMoov2Hand) getPeer("rightHand"); - if (rightHand != null) { - rightHand.onMove(map); - } - } - - public void onMoveTorso(Map map) { - InMoov2Torso torso = (InMoov2Torso) getPeer("torso"); - if (torso != null) { - torso.onMove(map); - } - } - - public void onMoveHead(Map map) { - InMoov2Head head = (InMoov2Head) getPeer("head"); - if (head != null) { - head.onMove(map); - } - } - - public void onMoveLeftArm(Map map) { - InMoov2Arm leftArm = (InMoov2Arm) getPeer("leftArm"); - if (leftArm != null) { - leftArm.onMove(map); - } - } - - public void onMoveLeftHand(Map map) { - InMoov2Hand leftHand = (InMoov2Hand) getPeer("leftHand"); - if (leftHand != null) { - leftHand.onMove(map); - } - } - - // public Message publishPython(String method, Object...data) { - // return Message.createMessage(getName(), getName(), method, data); - // } - - public void onMoveRightArm(Map map) { - InMoov2Arm rightArm = (InMoov2Arm) getPeer("rightArm"); - if (rightArm != null) { - rightArm.onMove(map); - } - } - - public void onMoveRightHand(Map map) { - InMoov2Hand rightHand = (InMoov2Hand) getPeer("rightHand"); - if (rightHand != null) { - rightHand.onMove(map); - } - } - - public void onMoveTorso(Map map) { - InMoov2Torso torso = (InMoov2Torso) getPeer("torso"); - if (torso != null) { - torso.onMove(map); - } - } - - public void onMoveHead(Map map) { - InMoov2Head head = (InMoov2Head) getPeer("head"); - if (head != null) { - head.onMove(map); - } - } - - public void onMoveLeftArm(Map map) { - InMoov2Arm leftArm = (InMoov2Arm) getPeer("leftArm"); - if (leftArm != null) { - leftArm.onMove(map); - } - } - - public void onMoveLeftHand(Map map) { - InMoov2Hand leftHand = (InMoov2Hand) getPeer("leftHand"); - if (leftHand != null) { - leftHand.onMove(map); - } - } // public Message publishPython(String method, Object...data) { // return Message.createMessage(getName(), getName(), method, data); @@ -1623,15 +1530,6 @@ public void publishInactivity() { fsm.fire("inactvity"); } - /** - * if inactivityTime configured, this event is published after there has not - * been in activity since. - */ - public void publishInactivity() { - log.info("publishInactivity"); - fsm.fire("inactvity"); - } - /** * A more extensible interface point than publishEvent FIXME - create * interface for this diff --git a/src/main/java/org/myrobotlab/service/NeoPixel.java b/src/main/java/org/myrobotlab/service/NeoPixel.java index 6955dda14f..20db992f20 100644 --- a/src/main/java/org/myrobotlab/service/NeoPixel.java +++ b/src/main/java/org/myrobotlab/service/NeoPixel.java @@ -63,13 +63,6 @@ private class Worker implements Runnable { public void run() { try { running = true; - while (running) { - LedDisplayData led = displayQueue.take(); - // save existing state if necessary .. - // stop animations if running - // String lastAnimation = currentAnimation; - if ((led.count > 0) && (currentAnimation == null)){ - while (running) { LedDisplayData led = displayQueue.take(); // save existing state if necessary .. @@ -411,17 +404,6 @@ public void flash(int r, int g, int b) { public void flash(int r, int g, int b, int count) { flash(r, g, b, count, flashTimeOn, flashTimeOff); } - - public void flash(int r, int g, int b, int count, long timeOn, long timeOff) { - LedDisplayData data = new LedDisplayData(); - data.red = r; - data.green = g; - data.blue = b; - data.count = count; - data.timeOn = timeOn; - data.timeOff = timeOff; - displayQueue.add(data); - } public void onPlayAnimation(String animation) { playAnimation(animation); @@ -431,17 +413,6 @@ public void onStopAnimation() { stopAnimation(); } - public void onFlash(LedDisplayData data) { - displayQueue.add(data); - } - - public void flashBrightness(double brightNess) { - NeoPixelConfig c = (NeoPixelConfig)config; - - public void onStopAnimation() { - stopAnimation(); - } - public void flash(int r, int g, int b, int count, long timeOn, long timeOff) { LedDisplayData data = new LedDisplayData(); data.red = r; diff --git a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java index bc417b174f..ad359a5913 100644 --- a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java +++ b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java @@ -122,14 +122,7 @@ public class InMoov2Config extends ServiceConfig { * */ public boolean stateChangeIsMute = true; - - public boolean startupSound = true; - - /** - * - */ - public boolean stateChangeIsMute = true; - + /** * Interval in seconds for a idle state event to fire off. * If the fsm is in a state which will allow transitioning, the InMoov2 @@ -497,12 +490,7 @@ public Plan getDefault(Plan plan, String name) { listeners.add(new Listener("publishMoveLeftHand", name)); listeners.add(new Listener("publishMoveTorso", name)); - // service --to--> InMoov2 - AudioFileConfig mouth_audioFile = (AudioFileConfig) plan.get(getPeerName("mouth.audioFile")); - mouth_audioFile.listeners = new ArrayList<>(); - mouth_audioFile.listeners.add(new Listener("publishPeak", name)); - fsm.listeners.add(new Listener("publishStateChange", name, "publishStateChange")); - + LogConfig log = (LogConfig) plan.get(getPeerName("log")); log.listeners = new ArrayList<>(); @@ -519,9 +507,6 @@ public Plan getDefault(Plan plan, String name) { listeners.add(new Listener("publishPlayAnimation", getPeerName("neoPixel"))); listeners.add(new Listener("publishStopAnimation", getPeerName("neoPixel"))); - // remove the auto-added starts in the plan's runtime RuntimConfig.registry - plan.removeStartsWith(name + "."); - // listeners.add(new Listener("publishPowerUp", name)); // listeners.add(new Listener("publishPowerDown", name)); // listeners.add(new Listener("publishError", name)); @@ -533,6 +518,7 @@ public Plan getDefault(Plan plan, String name) { listeners.add(new Listener("publishMoveLeftHand", name)); listeners.add(new Listener("publishMoveTorso", name)); + // service --to--> InMoov2 AudioFileConfig mouth_audioFile = (AudioFileConfig) plan.get(getPeerName("mouth.audioFile")); mouth_audioFile.listeners = new ArrayList<>(); From d52aaa22d50648d514af52ee7a301ebb6f536c65 Mon Sep 17 00:00:00 2001 From: grog Date: Tue, 19 Sep 2023 21:21:50 -0700 Subject: [PATCH 033/232] config specific --- src/main/java/org/myrobotlab/service/NeoPixel.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/org/myrobotlab/service/NeoPixel.java b/src/main/java/org/myrobotlab/service/NeoPixel.java index 20db992f20..5c875b171b 100644 --- a/src/main/java/org/myrobotlab/service/NeoPixel.java +++ b/src/main/java/org/myrobotlab/service/NeoPixel.java @@ -45,7 +45,7 @@ import org.myrobotlab.service.interfaces.NeoPixelController; import org.slf4j.Logger; -public class NeoPixel extends Service implements NeoPixelControl { +public class NeoPixel extends Service implements NeoPixelControl { private BlockingQueue displayQueue = new ArrayBlockingQueue<>(200); @@ -836,7 +836,7 @@ public void playIronman() { } @Override - public ServiceConfig getConfig() { + public NeoPixelConfig getConfig() { NeoPixelConfig config = (NeoPixelConfig) super.getConfig(); // FIXME - remove local fields in favor of config @@ -855,8 +855,8 @@ public ServiceConfig getConfig() { } @Override - public ServiceConfig apply(ServiceConfig c) { - NeoPixelConfig config = (NeoPixelConfig) super.apply(c); + public NeoPixelConfig apply(NeoPixelConfig c) { + super.apply(c); // FIXME - remove local fields in favor of config setPixelDepth(config.pixelDepth); From 4e1a4871d44cd097f0cd8f429399a4e7fc0e6fdc Mon Sep 17 00:00:00 2001 From: grog Date: Tue, 19 Sep 2023 21:24:47 -0700 Subject: [PATCH 034/232] removed cast --- src/main/java/org/myrobotlab/service/NeoPixel.java | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/main/java/org/myrobotlab/service/NeoPixel.java b/src/main/java/org/myrobotlab/service/NeoPixel.java index 5c875b171b..e0726b5921 100644 --- a/src/main/java/org/myrobotlab/service/NeoPixel.java +++ b/src/main/java/org/myrobotlab/service/NeoPixel.java @@ -837,8 +837,7 @@ public void playIronman() { @Override public NeoPixelConfig getConfig() { - - NeoPixelConfig config = (NeoPixelConfig) super.getConfig(); + super.getConfig(); // FIXME - remove local fields in favor of config config.pin = pin; config.pixelCount = pixelCount; From 5b442bd8ca72d2ea9694362669a662561dc36c2c Mon Sep 17 00:00:00 2001 From: grog Date: Wed, 20 Sep 2023 08:00:17 -0700 Subject: [PATCH 035/232] quiet maven tests --- Jenkinsfile | 4 +- .../myrobotlab/framework/repo/IvyWrapper.java | 76 ++++++++++++------- .../service/FiniteStateMachine.java | 2 +- .../java/org/myrobotlab/service/NeoPixel.java | 65 +++++++--------- 4 files changed, 80 insertions(+), 67 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 85c66205f7..aad53da63f 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -101,11 +101,11 @@ pipeline { // TODO - integration tests ! if (isUnix()) { sh ''' - mvn -Dfile.encoding=UTF-8 -Dsurefire.skipAfterFailureCount=1 -DargLine="-Xmx1024m" verify --fail-fast + mvn -Dfile.encoding=UTF-8 -Dsurefire.skipAfterFailureCount=1 -DargLine="-Xmx1024m" verify --fail-fast -q ''' } else { bat ''' - mvn -Dfile.encoding=UTF-8 -Dsurefire.skipAfterFailureCount=1 -DargLine="-Xmx1024m" verify --fail-fast + mvn -Dfile.encoding=UTF-8 -Dsurefire.skipAfterFailureCount=1 -DargLine="-Xmx1024m" verify --fail-fast -q ''' } } diff --git a/src/main/java/org/myrobotlab/framework/repo/IvyWrapper.java b/src/main/java/org/myrobotlab/framework/repo/IvyWrapper.java index 5759c4866e..1608959aba 100644 --- a/src/main/java/org/myrobotlab/framework/repo/IvyWrapper.java +++ b/src/main/java/org/myrobotlab/framework/repo/IvyWrapper.java @@ -74,6 +74,7 @@ public void rawlog(String msg, int level) { static String ivysettingsXmlTemplate = null; static String ivyXmlTemplate = null; + transient static IvyWrapper localInstance = null; public static final Filter NO_FILTER = NoFilter.INSTANCE; @@ -436,8 +437,24 @@ synchronized public void install(String location, String[] serviceTypes) { Platform platform = Platform.getLocalInstance(); - // templates [originalname](-[classifier])(-[revision]).[ext] parens are "optional" - String[] cmd = new String[] { "-settings", location + "/ivysettings.xml", "-ivy", location + "/ivy.xml", "-retrieve", location + "/jar" + "/[originalname].[ext]" }; + // templates [originalname](-[classifier])(-[revision]).[ext] parens are + // "optional" + + List cmd = new ArrayList<>(); + cmd.add("-settings"); + cmd.add(location + "/ivysettings.xml"); + cmd.add("-ivy"); + cmd.add(location + "/ivy.xml"); + cmd.add("-retrieve"); + cmd.add(location + "/jar" + "/[originalname].[ext]"); + + int msgLevel = 1; + if (log.isWarnEnabled() || log.isErrorEnabled()) { + msgLevel = Message.MSG_WARN; + cmd.add("-warn"); + } else { + msgLevel = Message.MSG_INFO; + } StringBuilder sb = new StringBuilder(); sb.append("wget https://repo1.maven.org/maven2/org/apache/ivy/ivy/" + IVY_VERSION + "/ivy-" + IVY_VERSION + ".jar\n"); @@ -453,14 +470,14 @@ synchronized public void install(String location, String[] serviceTypes) { FileIO.toFile("libraries/install.sh", sb.toString().getBytes()); Ivy ivy = Ivy.newInstance(); // <-- for future 2.5.x release - ivy.getLoggerEngine().pushLogger(new IvyWrapperLogger(Message.MSG_INFO)); + ivy.getLoggerEngine().pushLogger(new IvyWrapperLogger(msgLevel)); ResolveReport report = null; List err = new ArrayList<>(); try { - report = Main.run(cmd); - } catch(Exception e) { - err.add(e.toString()); + report = Main.run(cmd.toArray(new String[cmd.size()])); + } catch (Exception e) { + err.add(e.toString()); } // if no errors -h @@ -490,30 +507,37 @@ synchronized public void install(String location, String[] serviceTypes) { save(); } - ArtifactDownloadReport[] artifacts = report.getAllArtifactsReports(); - for (int i = 0; i < artifacts.length; ++i) { - ArtifactDownloadReport ar = artifacts[i]; - Artifact artifact = ar.getArtifact(); - // String filename = IvyPatternHelper.substitute("[originalname].[ext]", - // artifact); - - File file = ar.getLocalFile(); - String filename = file.getAbsoluteFile().getAbsolutePath(); - log.info("{}", filename); + if (report == null) { + log.error("problems resolving dependencies"); + publishStatus(Status.newInstance(Repo.class.getSimpleName(), StatusLevel.ERROR, Repo.INSTALL_FINISHED, + String.format("there was problems resolving dependencies %s", (Object[]) serviceTypes))); + } else { - if ("zip".equalsIgnoreCase(artifact.getExt())) { - info("unzipping %s", filename); - try { - Zip.unzip(filename, "./"); - info("unzipped %s", filename); - } catch (Exception e) { - log.error("unable to unzip file {}", filename, e); + ArtifactDownloadReport[] artifacts = report.getAllArtifactsReports(); + for (int i = 0; i < artifacts.length; ++i) { + ArtifactDownloadReport ar = artifacts[i]; + Artifact artifact = ar.getArtifact(); + // String filename = + // IvyPatternHelper.substitute("[originalname].[ext]", + // artifact); + + File file = ar.getLocalFile(); + String filename = file.getAbsoluteFile().getAbsolutePath(); + log.info("{}", filename); + + if ("zip".equalsIgnoreCase(artifact.getExt())) { + info("unzipping %s", filename); + try { + Zip.unzip(filename, "./"); + info("unzipped %s", filename); + } catch (Exception e) { + log.error("unable to unzip file {}", filename, e); + } } } - } - - publishStatus(Status.newInstance(Repo.class.getSimpleName(), StatusLevel.INFO, Repo.INSTALL_FINISHED, String.format("finished install of %s", (Object[]) serviceTypes))); + publishStatus(Status.newInstance(Repo.class.getSimpleName(), StatusLevel.INFO, Repo.INSTALL_FINISHED, String.format("finished install of %s", (Object[]) serviceTypes))); + } } catch (Exception e) { error(e.getMessage()); log.error(e.getMessage(), e); diff --git a/src/main/java/org/myrobotlab/service/FiniteStateMachine.java b/src/main/java/org/myrobotlab/service/FiniteStateMachine.java index 221fcfcffa..d04436f1e3 100644 --- a/src/main/java/org/myrobotlab/service/FiniteStateMachine.java +++ b/src/main/java/org/myrobotlab/service/FiniteStateMachine.java @@ -243,7 +243,7 @@ public List getTransitions() { * @return */ public StateChange publishStateChange(StateChange stateChange) { - log.error("publishStateChange {}", stateChange); + log.info("publishStateChange {}", stateChange); for (String listener : messageListeners) { ServiceInterface service = Runtime.getService(listener); if (service != null) { diff --git a/src/main/java/org/myrobotlab/service/NeoPixel.java b/src/main/java/org/myrobotlab/service/NeoPixel.java index e0726b5921..8e7b84eafa 100644 --- a/src/main/java/org/myrobotlab/service/NeoPixel.java +++ b/src/main/java/org/myrobotlab/service/NeoPixel.java @@ -39,7 +39,6 @@ import org.myrobotlab.logging.LoggerFactory; import org.myrobotlab.logging.LoggingFactory; import org.myrobotlab.service.config.NeoPixelConfig; -import org.myrobotlab.service.config.ServiceConfig; import org.myrobotlab.service.data.LedDisplayData; import org.myrobotlab.service.interfaces.NeoPixelControl; import org.myrobotlab.service.interfaces.NeoPixelController; @@ -47,7 +46,7 @@ public class NeoPixel extends Service implements NeoPixelControl { - private BlockingQueue displayQueue = new ArrayBlockingQueue<>(200); + private BlockingQueue displayQueue = new ArrayBlockingQueue<>(200); /** * Thread to do animations Java side and push the changing of pixels to the @@ -388,8 +387,8 @@ public void detachNeoPixelController(NeoPixelController neoCntrlr) { public void onLedDisplay(LedDisplayData data) { try { displayQueue.add(data); - } catch(IllegalStateException e) { - log.info("queue full"); + } catch (IllegalStateException e) { + log.info("queue full"); } } @@ -398,13 +397,13 @@ public void flash() { } public void flash(int r, int g, int b) { - flash(r, g, b, flashCount , flashTimeOn, flashTimeOff); + flash(r, g, b, flashCount, flashTimeOn, flashTimeOff); } - + public void flash(int r, int g, int b, int count) { flash(r, g, b, count, flashTimeOn, flashTimeOff); } - + public void onPlayAnimation(String animation) { playAnimation(animation); } @@ -423,21 +422,19 @@ public void flash(int r, int g, int b, int count, long timeOn, long timeOff) { data.timeOff = timeOff; displayQueue.add(data); } - + public void onFlash(LedDisplayData data) { displayQueue.add(data); } public void flashBrightness(double brightNess) { - NeoPixelConfig c = (NeoPixelConfig) config; - setBrightness((int) brightNess); fill(red, green, blue); - if (c.autoClear) { + if (config.autoClear) { purgeTask("clear"); // and start our countdown - addTaskOneShot(c.idleTimeout, "clear"); + addTaskOneShot(config.idleTimeout, "clear"); } } @@ -451,8 +448,6 @@ public void fill(int beginAddress, int count, int r, int g, int b) { } public void fill(int beginAddress, int count, int r, int g, int b, Integer w) { - NeoPixelConfig c = (NeoPixelConfig) config; - if (w == null) { w = 0; } @@ -464,10 +459,10 @@ public void fill(int beginAddress, int count, int r, int g, int b, Integer w) { } np2.neoPixelFill(getName(), beginAddress, count, r, g, b, w); - if (c.autoClear) { + if (config.autoClear) { purgeTask("clear"); // and start our countdown - addTaskOneShot(c.idleTimeout, "clear"); + addTaskOneShot(config.idleTimeout, "clear"); } } @@ -570,19 +565,19 @@ public void playAnimation(String animation) { log.info("playAnimation null"); return; } - + if (animation.equals(currentAnimation)) { log.info("already playing {}", currentAnimation); return; } - -// if ("Snake".equals(animation)){ -// LedDisplayData snake = new LedDisplayData(); -// snake.red = red; -// snake.green = green; -// snake.blue = blue; -// displayQueue.add(null); -// } else + + // if ("Snake".equals(animation)){ + // LedDisplayData snake = new LedDisplayData(); + // snake.red = red; + // snake.green = green; + // snake.blue = blue; + // displayQueue.add(null); + // } else if (animations.containsKey(animation)) { currentAnimation = animation; @@ -649,8 +644,6 @@ public void setBlue(int blue) { } public void setBrightness(int value) { - NeoPixelConfig c = (NeoPixelConfig) config; - NeoPixelController np2 = (NeoPixelController) Runtime.getService(controller); if (controller == null || np2 == null) { error("%s cannot setPixel controller not set", getName()); @@ -659,10 +652,10 @@ public void setBrightness(int value) { brightness = value; np2.neoPixelSetBrightness(getName(), value); - if (c.autoClear) { + if (config.autoClear) { purgeTask("clear"); // and start our countdown - addTaskOneShot(c.idleTimeout, "clear"); + addTaskOneShot(config.idleTimeout, "clear"); } } @@ -714,7 +707,6 @@ public void setPixel(int address, int red, int green, int blue, int white) { * @param delayMs */ public void setPixel(String matrixName, Integer pixelSetIndex, int address, int red, int green, int blue, int white, Integer delayMs) { - NeoPixelConfig c = (NeoPixelConfig) config; // get and update memory cache PixelSet ps = getPixelSet(matrixName, pixelSetIndex); @@ -743,10 +735,10 @@ public void setPixel(String matrixName, Integer pixelSetIndex, int address, int np2.neoPixelWriteMatrix(getName(), pixel.flatten()); - if (c.autoClear) { + if (config.autoClear) { purgeTask("clear"); // and start our countdown - addTaskOneShot(c.idleTimeout, "clear"); + addTaskOneShot(config.idleTimeout, "clear"); } } @@ -796,18 +788,16 @@ public void setColor(int red, int green, int blue) { @Override public void writeMatrix() { - NeoPixelConfig c = (NeoPixelConfig) config; - NeoPixelController np2 = (NeoPixelController) Runtime.getService(controller); if (controller == null || np2 == null) { error("%s cannot writeMatrix controller not set", getName()); return; } np2.neoPixelWriteMatrix(getName(), getPixelSet().flatten()); - if (c.autoClear) { + if (config.autoClear) { purgeTask("clear"); // and start our countdown - addTaskOneShot(c.idleTimeout, "clear"); + addTaskOneShot(config.idleTimeout, "clear"); } } @@ -986,8 +976,7 @@ public void setPin(String pin) { } public boolean setAutoClear(boolean b) { - NeoPixelConfig c = (NeoPixelConfig) config; - c.autoClear = b; + config.autoClear = b; return b; } From 2e567a264724538342275128abd3ad3b84ef80f0 Mon Sep 17 00:00:00 2001 From: grog Date: Wed, 20 Sep 2023 08:01:17 -0700 Subject: [PATCH 036/232] quiet gitactions tests --- .github/workflows/build.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index bf668124e0..0a51dd635c 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -16,4 +16,4 @@ jobs: java-version: '11' distribution: 'adopt' - name: Build with Maven - run: mvn --batch-mode -Dtest=!**/OpenCV* test -X + run: mvn --batch-mode -Dtest=!**/OpenCV* test -q From 167498fb5c757c9991f8269679582379276cf41c Mon Sep 17 00:00:00 2001 From: grog Date: Wed, 20 Sep 2023 08:38:51 -0700 Subject: [PATCH 037/232] updated dependency error will throw --- .../myrobotlab/framework/repo/IvyWrapper.java | 18 ++++++++++-------- .../org/myrobotlab/framework/repo/Repo.java | 16 ++++++++-------- .../java/org/myrobotlab/service/Runtime.java | 3 ++- .../myrobotlab/framework/repo/RepoTest.java | 6 ++---- 4 files changed, 22 insertions(+), 21 deletions(-) diff --git a/src/main/java/org/myrobotlab/framework/repo/IvyWrapper.java b/src/main/java/org/myrobotlab/framework/repo/IvyWrapper.java index 1608959aba..8f124ba52a 100644 --- a/src/main/java/org/myrobotlab/framework/repo/IvyWrapper.java +++ b/src/main/java/org/myrobotlab/framework/repo/IvyWrapper.java @@ -405,9 +405,9 @@ public void installDependency(String location, ServiceDependency library) { } @Override - synchronized public void install(String location, String[] serviceTypes) { + synchronized public void install(String location, String[] serviceTypes) throws IOException { - try { + // try { Set targetLibraries = getUnfulfilledDependencies(serviceTypes); @@ -508,9 +508,11 @@ synchronized public void install(String location, String[] serviceTypes) { } if (report == null) { - log.error("problems resolving dependencies"); + String errorDetail = String.format("there was problems resolving dependencies %s", (Object[]) serviceTypes); + log.error(errorDetail); publishStatus(Status.newInstance(Repo.class.getSimpleName(), StatusLevel.ERROR, Repo.INSTALL_FINISHED, - String.format("there was problems resolving dependencies %s", (Object[]) serviceTypes))); + errorDetail)); + throw new RuntimeException(errorDetail); } else { ArtifactDownloadReport[] artifacts = report.getAllArtifactsReports(); @@ -538,10 +540,10 @@ synchronized public void install(String location, String[] serviceTypes) { publishStatus(Status.newInstance(Repo.class.getSimpleName(), StatusLevel.INFO, Repo.INSTALL_FINISHED, String.format("finished install of %s", (Object[]) serviceTypes))); } - } catch (Exception e) { - error(e.getMessage()); - log.error(e.getMessage(), e); - } +// } catch (Exception e) { +// error(e.getMessage()); +// log.error(e.getMessage(), e); +// } } diff --git a/src/main/java/org/myrobotlab/framework/repo/Repo.java b/src/main/java/org/myrobotlab/framework/repo/Repo.java index 2253e4753f..594ff0931a 100644 --- a/src/main/java/org/myrobotlab/framework/repo/Repo.java +++ b/src/main/java/org/myrobotlab/framework/repo/Repo.java @@ -360,7 +360,7 @@ static public void info(String format, Object... args) { publishStatus(Status.info(format, args)); } - synchronized public void install() { + synchronized public void install() throws Exception { // if a runtime exits we'll broadcast we are starting to install ServiceData sd = ServiceData.getLocalInstance(); info("starting installation of %s services", sd.getServiceTypeNames().length); @@ -368,11 +368,11 @@ synchronized public void install() { info("finished installing %d services", sd.getServiceTypeNames().length); } - synchronized public void install(String serviceType) { + synchronized public void install(String serviceType) throws Exception { install(getInstallDir(), serviceType); } - synchronized public void install(String location, String serviceType) { + synchronized public void install(String location, String serviceType) throws Exception { String[] types = null; if (serviceType == null) { @@ -403,18 +403,18 @@ synchronized public void installDependency(String libraries, String[] installDep abstract public void installDependency(String location, ServiceDependency serviceTypes); - abstract public void install(String location, String[] serviceTypes); + abstract public void install(String location, String[] serviceTypes) throws Exception; - synchronized public void install(String[] serviceTypes) { + synchronized public void install(String[] serviceTypes) throws Exception { install(getInstallDir(), serviceTypes); } - public void installEach() { + public void installEach() throws Exception { String workDir = String.format(String.format("libraries.ivy.services.%d", System.currentTimeMillis())); installEachTo(workDir); } - public void installEachTo(String location) { + public void installEachTo(String location) throws Exception { // if a runtime exits we'll broadcast we are starting to install ServiceData sd = ServiceData.getLocalInstance(); String[] serviceNames = sd.getServiceTypeNames(); @@ -423,7 +423,7 @@ public void installEachTo(String location) { info("finished installing %d services", sd.getServiceTypeNames().length); } - public void installTo(String location) { + public void installTo(String location) throws Exception { // if a runtime exits we'll broadcast we are starting to install ServiceData sd = ServiceData.getLocalInstance(); info("starting installation of %s services", sd.getServiceTypeNames().length); diff --git a/src/main/java/org/myrobotlab/service/Runtime.java b/src/main/java/org/myrobotlab/service/Runtime.java index a6d758f489..7f4f9f656e 100644 --- a/src/main/java/org/myrobotlab/service/Runtime.java +++ b/src/main/java/org/myrobotlab/service/Runtime.java @@ -1536,7 +1536,8 @@ public void run() { r.getRepo().install(serviceType); } } catch (Exception e) { - r.error(e); + r.error("dependencies failed - install error", e); + throw new RuntimeException(String.format("dependencies failed - install error %s", e.getMessage())); } } }; diff --git a/src/test/java/org/myrobotlab/framework/repo/RepoTest.java b/src/test/java/org/myrobotlab/framework/repo/RepoTest.java index 17a7a63c65..f2715dc90d 100644 --- a/src/test/java/org/myrobotlab/framework/repo/RepoTest.java +++ b/src/test/java/org/myrobotlab/framework/repo/RepoTest.java @@ -4,8 +4,6 @@ import static org.junit.Assert.assertTrue; import java.io.File; -import java.io.IOException; -import java.text.ParseException; import java.util.ArrayList; import java.util.Set; @@ -50,7 +48,7 @@ public void setUp() throws Exception { } @Test - public void testAddStatusListener() throws ParseException, IOException { + public void testAddStatusListener() throws Exception { Repo repo = Repo.getInstance(); repo.addStatusPublisher(this); repo.install("Arduino"); @@ -81,7 +79,7 @@ public void testGetUnfulfilledDependencies() { } @Test - public void testIsInstalled() throws ParseException, IOException { + public void testIsInstalled() throws Exception { Repo repo = Repo.getInstance(); repo.clear(); repo.install("Arduino"); From 2acc34f7b0c551ac57d0475b070f0fe83ab2e7a7 Mon Sep 17 00:00:00 2001 From: grog Date: Wed, 20 Sep 2023 09:08:36 -0700 Subject: [PATCH 038/232] added --fail-fast to gitactions --- .github/workflows/build.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 0a51dd635c..60e40fb403 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -16,4 +16,4 @@ jobs: java-version: '11' distribution: 'adopt' - name: Build with Maven - run: mvn --batch-mode -Dtest=!**/OpenCV* test -q + run: mvn --batch-mode --fail-fast -Dtest=!**/OpenCV* test -q From 7e1a22dfef6ec150bbc22bd784faf8158aeb5014 Mon Sep 17 00:00:00 2001 From: grog Date: Wed, 20 Sep 2023 09:46:14 -0700 Subject: [PATCH 039/232] fast-fail only --- Jenkinsfile | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index aad53da63f..6a9d03f05a 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -101,11 +101,11 @@ pipeline { // TODO - integration tests ! if (isUnix()) { sh ''' - mvn -Dfile.encoding=UTF-8 -Dsurefire.skipAfterFailureCount=1 -DargLine="-Xmx1024m" verify --fail-fast -q + mvn -Dfile.encoding=UTF-8 -DargLine="-Xmx1024m" verify --fail-fast -q ''' } else { bat ''' - mvn -Dfile.encoding=UTF-8 -Dsurefire.skipAfterFailureCount=1 -DargLine="-Xmx1024m" verify --fail-fast -q + mvn -Dfile.encoding=UTF-8 -DargLine="-Xmx1024m" verify --fail-fast -q ''' } } From c2b4f984698adf3ec42d085423f9168bc618896d Mon Sep 17 00:00:00 2001 From: grog Date: Wed, 20 Sep 2023 11:06:46 -0700 Subject: [PATCH 040/232] out smart goofy maven --- .github/workflows/build.yml | 4 ++- .../myrobotlab/framework/DependencyTest.java | 13 ++++++++ .../org/myrobotlab/service/OpenCVTest.java | 31 ------------------- 3 files changed, 16 insertions(+), 32 deletions(-) create mode 100644 src/test/java/org/myrobotlab/framework/DependencyTest.java diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 60e40fb403..4a6324d3d9 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -15,5 +15,7 @@ jobs: with: java-version: '11' distribution: 'adopt' + - name: Dependency Test + run: mvn test -Dtest=org.myrobotlab.framework.DependencyTest - name: Build with Maven - run: mvn --batch-mode --fail-fast -Dtest=!**/OpenCV* test -q + run: mvn --batch-mode -Dtest=!**/OpenCV* test -q diff --git a/src/test/java/org/myrobotlab/framework/DependencyTest.java b/src/test/java/org/myrobotlab/framework/DependencyTest.java new file mode 100644 index 0000000000..4d264d9852 --- /dev/null +++ b/src/test/java/org/myrobotlab/framework/DependencyTest.java @@ -0,0 +1,13 @@ +package org.myrobotlab.framework; + +import org.junit.Test; +import org.myrobotlab.test.AbstractTest; + +public class DependencyTest extends AbstractTest { + + @Test + public void test() { + System.out.println("dependencies were successful !"); + } + +} diff --git a/src/test/java/org/myrobotlab/service/OpenCVTest.java b/src/test/java/org/myrobotlab/service/OpenCVTest.java index 458cfef8ad..c821a47c02 100644 --- a/src/test/java/org/myrobotlab/service/OpenCVTest.java +++ b/src/test/java/org/myrobotlab/service/OpenCVTest.java @@ -95,37 +95,6 @@ public static void setUpBeforeClass() throws Exception { long ts = System.currentTimeMillis(); cv = (OpenCV) Runtime.start("cv", "OpenCV"); - /* - * - * log. - * warn("========= OpenCVTest - setupbefore class - started cv {} ms =========" - * , System.currentTimeMillis()-ts ); ts = System.currentTimeMillis(); log. - * warn("========= OpenCVTest - setupbefore class - starting capture =========" - * ); cv.capture(TEST_LOCAL_FACE_FILE_JPEG); log. - * warn("========= OpenCVTest - setupbefore class - started capture {} ms =========" - * , System.currentTimeMillis()-ts ); ts = System.currentTimeMillis(); log. - * warn("========= OpenCVTest - setupbefore class - starting getFaceDetect =========" - * ); cv.getFaceDetect(120000);// two minute wait to load all libraries log. - * warn("========= OpenCVTest - setupbefore class - started getFaceDetect {} ms =========" - * , System.currentTimeMillis()-ts ); ts = System.currentTimeMillis(); log. - * warn("========= OpenCVTest - setupbefore class - starting getClassifications =========" - * ); cv.reset(); OpenCVFilter yoloFilter = cv.addFilter("yolo"); // - * cv.getClassifications(120000); cv.capture(TEST_LOCAL_FACE_FILE_JPEG); - * log. - * warn("========= OpenCVTest - setupbefore class - started getClassifications {} ms =========" - * , System.currentTimeMillis()-ts ); - * - * ts = System.currentTimeMillis(); log. - * warn("========= OpenCVTest - setupbefore class - starting getOpenCVData =========" - * ); - * - * cv.reset(); cv.capture(TEST_LOCAL_MP4); cv.getOpenCVData(); log. - * warn("========= OpenCVTest - setupbefore class - started getOpenCVData {} ms =========" - * , System.currentTimeMillis()-ts ); cv.disableAll(); // if (!isHeadless()) - * { - no longer needed I believe - SwingGui now handles it - * - * // } - */ } // FIXME - do the following test From 6b3e1af04bc7336afedcec511b15d2def77c7812 Mon Sep 17 00:00:00 2001 From: grog Date: Wed, 20 Sep 2023 11:09:27 -0700 Subject: [PATCH 041/232] make it quiet --- .github/workflows/build.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 4a6324d3d9..93d82942aa 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -16,6 +16,6 @@ jobs: java-version: '11' distribution: 'adopt' - name: Dependency Test - run: mvn test -Dtest=org.myrobotlab.framework.DependencyTest + run: mvn test -Dtest=org.myrobotlab.framework.DependencyTest -q - name: Build with Maven run: mvn --batch-mode -Dtest=!**/OpenCV* test -q From 801daefd9fa35d065e00b868689c018f6de33e1d Mon Sep 17 00:00:00 2001 From: grog Date: Wed, 20 Sep 2023 14:07:03 -0700 Subject: [PATCH 042/232] fast fail on dependencies for jenkins --- Jenkinsfile | 20 ++++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/Jenkinsfile b/Jenkinsfile index 6a9d03f05a..a0e8bed48e 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -92,6 +92,26 @@ pipeline { } } // stage compile + stage('dependencies') { + when { + expression { params.verify == 'true' } + } + steps { + script { + // TODO - integration tests ! + if (isUnix()) { + sh ''' + mvn test -Dtest=org.myrobotlab.framework.DependencyTest -q + ''' + } else { + bat ''' + mvn test -Dtest=org.myrobotlab.framework.DependencyTest -q + ''' + } + } + } + } // stage verify + stage('verify') { when { expression { params.verify == 'true' } From 17734b12620d1c46447a40fb256809d685299621 Mon Sep 17 00:00:00 2001 From: grog Date: Wed, 20 Sep 2023 14:47:06 -0700 Subject: [PATCH 043/232] update caliko meta --- src/main/java/org/myrobotlab/service/meta/CalikoMeta.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/org/myrobotlab/service/meta/CalikoMeta.java b/src/main/java/org/myrobotlab/service/meta/CalikoMeta.java index 61c6351aac..5e98d56744 100644 --- a/src/main/java/org/myrobotlab/service/meta/CalikoMeta.java +++ b/src/main/java/org/myrobotlab/service/meta/CalikoMeta.java @@ -27,7 +27,7 @@ public CalikoMeta() { // for the ui addDependency("au.edu.federation.caliko.visualisation", "caliko-visualisation", "1.3.8"); - addDependency("au.edu.federation.caliko.visualisation", "caliko-demo", "1.3.8"); + addDependency("au.edu.federation.caliko.demo", "caliko-demo", "1.3.8"); // add it to one or many categories addCategory("ik", "inverse kinematics"); From 7f6fa09ec20b4a6894dd15c67715300312014d9a Mon Sep 17 00:00:00 2001 From: grog Date: Wed, 20 Sep 2023 19:57:08 -0700 Subject: [PATCH 044/232] added time for thread to start --- src/test/java/org/myrobotlab/service/ClockTest.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/test/java/org/myrobotlab/service/ClockTest.java b/src/test/java/org/myrobotlab/service/ClockTest.java index b9761ac743..ad086ff345 100644 --- a/src/test/java/org/myrobotlab/service/ClockTest.java +++ b/src/test/java/org/myrobotlab/service/ClockTest.java @@ -37,7 +37,7 @@ public void testService() throws Exception { assertEquals(interval, clock.getInterval()); clock.startClock(); - Service.sleep(10); + Service.sleep(100); assertTrue(clock.isClockRunning()); clock.stopClock(); From deb94c11a4ffa69a9f3587c301ad31d83605c8de Mon Sep 17 00:00:00 2001 From: grog Date: Tue, 26 Sep 2023 09:52:30 -0700 Subject: [PATCH 045/232] removign "hack" --- .../java/org/myrobotlab/service/InverseKinematics3D.java | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/src/main/java/org/myrobotlab/service/InverseKinematics3D.java b/src/main/java/org/myrobotlab/service/InverseKinematics3D.java index 378fd2440c..48e5ab9a86 100644 --- a/src/main/java/org/myrobotlab/service/InverseKinematics3D.java +++ b/src/main/java/org/myrobotlab/service/InverseKinematics3D.java @@ -247,11 +247,7 @@ public void publishTelemetry(String name) { log.info("Servo : {} Angle : {}", jointName, angleMap.get(jointName)); } invoke("publishJointAngles", angleMap); - - InMoov2 i01 = (InMoov2)Runtime.getService("i01"); - if (i01 != null) { - i01.onJointAngles(angleMap); - } + // we want to publish the joint positions // this way we can render on the web gui.. From b38784c3bde402ac6ff15a6eb81a1a56799619f1 Mon Sep 17 00:00:00 2001 From: grog Date: Tue, 26 Sep 2023 10:58:16 -0700 Subject: [PATCH 046/232] LogConfig removed copypasta --- src/main/java/org/myrobotlab/service/config/LogConfig.java | 2 -- 1 file changed, 2 deletions(-) diff --git a/src/main/java/org/myrobotlab/service/config/LogConfig.java b/src/main/java/org/myrobotlab/service/config/LogConfig.java index 09f74a9481..4caac3e4a5 100644 --- a/src/main/java/org/myrobotlab/service/config/LogConfig.java +++ b/src/main/java/org/myrobotlab/service/config/LogConfig.java @@ -2,8 +2,6 @@ public class LogConfig extends ServiceConfig { - public String currentUserName; - /** * level of log error, warn, info, debug */ From 5f00884facd29010a101acf138e3914c4ea84de1 Mon Sep 17 00:00:00 2001 From: grog Date: Tue, 26 Sep 2023 11:41:59 -0700 Subject: [PATCH 047/232] fixes concurrecy issues --- src/main/java/org/myrobotlab/service/Runtime.java | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/main/java/org/myrobotlab/service/Runtime.java b/src/main/java/org/myrobotlab/service/Runtime.java index 7f4f9f656e..7d02b26d01 100644 --- a/src/main/java/org/myrobotlab/service/Runtime.java +++ b/src/main/java/org/myrobotlab/service/Runtime.java @@ -139,7 +139,7 @@ public class Runtime extends Service implements MessageListener, * all these requests. */ @Deprecated /* use the filesystem only no memory plan */ - transient final Plan masterPlan = new Plan("runtime"); + transient Plan masterPlan = new Plan("runtime"); /** * thread for non-blocking install of services @@ -4293,7 +4293,8 @@ public Plan getLocalPlan() { */ static public void clearPlan() { Runtime runtime = Runtime.getInstance(); - runtime.masterPlan.clear(); + // fixes concurrent modification + runtime.masterPlan = new Plan("runtime"); runtime.masterPlan.put("runtime", new RuntimeConfig()); // unset config path runtime.configName = null; From 8d9ecdff4b5d55816ad47e347674d63d96a28a6a Mon Sep 17 00:00:00 2001 From: grog Date: Fri, 29 Sep 2023 05:45:04 -0700 Subject: [PATCH 048/232] worky vertx --- .../org/myrobotlab/service/JMonkeyEngine.java | 7 +- .../java/org/myrobotlab/service/Vertx.java | 74 ++++++++++++++----- .../service/config/VertXConfig.java | 17 +++++ .../myrobotlab/service/meta/WebXRMeta.java | 2 +- .../org/myrobotlab/vertx/ApiVerticle.java | 3 +- .../myrobotlab/vertx/WebSocketHandler.java | 46 ++++++++---- 6 files changed, 109 insertions(+), 40 deletions(-) create mode 100644 src/main/java/org/myrobotlab/service/config/VertXConfig.java diff --git a/src/main/java/org/myrobotlab/service/JMonkeyEngine.java b/src/main/java/org/myrobotlab/service/JMonkeyEngine.java index 2174ac739b..9ca917a6cf 100644 --- a/src/main/java/org/myrobotlab/service/JMonkeyEngine.java +++ b/src/main/java/org/myrobotlab/service/JMonkeyEngine.java @@ -7,8 +7,6 @@ import java.io.FileOutputStream; import java.io.IOException; import java.nio.FloatBuffer; -import java.nio.file.Path; -import java.nio.file.Paths; import java.util.ArrayList; import java.util.Arrays; import java.util.Collections; @@ -52,7 +50,6 @@ import org.myrobotlab.net.Connection; import org.myrobotlab.sensor.EncoderData; import org.myrobotlab.sensor.EncoderListener; -import org.myrobotlab.service.abstracts.AbstractComputerVision; import org.myrobotlab.service.config.JMonkeyEngineConfig; import org.myrobotlab.service.config.ServiceConfig; import org.myrobotlab.service.interfaces.Gateway; @@ -405,10 +402,12 @@ public void attach(Attachable attachable) throws Exception { // this is to support future (non-Java) classes that cannot be instantiated // and // are subclassed in a proxy class with getType() overloaded for to identify + /**
     DO NOT NEED THIS UNTIL JMONKEY DISPLAYS VIDEO DATA - SLAM MAPPING
     if (service.getTypeKey().equals("org.myrobotlab.service.OpenCV")) {
       AbstractComputerVision cv = (AbstractComputerVision) service;
       subscribe(service.getName(), "publishCvData");
-    }
+    }
    + */ if (service.getTypeKey().equals("org.myrobotlab.service.Servo")) { // non-batched - "instantaneous" move data subscription diff --git a/src/main/java/org/myrobotlab/service/Vertx.java b/src/main/java/org/myrobotlab/service/Vertx.java index f87e9b9e4c..8665793d37 100644 --- a/src/main/java/org/myrobotlab/service/Vertx.java +++ b/src/main/java/org/myrobotlab/service/Vertx.java @@ -1,16 +1,24 @@ package org.myrobotlab.service; -import java.util.HashMap; +import java.net.URISyntaxException; +import java.util.List; +import java.util.Map; import java.util.Set; +import org.myrobotlab.codec.CodecUtils; +import org.myrobotlab.framework.Message; import org.myrobotlab.framework.Service; import org.myrobotlab.logging.Level; import org.myrobotlab.logging.LoggerFactory; import org.myrobotlab.logging.LoggingFactory; +import org.myrobotlab.net.Connection; +import org.myrobotlab.service.config.VertxConfig; +import org.myrobotlab.service.interfaces.Gateway; import org.myrobotlab.vertx.ApiVerticle; import org.slf4j.Logger; import io.vertx.core.VertxOptions; +import io.vertx.core.http.ServerWebSocket; /** * Vertx gateway - used to support a http and websocket gateway for myrobotlab. @@ -21,10 +29,10 @@ * * @see https://medium.com/@pvub/https-medium-com-pvub-vert-x-workers-6a8df9b2b9ee * - * @author greg + * @author GroG * */ -public class Vertx extends Service { +public class Vertx extends Service implements Gateway { private static final long serialVersionUID = 1L; @@ -78,9 +86,8 @@ public void stopService() { stop(); } - /** - * + * Undeploy the verticle serving http and ws */ public void stop() { log.info("stopping driver"); @@ -88,27 +95,14 @@ public void stop() { for (String id : ids) { vertx.undeploy(id, (result) -> { if (result.succeeded()) { - log.info("succeeded"); + log.info("undeploy succeeded"); } else { - log.error("failed"); + log.error("undeploy failed"); } }); } } - public static class Matrix { - public String name; - public HashMap matrix; - - public Matrix() { - }; - } - - public Matrix publishMatrix(Matrix data) { - // log.info("publishMatrix {}", data.name); - return data; - } - public static void main(String[] args) { try { @@ -132,4 +126,44 @@ public static void main(String[] args) { log.error("main threw", e); } } + + // FIXME - refactor for bare minimum + + @Override /* FIXME "Gateway" is server/service oriented not connecting thing - remove this */ + public void connect(String uri) throws URISyntaxException { + // TODO Auto-generated method stub + + } + + @Override /* FIXME not much point of these - as they are all consistently using Runtime's centralized connection info */ + public List getClientIds() { + return Runtime.getInstance().getConnectionUuids(getName()); + } + + @Override /* FIXME not much point of these - as they are all consistently using Runtime's centralized connection info */ + public Map getClients() { + return Runtime.getInstance().getConnections(getName()); + } + + + @Override /* FIXME this is the one and probably "only" relevant method for Gateway - perhaps a handle(Connection c) */ + public void sendRemote(Message msg) throws Exception { + log.info("sendRemote {}", msg.toString()); + msg.addHop(getId()); + Map clients = getClients(); + for(Connection c: clients.values()) { + try { + ServerWebSocket socket = (ServerWebSocket)c.get("websocket"); + String json = CodecUtils.toJsonMsg(msg); + socket.writeTextMessage(json); + } catch(Exception e) { + error(e); + } + } + // broadcastMode - iterate through clients send all + } + + @Override + public boolean isLocal(Message msg) { + return Runtime.getInstance().isLocal(msg); } } diff --git a/src/main/java/org/myrobotlab/service/config/VertXConfig.java b/src/main/java/org/myrobotlab/service/config/VertXConfig.java new file mode 100644 index 0000000000..6369ef70b5 --- /dev/null +++ b/src/main/java/org/myrobotlab/service/config/VertXConfig.java @@ -0,0 +1,17 @@ +package org.myrobotlab.service.config; + +import java.util.ArrayList; +import java.util.List; + +public class VertXConfig extends ServiceConfig { + + public Integer port = 8443; + public boolean autoStartBrowser = true; + public List resources = new ArrayList<>(); + + public VertXConfig() { + // robot-x-app build directory + // resources.add("./resource/WebGui/app"); + } + +} diff --git a/src/main/java/org/myrobotlab/service/meta/WebXRMeta.java b/src/main/java/org/myrobotlab/service/meta/WebXRMeta.java index 171959fbf5..36efe701ad 100644 --- a/src/main/java/org/myrobotlab/service/meta/WebXRMeta.java +++ b/src/main/java/org/myrobotlab/service/meta/WebXRMeta.java @@ -16,7 +16,7 @@ public class WebXRMeta extends MetaData { public WebXRMeta() { // add a cool description - addDescription("WebXr allows hmi devices to add input and get data back from mrl"); + addDescription("WebXR allows hmi devices to add input and get data back from mrl"); // false will prevent it being seen in the ui setAvailable(true); diff --git a/src/main/java/org/myrobotlab/vertx/ApiVerticle.java b/src/main/java/org/myrobotlab/vertx/ApiVerticle.java index a61bd32a1f..57239bd210 100644 --- a/src/main/java/org/myrobotlab/vertx/ApiVerticle.java +++ b/src/main/java/org/myrobotlab/vertx/ApiVerticle.java @@ -44,7 +44,8 @@ public void start() throws Exception { router.route().handler(CorsHandler.create("*").allowedMethod(HttpMethod.GET).allowedMethod(HttpMethod.OPTIONS).allowedHeader("Accept").allowedHeader("Authorization") .allowedHeader("Content-Type")); - // static file routing + // static file routing - this is from a npm "build" ... but durin gdevelop its far + // easier to use setupProxy.js from a npm start .. but deployment would be easier with a "build" //StaticHandler root = StaticHandler.create("src/main/resources/resource/Vertx/app"); // StaticHandler root = StaticHandler.create("src/main/resources/resource/Vertx/app"); diff --git a/src/main/java/org/myrobotlab/vertx/WebSocketHandler.java b/src/main/java/org/myrobotlab/vertx/WebSocketHandler.java index 46df333391..69b56957f3 100644 --- a/src/main/java/org/myrobotlab/vertx/WebSocketHandler.java +++ b/src/main/java/org/myrobotlab/vertx/WebSocketHandler.java @@ -6,6 +6,7 @@ import org.myrobotlab.framework.MethodCache; import org.myrobotlab.framework.interfaces.ServiceInterface; import org.myrobotlab.logging.LoggerFactory; +import org.myrobotlab.net.Connection; import org.myrobotlab.service.Runtime; import org.slf4j.Logger; @@ -15,29 +16,30 @@ /** * Minimal Handler for all websocket messages coming from the react js client. * - * TODO - what else besides text messages - websocket binary streams ??? text stream ? + * TODO - what else besides text messages - websocket binary streams ??? text + * stream ? * * @author GroG * */ public class WebSocketHandler implements Handler { - + public final static Logger log = LoggerFactory.getLogger(WebSocketHandler.class); /** * reference to the MRL Vertx service / websocket and http server */ transient private org.myrobotlab.service.Vertx service = null; - + /** * reference to the websocket text message handler */ TextMessageHandler textMessageHandler = null; - + public static class TextMessageHandler implements Handler { - + org.myrobotlab.service.Vertx service = null; - + public TextMessageHandler(org.myrobotlab.service.Vertx service) { this.service = service; } @@ -79,7 +81,7 @@ public void handle(String json) { // } else { // ctx.writeTextMessage("ping"); Useful is writing back // } - + // replace with typed parameters msg.data = params; // queue the message @@ -88,21 +90,37 @@ public void handle(String json) { } catch (Exception e) { service.error(e); } - } + } } - + public WebSocketHandler(org.myrobotlab.service.Vertx service) { this.service = service; this.textMessageHandler = new TextMessageHandler(service); } - - @Override - public void handle(ServerWebSocket event) { + @Override + public void handle(ServerWebSocket socket) { + // FIXME - get "id" from js client - need something unique from the js + // client + // String id = r.getRequest().getParameter("id"); + String id = String.format("vertx-%s", service.getName()); + // String uuid = UUID.randomUUID().toString(); + String uuid = socket.binaryHandlerID(); + Connection connection = new Connection(uuid, id, service.getName()); + connection.put("c-type", service.getSimpleName()); + connection.put("gateway", service.getName()); + connection.putTransient("websocket", socket); + Runtime.getInstance().addConnection(uuid, id, connection); // ctx.writeTextMessage("ping"); FIXME - query ? // FIXME - thread-safe ? how many connections mapped to objects ? - event.textMessageHandler(new TextMessageHandler(service)); - + socket.textMessageHandler(textMessageHandler); + log.info("new ws connection {}", uuid); + + socket.closeHandler(close -> { + log.info("closing {}", socket.binaryHandlerID()); + Runtime.getInstance().removeConnection(socket.binaryHandlerID()); + }); + } } From ecd64cbacd99342ea48b6b72219430755ed5bf24 Mon Sep 17 00:00:00 2001 From: kwatters Date: Wed, 11 Oct 2023 17:44:58 -0400 Subject: [PATCH 049/232] cleanup yolo filter, don't attach the non-serializable frame to the classification object published. --- .../myrobotlab/document/Classification.java | 8 -- .../myrobotlab/opencv/OpenCVFilterYolo.java | 131 +++++------------- 2 files changed, 34 insertions(+), 105 deletions(-) diff --git a/src/main/java/org/myrobotlab/document/Classification.java b/src/main/java/org/myrobotlab/document/Classification.java index 2f615865a5..727bbd36e0 100644 --- a/src/main/java/org/myrobotlab/document/Classification.java +++ b/src/main/java/org/myrobotlab/document/Classification.java @@ -110,14 +110,6 @@ public BufferedImage getImage() { return null; } - public void setObject(Object frame) { - setField("imageObject", frame); - } - - public Object getObject() { - return getValue("imageObject"); - } - public void setBoundingBox(Rectangle rect) { setField("bounding_box", rect); } diff --git a/src/main/java/org/myrobotlab/opencv/OpenCVFilterYolo.java b/src/main/java/org/myrobotlab/opencv/OpenCVFilterYolo.java index a03c9b20ce..4e409326b7 100755 --- a/src/main/java/org/myrobotlab/opencv/OpenCVFilterYolo.java +++ b/src/main/java/org/myrobotlab/opencv/OpenCVFilterYolo.java @@ -26,53 +26,41 @@ import org.bytedeco.opencv.opencv_dnn.Net; import org.myrobotlab.document.Classification; import org.myrobotlab.framework.Service; +import org.myrobotlab.io.FileIO; import org.myrobotlab.logging.LoggerFactory; import org.myrobotlab.math.geometry.Rectangle; +import org.myrobotlab.service.OpenCV; import org.slf4j.Logger; +/** + * This filter uses the Yolo image recognition libraries. + * For more information about yolo, here's a link: + * https://pjreddie.com/darknet/yolo/ + * + */ public class OpenCVFilterYolo extends OpenCVFilter implements Runnable { private static final long serialVersionUID = 1L; - - public transient final static Logger log = LoggerFactory.getLogger(OpenCVFilterYolo.class); - - protected Boolean running; - - // zero offset to where the confidence level is in the output matrix of the - // darknet. + public final static Logger log = LoggerFactory.getLogger(OpenCVFilterYolo.class); + volatile protected Boolean running; + // offset to where the confidence level is in the output matrix of the darknet. private static final int CONFIDENCE_INDEX = 4; - transient private final OpenCVFrameConverter.ToIplImage grabberConverter = new OpenCVFrameConverter.ToIplImage(); - - protected float confidenceThreshold = 0.25F; - // the column in the detection matrix that contains the confidence level. (I - // think?) - // int probability_index = 5; - // yolo file locations - // private String darknetHome = "c:/dev/workspace/darknet/"; - - // *** the 'correct' way *** - // public String darknetHome = - // FileIO.gluePaths(Service.getResourceDir(OpenCV.class),"yolo"); - public String darknetHome = "resource/OpenCV/yolo"; // FileIO.gluePaths(Service.getResourceDir(OpenCV.class),"yolo"); + private float confidenceThreshold = 0.25F; + public String darknetHome = FileIO.gluePaths(Service.getResourceDir(OpenCV.class),"yolo"); public String modelConfig = "yolov2.cfg"; public String modelWeights = "yolov2.weights"; public String modelNames = "coco.names"; - - int classifierThreadCount = 0; - transient DecimalFormat df2 = new DecimalFormat("#.###"); - transient private OpenCVFrameConverter.ToIplImage converterToIpl = new OpenCVFrameConverter.ToIplImage(); - - protected boolean debug = false; + boolean debug = false; transient private Net net; ArrayList classNames; - // quick fix for exploding serialization of Classification - transient public ArrayList lastResult = null; + public ArrayList lastResult = null; transient private volatile IplImage lastImage = null; private volatile boolean pending = false; transient private Thread classifier; + volatile Object lock = new Object(); public OpenCVFilterYolo(String name) { super(name); @@ -84,11 +72,9 @@ public OpenCVFilterYolo() { } private void loadYolo() { - log.info("loadYolo - begin"); - + log.info("Loading Yolo model."); try { net = readNetFromDarknet(darknetHome + File.separator + modelConfig, darknetHome + File.separator + modelWeights); - log.info("Loaded yolo darknet model to opencv"); } catch (Exception e) { log.error("readNetFromDarknet could not read", e); return; @@ -100,12 +86,10 @@ private void loadYolo() { log.warn("Error unable to load class names from file {}", modelNames, e); return; } - log.info("Done loading model.."); - log.info("loadYolo - end"); + log.info("Yolo model loaded."); } private ArrayList loadClassNames(String filename) throws IOException { - log.info("loadClassNames - begin"); ArrayList names = new ArrayList(); FileReader fileReader = new FileReader(filename); BufferedReader bufferedReader = new BufferedReader(fileReader); @@ -115,18 +99,16 @@ private ArrayList loadClassNames(String filename) throws IOException { names.add(line.trim()); i++; } - log.info("read {} names", i); + log.info("read {} class names", i); fileReader.close(); - - log.info("loadClassNames - end"); return names; } @Override public IplImage process(IplImage image) throws InterruptedException { + // TODO: what is this doing here? if (lastResult != null) { - // the thread running will be updating lastResult for it as fast as it - // can. + // the thread running will be updating lastResult for it as fast as itcan. // displayResult(image, lastResult); } // ok now we just need to update the image that the current thread is @@ -155,29 +137,25 @@ public void run() { running = true; // loading the model takes a lot of time, we want to block enable/disable // until we are actually running - then we notifyAll - while (running && enabled) { if (!pending) { - log.debug("Skipping frame"); + // avoid spinning the cpu too hard. Thread.sleep(10); continue; } - - log.info("process - begin"); + log.info("Yolo Image Frame - Begin"); // only classify this if we haven't already classified it. if (lastImage != null) { - // lastResult = dl4j.classifyImageVGG16(lastImage); - log.debug("Doing yolo..."); lastResult = yoloFrame(lastImage); - // log.info("Yolo done."); - // we processed, next object we'll pick up. + // update this so we will process the next frame that arrives. pending = false; count++; if (count % 10 == 0) { double rate = 1000.0 * count / (System.currentTimeMillis() - start); log.info("Yolo Classification Rate : {}", rate); } - + // TODO: why don't we just publish the lastResult object instead? + // This seems silly.. and potentially this looses data? Map> ret = new TreeMap<>(); for (Classification c : lastResult) { List nl = null; @@ -189,17 +167,12 @@ public void run() { } nl.add(c); } - invoke("publishClassification", ret); } else { - log.info("No Image to classify..."); + // We shouldn't see this? + log.info("Waiting for a frame to process."); } - // TODO: see why there's a race condition. i seem to need a little delay - // here o/w the recognition never seems to start. - // maybe lastImage needs to be marked as volatile ? - - Thread.sleep(1); - } // while (running) + } } catch (Exception e) { log.error("yolo thread threw", e); @@ -208,38 +181,23 @@ public void run() { synchronized (lock) { classifier = null; } - + log.info("yolo exiting classifier thread"); - log.info("run - end"); } private ArrayList yoloFrame(IplImage frame) { - log.debug("Starting yolo on frame..."); - log.info("yoloFrame - begin"); // this is our list of objects that have been detected in a given frame. ArrayList yoloObjects = new ArrayList(); // convert that frame to a matrix (Mat) using the frame converters in javacv - - log.info("yoloFrame - grabberConverter {}", frame); - // log.info("Yolo frame start"); Mat inputMat = grabberConverter.convertToMat(grabberConverter.convert(frame)); - // log.info("Input mat created"); // TODO: I think yolo expects RGB color (which is inverted in the next step) // so if the input image isn't in RGB color, we might need a cvCutColor - log.info("yoloFrame - blobFromImage"); Mat inputBlob = blobFromImage(inputMat, 1 / 255.F, new Size(416, 416), new Scalar(), true, false, CV_32F); // put our frame/input blob into the model. - // log.info("input blob created"); - log.info("yoloFrame - blob {}", inputBlob); net.setInput(inputBlob); - - log.debug("Feed forward!"); - // log.info("Input blob set on network."); // ask for the detection_out layer i guess? not sure the details of the // forward method, but this computes everything like magic! Mat detectionMat = net.forward("detection_out"); - // log.info("output detection matrix produced"); - log.debug("detection matrix computed"); // iterate the rows of the detection matrix. for (int i = 0; i < detectionMat.rows(); i++) { Mat currentRow = detectionMat.row(i); @@ -248,13 +206,11 @@ private ArrayList yoloFrame(IplImage frame) { // skip the noise continue; } - // System.out.println("\nCurrent row has " + currentRow.size().width() + // "=width " + currentRow.size().height() + "=height."); // currentRow.position(probability_index); // int probability_size = detectionMat.cols() - probability_index; // detectionMat; - // String className = getWithDefault(classNames, i); // System.out.print("\nROW (" + className + "): " + // currentRow.getFloatBuffer().get(4) + " -- \t\t"); @@ -275,69 +231,57 @@ private ArrayList yoloFrame(IplImage frame) { // ok. in theory this is something we think it might actually be. float x = currentRow.getFloatBuffer().get(0); float y = currentRow.getFloatBuffer().get(1); - float width = currentRow.getFloatBuffer().get(2); float height = currentRow.getFloatBuffer().get(3); int xLeftBottom = (int) ((x - width / 2) * inputMat.cols()); int yLeftBottom = (int) ((y - height / 2) * inputMat.rows()); int xRightTop = (int) ((x + width / 2) * inputMat.cols()); int yRightTop = (int) ((y + height / 2) * inputMat.rows()); - if (xLeftBottom < 0) { xLeftBottom = 0; } if (yLeftBottom < 0) { yLeftBottom = 0; } - // crop the right top if (xRightTop > inputMat.cols()) { xRightTop = inputMat.cols(); } - if (yRightTop > inputMat.rows()) { yRightTop = inputMat.rows(); } - log.debug(label + " (" + confidence + "%) [(" + xLeftBottom + "," + yLeftBottom + "),(" + xRightTop + "," + yRightTop + ")]"); Rect boundingBox = new Rect(xLeftBottom, yLeftBottom, xRightTop - xLeftBottom, yRightTop - yLeftBottom); // grab just the bytes for the ROI defined by that rect.. // get that as a mat, save it as a byte array (png?) other encoding? // TODO: have a target size? - - IplImage cropped = extractSubImage(inputMat, boundingBox); if (debug) { debug = false; + IplImage cropped = extractSubImage(inputMat, boundingBox); show(cropped, "detected img"); } Classification obj = new Classification(String.format("%s.%s-%d", data.getName(), name, data.getFrameIndex())); obj.setLabel(label); obj.setBoundingBox(xLeftBottom, yLeftBottom, xRightTop - xLeftBottom, yRightTop - yLeftBottom); obj.setConfidence(confidence); + // TODO: add the original frame converted as a serializable image ( BufferedImage or png byte array? ) // obj.setImage(data.getDisplay()); - // for non-serializable "local" image objects - obj.setObject(frame); + // we might just want to provide a reference to the frame. such as the frame number or something similar so if + // we want to find the original frame we can look it up. (in solr?) yoloObjects.add(obj); } } } - log.info("yoloFrame - end"); return yoloObjects; } private IplImage extractSubImage(Mat inputMat, Rect boundingBox) { - log.info("extractSubImage - begin"); - // log.debug(boundingBox.x() + " " + boundingBox.y() + " " + boundingBox.width() + " " + boundingBox.height()); - // TODO: figure out if the width/height is too large! don't want to go array // out of bounds Mat cropped = new Mat(inputMat, boundingBox); - IplImage image = converterToIpl.convertToIplImage(converterToIpl.convert(cropped)); // This mat should be the cropped image! - - log.info("extractSubImage - end"); return image; } @@ -346,10 +290,8 @@ public void release() { // synchronized (lock) { log.info("release - begin"); disable(); // blocks until ready - // while(isRunning){ sleep(30) .. check again } // bleed out the thread before deallocating - if (net != null) { net.deallocate(); net = null; @@ -358,8 +300,6 @@ public void release() { // } } - transient volatile Object lock = new Object(); - @Override public void enable() { if (classifier != null) { @@ -396,16 +336,13 @@ public void disable() { @Override public BufferedImage processDisplay(Graphics2D graphics, BufferedImage image) { if (lastResult != null) { - for (Classification obj : lastResult) { String label = obj.getLabel() + " (" + df2.format(obj.getConfidence() * 100) + "%)"; - Rectangle bb = obj.getBoundingBox(); int x = (int) bb.x; int y = (int) bb.y; int width = (int) bb.width; int height = (int) bb.height; - graphics.setColor(Color.BLACK); graphics.drawRect(x, y, width, height); graphics.fillRect(x, y - 20, 7 * label.length(), 20); From 70eae53eeedf04c5354ca0911e748dc459ddecdd Mon Sep 17 00:00:00 2001 From: grog Date: Thu, 12 Oct 2023 08:22:13 -0700 Subject: [PATCH 050/232] added deprecated onMoveX methods --- src/main/java/org/myrobotlab/service/InMoov2Arm.java | 5 +++++ src/main/java/org/myrobotlab/service/InMoov2Hand.java | 6 ++++++ src/main/java/org/myrobotlab/service/InMoov2Head.java | 6 ++++++ src/main/java/org/myrobotlab/service/InMoov2Torso.java | 6 ++++++ 4 files changed, 23 insertions(+) diff --git a/src/main/java/org/myrobotlab/service/InMoov2Arm.java b/src/main/java/org/myrobotlab/service/InMoov2Arm.java index 6305eb984a..d190af46e8 100644 --- a/src/main/java/org/myrobotlab/service/InMoov2Arm.java +++ b/src/main/java/org/myrobotlab/service/InMoov2Arm.java @@ -89,6 +89,11 @@ public static DHRobotArm getDHRobotArm(String name, String side) { return arm; } + @Deprecated /* use onMove */ + public void onMoveArm(HashMap map) { + onMove(map); + } + public void onMove(Map map) { moveTo(map.get("bicep"), map.get("rotate"), map.get("shoulder"), map.get("omoplate")); } diff --git a/src/main/java/org/myrobotlab/service/InMoov2Hand.java b/src/main/java/org/myrobotlab/service/InMoov2Hand.java index a4c1b35bae..9bf4cf923b 100644 --- a/src/main/java/org/myrobotlab/service/InMoov2Hand.java +++ b/src/main/java/org/myrobotlab/service/InMoov2Hand.java @@ -2,6 +2,7 @@ import java.io.File; import java.io.IOException; +import java.util.HashMap; import java.util.HashSet; import java.util.List; import java.util.Map; @@ -489,6 +490,11 @@ public LeapData onLeapData(LeapData data) { return data; } + @Deprecated /* use onMove */ + public void onMoveHand(HashMap map) { + onMove(map); + } + public void onMove(Map map) { moveTo(map.get("thumb"), map.get("index"), map.get("majeure"), map.get("majeure"), map.get("pinky"), map.get("wrist")); } diff --git a/src/main/java/org/myrobotlab/service/InMoov2Head.java b/src/main/java/org/myrobotlab/service/InMoov2Head.java index 1035f22995..0df855a1ab 100644 --- a/src/main/java/org/myrobotlab/service/InMoov2Head.java +++ b/src/main/java/org/myrobotlab/service/InMoov2Head.java @@ -2,6 +2,7 @@ import java.io.File; import java.io.IOException; +import java.util.HashMap; import java.util.Map; import java.util.concurrent.ThreadLocalRandom; @@ -218,6 +219,11 @@ public void lookAt(Double x, Double y, Double z) { log.info("object distance is {},rothead servo {},neck servo {} ", distance, rotation, colatitude); } + @Deprecated /* use onMoov */ + public void onMoveHead(HashMap map) { + onMove(map); + } + public void onMove(Map map) { moveTo(map.get("neck"), map.get("rothead"), map.get("eyeX"), map.get("eyeY"), map.get("jaw"), map.get("rollNeck")); } diff --git a/src/main/java/org/myrobotlab/service/InMoov2Torso.java b/src/main/java/org/myrobotlab/service/InMoov2Torso.java index d6f0fcc1c4..f3953699c5 100644 --- a/src/main/java/org/myrobotlab/service/InMoov2Torso.java +++ b/src/main/java/org/myrobotlab/service/InMoov2Torso.java @@ -2,6 +2,7 @@ import java.io.File; import java.io.IOException; +import java.util.HashMap; import java.util.Map; import org.myrobotlab.framework.Service; @@ -93,6 +94,11 @@ public void disable() { lowStom.disable(); } + @Deprecated /* use onMove */ + public void onMoveTorso(HashMap map) { + onMove(map); + } + public void onMove(Map map) { moveTo(map.get("topStom"), map.get("midStom"), map.get("lowStom")); } From a0a4002d932dcd4ec6589c353d01f0af547b7788 Mon Sep 17 00:00:00 2001 From: grog Date: Thu, 12 Oct 2023 12:25:26 -0700 Subject: [PATCH 051/232] removed old config --- .../myrobotlab/service/config/VertXConfig.java | 17 ----------------- 1 file changed, 17 deletions(-) delete mode 100644 src/main/java/org/myrobotlab/service/config/VertXConfig.java diff --git a/src/main/java/org/myrobotlab/service/config/VertXConfig.java b/src/main/java/org/myrobotlab/service/config/VertXConfig.java deleted file mode 100644 index 6369ef70b5..0000000000 --- a/src/main/java/org/myrobotlab/service/config/VertXConfig.java +++ /dev/null @@ -1,17 +0,0 @@ -package org.myrobotlab.service.config; - -import java.util.ArrayList; -import java.util.List; - -public class VertXConfig extends ServiceConfig { - - public Integer port = 8443; - public boolean autoStartBrowser = true; - public List resources = new ArrayList<>(); - - public VertXConfig() { - // robot-x-app build directory - // resources.add("./resource/WebGui/app"); - } - -} From 6d7c2648bf36bc13e0c68b26bb6940b8ca99cf40 Mon Sep 17 00:00:00 2001 From: grog Date: Sun, 15 Oct 2023 09:43:35 -0700 Subject: [PATCH 052/232] removed unused var, added if release cond --- .github/workflows/build.yml | 5 +++-- src/main/java/org/myrobotlab/service/InMoov2.java | 1 - 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index ce89b8e47b..f2d09bb420 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -4,8 +4,6 @@ name: Java CI on: push: - branches: - - develop jobs: build: @@ -28,6 +26,7 @@ jobs: run: mvn --batch-mode -Dtest=!**/OpenCV* test -q - name: Get next version + if: github.ref == 'refs/heads/develop' uses: reecetech/version-increment@2023.9.3 id: version with: @@ -35,6 +34,7 @@ jobs: increment: patch - name: Package with Maven + if: github.ref == 'refs/heads/develop' run: "mvn package -DskipTests -Dversion=${{ steps.version.outputs.version }} -q" # - name: Fake Build @@ -43,6 +43,7 @@ jobs: # echo ${{ github.sha }} > ./target/myrobotlab.zip - name: Release + if: github.ref == 'refs/heads/develop' id: release uses: softprops/action-gh-release@v1 with: diff --git a/src/main/java/org/myrobotlab/service/InMoov2.java b/src/main/java/org/myrobotlab/service/InMoov2.java index afa9feb429..ee480bedd6 100644 --- a/src/main/java/org/myrobotlab/service/InMoov2.java +++ b/src/main/java/org/myrobotlab/service/InMoov2.java @@ -189,7 +189,6 @@ public static void main(String[] args) { protected String voiceSelected; - protected boolean wasMutedBeforeBoot = false; public InMoov2(String n, String id) { super(n, id); From 0574c5cf4315b25c9e8d4b6594575964aa248ff9 Mon Sep 17 00:00:00 2001 From: grog Date: Sun, 15 Oct 2023 09:57:14 -0700 Subject: [PATCH 053/232] fixed ivy --- .../java/org/myrobotlab/framework/Service.java | 18 +++++++++--------- .../myrobotlab/framework/repo/IvyWrapper.java | 10 +++------- 2 files changed, 12 insertions(+), 16 deletions(-) diff --git a/src/main/java/org/myrobotlab/framework/Service.java b/src/main/java/org/myrobotlab/framework/Service.java index c5f5cc22ac..5e6ef5ef10 100644 --- a/src/main/java/org/myrobotlab/framework/Service.java +++ b/src/main/java/org/myrobotlab/framework/Service.java @@ -725,8 +725,8 @@ public void addListener(MRLListener listener) { } @Override - public void addListener(String topicMethod, String callbackName) { - addListener(topicMethod, callbackName, CodecUtils.getCallbackTopicName(topicMethod)); + public void addListener(String localMethod, String remoteName) { + addListener(localMethod, remoteName, CodecUtils.getCallbackTopicName(localMethod)); } /** @@ -734,18 +734,18 @@ public void addListener(String topicMethod, String callbackName) { * "subscribe" from a different service FIXME !! - implement with HashMap or * HashSet .. WHY ArrayList ??? * - * @param topicMethod + * @param localMethod * - method when called, it's return will be sent to the - * callbackName/calbackMethod - * @param callbackName + * remoteName.remoteMethod + * @param remoteName * - name of the service to send return message to - * @param callbackMethod + * @param remoteMethod * - name of the method to send return data to */ @Override - public void addListener(String topicMethod, String callbackName, String callbackMethod) { - callbackName = CodecUtils.getFullName(callbackName); - MRLListener listener = new MRLListener(topicMethod, callbackName, callbackMethod); + public void addListener(String localMethod, String remoteName, String remoteMethod) { + remoteName = CodecUtils.getFullName(remoteName); + MRLListener listener = new MRLListener(localMethod, remoteName, remoteMethod); if (outbox.notifyList.containsKey(listener.topicMethod)) { // iterate through all looking for duplicate boolean found = false; diff --git a/src/main/java/org/myrobotlab/framework/repo/IvyWrapper.java b/src/main/java/org/myrobotlab/framework/repo/IvyWrapper.java index 3d4045aa01..5c8da6bdea 100644 --- a/src/main/java/org/myrobotlab/framework/repo/IvyWrapper.java +++ b/src/main/java/org/myrobotlab/framework/repo/IvyWrapper.java @@ -520,13 +520,9 @@ synchronized public void install(String location, String[] serviceTypes) throws // IvyPatternHelper.substitute("[originalname].[ext]", // artifact); - ArtifactDownloadReport[] artifacts = report.getAllArtifactsReports(); - for (int i = 0; i < artifacts.length; ++i) { - ArtifactDownloadReport ar = artifacts[i]; - Artifact artifact = ar.getArtifact(); - // String filename = - // IvyPatternHelper.substitute("[originalname].[ext]", - // artifact); + File file = ar.getLocalFile(); + String filename = file.getAbsoluteFile().getAbsolutePath(); + log.info("{}", filename); if ("zip".equalsIgnoreCase(artifact.getExt())) { info("unzipping %s", filename); From ef2e9d02354f03788ef1b84e6942d5ef4a1def63 Mon Sep 17 00:00:00 2001 From: grog Date: Sun, 15 Oct 2023 10:30:46 -0700 Subject: [PATCH 054/232] pre release in build --- .github/workflows/build.yml | 18 ++++++++++++++---- .../service/config/InMoov2Config.java | 15 ++++++++------- 2 files changed, 22 insertions(+), 11 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index f2d09bb420..0f580a8543 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -1,7 +1,5 @@ name: Java CI -#on: [push] - on: push: @@ -26,7 +24,6 @@ jobs: run: mvn --batch-mode -Dtest=!**/OpenCV* test -q - name: Get next version - if: github.ref == 'refs/heads/develop' uses: reecetech/version-increment@2023.9.3 id: version with: @@ -34,7 +31,6 @@ jobs: increment: patch - name: Package with Maven - if: github.ref == 'refs/heads/develop' run: "mvn package -DskipTests -Dversion=${{ steps.version.outputs.version }} -q" # - name: Fake Build @@ -42,6 +38,19 @@ jobs: # mkdir -p target # echo ${{ github.sha }} > ./target/myrobotlab.zip + - name: Pre Release + if: github.ref != 'refs/heads/develop' + id: prerelease + uses: softprops/action-gh-release@v1 + with: + token: ${{ secrets.ACCESS_TOKEN }} + prerelease: true + files: ./target/myrobotlab.zip + name: "Pre ${{ steps.version.outputs.version }} Nixie" + tag_name: ${{ steps.version.outputs.version }} + generate_release_notes: true + body_path: ./release-template.md + - name: Release if: github.ref == 'refs/heads/develop' id: release @@ -53,3 +62,4 @@ jobs: tag_name: ${{ steps.version.outputs.version }} generate_release_notes: true body_path: ./release-template.md + diff --git a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java index 6ff89b5629..3082aa2819 100644 --- a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java +++ b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java @@ -212,6 +212,7 @@ public Plan getDefault(Plan plan, String name) { } mouthControl.mouth = i01Name + ".mouth"; + ProgramABConfig chatBot = (ProgramABConfig) plan.get(getPeerName("chatBot")); Runtime runtime = Runtime.getInstance(); @@ -255,13 +256,6 @@ public Plan getDefault(Plan plan, String name) { mouth.voice = "Mark"; mouth.speechRecognizers = new String[] { name + ".ear" }; - // == Peer - servoMixer ============================= - // setup name references to different services - ServoMixerConfig servoMixer = (ServoMixerConfig) plan.get(getPeerName("servoMixer")); - servoMixer.listeners = new ArrayList<>(); - servoMixer.listeners.add(new Listener("publishText", name + ".mouth", "onText")); - //servoMixer.listeners.add(new Listener("publishText", name + ".chatBot", "onText")); - // == Peer - ear ============================= // setup name references to different services WebkitSpeechRecognitionConfig ear = (WebkitSpeechRecognitionConfig) plan.get(getPeerName("ear")); @@ -542,6 +536,13 @@ public Plan getDefault(Plan plan, String name) { listeners.add(new Listener("publishPlayAudioFile", getPeerName("audioPlayer"))); + // service --to--> service + ServoMixerConfig servoMixer = (ServoMixerConfig) plan.get(getPeerName("servoMixer")); + servoMixer.listeners = new ArrayList<>(); + servoMixer.listeners.add(new Listener("publishText", name + ".mouth", "onText")); + + + // remove the auto-added starts in the plan's runtime RuntimConfig.registry // plan.removeStartsWith(name + "."); From 688ab9c985e732ea83e5e80413076d32a1b80fab Mon Sep 17 00:00:00 2001 From: grog Date: Sun, 15 Oct 2023 10:45:30 -0700 Subject: [PATCH 055/232] testing maven cache --- .github/workflows/build.yml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 0f580a8543..1a4ee1f233 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -16,6 +16,8 @@ jobs: with: java-version: '11' distribution: 'adopt' + # NEATO ! CACHE !!! + cache: 'maven' - name: Dependency Test run: mvn test -Dtest=org.myrobotlab.framework.DependencyTest -q From e8a4dbfebaddc30d4875ad9990941c80eee5b94f Mon Sep 17 00:00:00 2001 From: grog Date: Sun, 15 Oct 2023 11:07:04 -0700 Subject: [PATCH 056/232] checking for cache improvements --- .github/workflows/build.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 1a4ee1f233..dd8286ce8e 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -16,7 +16,7 @@ jobs: with: java-version: '11' distribution: 'adopt' - # NEATO ! CACHE !!! + # NEATO ! CACHE !!!! cache: 'maven' - name: Dependency Test From 25e898b66329c5357d03fdd5d232a869c6ad3d1e Mon Sep 17 00:00:00 2001 From: grog Date: Mon, 16 Oct 2023 12:54:41 -0700 Subject: [PATCH 057/232] wip --- src/main/java/org/myrobotlab/service/Vertx.java | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/main/java/org/myrobotlab/service/Vertx.java b/src/main/java/org/myrobotlab/service/Vertx.java index 8665793d37..09cd1132ad 100644 --- a/src/main/java/org/myrobotlab/service/Vertx.java +++ b/src/main/java/org/myrobotlab/service/Vertx.java @@ -149,6 +149,7 @@ public Map getClients() { @Override /* FIXME this is the one and probably "only" relevant method for Gateway - perhaps a handle(Connection c) */ public void sendRemote(Message msg) throws Exception { log.info("sendRemote {}", msg.toString()); + // FIXME MUST BE DIRECT THREAD FROM BROADCAST NOT OUTBOX !!! msg.addHop(getId()); Map clients = getClients(); for(Connection c: clients.values()) { @@ -166,4 +167,8 @@ public void sendRemote(Message msg) throws Exception { @Override public boolean isLocal(Message msg) { return Runtime.getInstance().isLocal(msg); } + + public io.vertx.core.Vertx getVertx() { + return vertx; + } } From 84a036707c944fe390dc7e763ef142aa6daf52c7 Mon Sep 17 00:00:00 2001 From: grog Date: Mon, 16 Oct 2023 12:55:11 -0700 Subject: [PATCH 058/232] added correct config --- .gitignore | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.gitignore b/.gitignore index 4fa1d43508..563d633b7a 100644 --- a/.gitignore +++ b/.gitignore @@ -116,7 +116,7 @@ build/ /lastRestart.py /.factorypath start.yml -config +/config src/main/resources/resource/InMoov2 src/main/resources/resource/ProgramAB *.iml From da541c4440d3c8f601459e6002c5fd940df62175 Mon Sep 17 00:00:00 2001 From: grog Date: Mon, 16 Oct 2023 12:56:58 -0700 Subject: [PATCH 059/232] wip --- .../java/org/myrobotlab/service/OpenCV.java | 49 ++++++++++++++++++- .../org/myrobotlab/service/ServoMixer.java | 16 ++++-- .../service/config/InMoov2Config.java | 6 +-- 3 files changed, 63 insertions(+), 8 deletions(-) diff --git a/src/main/java/org/myrobotlab/service/OpenCV.java b/src/main/java/org/myrobotlab/service/OpenCV.java index 7abc45de8b..ba1edc8f93 100644 --- a/src/main/java/org/myrobotlab/service/OpenCV.java +++ b/src/main/java/org/myrobotlab/service/OpenCV.java @@ -55,6 +55,8 @@ import javax.imageio.ImageIO; import javax.imageio.stream.MemoryCacheImageOutputStream; +import org.bytedeco.ffmpeg.global.avcodec; +import org.bytedeco.javacpp.avutil; import org.bytedeco.javacv.CanvasFrame; import org.bytedeco.javacv.FFmpegFrameRecorder; import org.bytedeco.javacv.Frame; @@ -148,6 +150,8 @@ public class OpenCV extends AbstractComputerVision implements Imag int vpId = 0; transient CanvasFrame canvasFrame = null; + + transient FFmpegFrameRecorder recorder = null; class VideoProcessor implements Runnable { @@ -168,6 +172,44 @@ synchronized public void run() { lengthInTime = grabber.getLengthInTime(); log.info("grabber {} started - length time {} length frames {}", grabberType, lengthInTime, lengthInFrames); + // create recorder + recorder = new FFmpegFrameRecorder("output.flv", grabber.getImageWidth(), grabber.getImageHeight()); + // recorder.setFormat("mp4"); + recorder.setFormat("flv"); + +// recorder.setFormat("ogg"); // Set the output format to Ogg +// recorder.setVideoCodec(avcodec.AV_CODEC_ID_THEORA); // Set the video codec to Theora +// recorder.setPixelFormat(avutil.AV_PIX_FMT_YUV420P); // Set pixel format +// +// recorder.setVideoCodec(avcodec.AV_CODEC_ID_THEORA); // Set the video codec to Theora +// recorder.setPixelFormat(avutil.AV_PIX_FMT_YUV420P); // Set pixel format +// recorder.start(); +// +// recorder.start(); + +// h264 +// recorder.setFormat("mp4"); +// recorder.setVideoQuality(10); +// recorder.setFrameRate(grabber1.getFrameRate()); +// recorder.setVideoCodec(avcodec.AV_CODEC_ID_H264); + + + + + // webm +// recorder.setVideoCodecName("libvpx-vp9"); +// recorder.setFormat("webm"); +// recorder.setPixelFormat(org.bytedeco.javacv.Frame.DEPTH_UBYTE); + // recorder.setFrameRate(frameRate); + + + // not sure what this is .. but it works + // recorder.setFormat("ffm"); + + + recorder.start(); + + // Wait for the Kinect to heat up. int loops = 0; while (grabber.getClass() == OpenKinectFrameGrabber.class && lengthInFrames == 0 && loops < 200) { @@ -197,6 +239,8 @@ synchronized public void run() { ++frameIndex; data = new OpenCVData(getName(), frameStartTs, frameIndex, newFrame); + + recorder.record(newFrame); if (grabber.getClass().equals(OpenKinectFrameGrabber.class)) { // by default this framegrabber returns video @@ -1214,6 +1258,7 @@ private void processVideo(OpenCVData data) throws org.bytedeco.javacv.FrameGrabb BufferedImage b = data.getDisplay(); SerializableImage si = new SerializableImage(b, displayFilter, frameIndex); invoke("publishDisplay", si); + // sleep(1000); if (webViewer) { // broadcast(???) @@ -2085,8 +2130,8 @@ public static void main(String[] args) throws Exception { // Runtime.start("python", "Python"); OpenCV cv = (OpenCV) Runtime.start("cv", "OpenCV"); - OpenCVFilter fr = new OpenCVFilterFaceRecognizer("fr"); - cv.addFilter(fr); +// OpenCVFilter fr = new OpenCVFilterFaceRecognizer("fr"); +// cv.addFilter(fr); // OpenCVFilterTracker tracker = new OpenCVFilterTracker("tracker"); // cv.addFilter(tracker); // OpenCVFilterLKOpticalTrack lk = new OpenCVFilterLKOpticalTrack("lk"); diff --git a/src/main/java/org/myrobotlab/service/ServoMixer.java b/src/main/java/org/myrobotlab/service/ServoMixer.java index dc6c3f7127..03395f6cc6 100755 --- a/src/main/java/org/myrobotlab/service/ServoMixer.java +++ b/src/main/java/org/myrobotlab/service/ServoMixer.java @@ -676,14 +676,24 @@ public void stopService() { public static void main(String[] args) throws Exception { try { + LoggingFactory.init("WARN"); + + WebGui webgui = (WebGui) Runtime.create("webgui", "WebGui"); + webgui.autoStartBrowser(false); + webgui.startService(); + + + boolean done = true; + if (done) { + return; + } + + Runtime.main(new String[] { "--id", "admin"}); LoggingFactory.init("INFO"); Runtime.start("i01.head.rothead", "Servo"); Runtime.start("i01.head.neck", "Servo"); - WebGui webgui = (WebGui) Runtime.create("webgui", "WebGui"); - webgui.autoStartBrowser(false); - webgui.startService(); Python python = (Python) Runtime.start("python", "Python"); ServoMixer mixer = (ServoMixer) Runtime.start("mixer", "ServoMixer"); } catch (Exception e) { diff --git a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java index 3082aa2819..d48554891b 100644 --- a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java +++ b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java @@ -536,11 +536,11 @@ public Plan getDefault(Plan plan, String name) { listeners.add(new Listener("publishPlayAudioFile", getPeerName("audioPlayer"))); - // service --to--> service + // service --to--> service ServoMixerConfig servoMixer = (ServoMixerConfig) plan.get(getPeerName("servoMixer")); servoMixer.listeners = new ArrayList<>(); - servoMixer.listeners.add(new Listener("publishText", name + ".mouth", "onText")); - + servoMixer.listeners.add(new Listener("publishText", getPeerName("mouth"), "onText")); + // remove the auto-added starts in the plan's runtime RuntimConfig.registry From 88abadd6394d050a2fbde5548ef2bbe502d67227 Mon Sep 17 00:00:00 2001 From: Langevin Gael Date: Tue, 17 Oct 2023 13:50:17 +0200 Subject: [PATCH 060/232] publishHeartbeat --- src/main/java/org/myrobotlab/service/InMoov2.java | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/src/main/java/org/myrobotlab/service/InMoov2.java b/src/main/java/org/myrobotlab/service/InMoov2.java index ee480bedd6..eac6ce52dd 100644 --- a/src/main/java/org/myrobotlab/service/InMoov2.java +++ b/src/main/java/org/myrobotlab/service/InMoov2.java @@ -1498,6 +1498,14 @@ public double publishBatteryLevel(double d) { return d; } + /** FIXME with checking status, healthbeat, and fire events to the FSM. + * Checks battery level and sends a heartbeat flash on publishHeartbeat + * and onHeartbeat at a regular interval + * */ + public void publishHeartbeat() { + log.info("publishHeartbeat"); + } + public void publishBoot() { log.info("publishBoot"); } From 34159fb089bad09bd8062ab0bdd6005961b62e41 Mon Sep 17 00:00:00 2001 From: grog Date: Tue, 17 Oct 2023 08:29:13 -0700 Subject: [PATCH 061/232] fixed publishHeartbeat --- src/main/java/org/myrobotlab/service/InMoov2.java | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/src/main/java/org/myrobotlab/service/InMoov2.java b/src/main/java/org/myrobotlab/service/InMoov2.java index ee480bedd6..0ae5bfe5c3 100644 --- a/src/main/java/org/myrobotlab/service/InMoov2.java +++ b/src/main/java/org/myrobotlab/service/InMoov2.java @@ -1539,6 +1539,13 @@ public void publishInactivity() { log.info("publishInactivity"); fsm.fire("inactvity"); } + + /** + * simple heartbeat clock of InMoov2 to keep things moving + */ + public void publishHeartbeat() { + log.info("publishInactivity"); + } /** * A more extensible interface point than publishEvent FIXME - create From 7b94a649c179bb2d417f80cca612ed9bd638b7c0 Mon Sep 17 00:00:00 2001 From: grog Date: Tue, 17 Oct 2023 08:34:36 -0700 Subject: [PATCH 062/232] now double ... weird --- src/main/java/org/myrobotlab/service/InMoov2.java | 7 ------- 1 file changed, 7 deletions(-) diff --git a/src/main/java/org/myrobotlab/service/InMoov2.java b/src/main/java/org/myrobotlab/service/InMoov2.java index c5bb64b8ba..1efd9beeb6 100644 --- a/src/main/java/org/myrobotlab/service/InMoov2.java +++ b/src/main/java/org/myrobotlab/service/InMoov2.java @@ -1548,13 +1548,6 @@ public void publishInactivity() { fsm.fire("inactvity"); } - /** - * simple heartbeat clock of InMoov2 to keep things moving - */ - public void publishHeartbeat() { - log.info("publishInactivity"); - } - /** * A more extensible interface point than publishEvent FIXME - create * interface for this From 15ca9fc68984f1bdd0bfbf26abd1bd7f50761df2 Mon Sep 17 00:00:00 2001 From: Langevin Gael Date: Tue, 17 Oct 2023 19:24:28 +0200 Subject: [PATCH 063/232] yours was better --- src/main/java/org/myrobotlab/service/InMoov2.java | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/src/main/java/org/myrobotlab/service/InMoov2.java b/src/main/java/org/myrobotlab/service/InMoov2.java index 1efd9beeb6..599f1dec44 100644 --- a/src/main/java/org/myrobotlab/service/InMoov2.java +++ b/src/main/java/org/myrobotlab/service/InMoov2.java @@ -1498,12 +1498,11 @@ public double publishBatteryLevel(double d) { return d; } - /** FIXME with checking status, healthbeat, and fire events to the FSM. - * Checks battery level and sends a heartbeat flash on publishHeartbeat - * and onHeartbeat at a regular interval - * */ + /** + * simple heartbeat clock of InMoov2 to keep things moving + */ public void publishHeartbeat() { - log.info("publishHeartbeat"); + log.info("publishInactivity"); } public void publishBoot() { From 5554a4ec87529d973ecac42c5ba7ab05fbfacd33 Mon Sep 17 00:00:00 2001 From: grog Date: Tue, 17 Oct 2023 10:45:01 -0700 Subject: [PATCH 064/232] heh ... --- src/main/java/org/myrobotlab/service/InMoov2.java | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/src/main/java/org/myrobotlab/service/InMoov2.java b/src/main/java/org/myrobotlab/service/InMoov2.java index 599f1dec44..9e851a80ea 100644 --- a/src/main/java/org/myrobotlab/service/InMoov2.java +++ b/src/main/java/org/myrobotlab/service/InMoov2.java @@ -1498,11 +1498,13 @@ public double publishBatteryLevel(double d) { return d; } - /** - * simple heartbeat clock of InMoov2 to keep things moving - */ + /** + * A heartbeat that continues to check status, and fire events to the FSM. + * Checks battery, flashes leds and processes all the configured checks in + * onHeartbeat at a regular interval + * */ public void publishHeartbeat() { - log.info("publishInactivity"); + log.info("publishHeartbeat"); } public void publishBoot() { From 50113455bf7d319de2ab5746a2ac049d5128514f Mon Sep 17 00:00:00 2001 From: grog Date: Tue, 17 Oct 2023 12:50:45 -0700 Subject: [PATCH 065/232] readme update links --- README.md | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index fdc207c71b..04ce055cf7 100644 --- a/README.md +++ b/README.md @@ -8,7 +8,7 @@ Open Source Framework for Robotics and Creative Machine Control * Project Website http://myrobotlab.org * Project Discord https://discord.gg/AfScp5x8r5 -* Latest Build [Nixie 1.1.(Latest)](http://build.myrobotlab.org:8080/job/myrobotlab/job/develop/lastSuccessfulBuild/artifact/target/myrobotlab.zip) +* Latest Build [Nixie 1.1.(Latest)](https://github.com/MyRobotLab/myrobotlab/releases/latest/download/myrobotlab.zip) * Latest Javadocs [Javdocs](http://build.myrobotlab.org:8080/job/myrobotlab/job/develop/lastSuccessfulBuild/artifact/target/site/apidocs/org/myrobotlab/service/package-summary.html) ## Base Requirements @@ -18,9 +18,7 @@ You will need Java 11 or newer. If you are only running MyRobotLab you need the ## Download the myrobotlab.jar Download -latest [Nixie 1.1.X](http://build.myrobotlab.org:8080/job/myrobotlab/job/develop/lastSuccessfulBuild/artifact/target/myrobotlab.zip) - -stable [Manticore 1.0.2693](https://github.com/MyRobotLab/myrobotlab/releases/tag/1.0.2693) +latest [Nixie 1.1.X](https://github.com/MyRobotLab/myrobotlab/releases/latest/download/myrobotlab.zip) ## Running MyRobotLab From 4f47f23275d54647cd335e00a6448d57f32fef04 Mon Sep 17 00:00:00 2001 From: grog Date: Sat, 21 Oct 2023 15:22:45 -0700 Subject: [PATCH 066/232] Peer config utilities --- pom.xml | 3 + .../org/myrobotlab/framework/Service.java | 254 ++++++++++++------ .../java/org/myrobotlab/service/InMoov2.java | 60 +++-- .../java/org/myrobotlab/service/OpenCV.java | 15 ++ .../java/org/myrobotlab/service/Runtime.java | 30 ++- .../service/config/InMoov2Config.java | 4 +- .../service/config/OpenCVConfig.java | 4 + .../resources/resource/WebGui/app/peer.js | 16 +- .../WebGui/app/service/js/RuntimeGui.js | 6 + .../resource/framework/pom.xml.template | 3 + 10 files changed, 270 insertions(+), 125 deletions(-) diff --git a/pom.xml b/pom.xml index a00bd0db4f..6e8fdf4829 100644 --- a/pom.xml +++ b/pom.xml @@ -13,6 +13,9 @@ # fast build mvn -DskipTests package -o + # execute + mvn exec:java -Dexec.mainClass=org.myrobotlab.service.Runtime -Dexec.args="-s webgui WebGui intro Intro python Python" + # specific test mvn test -Dtest="org.myrobotlab.service.WebGuiTest#postTest" diff --git a/src/main/java/org/myrobotlab/framework/Service.java b/src/main/java/org/myrobotlab/framework/Service.java index 08534f2081..d9290b1527 100644 --- a/src/main/java/org/myrobotlab/framework/Service.java +++ b/src/main/java/org/myrobotlab/framework/Service.java @@ -101,11 +101,11 @@ public abstract class Service implements Runnable, Seri protected MetaData serviceType; /** - * Config member - configuration of type {ServiceType}Config - * Runtime applys either the default config or a saved config during service creation + * Config member - configuration of type {ServiceType}Config Runtime applys + * either the default config or a saved config during service creation */ protected T config; - + private static final long serialVersionUID = 1L; transient public final static Logger log = LoggerFactory.getLogger(Service.class); @@ -190,8 +190,8 @@ public abstract class Service implements Runnable, Seri /** * This is the map of interfaces - its really "static" information, since its - * a definition. However, since serialization will not process statics - we are making - * it a member variable + * a definition. However, since serialization will not process statics - we + * are making it a member variable */ // FIXME - this should be a map protected Map interfaceSet; @@ -279,11 +279,7 @@ public static Object copyShallowFrom(Object target, Object source) { * ){ log.info("here"); } */ - if (Modifier.isPrivate(modifiers) - || fname.equals("log") - || Modifier.isTransient(modifiers) - || Modifier.isStatic(modifiers) - || Modifier.isFinal(modifiers)) { + if (Modifier.isPrivate(modifiers) || fname.equals("log") || Modifier.isTransient(modifiers) || Modifier.isStatic(modifiers) || Modifier.isFinal(modifiers)) { log.debug("skipping {}", field.getName()); continue; } else { @@ -472,18 +468,17 @@ static public String getResourceDir(Class clazz, String additionalPath) { * to glue together * @return the full resolved path * - * FIXME - DO NOT USE STATIC !!!! - * all instances of services should be able to get the resource directory - * If its static and "configurable" then it needs an instance of Runtime - * which is not available. + * FIXME - DO NOT USE STATIC !!!! all instances of services should be + * able to get the resource directory If its static and "configurable" + * then it needs an instance of Runtime which is not available. * */ @Deprecated /* this should not be static - remove it */ static public String getResourceDir(String serviceType, String additionalPath) { - // setting resource directory + // setting resource directory String resourceDir = null; - + // stupid solution to get past static problem if (!"Runtime".equals(serviceType)) { resourceDir = Runtime.getInstance().getConfig().resource + fs + serviceType; @@ -495,6 +490,7 @@ static public String getResourceDir(String serviceType, String additionalPath) { } return resourceDir; } + /** * non static get resource path return the path to a resource - since the root * can change depending if in debug or runtime - it gets the appropriate root @@ -1015,47 +1011,49 @@ public String[] getMethodNames() { public Method[] getMethods() { return this.getClass().getMethods(); } - + /** - * Returns a map containing all interface names from the class hierarchy and the interface hierarchy of the - * current class. + * Returns a map containing all interface names from the class hierarchy and + * the interface hierarchy of the current class. * * @return A map containing all interface names. */ public Map getInterfaceSet() { - Map ret = new TreeMap<>(); - Set> visitedClasses = new HashSet<>(); - getAllInterfacesHelper(getClass(), ret, visitedClasses); - return ret; + Map ret = new TreeMap<>(); + Set> visitedClasses = new HashSet<>(); + getAllInterfacesHelper(getClass(), ret, visitedClasses); + return ret; } /** - * Recursively traverses the class hierarchy and the interface hierarchy to add all interface names to the - * specified map. + * Recursively traverses the class hierarchy and the interface hierarchy to + * add all interface names to the specified map. * - * @param c The class to start the traversal from. - * @param ret The map to store the interface names. - * @param visitedClasses A set to keep track of visited classes to avoid infinite loops. + * @param c + * The class to start the traversal from. + * @param ret + * The map to store the interface names. + * @param visitedClasses + * A set to keep track of visited classes to avoid infinite loops. */ private void getAllInterfacesHelper(Class c, Map ret, Set> visitedClasses) { - if (c != null && !visitedClasses.contains(c)) { - // Add interfaces from the current class - Class[] interfaces = c.getInterfaces(); - for (Class interfaze : interfaces) { - ret.put(interfaze.getName(), interfaze.getName()); - } - - // Add interfaces from interfaces implemented by the current class - for (Class interfaze : interfaces) { - getAllInterfacesHelper(interfaze, ret, visitedClasses); - } + if (c != null && !visitedClasses.contains(c)) { + // Add interfaces from the current class + Class[] interfaces = c.getInterfaces(); + for (Class interfaze : interfaces) { + ret.put(interfaze.getName(), interfaze.getName()); + } - // Recursively traverse the superclass hierarchy - visitedClasses.add(c); - getAllInterfacesHelper(c.getSuperclass(), ret, visitedClasses); + // Add interfaces from interfaces implemented by the current class + for (Class interfaze : interfaces) { + getAllInterfacesHelper(interfaze, ret, visitedClasses); } + + // Recursively traverse the superclass hierarchy + visitedClasses.add(c); + getAllInterfacesHelper(c.getSuperclass(), ret, visitedClasses); + } } - public Message getMsg() throws InterruptedException { return inbox.getMsg(); @@ -1314,12 +1312,11 @@ final public Object invokeOn(boolean blockLocally, Object obj, String methodName if (blockLocally) { Outbox outbox = null; if (obj instanceof ServiceInterface) { - outbox = ((ServiceInterface)obj).getOutbox(); + outbox = ((ServiceInterface) obj).getOutbox(); } else { return retobj; } - - + List subList = outbox.notifyList.get(methodName); // correct? get local (default?) gateway Runtime runtime = Runtime.getInstance(); @@ -1399,27 +1396,88 @@ public boolean isRunning() { /** * getConfig returns current config of the service. This default super method - * will also filter webgui subscriptions out, in addition for any local subscriptions it - * will remove the instance "id" from any service. The reason it removes the webgui - * subscriptions is to avoid overwelming the user when modifying config. UI subscriptions - * tend to be very numerous and not very useful to the user. The reason it removes the - * instance id from local subscriptions is to allow the config to be used with any instance. - * Unless the user is controlling instance id, its random every restart. + * will also filter webgui subscriptions out, in addition for any local + * subscriptions it will remove the instance "id" from any service. The reason + * it removes the webgui subscriptions is to avoid overwelming the user when + * modifying config. UI subscriptions tend to be very numerous and not very + * useful to the user. The reason it removes the instance id from local + * subscriptions is to allow the config to be used with any instance. Unless + * the user is controlling instance id, its random every restart. */ public T getConfig() { return config; } /** - * Super class apply using template type. The default assigns config of the templated type, and also - * add listeners from subscriptions found on the base class ServiceConfig.listeners + * Get a service's peer's configuration. This method is used to get the + * configuration of a peer service regarless if it is currently running or + * not. If the peer is running the configuration is pulled from the active + * peer service, if it is not currently running the configuration is read from + * the current config set's service configuration file, if that does not exist + * the default configuration for this peer is used. + * + * @param peerKey + * - key of the peer service. e.g. "opencv" in the case of + * i01."opencv" + * @return */ - public T apply(T c) { - config = c; - addConfigListeners(c); - return config; + public ServiceConfig getPeerConfig(String peerKey) { + String peerName = getPeerName(peerKey); + if (peerName == null) { + error("peer name not found for peer key %s", peerKey); + return null; + } + + ServiceInterface si = Runtime.getService(peerName); + if (si != null) { + // peer is currently running - get its config + return si.getConfig(); + } + + // peer is not currently running attempt to read from config + Runtime runtime = Runtime.getInstance(); + // read current service config for this peer service + ServiceConfig sc = runtime.readServiceConfig(peerName); + if (sc == null) { + error("peer service %s is defined, but %s.yml not available on filesystem", peerKey, peerName); + return null; + } + return sc; + } + + public void setPeerConfigValue(String peerKey, String fieldname, Object value) throws NoSuchFieldException, SecurityException, IllegalArgumentException, IllegalAccessException { + ServiceConfig sc = getPeerConfig(peerKey); + if (sc == null) { + error("invalid config for peer key %s field name %s", peerKey, fieldname); + return; + } + Field field = sc.getClass().getDeclaredField(fieldname); + field.set(sc, value); + savePeerConfig(peerKey, sc); + String peerName = getPeerName(peerKey); + ConfigurableService cs = (ConfigurableService) Runtime.getService(peerName); + if (cs != null) { + cs.apply(sc); // TODO - look for applies if its read from the file system + // it needs to update Runtime.plan + } + + // broadcast change + invoke("getPeerConfig", peerKey); + Runtime.getPlan().put(peerName, sc); + Runtime runtime = Runtime.getInstance(); + runtime.broadcastState(); } + /** + * Super class apply using template type. The default assigns config of the + * templated type, and also add listeners from subscriptions found on the base + * class ServiceConfig.listeners + */ + public T apply(T c) { + config = c; + addConfigListeners(c); + return config; + } /** * The basic ServiceConfig has a list of listeners. These are definitions of @@ -1436,7 +1494,8 @@ public ServiceConfig addConfigListeners(ServiceConfig config) { } /** - * Default filtered config, used when saving, can be overriden by concrete class + * Default filtered config, used when saving, can be overriden by concrete + * class */ @Override public ServiceConfig getFilteredConfig() { @@ -1467,7 +1526,6 @@ public ServiceConfig getFilteredConfig() { return sc; } - @Override public void setConfigValue(String fieldname, Object value) throws IllegalArgumentException, IllegalAccessException, NoSuchFieldException, SecurityException { log.info("setting field name fieldname {} to {}", fieldname, value); @@ -1475,6 +1533,7 @@ public void setConfigValue(String fieldname, Object value) throws IllegalArgumen Field field = getConfig().getClass().getDeclaredField(fieldname); // field.setAccessible(true); should not need this - it "should" be public field.set(getConfig(), value); + save(); } @Override @@ -1579,11 +1638,12 @@ public void removeListener(String outMethod, String serviceName, String inMethod return true; } - // Previously we were not checking inMethod, which meant if a service had multiple - // subscriptions to the same topic (one to many mapping), the first in the list would be removed + // Previously we were not checking inMethod, which meant if a service + // had multiple + // subscriptions to the same topic (one to many mapping), the first in + // the list would be removed // instead of the requested one. - if (listener.callbackMethod.equals(inMethod) - && CodecUtils.checkServiceNameEquality(listener.callbackName, fullName)) { + if (listener.callbackMethod.equals(inMethod) && CodecUtils.checkServiceNameEquality(listener.callbackName, fullName)) { log.info("removeListener requested {}.{} to be removed", fullName, outMethod); return true; } @@ -1659,6 +1719,24 @@ public boolean save() { return runtime.saveService(runtime.getConfigName(), getName(), null); } + /** + * Save a service's peer's config to current config set + * + * @param peerKey + */ + public void savePeerConfig(String peerKey, ServiceConfig config) { + try { + Runtime runtime = Runtime.getInstance(); + String peerName = getPeerName(peerKey); + String data = CodecUtils.toYaml(config); + String ymlFileName = runtime.getConfigPath() + fs + CodecUtils.getShortName(peerName) + ".yml"; + FileIO.toFile(ymlFileName, data.getBytes()); + info("saved %s", ymlFileName); + } catch (Exception e) { + error(e); + } + } + public ServiceInterface getPeer(String peerKey) { String actualName = getPeerName(peerKey); return Runtime.getService(actualName); @@ -2009,7 +2087,7 @@ public void subscribe(String topicName, String topicMethod) { String callbackMethod = CodecUtils.getCallbackTopicName(topicMethod); subscribe(topicName, topicMethod, getFullName(), callbackMethod); } - + @Override public void subscribe(String service, String method, String callback) { subscribe(service, method, getFullName(), callback); @@ -2068,7 +2146,7 @@ public void unsubscribe(String topicName, String topicMethod) { String callbackMethod = CodecUtils.getCallbackTopicName(topicMethod); unsubscribe(topicName, topicMethod, getFullName(), callbackMethod); } - + @Override public void unsubscribe(String topicName, String topicMethod, String callback) { unsubscribe(topicName, topicMethod, getFullName(), callback); @@ -2097,12 +2175,7 @@ public Status error(Exception e) { @Override public Status error(String format, Object... args) { Status ret; - ret = Status.error( - String.format( - Objects.requireNonNullElse(format, ""), - args - ) - ); + ret = Status.error(String.format(Objects.requireNonNullElse(format, ""), args)); ret.name = getName(); log.error(ret.toString()); lastError = ret; @@ -2584,7 +2657,10 @@ public String localize(String key, Object... args) { } @Override - @Deprecated /* this system should be removed in favor of a ProgramAB instance with ability to translate */ + @Deprecated /* + * this system should be removed in favor of a ProgramAB instance + * with ability to translate + */ public void loadLocalizations() { if (defaultLocalization == null) { @@ -2756,16 +2832,36 @@ public void apply() { Runtime runtime = Runtime.getInstance(); String configName = runtime.getConfigName(); ServiceConfig sc = runtime.readServiceConfig(configName, name); - + if (sc == null) { error("config file %s not found", Runtime.getConfigRoot() + fs + configName + fs + name + ".yml"); return; } - - // updating plan + + // updating plan - FIXME remove plan Runtime.getPlan().put(getName(), sc); + // applying config to self - apply((T)sc); + apply((T) sc); + } + + /** + * Apply the config to a peer, regardless if the peer is currently running or + * not + * + * @param peerKey + * @param config + */ + public void applyPeerConfig(String peerKey, ServiceConfig config) { + String peerName = getPeerName(peerKey); + + Runtime.getPlan().put(peerName, config); + + // meh - templating is not very helpful here + ConfigurableService si = (ConfigurableService) Runtime.getService(peerName); + if (si != null) { + si.apply(config); + } } /** @@ -2786,11 +2882,11 @@ public void setPeerName(String key, String fullName) { // should we also make or update a config file - if the config path is set? info("updated %s name to %s", oldName, peer.name); } - + /** * get all the subscriptions to this service */ - public Map> getNotifyList(){ + public Map> getNotifyList() { return getOutbox().getNotifyList(); } diff --git a/src/main/java/org/myrobotlab/service/InMoov2.java b/src/main/java/org/myrobotlab/service/InMoov2.java index 03035b6d2f..e9fa9d975e 100644 --- a/src/main/java/org/myrobotlab/service/InMoov2.java +++ b/src/main/java/org/myrobotlab/service/InMoov2.java @@ -140,11 +140,11 @@ public static boolean loadFile(String file) { protected String voiceSelected; - public InMoov2(String n, String id) { super(n, id); } + // should be removed in favor of general listeners public void addTextListener(TextListener service) { // CORRECT WAY ! - no direct reference - just use the name in a subscription addListener("publishText", service.getName()); @@ -407,7 +407,7 @@ public String execGesture(String gesture) { subscribe("python", "publishStatus", this.getName(), "onGestureStatus"); startedGesture(gesture); lastGestureExecuted = gesture; - Python python = (Python)Runtime.getService("python"); + Python python = (Python) Runtime.getService("python"); if (python == null) { error("python service not started"); return null; @@ -773,19 +773,19 @@ public void moveHead(Integer neck, Integer rothead, Integer rollNeck) { moveHead((double) neck, (double) rothead, null, null, null, (double) rollNeck); } - public void moveHeadBlocking(Double neck, Double rothead) { + public void moveHeadBlocking(Double neck, Double rothead) { moveHeadBlocking(neck, rothead, null); } - public void moveHeadBlocking(Double neck, Double rothead, Double rollNeck) { + public void moveHeadBlocking(Double neck, Double rothead, Double rollNeck) { moveHeadBlocking(neck, rothead, null, null, null, rollNeck); } - public void moveHeadBlocking(Double neck, Double rothead, Double eyeX, Double eyeY, Double jaw) { + public void moveHeadBlocking(Double neck, Double rothead, Double eyeX, Double eyeY, Double jaw) { moveHeadBlocking(neck, rothead, eyeX, eyeY, jaw, null); } - public void moveHeadBlocking(Double neck, Double rothead, Double eyeX, Double eyeY, Double jaw, Double rollNeck) { + public void moveHeadBlocking(Double neck, Double rothead, Double eyeX, Double eyeY, Double jaw, Double rollNeck) { try { sendBlocking(getPeerName("head"), "moveToBlocking", neck, rothead, eyeX, eyeY, jaw, rollNeck); } catch (Exception e) { @@ -866,7 +866,7 @@ public void onGestureStatus(Status status) { error("I cannot execute %s, please check logs", lastGestureExecuted); } finishedGesture(lastGestureExecuted); - + unsubscribe("python", "publishStatus", this.getName(), "onGestureStatus"); } @@ -994,10 +994,10 @@ public void onStarted(String name) { Runtime runtime = Runtime.getInstance(); log.info("onStarted {}", name); -// BAD IDEA - better to ask for a system report or an error report -// if (runtime.isProcessingConfig()) { -// invoke("publishEvent", "CONFIG STARTED"); -// } + // BAD IDEA - better to ask for a system report or an error report + // if (runtime.isProcessingConfig()) { + // invoke("publishEvent", "CONFIG STARTED"); + // } String peerKey = getPeerKey(name); if (peerKey == null) { @@ -1229,8 +1229,8 @@ public String publishHeartbeat() { } /** - * A more extensible interface point than publishEvent - * FIXME - create interface for this + * A more extensible interface point than publishEvent FIXME - create + * interface for this * * @param msg * @return @@ -1561,7 +1561,7 @@ public void setTorsoSpeed(Integer topStom, Integer midStom, Integer lowStom) { setTorsoSpeed((double) topStom, (double) midStom, (double) lowStom); } - @Deprecated + @Deprecated /* use setTorsoSpeed */ public void setTorsoVelocity(Double topStom, Double midStom, Double lowStom) { setTorsoSpeed(topStom, midStom, lowStom); } @@ -1814,8 +1814,7 @@ public void startService() { subscribe("runtime", "shutdown"); // power up loopback subscription addListener(getName(), "powerUp"); - - + subscribe("runtime", "publishConfigList"); if (runtime.isProcessingConfig()) { invoke("publishEvent", "configStarted"); @@ -1923,7 +1922,6 @@ public void waitTargetPos() { sendToPeer("torso", "waitTargetPos"); } - public static void main(String[] args) { try { @@ -1934,20 +1932,26 @@ public static void main(String[] args) { // Runtime.startConfig("pr-1213-1"); - Runtime.main(new String[] {"--log-level", "info", "-s", "webgui", "WebGui", "intro", "Intro", "python", "Python"}); + WebGui webgui = (WebGui) Runtime.create("webgui", "WebGui"); + // webgui.setSsl(true); + webgui.autoStartBrowser(false); + // webgui.setPort(8888); + webgui.startService(); + + InMoov2 i01 = (InMoov2)Runtime.start("i01","InMoov2"); + i01.setPeerConfigValue("opencv", "flip", true); + // i01.savePeerConfig("", null); + // Runtime.startConfig("default"); + + // Runtime.main(new String[] { "--log-level", "info", "-s", "webgui", "WebGui", "intro", "Intro", "python", "Python" }); + boolean done = true; if (done) { return; } - WebGui webgui = (WebGui) Runtime.create("webgui", "WebGui"); - // webgui.setSsl(true); - webgui.autoStartBrowser(false); - // webgui.setPort(8888); - webgui.startService(); - Runtime.start("python", "Python"); // Runtime.start("ros", "Ros"); Runtime.start("intro", "Intro"); @@ -1959,7 +1963,6 @@ public static void main(String[] args) { // Polly polly = (Polly)Runtime.start("i01.mouth", "Polly"); // i01 = (InMoov2) Runtime.start("i01", "InMoov2"); - // polly.speakBlocking("Hi, to be or not to be that is the question, // wheather to take arms against a see of trouble, and by aposing them end // them, to sleep, to die"); @@ -1999,9 +2002,9 @@ public static void main(String[] args) { random.save(); -// i01.startChatBot(); -// -// i01.startAll("COM3", "COM4"); + // i01.startChatBot(); + // + // i01.startAll("COM3", "COM4"); Runtime.start("python", "Python"); } catch (Exception e) { @@ -2009,4 +2012,5 @@ public static void main(String[] args) { } } + } diff --git a/src/main/java/org/myrobotlab/service/OpenCV.java b/src/main/java/org/myrobotlab/service/OpenCV.java index 7abc45de8b..ff093721bd 100644 --- a/src/main/java/org/myrobotlab/service/OpenCV.java +++ b/src/main/java/org/myrobotlab/service/OpenCV.java @@ -1967,6 +1967,19 @@ public void enableFilter(String name) { } } + /** + * flip the video display vertically + * @param toFlip + */ + public void flip(boolean toFlip) { + config.flip = toFlip; + if (config.flip) { + addFilter("Flip"); + } else { + removeFilter("Flip"); + } + } + @Override public void disableFilter(String name) { OpenCVFilter f = filters.get(name); @@ -2062,6 +2075,8 @@ public OpenCVConfig apply(OpenCVConfig c) { // TODO: better configuration of the filter when it's added. } } + + flip(c.flip); if (c.capturing) { capture(); diff --git a/src/main/java/org/myrobotlab/service/Runtime.java b/src/main/java/org/myrobotlab/service/Runtime.java index 3d8a92f2cc..8f2035fbd6 100644 --- a/src/main/java/org/myrobotlab/service/Runtime.java +++ b/src/main/java/org/myrobotlab/service/Runtime.java @@ -141,7 +141,7 @@ public class Runtime extends Service implements MessageListener, * all these requests. */ @Deprecated /* use the filesystem only no memory plan */ - transient final Plan masterPlan = new Plan("runtime"); + protected final Plan masterPlan = new Plan("runtime"); /** * thread for non-blocking install of services @@ -2661,6 +2661,7 @@ synchronized static public ServiceInterface start(String name, String type) { } Runtime.load(name, type); + Runtime.savePlan(null); // FIXME - does some order need to be maintained Map services = createServicesFromPlan(Runtime.getPlan(), null, name); @@ -4805,6 +4806,16 @@ synchronized private Plan loadService(Plan plan, String name, String type, boole return plan; } + + /** + * read a service's configuration, in the context + * of current config set name or default + * @param name + * @return + */ + public ServiceConfig readServiceConfig(String name) { + return readServiceConfig(null, name); + } /** * @@ -4845,19 +4856,6 @@ public String publishConfigLoaded(String name) { return name; } - // @Override - // public ServiceConfig getConfig() { - // RuntimeConfig config = (RuntimeConfig)super.getConfig(); - // List listeners = new - // ArrayList - // for (org.myrobotlab.service.config.ServiceConfig.Listener listener: - // config.listeners) { - // if (listener.equals("stopped") || listener.equals("created")|| - // listener.equals("registered")|| listener.equals("released")) { - // - // } - // } - // } public String setAllIds(String id) { Platform.getLocalInstance().setId(id); @@ -5154,6 +5152,10 @@ private void savePlanInternal(String configName) { for (String s : masterPlan.keySet()) { String filename = CONFIG_ROOT + fs + configName + fs + s + ".yml"; + File check = new File(filename); + if (check.exists()) { + continue; + } String data = CodecUtils.toYaml(masterPlan.get(s)); try { FileIO.toFile(filename, data.getBytes()); diff --git a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java index af16e23a04..9ebecf8262 100644 --- a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java +++ b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java @@ -52,9 +52,7 @@ public class InMoov2Config extends ServiceConfig { public boolean neoPixelFlashWhenSpeaking = true; public boolean openCVFaceRecognizerActivated=true; - - public boolean openCVFlipPicture=false; - + public boolean pirEnableTracking = false; /** diff --git a/src/main/java/org/myrobotlab/service/config/OpenCVConfig.java b/src/main/java/org/myrobotlab/service/config/OpenCVConfig.java index 2c786aa648..2087539836 100644 --- a/src/main/java/org/myrobotlab/service/config/OpenCVConfig.java +++ b/src/main/java/org/myrobotlab/service/config/OpenCVConfig.java @@ -15,5 +15,9 @@ public class OpenCVConfig extends ServiceConfig { public boolean webViewer = false; public boolean capturing = false; public Map filters = new LinkedHashMap<>(); + /** + * flip the video vertically + */ + public boolean flip = false; } diff --git a/src/main/resources/resource/WebGui/app/peer.js b/src/main/resources/resource/WebGui/app/peer.js index 78c15f5da3..e033693b52 100644 --- a/src/main/resources/resource/WebGui/app/peer.js +++ b/src/main/resources/resource/WebGui/app/peer.js @@ -4,7 +4,7 @@ console.info('peer') -angular.module('peer', []).service('peer', function( mrl /*$rootScope, $log*/ +angular.module('peer', []).service('peer', function( mrl ) { service = {}; @@ -40,6 +40,20 @@ angular.module('peer', []).service('peer', function( mrl /*$rootScope, $log*/ return null } + service.getPeerConfig = function(service, key) { + try { + if (service && service.config && service.config.peers && service.config.peers[key]){ + return mrl.getService('runtime').masterPlan['config'][service.config.peers[key].name] + // return mrl.getService(service.config.peers[key].name).config + } else { + // if peer is not started - return the filesystem config + } + } catch (error) { + console.error(error); + } + return null + } + service.changePeerTab = function(service, key) { try { diff --git a/src/main/resources/resource/WebGui/app/service/js/RuntimeGui.js b/src/main/resources/resource/WebGui/app/service/js/RuntimeGui.js index 09eab9b6f6..4f452e9834 100644 --- a/src/main/resources/resource/WebGui/app/service/js/RuntimeGui.js +++ b/src/main/resources/resource/WebGui/app/service/js/RuntimeGui.js @@ -132,6 +132,10 @@ angular.module('mrlapp.service.RuntimeGui', []).controller('RuntimeGuiCtrl', ['$ _self.updateState(data) $scope.$apply() break + case 'onPlan': + $scope.plan = data + $scope.$apply() + break case 'onLocalServices': $scope.registry = data // $scope.$apply() @@ -408,6 +412,7 @@ angular.module('mrlapp.service.RuntimeGui', []).controller('RuntimeGuiCtrl', ['$ msg.subscribe("publishStatus") msg.subscribe('publishConfigList') msg.subscribe('publishInterfaceToNames') + // msg.subscribe("getPlan") //msg.send("getLocalServices") msg.send("getStartYml") @@ -417,6 +422,7 @@ angular.module('mrlapp.service.RuntimeGui', []).controller('RuntimeGuiCtrl', ['$ msg.send("getLocales") msg.send("publishInterfaceToNames") msg.send("getConfigName") + // msg.send("getPlan") // msg.send("getHosts") msg.subscribe(this) diff --git a/src/main/resources/resource/framework/pom.xml.template b/src/main/resources/resource/framework/pom.xml.template index ce45f6285a..f0ae2b4183 100644 --- a/src/main/resources/resource/framework/pom.xml.template +++ b/src/main/resources/resource/framework/pom.xml.template @@ -13,6 +13,9 @@ # fast build mvn -DskipTests package -o + # execute + mvn exec:java -Dexec.mainClass=org.myrobotlab.service.Runtime -Dexec.args="-s webgui WebGui intro Intro python Python" + # specific test mvn test -Dtest="org.myrobotlab.service.WebGuiTest#postTest" From 361b3e80d99146ab31a5bc2936f8ab9b8b3625f4 Mon Sep 17 00:00:00 2001 From: grog Date: Sun, 22 Oct 2023 06:59:40 -0700 Subject: [PATCH 067/232] adding build and ignore --- .github/workflows/build.yml | 39 ++----------------------------------- .gitignore | 3 +++ 2 files changed, 5 insertions(+), 37 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 2b8c8e5b4a..93d82942aa 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -1,11 +1,6 @@ name: Java CI -#on: [push] - -on: - push: - branches: - - develop +on: [push] jobs: build: @@ -20,37 +15,7 @@ jobs: with: java-version: '11' distribution: 'adopt' - - name: Dependency Test run: mvn test -Dtest=org.myrobotlab.framework.DependencyTest -q - - - name: Build and Test with Maven + - name: Build with Maven run: mvn --batch-mode -Dtest=!**/OpenCV* test -q - - - name: Get next version - uses: reecetech/version-increment@2023.9.3 - id: version - with: - scheme: semver - increment: patch - - - name: Package with Maven - run: "mvn package -DskipTests -Dversion=${{ steps.version.outputs.version }} -q" - - # - name: Fake Build - # run: | - # mkdir -p target - # echo ${{ github.sha }} > ./target/myrobotlab.zip - - - name: Release - id: release - uses: softprops/action-gh-release@v1 - with: - token: ${{ secrets.ACCESS_TOKEN }} - files: | - ./target/myrobotlab.zip - ./target/myrobotlab.jar - name: "${{ steps.version.outputs.version }} Nixie" - tag_name: ${{ steps.version.outputs.version }} - generate_release_notes: true - body_path: ./release-template.md diff --git a/.gitignore b/.gitignore index fb07e725f0..4fa1d43508 100644 --- a/.gitignore +++ b/.gitignore @@ -116,4 +116,7 @@ build/ /lastRestart.py /.factorypath start.yml +config +src/main/resources/resource/InMoov2 +src/main/resources/resource/ProgramAB *.iml From 2674733a26e91433f684b2351b92c8c134360050 Mon Sep 17 00:00:00 2001 From: grog Date: Sun, 22 Oct 2023 07:06:54 -0700 Subject: [PATCH 068/232] start of InMoov2Test --- .../org/myrobotlab/service/InMoov2Test.java | 28 +++++++++++++++++++ 1 file changed, 28 insertions(+) create mode 100644 src/test/java/org/myrobotlab/service/InMoov2Test.java diff --git a/src/test/java/org/myrobotlab/service/InMoov2Test.java b/src/test/java/org/myrobotlab/service/InMoov2Test.java new file mode 100644 index 0000000000..9be0e28537 --- /dev/null +++ b/src/test/java/org/myrobotlab/service/InMoov2Test.java @@ -0,0 +1,28 @@ +package org.myrobotlab.service; +import static org.junit.Assert.assertFalse; +import static org.junit.Assert.assertTrue; + +import org.junit.Test; +import org.myrobotlab.service.config.OpenCVConfig; + +public class InMoov2Test { + + @Test + public void testCvFilters() throws NoSuchFieldException, SecurityException, IllegalArgumentException, IllegalAccessException { + + InMoov2 i01 = (InMoov2)Runtime.start("i01", "InMoov2"); + + // flip + i01.setPeerConfigValue("opencv", "flip", true); + OpenCVConfig cvconfig = (OpenCVConfig)i01.getPeerConfig("opencv"); + assertTrue(cvconfig.flip); + + i01.setPeerConfigValue("opencv", "flip", false); + cvconfig = (OpenCVConfig)i01.getPeerConfig("opencv"); + assertFalse(cvconfig.flip); + + } + + +} + From 2380e7bd8c6dd44831bc48b0669461d006ecefa6 Mon Sep 17 00:00:00 2001 From: grog Date: Sun, 22 Oct 2023 07:23:59 -0700 Subject: [PATCH 069/232] clearing plan --- src/main/java/org/myrobotlab/service/Runtime.java | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/main/java/org/myrobotlab/service/Runtime.java b/src/main/java/org/myrobotlab/service/Runtime.java index d8abae8ed5..c831f0ea0f 100644 --- a/src/main/java/org/myrobotlab/service/Runtime.java +++ b/src/main/java/org/myrobotlab/service/Runtime.java @@ -4294,8 +4294,7 @@ public Plan getLocalPlan() { */ static public void clearPlan() { Runtime runtime = Runtime.getInstance(); - // fixes concurrent modification - runtime.masterPlan = new Plan("runtime"); + runtime.masterPlan.clear(); runtime.masterPlan.put("runtime", new RuntimeConfig()); // unset config path runtime.configName = null; From 8149ae694df7e0eaebfc4fca61818113bfdeae66 Mon Sep 17 00:00:00 2001 From: grog Date: Tue, 24 Oct 2023 21:17:50 -0700 Subject: [PATCH 070/232] merged master --- pom.xml | 6 ++++ .../org/myrobotlab/framework/Service.java | 19 +++++++------ .../java/org/myrobotlab/service/WebGui.java | 2 +- .../java/org/myrobotlab/service/WebXR.java | 10 ++++++- .../service/config/InMoov2Config.java | 28 ++++++++++++++++++- .../org/myrobotlab/vertx/ApiVerticle.java | 12 ++++++-- 6 files changed, 62 insertions(+), 15 deletions(-) diff --git a/pom.xml b/pom.xml index 7acbce2abb..e6b9aa346c 100644 --- a/pom.xml +++ b/pom.xml @@ -198,6 +198,12 @@ + + org.nanohttpd + nanohttpd + 2.2.0 + + org.bytedeco diff --git a/src/main/java/org/myrobotlab/framework/Service.java b/src/main/java/org/myrobotlab/framework/Service.java index 4016375a7a..36d3078f63 100644 --- a/src/main/java/org/myrobotlab/framework/Service.java +++ b/src/main/java/org/myrobotlab/framework/Service.java @@ -1416,7 +1416,8 @@ public

    P getPeerConfig(String peerKey, StaticType

    t } // Java generics don't let us create a new StaticType using - // P here because the type variable is erased, so we have to cast anyway for now + // P here because the type variable is erased, so we have to cast anyway for + // now ConfigurableService

    si = (ConfigurableService

    ) Runtime.getService(peerName); if (si != null) { // peer is currently running - get its config @@ -1447,7 +1448,8 @@ public void setPeerConfigValue(String peerKey, String fieldname, Object value) t field.set(sc, value); savePeerConfig(peerKey, sc); String peerName = getPeerName(peerKey); - var cs = Runtime.getConfigurableService(peerName, new StaticType>() {}); + var cs = Runtime.getConfigurableService(peerName, new StaticType>() { + }); if (cs != null) { cs.apply(sc); // TODO - look for applies if its read from the file system // it needs to update Runtime.plan @@ -2163,7 +2165,7 @@ public Status error(Exception e) { invoke("publishStatus", status); return status; } - + @Override public Status error(String format, Object... args) { Status ret; @@ -2194,10 +2196,8 @@ public Status warn(String msg) { @Override public Status warn(String format, Object... args) { - String msg = String.format( - Objects.requireNonNullElse(format, ""), - args); - + String msg = String.format(Objects.requireNonNullElse(format, ""), args); + return warn(msg); } @@ -2235,7 +2235,7 @@ public Status info(String format, Object... args) { public Status publishError(Status status) { return status; } - + public Status publishWarn(Status status) { return status; } @@ -2857,7 +2857,8 @@ public void apply() { } public void applyPeerConfig(String peerKey, ServiceConfig config) { - applyPeerConfig(peerKey, config, new StaticType<>() {}); + applyPeerConfig(peerKey, config, new StaticType<>() { + }); } /** diff --git a/src/main/java/org/myrobotlab/service/WebGui.java b/src/main/java/org/myrobotlab/service/WebGui.java index dd2178bf8c..d007befe6e 100644 --- a/src/main/java/org/myrobotlab/service/WebGui.java +++ b/src/main/java/org/myrobotlab/service/WebGui.java @@ -1179,7 +1179,7 @@ public static void main(String[] args) { // Platform.setVirtual(true); - Runtime.startConfig("default"); + Runtime.startConfig("dev"); boolean done = true; if (done) { diff --git a/src/main/java/org/myrobotlab/service/WebXR.java b/src/main/java/org/myrobotlab/service/WebXR.java index 63a3f1f3ed..509620832e 100644 --- a/src/main/java/org/myrobotlab/service/WebXR.java +++ b/src/main/java/org/myrobotlab/service/WebXR.java @@ -129,7 +129,15 @@ public static void main(String[] args) { // identical to command line start // Runtime.startConfig("inmoov2"); - Runtime.main(new String[] { "--log-level", "info", "-s", "webgui", "WebGui", "intro", "Intro", "python", "Python" }); + + + // normal non-config launch + // Runtime.main(new String[] { "--log-level", "info", "-s", "webgui", "WebGui", "intro", "Intro", "python", "Python" }); + + + // config launch + Runtime.startConfig("webxr"); + boolean done = true; if (done) return; diff --git a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java index 6625e37096..340ed30780 100644 --- a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java +++ b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java @@ -1,10 +1,13 @@ package org.myrobotlab.service.config; import java.util.ArrayList; +import java.util.HashMap; +import java.util.Map; import org.myrobotlab.framework.Plan; import org.myrobotlab.jme3.UserDataConfig; import org.myrobotlab.math.MapperLinear; +import org.myrobotlab.math.MapperSimple; import org.myrobotlab.service.Pid.PidData; import org.myrobotlab.service.Runtime; import org.myrobotlab.service.config.FiniteStateMachineConfig.Transition; @@ -198,7 +201,26 @@ public Plan getDefault(Plan plan, String name) { addDefaultPeerConfig(plan, name, "torso", "InMoov2Torso", false); addDefaultPeerConfig(plan, name, "ultrasonicRight", "UltrasonicSensor", false); addDefaultPeerConfig(plan, name, "ultrasonicLeft", "UltrasonicSensor", false); - + addDefaultPeerConfig(plan, name, "vertx", "Vertx", false); + addDefaultPeerConfig(plan, name, "webxr", "WebXR", false); + + WebXRConfig webxr = (WebXRConfig)plan.get(getPeerName("webxr")); + + Map map = new HashMap<>(); + MapperSimple mapper = new MapperSimple(-0.5, 0.5, 0, 180); + map.put("i01.head.neck", mapper); + webxr.controllerMappings.put("head.orientation.pitch", map); + + map = new HashMap<>(); + mapper = new MapperSimple(-0.5, 0.5, 0, 180); + map.put("i01.head.rothead", mapper); + webxr.controllerMappings.put("head.orientation.yaw", map); + + map = new HashMap<>(); + mapper = new MapperSimple(-0.5, 0.5, 0, 180); + map.put("i01.head.roll", mapper); + webxr.controllerMappings.put("head.orientation.roll", map); + MouthControlConfig mouthControl = (MouthControlConfig) plan.get(getPeerName("mouthControl")); // setup name references to different services FIXME getPeerName("head").getPeerName("jaw") @@ -525,6 +547,10 @@ public Plan getDefault(Plan plan, String name) { mouth_audioFile.listeners = new ArrayList<>(); mouth_audioFile.listeners.add(new Listener("publishPeak", name)); fsm.listeners.add(new Listener("publishStateChange", name, "publishStateChange")); + + webxr.listeners = new ArrayList<>(); + webxr.listeners.add(new Listener("publishJointAngles", name)); + // mouth_audioFile.listeners.add(new Listener("publishAudioEnd", name)); // mouth_audioFile.listeners.add(new Listener("publishAudioStart", name)); diff --git a/src/main/java/org/myrobotlab/vertx/ApiVerticle.java b/src/main/java/org/myrobotlab/vertx/ApiVerticle.java index 57239bd210..52c3d5d305 100644 --- a/src/main/java/org/myrobotlab/vertx/ApiVerticle.java +++ b/src/main/java/org/myrobotlab/vertx/ApiVerticle.java @@ -47,14 +47,20 @@ public void start() throws Exception { // static file routing - this is from a npm "build" ... but durin gdevelop its far // easier to use setupProxy.js from a npm start .. but deployment would be easier with a "build" - //StaticHandler root = StaticHandler.create("src/main/resources/resource/Vertx/app"); - // StaticHandler root = StaticHandler.create("src/main/resources/resource/Vertx/app"); - StaticHandler root = StaticHandler.create("../robotlab-x-app/build/"); + // new UI + // StaticHandler root = StaticHandler.create("../robotlab-x-app/build/"); + + // old UI (runtime vs dev time...) + StaticHandler root = StaticHandler.create("src/main/resources/resource/WebGui/app/"); root.setCachingEnabled(false); root.setDirectoryListing(true); root.setIndexPage("index.html"); // root.setAllowRootFileSystemAccess(true); // root.setWebRoot(null); + + VideoStreamHandler video = new VideoStreamHandler(service); + + router.route("/video/*").handler(video); router.route("/*").handler(root); From 4b939caff5d152b70fed77a6bbf3fc9866f601ef Mon Sep 17 00:00:00 2001 From: grog Date: Wed, 25 Oct 2023 07:22:16 -0700 Subject: [PATCH 071/232] removing video handler for now --- src/main/java/org/myrobotlab/vertx/ApiVerticle.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/org/myrobotlab/vertx/ApiVerticle.java b/src/main/java/org/myrobotlab/vertx/ApiVerticle.java index 52c3d5d305..4dc470f1df 100644 --- a/src/main/java/org/myrobotlab/vertx/ApiVerticle.java +++ b/src/main/java/org/myrobotlab/vertx/ApiVerticle.java @@ -58,9 +58,9 @@ public void start() throws Exception { // root.setAllowRootFileSystemAccess(true); // root.setWebRoot(null); - VideoStreamHandler video = new VideoStreamHandler(service); + // VideoStreamHandler video = new VideoStreamHandler(service); - router.route("/video/*").handler(video); + // router.route("/video/*").handler(video); router.route("/*").handler(root); From fc63c5af6015fd8ae02830014bf743b51629f278 Mon Sep 17 00:00:00 2001 From: grog Date: Sun, 29 Oct 2023 06:53:50 -0700 Subject: [PATCH 072/232] readme update --- README.html | 9 +++++++++ assembly.xml | 1 + 2 files changed, 10 insertions(+) create mode 100644 README.html diff --git a/README.html b/README.html new file mode 100644 index 0000000000..2449979c5e --- /dev/null +++ b/README.html @@ -0,0 +1,9 @@ + + + +

    Starting MyRobotLab

    +

    Instructions Here


    +

    Help

    +

    Discord Channel


    + + \ No newline at end of file diff --git a/assembly.xml b/assembly.xml index 562bd86cf8..768fcbab9f 100644 --- a/assembly.xml +++ b/assembly.xml @@ -12,6 +12,7 @@ myrobotlab.bat myrobotlab.sh + README.html ./ myrobotlab-${version} From ec5ef4abec2d1cbfa1559dc695d91d91e1e63133 Mon Sep 17 00:00:00 2001 From: grog Date: Fri, 3 Nov 2023 07:50:14 -0700 Subject: [PATCH 073/232] updated mux config apply --- .../java/org/myrobotlab/service/I2cMux.java | 21 ++++++++++++++----- 1 file changed, 16 insertions(+), 5 deletions(-) diff --git a/src/main/java/org/myrobotlab/service/I2cMux.java b/src/main/java/org/myrobotlab/service/I2cMux.java index c3403a1eb4..71e885787f 100644 --- a/src/main/java/org/myrobotlab/service/I2cMux.java +++ b/src/main/java/org/myrobotlab/service/I2cMux.java @@ -13,7 +13,6 @@ import org.myrobotlab.logging.LoggerFactory; import org.myrobotlab.logging.LoggingFactory; import org.myrobotlab.service.config.I2cMuxConfig; -import org.myrobotlab.service.config.ServiceConfig; import org.myrobotlab.service.interfaces.I2CControl; import org.myrobotlab.service.interfaces.I2CController; import org.slf4j.Logger; @@ -376,11 +375,23 @@ public I2cMuxConfig getConfig() { public I2cMuxConfig apply(I2cMuxConfig c) { super.apply(c); // FIXME - remove all this, it should "only" be in config - deviceBus = c.bus; - deviceAddress = c.address; - i2cDevices = c.i2cDevices; + if (c.bus != null) { + setBus(c.bus); + } + if (c.address != null) { + setAddress(c.address); + } + + if (c.i2cDevices != null) { + i2cDevices = c.i2cDevices; + } + if (c.controller != null) { - controllerName = c.controller; + try { + attach(controllerName); + } catch(Exception e) { + error(e); + } } return c; } From 29df9ee2629a42effb3777c58ec87b8946dfc487 Mon Sep 17 00:00:00 2001 From: grog Date: Fri, 3 Nov 2023 09:18:39 -0700 Subject: [PATCH 074/232] bumping --- src/main/java/org/myrobotlab/service/I2cMux.java | 1 + 1 file changed, 1 insertion(+) diff --git a/src/main/java/org/myrobotlab/service/I2cMux.java b/src/main/java/org/myrobotlab/service/I2cMux.java index 71e885787f..ced3b15a46 100644 --- a/src/main/java/org/myrobotlab/service/I2cMux.java +++ b/src/main/java/org/myrobotlab/service/I2cMux.java @@ -394,6 +394,7 @@ public I2cMuxConfig apply(I2cMuxConfig c) { } } return c; + } } From 8b468a040ed6c70712f4a04d44e033e43409c0b8 Mon Sep 17 00:00:00 2001 From: grog Date: Sun, 5 Nov 2023 06:38:07 -0800 Subject: [PATCH 075/232] removed changes from opencv --- .../java/org/myrobotlab/service/OpenCV.java | 49 +------------------ 1 file changed, 2 insertions(+), 47 deletions(-) diff --git a/src/main/java/org/myrobotlab/service/OpenCV.java b/src/main/java/org/myrobotlab/service/OpenCV.java index 88deb97360..ff093721bd 100644 --- a/src/main/java/org/myrobotlab/service/OpenCV.java +++ b/src/main/java/org/myrobotlab/service/OpenCV.java @@ -55,8 +55,6 @@ import javax.imageio.ImageIO; import javax.imageio.stream.MemoryCacheImageOutputStream; -import org.bytedeco.ffmpeg.global.avcodec; -import org.bytedeco.javacpp.avutil; import org.bytedeco.javacv.CanvasFrame; import org.bytedeco.javacv.FFmpegFrameRecorder; import org.bytedeco.javacv.Frame; @@ -150,8 +148,6 @@ public class OpenCV extends AbstractComputerVision implements Imag int vpId = 0; transient CanvasFrame canvasFrame = null; - - transient FFmpegFrameRecorder recorder = null; class VideoProcessor implements Runnable { @@ -172,44 +168,6 @@ synchronized public void run() { lengthInTime = grabber.getLengthInTime(); log.info("grabber {} started - length time {} length frames {}", grabberType, lengthInTime, lengthInFrames); - // create recorder - recorder = new FFmpegFrameRecorder("output.flv", grabber.getImageWidth(), grabber.getImageHeight()); - // recorder.setFormat("mp4"); - recorder.setFormat("flv"); - -// recorder.setFormat("ogg"); // Set the output format to Ogg -// recorder.setVideoCodec(avcodec.AV_CODEC_ID_THEORA); // Set the video codec to Theora -// recorder.setPixelFormat(avutil.AV_PIX_FMT_YUV420P); // Set pixel format -// -// recorder.setVideoCodec(avcodec.AV_CODEC_ID_THEORA); // Set the video codec to Theora -// recorder.setPixelFormat(avutil.AV_PIX_FMT_YUV420P); // Set pixel format -// recorder.start(); -// -// recorder.start(); - -// h264 -// recorder.setFormat("mp4"); -// recorder.setVideoQuality(10); -// recorder.setFrameRate(grabber1.getFrameRate()); -// recorder.setVideoCodec(avcodec.AV_CODEC_ID_H264); - - - - - // webm -// recorder.setVideoCodecName("libvpx-vp9"); -// recorder.setFormat("webm"); -// recorder.setPixelFormat(org.bytedeco.javacv.Frame.DEPTH_UBYTE); - // recorder.setFrameRate(frameRate); - - - // not sure what this is .. but it works - // recorder.setFormat("ffm"); - - - recorder.start(); - - // Wait for the Kinect to heat up. int loops = 0; while (grabber.getClass() == OpenKinectFrameGrabber.class && lengthInFrames == 0 && loops < 200) { @@ -239,8 +197,6 @@ synchronized public void run() { ++frameIndex; data = new OpenCVData(getName(), frameStartTs, frameIndex, newFrame); - - recorder.record(newFrame); if (grabber.getClass().equals(OpenKinectFrameGrabber.class)) { // by default this framegrabber returns video @@ -1258,7 +1214,6 @@ private void processVideo(OpenCVData data) throws org.bytedeco.javacv.FrameGrabb BufferedImage b = data.getDisplay(); SerializableImage si = new SerializableImage(b, displayFilter, frameIndex); invoke("publishDisplay", si); - // sleep(1000); if (webViewer) { // broadcast(???) @@ -2145,8 +2100,8 @@ public static void main(String[] args) throws Exception { // Runtime.start("python", "Python"); OpenCV cv = (OpenCV) Runtime.start("cv", "OpenCV"); -// OpenCVFilter fr = new OpenCVFilterFaceRecognizer("fr"); -// cv.addFilter(fr); + OpenCVFilter fr = new OpenCVFilterFaceRecognizer("fr"); + cv.addFilter(fr); // OpenCVFilterTracker tracker = new OpenCVFilterTracker("tracker"); // cv.addFilter(tracker); // OpenCVFilterLKOpticalTrack lk = new OpenCVFilterLKOpticalTrack("lk"); From 42c27dbb74194e175214f6bfd67b1e60e8f69157 Mon Sep 17 00:00:00 2001 From: GroG Date: Sun, 5 Nov 2023 06:44:50 -0800 Subject: [PATCH 076/232] Update README.html --- README.html | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.html b/README.html index 2449979c5e..2b5f39a3e5 100644 --- a/README.html +++ b/README.html @@ -6,4 +6,4 @@

    Starting MyRobotLab

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    - \ No newline at end of file + From 312525166f9f6c5c3ea28524302db757fed7e11a Mon Sep 17 00:00:00 2001 From: grog Date: Sun, 5 Nov 2023 07:04:07 -0800 Subject: [PATCH 077/232] merged develop --- .vscode/launch.json | 1 - .../java/org/myrobotlab/service/Runtime.java | 6 -- .../java/org/myrobotlab/service/WebXR.java | 54 +++++++++--------- .../org/myrobotlab/vertx/ApiVerticle.java | 5 ++ .../myrobotlab/vertx/WebSocketHandler.java | 8 ++- src/main/resources/resource/WebXR.png | Bin 20829 -> 2426 bytes src/main/resources/resource/WebXr.png | Bin 20829 -> 0 bytes 7 files changed, 39 insertions(+), 35 deletions(-) delete mode 100644 src/main/resources/resource/WebXr.png diff --git a/.vscode/launch.json b/.vscode/launch.json index e2826c6c69..421dbb64aa 100644 --- a/.vscode/launch.json +++ b/.vscode/launch.json @@ -18,7 +18,6 @@ "-c", "dev" ] - } ] } \ No newline at end of file diff --git a/src/main/java/org/myrobotlab/service/Runtime.java b/src/main/java/org/myrobotlab/service/Runtime.java index 7ab2febc18..bf4a155d1d 100644 --- a/src/main/java/org/myrobotlab/service/Runtime.java +++ b/src/main/java/org/myrobotlab/service/Runtime.java @@ -198,12 +198,6 @@ public class Runtime extends Service implements MessageListener, */ boolean processingConfig = false; - /** - * The one config directory where all config is managed the {default} is the - * current configuration set - */ - // protected String configDir = "data" + fs + "config"; - /** * 
        * The set of client connections to this mrl instance Some of the connections
diff --git a/src/main/java/org/myrobotlab/service/WebXR.java b/src/main/java/org/myrobotlab/service/WebXR.java
index 509620832e..a9a642b82b 100644
--- a/src/main/java/org/myrobotlab/service/WebXR.java
+++ b/src/main/java/org/myrobotlab/service/WebXR.java
@@ -25,9 +25,9 @@ public WebXR(String n, String id) {
   }
   
   public Event publishEvent(Event event) {
-    if (log.isDebugEnabled()) {
-      log.debug("publishEvent {}", event);
-    }
+    // if (log.isDebugEnabled()) {
+      log.info("publishEvent XRController {}", event);
+    // }
         
     String path = String.format("event.%s.%s", event.meta.get("handedness"), event.type);
     if (event.value != null) {
@@ -53,9 +53,9 @@ public Event publishEvent(Event event) {
    * @return
    */
   public Pose publishPose(Pose pose) {
-    if (log.isDebugEnabled()) {
-      log.debug("publishPose {}", pose);
-    }    
+//    if (log.isDebugEnabled()) {
+      log.error("publishPose {}", pose);
+//    }    
     // process mappings config into joint angles
     Map map = new HashMap<>();
 
@@ -83,27 +83,27 @@ public Pose publishPose(Pose pose) {
       }
     }
     
-    InverseKinematics3D ik = (InverseKinematics3D)Runtime.getService("ik3d");
-    if (ik != null && pose.name.equals("left")) {
-      ik.setCurrentArm("left", InMoov2Arm.getDHRobotArm("i01", "left"));
-
-      ik.centerAllJoints("left");
-
-      for (int i = 0; i < 1000; ++i) {
-        
-        ik.centerAllJoints("left");
-        ik.moveTo("left", 0, 0.0+ i * 0.02, 0.0);
-
-        
-        // ik.moveTo(pose.name, new Point(0, -200, 50));
-      }
-      
-      // map name
-      // and then map all position and rotation too :P
-      Point p = new Point(70 + pose.position.x, -550 + pose.position.y, pose.position.z);
-      
-      ik.moveTo(pose.name, p);
-    }
+//    InverseKinematics3D ik = (InverseKinematics3D)Runtime.getService("ik3d");
+//    if (ik != null && pose.name.equals("left")) {
+//      ik.setCurrentArm("left", InMoov2Arm.getDHRobotArm("i01", "left"));
+//
+//      ik.centerAllJoints("left");
+//
+//      for (int i = 0; i < 1000; ++i) {
+//        
+//        ik.centerAllJoints("left");
+//        ik.moveTo("left", 0, 0.0+ i * 0.02, 0.0);
+//
+//        
+//        // ik.moveTo(pose.name, new Point(0, -200, 50));
+//      }
+//      
+//      // map name
+//      // and then map all position and rotation too :P
+//      Point p = new Point(70 + pose.position.x, -550 + pose.position.y, pose.position.z);
+//      
+//      ik.moveTo(pose.name, p);
+//    }
 
     if (map.size() > 0) {
       invoke("publishJointAngles", map);
diff --git a/src/main/java/org/myrobotlab/vertx/ApiVerticle.java b/src/main/java/org/myrobotlab/vertx/ApiVerticle.java
index 4dc470f1df..f506d72da3 100644
--- a/src/main/java/org/myrobotlab/vertx/ApiVerticle.java
+++ b/src/main/java/org/myrobotlab/vertx/ApiVerticle.java
@@ -8,6 +8,7 @@
 import io.vertx.core.http.HttpMethod;
 import io.vertx.core.http.HttpServer;
 import io.vertx.core.http.HttpServerOptions;
+import io.vertx.core.http.HttpServerRequest;
 import io.vertx.core.net.SelfSignedCertificate;
 import io.vertx.ext.web.Router;
 import io.vertx.ext.web.handler.CorsHandler;
@@ -91,6 +92,10 @@ public void start() throws Exception {
     // FIXME - how to do this -> server.webSocketHandler(this::handleWebSocket);
     server.webSocketHandler(new WebSocketHandler(service));
     server.requestHandler(router);
+
+
+
+
     // start servers
     server.listen();
   }
diff --git a/src/main/java/org/myrobotlab/vertx/WebSocketHandler.java b/src/main/java/org/myrobotlab/vertx/WebSocketHandler.java
index 69b56957f3..17014c19db 100644
--- a/src/main/java/org/myrobotlab/vertx/WebSocketHandler.java
+++ b/src/main/java/org/myrobotlab/vertx/WebSocketHandler.java
@@ -11,6 +11,8 @@
 import org.slf4j.Logger;
 
 import io.vertx.core.Handler;
+import io.vertx.core.MultiMap;
+import io.vertx.core.http.HttpServerRequest;
 import io.vertx.core.http.ServerWebSocket;
 
 /**
@@ -26,6 +28,8 @@ public class WebSocketHandler implements Handler {
 
   public final static Logger log = LoggerFactory.getLogger(WebSocketHandler.class);
 
+  
+
   /**
    * reference to the MRL Vertx service / websocket and http server
    */
@@ -102,7 +106,9 @@ public WebSocketHandler(org.myrobotlab.service.Vertx service) {
   public void handle(ServerWebSocket socket) {
     // FIXME - get "id" from js client - need something unique from the js
     // client
-    // String id = r.getRequest().getParameter("id");
+    MultiMap headers = socket.headers();
+    String uri = socket.uri();
+    // String remoteId = r.getRequest().getParameter("id");
     String id = String.format("vertx-%s", service.getName());
     // String uuid = UUID.randomUUID().toString();
     String uuid = socket.binaryHandlerID();
diff --git a/src/main/resources/resource/WebXR.png b/src/main/resources/resource/WebXR.png
index 2432b77c92282b7a4f0f27c73b8556b998f14f19..dcf18c9242c5ce9943f40bf748911c5a80a98d67 100644
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From c6a518dbeb81af31e22782d83ed1d70af4757024 Mon Sep 17 00:00:00 2001
From: grog 
Date: Sun, 5 Nov 2023 07:08:08 -0800
Subject: [PATCH 078/232] merged in develop

---
 src/main/java/org/myrobotlab/service/InMoov2.java | 11 ++---------
 1 file changed, 2 insertions(+), 9 deletions(-)

diff --git a/src/main/java/org/myrobotlab/service/InMoov2.java b/src/main/java/org/myrobotlab/service/InMoov2.java
index 82b3514311..d74287f653 100644
--- a/src/main/java/org/myrobotlab/service/InMoov2.java
+++ b/src/main/java/org/myrobotlab/service/InMoov2.java
@@ -1286,7 +1286,8 @@ public void onPirOn() {
     led.green = 100;
     led.blue = 150;
     led.count = 5;
-    led.interval = 500;
+    led.timeOn = 500;
+    led.timeOff = 10;
     // FIXME flash on config.flashOnBoot
     invoke("publishFlash");
     String botState = chatBot.getPredicate("botState");
@@ -1295,14 +1296,6 @@ public void onPirOn() {
     }    
   }
 
-  /**
-   * Pir on callback
-   */
-  public void onPirOn() {
-    isPirOn = true;
-    fsm.fire("wake");
-  }
-
   /**
    * Pir off callback
    */

From efe51dbcb1d201a41c935159f5107271c94e89f1 Mon Sep 17 00:00:00 2001
From: grog 
Date: Sun, 5 Nov 2023 07:18:58 -0800
Subject: [PATCH 079/232] synching with dev

---
 .gitignore                                                | 1 +
 README.html                                               | 2 +-
 src/main/java/org/myrobotlab/document/Classification.java | 8 ++++++++
 3 files changed, 10 insertions(+), 1 deletion(-)

diff --git a/.gitignore b/.gitignore
index e57bfc2d60..30215e9549 100644
--- a/.gitignore
+++ b/.gitignore
@@ -94,3 +94,4 @@ build/
 /.factorypath
 start.yml
 /config
+
diff --git a/README.html b/README.html
index 2b5f39a3e5..2449979c5e 100644
--- a/README.html
+++ b/README.html
@@ -6,4 +6,4 @@ 
    Starting MyRobotLab
    
         
    Help
    
         
    Discord Channel

    
     
-
+
\ No newline at end of file
diff --git a/src/main/java/org/myrobotlab/document/Classification.java b/src/main/java/org/myrobotlab/document/Classification.java
index 727bbd36e0..2f615865a5 100644
--- a/src/main/java/org/myrobotlab/document/Classification.java
+++ b/src/main/java/org/myrobotlab/document/Classification.java
@@ -110,6 +110,14 @@ public BufferedImage getImage() {
     return null;
   }
 
+  public void setObject(Object frame) {
+    setField("imageObject", frame);
+  }
+
+  public Object getObject() {
+    return getValue("imageObject");
+  }
+
   public void setBoundingBox(Rectangle rect) {
     setField("bounding_box", rect);
   }

From 52381d30e97be17779afcc4c609219aba82e3b07 Mon Sep 17 00:00:00 2001
From: grog 
Date: Sun, 5 Nov 2023 07:43:15 -0800
Subject: [PATCH 080/232] more merging of develop

---
 .vscode/launch.json                           | 1626 ++++++++++++++++-
 .../org/myrobotlab/kinematics/DHRobotArm.java |    5 +-
 2 files changed, 1618 insertions(+), 13 deletions(-)

diff --git a/.vscode/launch.json b/.vscode/launch.json
index 421dbb64aa..0ad59dd7dd 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -4,20 +4,1628 @@
     // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
     "version": "0.2.0",
     "configurations": [
+        {
+            "type": "java",
+            "name": "Current File",
+            "request": "launch",
+            "mainClass": "${file}"
+        },
+        {
+            "type": "java",
+            "name": "PeerDiscovery",
+            "request": "launch",
+            "mainClass": "PeerDiscovery",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "ArduinoMsgGenerator",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.arduino.ArduinoMsgGenerator",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Msg",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.arduino.Msg",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "VirtualMsg",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.arduino.VirtualMsg",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "CaptureCalibrationImagesApp",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.boofcv.CaptureCalibrationImagesApp",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "CreateRgbPointCloudFileApp",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.boofcv.CreateRgbPointCloudFileApp",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "DisplayKinectPointCloudApp",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.boofcv.DisplayKinectPointCloudApp",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "ExampleDepthPointCloud",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.boofcv.ExampleDepthPointCloud",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "ExampleVisualOdometryDepth",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.boofcv.ExampleVisualOdometryDepth",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "IntrinsicToDepthParameters",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.boofcv.IntrinsicToDepthParameters",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "LogKinectDataApp",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.boofcv.LogKinectDataApp",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "OpenKinectOdometry",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.boofcv.OpenKinectOdometry",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "OpenKinectPointCloud",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.boofcv.OpenKinectPointCloud",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "OpenKinectStreamingTest",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.boofcv.OpenKinectStreamingTest",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "OverlayRgbDepthStreamsApp",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.boofcv.OverlayRgbDepthStreamsApp",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "PlaybackKinectLogApp",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.boofcv.PlaybackKinectLogApp",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "CmdLine",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.cmdline.CmdLine",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "CodecUtils",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.codec.CodecUtils",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "PolymorphicSerializer",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.codec.PolymorphicSerializer",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "RecorderPythonFile",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.codec.RecorderPythonFile",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "CvData",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.cv.CvData",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "WikipediaIndexer",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.document.connector.WikipediaIndexer",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Index",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.framework.Index",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "MRLListener",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.framework.MRLListener",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Message",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.framework.Message",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "MethodCacheTest",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.framework.MethodCacheTest",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "NameGenerator",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.framework.NameGenerator",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Platform",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.framework.Platform",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Status",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.framework.Status",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "TypeConverter",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.framework.TypeConverter",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "IvyWrapper",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.framework.repo.IvyWrapper",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "MavenWrapper",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.framework.repo.MavenWrapper",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "ServiceData",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.framework.repo.ServiceData",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "I2CFactory",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.i2c.I2CFactory",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "SerializableImage",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.image.SerializableImage",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "FileIO",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.io.FileIO",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "FindFile",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.io.FindFile",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Zip",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.io.Zip",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "TestPhysicsHingeJoint",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.jme3.TestPhysicsHingeJoint",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "TestSimplePhysics",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.jme3.TestSimplePhysics",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "TestJmeIMModel",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.kinematics.TestJmeIMModel",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "TestJmeIntegratedMovement",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.kinematics.TestJmeIntegratedMovement",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "MapperLinearTest",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.math.MapperLinearTest",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Node",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.memory.Node",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Email",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.net.Email",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Http",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.net.Http",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "HttpRequest",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.net.HttpRequest",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "InstallCert",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.net.InstallCert",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "MjpegServer",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.net.MjpegServer",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "NanoHTTPD",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.net.NanoHTTPD",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "TcpSerialHub",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.net.TcpSerialHub",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "TcpServer",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.net.TcpServer",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "WsClient",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.net.WsClient",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "OculusDisplay",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.oculus.OculusDisplay",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "OpenCVData",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.opencv.OpenCVData",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "OpenCVFaceRecognizer",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.opencv.OpenCVFaceRecognizer",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "OpenCVFilterAddMask",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.opencv.OpenCVFilterAddMask",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "OpenCVFilterKinectFloorFinder",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.opencv.OpenCVFilterKinectFloorFinder",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "OpenCVFilterKinectPointCloud",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.opencv.OpenCVFilterKinectPointCloud",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "InProcessCli",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.process.InProcessCli",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Launcher",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.process.Launcher",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "RTTTLParser",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.roomba.RTTTLParser",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "RTTTLPlay",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.roomba.RTTTLPlay",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "ProcParser",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.runtime.ProcParser",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Adafruit16CServoDriver",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Adafruit16CServoDriver",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "AdafruitIna219",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.AdafruitIna219",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "AdafruitMotorHat4Pi",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.AdafruitMotorHat4Pi",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Ads1115",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Ads1115",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Amt203Encoder",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Amt203Encoder",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Android",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Android",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Arduino",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Arduino",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Arm",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Arm",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "As5048AEncoder",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.As5048AEncoder",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "AudioCapture",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.AudioCapture",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "AudioFile",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.AudioFile",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "AzureTranslator",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.AzureTranslator",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "BeagleBoardBlack",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.BeagleBoardBlack",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Blender",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Blender",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Blocks",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Blocks",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Bno055",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Bno055",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "BodyPart",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.BodyPart",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "BoofCv",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.BoofCv",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Chassis",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Chassis",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "ChessGame",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.ChessGame",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Clock",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Clock",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Cron",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Cron",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Database",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Database",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Deeplearning4j",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Deeplearning4j",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "DiscordBot",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.DiscordBot",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "DiyServo",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.DiyServo",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Docker",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Docker",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "DocumentPipeline",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.DocumentPipeline",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "DruppNeck",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.DruppNeck",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "EddieControlBoard",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.EddieControlBoard",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Elasticsearch",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Elasticsearch",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Emoji",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Emoji",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Esp8266",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Esp8266",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Esp8266_01",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Esp8266_01",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "FiniteStateMachine",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.FiniteStateMachine",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Git",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Git",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "GoPro",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.GoPro",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "GoogleCloud",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.GoogleCloud",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "GoogleSearch",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.GoogleSearch",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "GoogleTranslate",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.GoogleTranslate",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Gps",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Gps",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Gpt3",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Gpt3",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Hd44780",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Hd44780",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "HtmlFilter",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.HtmlFilter",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "HtmlParser",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.HtmlParser",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "HttpClient",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.HttpClient",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "I2cMux",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.I2cMux",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "IBus",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.IBus",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "ImageDisplay",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.ImageDisplay",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "ImapEmailConnector",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.ImapEmailConnector",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "InMoov2",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.InMoov2",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "InMoov2Hand",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.InMoov2Hand",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "InMoov2Head",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.InMoov2Head",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "InMoov2Torso",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.InMoov2Torso",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "IndianTts",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.IndianTts",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "IntegratedMovement",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.IntegratedMovement",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Intro",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Intro",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "InverseKinematics",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.InverseKinematics",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "InverseKinematics3D",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.InverseKinematics3D",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "IpCamera",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.IpCamera",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "JFugue",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.JFugue",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "JMonkeyEngine",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.JMonkeyEngine",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "JMonkeyEngineTest",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.JMonkeyEngineTest",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "JavaScript",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.JavaScript",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Joystick",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Joystick",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "KafkaConnector",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.KafkaConnector",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Keyboard",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Keyboard",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "KeyboardSim",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.KeyboardSim",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "LeapMotion",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.LeapMotion",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "LeapMotion2",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.LeapMotion2",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Lidar",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Lidar",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "LidarVlp16",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.LidarVlp16",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Lloyd",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Lloyd",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Lm75a",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Lm75a",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "LocalSpeech",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.LocalSpeech",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Log",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Log",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Mail",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Mail",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "MarySpeech",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.MarySpeech",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Maven",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Maven",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "MobilePlatform",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.MobilePlatform",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Motor",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Motor",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "MotorDualPwm",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.MotorDualPwm",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "MotorHat4Pi",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.MotorHat4Pi",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "MotorPort",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.MotorPort",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "MouseSim",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.MouseSim",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "MouthControl",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.MouthControl",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Mpr121",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Mpr121",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Mpu6050",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Mpu6050",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Mqtt",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Mqtt",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "MqttBroker",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.MqttBroker",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "MultiWii",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.MultiWii",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "MyoThalmic",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.MyoThalmic",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "NeoPixel",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.NeoPixel",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "OakD",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.OakD",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "OculusDiy",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.OculusDiy",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "OculusRift",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.OculusRift",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "OledSsd1306",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.OledSsd1306",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "OpenCV",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.OpenCV",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "OpenCVTest",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.OpenCVTest",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "OpenNi",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.OpenNi",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "OpenWeatherMap",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.OpenWeatherMap",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Osc",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Osc",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Pcf8574",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Pcf8574",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Pid",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Pid",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Pingdar",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Pingdar",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Pir",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Pir",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Polly",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Polly",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "ProgramAB",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.ProgramAB",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Py4j",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Py4j",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Python",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Python",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "RSSConnector",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.RSSConnector",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Random",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Random",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "RasPi",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.RasPi",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Rekognition",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Rekognition",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Relay",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Relay",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "RoboClaw",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.RoboClaw",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Roomba",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Roomba",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Ros",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Ros",
+            "projectName": "mrl"
+        },
         {
             "type": "java",
             "name": "Runtime",
             "request": "launch",
             "mainClass": "org.myrobotlab.service.Runtime",
-            "projectName": "mrl",
-            "args": [
-                "--log-level",
-                "info",
-                "-s",
-                "webgui", "WebGui", "intro", "Intro", "python", "Python",
-                "-c",
-                "dev"
-              ]
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Sabertooth",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Sabertooth",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Security",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Security",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "SegmentDisplay",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.SegmentDisplay",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "SensorMonitor",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.SensorMonitor",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Serial",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Serial",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "SerialRelay",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.SerialRelay",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Servo",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Servo",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "ServoMixer",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.ServoMixer",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Shoutbox",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Shoutbox",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "SlackBot",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.SlackBot",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Solr",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Solr",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Sphinx",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Sphinx",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "SpotMicro",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.SpotMicro",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Ssc32UsbServoController",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Ssc32UsbServoController",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "TarsosDsp",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.TarsosDsp",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Tensorflow",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Tensorflow",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "TesseractOcr",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.TesseractOcr",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Test",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Test",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "TestCatcher",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.TestCatcher",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "ThingSpeak",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.ThingSpeak",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "TopCodes",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.TopCodes",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Tracking",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Tracking",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Twitter",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Twitter",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "UltrasonicSensor",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.UltrasonicSensor",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "UltrasonicSensorTest",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.UltrasonicSensorTest",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Updater",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Updater",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "VideoStreamer",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.VideoStreamer",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "VirtualArduino",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.VirtualArduino",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "VoiceRss",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.VoiceRss",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "WatchDogTimer",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.WatchDogTimer",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "WebGui",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.WebGui",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "WebSocketConnector",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.WebSocketConnector",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Webcam",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Webcam",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "WebkitSpeechRecognition",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.WebkitSpeechRecognition",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "WebkitSpeechSynthesis",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.WebkitSpeechSynthesis",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Wii",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Wii",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "WiiDar",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.WiiDar",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "WikiDataFetcher",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.WikiDataFetcher",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Wikipedia",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Wikipedia",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "WolframAlpha",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.WolframAlpha",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "WorkE",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.WorkE",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Xmpp",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.Xmpp",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "YahooFinanceStockQuote",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.YahooFinanceStockQuote",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "_TemplateService",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service._TemplateService",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "Pin",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.data.Pin",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "SpeechSynthesisTest",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.service.interfaces.SpeechSynthesisTest",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "StringUtil",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.string.StringUtil",
+            "projectName": "mrl"
+        },
+        {
+            "type": "java",
+            "name": "AbstractTest",
+            "request": "launch",
+            "mainClass": "org.myrobotlab.test.AbstractTest",
+            "projectName": "mrl"
         }
     ]
 }
\ No newline at end of file
diff --git a/src/main/java/org/myrobotlab/kinematics/DHRobotArm.java b/src/main/java/org/myrobotlab/kinematics/DHRobotArm.java
index 6fd3e43b13..03b8c251b9 100644
--- a/src/main/java/org/myrobotlab/kinematics/DHRobotArm.java
+++ b/src/main/java/org/myrobotlab/kinematics/DHRobotArm.java
@@ -235,10 +235,7 @@ public boolean moveToGoal(Point goal) {
     int numSteps = 0;
     double iterStep = 0.05;
     // we're in millimeters..
-    double errorThreshold = 20.0;
-    
-    maxIterations = 1000;
-    
+    double errorThreshold = 2.0;
     // what's the current point
     while (true) {
       numSteps++;

From b521675fed268c3c22f1cd7a6cd09e921d65fb33 Mon Sep 17 00:00:00 2001
From: grog 
Date: Sat, 11 Nov 2023 08:48:50 -0800
Subject: [PATCH 081/232] random service update

---
 .../org/myrobotlab/service/JMonkeyEngine.java |   2 +-
 .../java/org/myrobotlab/service/Random.java   | 262 ++++++++++--------
 .../myrobotlab/service/meta/RandomMeta.java   |   5 +-
 src/main/resources/resource/Random/Random.py  |  54 +++-
 .../WebGui/app/service/views/RandomGui.html   |  12 +-
 .../org/myrobotlab/service/RandomTest.java    |  18 +-
 6 files changed, 212 insertions(+), 141 deletions(-)

diff --git a/src/main/java/org/myrobotlab/service/JMonkeyEngine.java b/src/main/java/org/myrobotlab/service/JMonkeyEngine.java
index fbc5ef5e99..a22156778e 100644
--- a/src/main/java/org/myrobotlab/service/JMonkeyEngine.java
+++ b/src/main/java/org/myrobotlab/service/JMonkeyEngine.java
@@ -2157,7 +2157,7 @@ public void simpleInitApp() {
     new File(getDataDir()).mkdirs();
     new File(getResourceDir()).mkdirs();
 
-    // assetManager.registerLocator("./", FileLocator.class);
+    assetManager.registerLocator("./", FileLocator.class);
     assetManager.registerLocator(getDataDir(), FileLocator.class);
     assetManager.registerLocator(assetsDir, FileLocator.class);
     assetManager.registerLocator(modelsDir, FileLocator.class);
diff --git a/src/main/java/org/myrobotlab/service/Random.java b/src/main/java/org/myrobotlab/service/Random.java
index dca027aa3a..71ca99616f 100644
--- a/src/main/java/org/myrobotlab/service/Random.java
+++ b/src/main/java/org/myrobotlab/service/Random.java
@@ -32,6 +32,10 @@ public class Random extends Service {
 
   public final static Logger log = LoggerFactory.getLogger(Random.class);
 
+  transient private RandomProcessor processor = null;
+
+  transient private final Object lock = new Object();
+
   /**
    * 
    * RandomMessage is used to contain the ranges of values and intervals for
@@ -39,14 +43,15 @@ public class Random extends Service {
    *
    */
   static public class RandomMessage {
+    public String taskName;
     public String name;
     public String method;
     public Range[] data;
     public boolean enabled = true;
     public long minIntervalMs;
     public long maxIntervalMs;
-    public long interval;
     public boolean oneShot = false;
+    public transient long nextProcessTimeTs = 0;
 
     public RandomMessage() {
     }
@@ -103,6 +108,23 @@ public double getRandom(double min, double max) {
     return min + (Math.random() * (max - min));
   }
 
+  public void addRandom(String taskName, long minIntervalMs, long maxIntervalMs, String name, String method, Integer... values) {
+    addRandom(taskName, minIntervalMs, maxIntervalMs, name, method, toRanges((Object[]) values));
+  }
+
+  public void addRandom(String taskName, long minIntervalMs, long maxIntervalMs, String name, String method, Double... values) {
+    addRandom(taskName, minIntervalMs, maxIntervalMs, name, method, toRanges((Object[]) values));
+  }
+
+  // FIXME - test this
+  public void addRandom(String taskName, long minIntervalMs, long maxIntervalMs, String name, String method) {
+    addRandom(taskName, minIntervalMs, maxIntervalMs, name, method, toRanges((Object[]) null));
+  }
+
+  public void addRandom(String taskName, long minIntervalMs, long maxIntervalMs, String name, String method, String... params) {
+    addRandom(taskName, minIntervalMs, maxIntervalMs, name, method, setRange((Object[]) params));
+  }
+
   public void addRandom(long minIntervalMs, long maxIntervalMs, String name, String method, Integer... values) {
     addRandom(minIntervalMs, maxIntervalMs, name, method, toRanges((Object[]) values));
   }
@@ -170,74 +192,105 @@ public void removeAll() {
   }
 
   public void addRandom(long minIntervalMs, long maxIntervalMs, String name, String method, Range... ranges) {
+    String taskName = String.format("%s.%s", name, method);
+    addRandom(taskName, minIntervalMs, maxIntervalMs, name, method, ranges);
+  }
 
-    RandomMessage msg = new RandomMessage();
-    msg.name = name;
-    msg.method = method;
-    msg.minIntervalMs = minIntervalMs;
-    msg.maxIntervalMs = maxIntervalMs;
-    msg.data = ranges;
-
-    String key = String.format("%s.%s", name, method);
-    randomData.put(key, msg);
-
-    msg.interval = getRandom(minIntervalMs, maxIntervalMs);
-    log.info("add random message {} in {} ms", key, msg.interval);
-    if (enabled) {
-      // only if global enabled is enabled do we start the task
-      addTask(key, 0, msg.interval, "process", key);
-    }
+  public void addRandom(String taskName, long minIntervalMs, long maxIntervalMs, String name, String method, Range... ranges) {
+
+    RandomMessage data = new RandomMessage();
+    data.name = name;
+    data.method = method;
+    data.minIntervalMs = minIntervalMs;
+    data.maxIntervalMs = maxIntervalMs;
+    data.data = ranges;
+    data.enabled = true;
+
+    randomData.put(taskName, data);
+
+    log.info("add random message {} in {} to {} ms", taskName, data.minIntervalMs, data.maxIntervalMs);
     broadcastState();
   }
 
-  public void process(String key) {
-    // if (!enabled) {
-    // return;
-    // }
+  private class RandomProcessor extends Thread {
 
-    RandomMessage msg = randomData.get(key);
-    if (msg == null || !msg.enabled) {
-      return;
+    public RandomProcessor(String name) {
+      super(name);
     }
 
-    Message m = Message.createMessage(getName(), msg.name, msg.method, null);
-    if (msg.data != null) {
-      List data = new ArrayList<>();
-
-      for (int i = 0; i < msg.data.length; ++i) {
-        Object o = msg.data[i];
-        if (o instanceof Range) {
-          Range range = (Range) o;
-          Object param = null;
-
-          if (range.set != null) {
-            int rand = getRandom(0, range.set.size() - 1);
-            param = range.set.get(rand);
-          } else if (range.min instanceof Double) {
-            param = getRandom((Double) range.min, (Double) range.max);
-          } else if (range.min instanceof Long) {
-            param = getRandom((Long) range.min, (Long) range.max);
-          } else if (range.min instanceof Integer) {
-            param = getRandom((Integer) range.min, (Integer) range.max);
+    public void run() {
+      while (enabled) {
+        try {
+          // minimal interval time for processor to check
+          // and see if any random event needs processing
+
+          sleep(200);
+          for (String key : randomData.keySet()) {
+
+            long now = System.currentTimeMillis();
+
+            RandomMessage randomEntry = randomData.get(key);
+            if (!randomEntry.enabled) {
+              continue;
+            }
+
+            // first time set
+            if (randomEntry.nextProcessTimeTs == 0) {
+              randomEntry.nextProcessTimeTs = now + getRandom((Long) randomEntry.minIntervalMs, (Long) randomEntry.maxIntervalMs);
+            }
+
+            if (now < randomEntry.nextProcessTimeTs) {
+              // this entry isn't ready
+              continue;
+            }
+
+            Message m = Message.createMessage(getName(), randomEntry.name, randomEntry.method, null);
+            if (randomEntry.data != null) {
+              List data = new ArrayList<>();
+
+              for (int i = 0; i < randomEntry.data.length; ++i) {
+                Object o = randomEntry.data[i];
+                if (o instanceof Range) {
+                  Range range = (Range) o;
+                  Object param = null;
+
+                  if (range.set != null) {
+                    int rand = getRandom(0, range.set.size() - 1);
+                    param = range.set.get(rand);
+                  } else if (range.min instanceof Double) {
+                    param = getRandom((Double) range.min, (Double) range.max);
+                  } else if (range.min instanceof Long) {
+                    param = getRandom((Long) range.min, (Long) range.max);
+                  } else if (range.min instanceof Integer) {
+                    param = getRandom((Integer) range.min, (Integer) range.max);
+                  }
+
+                  data.add(param);
+                }
+              }
+              m.data = data.toArray();
+            }
+            m.sendingMethod = "process";
+            log.debug("random msg @ {} ms {}", now - randomEntry.nextProcessTimeTs, m);
+            out(m);
+
+            // auto-disable oneshot
+            if (randomEntry.oneShot) {
+              randomEntry.enabled = false;
+            }
+
+            // reset next processing time
+            randomEntry.nextProcessTimeTs = now + getRandom((Long) randomEntry.minIntervalMs, (Long) randomEntry.maxIntervalMs);
+
           }
 
-          data.add(param);
+        } catch (Exception e) {
+          error(e);
         }
-      }
-      m.data = data.toArray();
-    }
-    m.sendingMethod = "process";
-    log.info("random msg @ {} ms {}", msg.interval, m);
-    out(m);
-
-    purgeTask(key);
-    if (!msg.oneShot) {
-      msg.interval = getRandom(msg.minIntervalMs, msg.maxIntervalMs);
-      // must re-schedule unless one shot
-      if (enabled) {
-        // only if global enabled is enabled do we start the task
-        addTask(key, 0, msg.interval, "process", key);
-      }
+
+      } // while (enabled) {
+
+      log.info("Random {}-processor terminating", getName());
     }
   }
 
@@ -280,12 +333,12 @@ public RandomConfig apply(RandomConfig c) {
     return c;
   }
 
+  @Deprecated /* use remove(String key) */
   public RandomMessage remove(String name, String method) {
     return remove(String.format("%s.%s", name, method));
   }
 
   public RandomMessage remove(String key) {
-    purgeTask(key);
     return randomData.remove(key);
   }
 
@@ -294,79 +347,49 @@ public Set getKeySet() {
   }
 
   public void disable(String key) {
-    // exact match
-    if (key.contains(".")) {
-      RandomMessage msg = randomData.get(key);
-      if (msg == null) {
-        log.warn("cannot disable random event with key {}", key);
-        return;
-      }
-      randomData.get(key).enabled = false;
-      purgeTask(key);
+
+    if (!randomData.containsKey(key)) {
+      error("disable cannot find key %s", key);
       return;
     }
-    // must be name - disable "all" for this service
-    for (RandomMessage msg : randomData.values()) {
-      if (msg.name.equals(key)) {
-        msg.enabled = false;
-        purgeTask(String.format("%s.%s", msg.name, msg.method));
-      }
-    }
+
+    randomData.get(key).enabled = false;
   }
 
   public void enable(String key) {
-    // exact match
-    if (key.contains(".")) {
-      RandomMessage msg = randomData.get(key);
-      if (msg == null) {
-        log.warn("cannot enable random event with key {}", key);
-        return;
-      }
-      randomData.get(key).enabled = true;
-      if (enabled) {
-        // only if global enabled is enabled do we start the task
-        addTask(key, 0, msg.interval, "process", key);
-      }
+    if (!randomData.containsKey(key)) {
+      error("disable cannot find key %s", key);
       return;
     }
-    // must be name - disable "all" for this service
-    String name = key;
-    for (RandomMessage msg : randomData.values()) {
-      if (msg.name.equals(name)) {
-        msg.enabled = true;
-        String fullKey = String.format("%s.%s", msg.name, msg.method);
-        if (enabled) {
-          // only if global enabled is enabled do we start the task
-          addTask(fullKey, 0, msg.interval, "process", fullKey);
-        }
-      }
-    }
+    randomData.get(key).enabled = true;
   }
 
   public void disable() {
-    // remove all timed attempts of processing random
-    // events
-    purgeTasks();
-    enabled = false;
-    broadcastState();
+    synchronized (lock) {
+      enabled = false;
+      processor = null;
+      broadcastState();
+    }
   }
 
   public void enable() {
-    for (RandomMessage msg : randomData.values()) {
-      // re-enable tasks which were previously enabled
-      if (msg.enabled == true) {
-        String fullKey = String.format("%s.%s", msg.name, msg.method);
-        addTask(fullKey, 0, msg.interval, "process", fullKey);
+    synchronized (lock) {
+      enabled = true;
+      if (processor == null) {
+        processor = new RandomProcessor(String.format("%s-processor", getName()));
+        processor.start();
+        // wait until thread starts
+        sleep(200);
+      } else {
+        info("%s already enabled");
       }
+      broadcastState();
     }
-
-    enabled = true;
-    broadcastState();
   }
 
   public void purge() {
     randomData.clear();
-    purgeTasks();
+    broadcastState();
   }
 
   public Set getMethodsFromName(String serviceName) {
@@ -395,13 +418,22 @@ public List methodQuery(String serviceName, String methodName) {
     }
     return MethodCache.getInstance().query(si.getClass().getCanonicalName(), methodName);
   }
+  
+  public Map getRandomEvents(){
+    return randomData;
+  }
+  
+  public RandomMessage getRandomEvent(String key) {
+    return randomData.get(key);
+  }
 
   public static void main(String[] args) {
     try {
 
       LoggingFactory.init(Level.INFO);
-
+      Runtime.setConfig("dev");
       Runtime.start("c1", "Clock");
+      Runtime.start("python", "Python");
 
       Random random = (Random) Runtime.start("random", "Random");
 
diff --git a/src/main/java/org/myrobotlab/service/meta/RandomMeta.java b/src/main/java/org/myrobotlab/service/meta/RandomMeta.java
index c18ebfa9a7..f7765982c2 100644
--- a/src/main/java/org/myrobotlab/service/meta/RandomMeta.java
+++ b/src/main/java/org/myrobotlab/service/meta/RandomMeta.java
@@ -17,13 +17,10 @@ public RandomMeta() {
     // add a cool description
     addDescription("provides a service for random message generation");
 
-    // false will prevent it being seen in the ui
-    setAvailable(true);
-
     // add dependencies if necessary
     // addDependency("com.twelvemonkeys.common", "common-lang", "3.1.1");
 
-    setAvailable(false);
+    setAvailable(true);
 
     // add it to one or many categories
     addCategory("general");
diff --git a/src/main/resources/resource/Random/Random.py b/src/main/resources/resource/Random/Random.py
index 7d5fa86f9b..84c79ab17a 100644
--- a/src/main/resources/resource/Random/Random.py
+++ b/src/main/resources/resource/Random/Random.py
@@ -7,34 +7,63 @@
 #########################################
 
 # start the service
-python = runtime.start("python","Python")
-random = runtime.start("random","Random")
-clock = runtime.start("clock","Clock")
+python = runtime.start("python", "Python")
+random = runtime.start("random", "Random")
+clock = runtime.start("clock", "Clock")
+
+
+def happy():
+    print("i am happy")
+
+
+def sad():
+    print("i am sad")
+
+
+def angry():
+    print("i am angry")
+
+
+# add a named random task
+random.addRandom("random emotion", 1000, 2000, "python", "exec", "happy()", "sad()", "angry()")
+
 
 # enable random events
 random.enable()
-# roll the dice every 1 to 2 seonds
-random.addRandom(1000, 2000, "python", "roll_dice", random.intRange(1, 6))
+
+
 def roll_dice(value):
     print("roll_dice " + str(value))
 
+
+# roll the dice every 1 to 2 seonds
+random.addRandom(1000, 2000, "python", "roll_dice", random.intRange(1, 6))
+
+
 # add a complex dice
-random.addRandom(1000, 2000, "python", "roll_complex_dice", random.doubleRange(1, 6))
 def roll_complex_dice(value):
     print("roll_complex_dice " + str(value))
 
 
-# roll the dice every 1 to 2 seonds
-random.addRandom(1000, 2000, "python", "random_color", random.setRange("red","green","blue","yellow"))
+# roll the complex dice every 1 to 2 seonds
+random.addRandom(1000, 2000, "python", "roll_complex_dice", random.doubleRange(1, 6))
+
+
 def random_color(value):
     print("random_color " + str(value))
 
 
+# roll the dice every 1 to 2 seonds
+random.addRandom(1000, 2000, "python", "random_color", random.setRange("red", "green", "blue", "yellow"))
+
+
 # do a complex multi parameter, multi-type method
-random.addRandom(1000, 2000, "python", "kitchen_sink", random.intRange(1, 6), random.doubleRange(1, 6), random.setRange("red","green","blue","yellow"), random.setRange("bob","jane","fred","mary"))
 def kitchen_sink(dice, complex_dice, colors, names):
     print("kitchen_sink ", dice, complex_dice, colors, names)
 
+
+random.addRandom(1000, 2000, "python", "kitchen_sink", random.intRange(1, 6), random.doubleRange(1, 6), random.setRange("red","green","blue","yellow"), random.setRange("bob","jane","fred","mary"))
+
 # set the interval on a clock between 1000 and 8000
 # if you look in the UI you can see the clock interval changing
 random.addRandom(200, 500, "clock", "setInterval", random.intRange(1000, 8000))
@@ -43,13 +72,8 @@ def kitchen_sink(dice, complex_dice, colors, names):
 random.addRandom(200, 500, "clock", "startClock")
 random.addRandom(200, 500, "clock", "stopClock")
 
-
-# run it all for 8 seconds
-sleep(8)
-
 # disable single random event generator - must be explicit with name.method key
 random.disable("python.roll_dice")
-sleep(8)
 
 # you know longer should see the python.roll_dice event firing - since it was explicitly disabled
 
@@ -61,4 +85,4 @@ def kitchen_sink(dice, complex_dice, colors, names):
 # random.enable()
 
 # stop events and clear all random event ata
-# random.purge()
\ No newline at end of file
+# random.purge()
diff --git a/src/main/resources/resource/WebGui/app/service/views/RandomGui.html b/src/main/resources/resource/WebGui/app/service/views/RandomGui.html
index 34c57ea2ca..b49a6365a0 100644
--- a/src/main/resources/resource/WebGui/app/service/views/RandomGui.html
+++ b/src/main/resources/resource/WebGui/app/service/views/RandomGui.html
@@ -12,10 +12,16 @@ 
    
         (        
         
         
-        
+        [
+          
             {{param.min}} - {{param.max}}
-                {{item}}
-                
+          
+          
+            {{item}}
+            , 
+          ]
+          , 
+            
         
         )
         every {{value.minIntervalMs}} ms to {{value.maxIntervalMs}} ms 
diff --git a/src/test/java/org/myrobotlab/service/RandomTest.java b/src/test/java/org/myrobotlab/service/RandomTest.java
index 450ffa04da..cf0d85f94e 100644
--- a/src/test/java/org/myrobotlab/service/RandomTest.java
+++ b/src/test/java/org/myrobotlab/service/RandomTest.java
@@ -3,7 +3,10 @@
 import static org.junit.Assert.assertEquals;
 import static org.junit.Assert.assertTrue;
 
+import java.util.Map;
+
 import org.myrobotlab.framework.Service;
+import org.myrobotlab.service.Random.RandomMessage;
 
 public class RandomTest extends AbstractServiceTest {
 
@@ -25,8 +28,9 @@ public void testService() throws Exception {
     assertTrue("set interval 1000 base value", 1000 == clock.getInterval());
 
     random.addRandom(0, 200, "clock", "setInterval", 5000, 10000);
+    random.enable();
 
-    sleep(200);
+    sleep(300);
 
     assertTrue("should have method", random.getKeySet().contains("clock.setInterval"));
     
@@ -45,13 +49,13 @@ public void testService() throws Exception {
     assertTrue("clock should be started 1", clock.isClockRunning());
     
     // disable all of a services random events
-    random.disable("clock");
+    random.disable("clock.startClock");
     clock.stopClock();
     sleep(200);
     assertTrue("clock should not be started", !clock.isClockRunning());
     
     // enable all of a service's random events
-    random.enable("clock");
+    random.enable("clock.startClock");
     sleep(200);
     assertTrue("clock should be started 2", clock.isClockRunning());
     
@@ -77,7 +81,15 @@ public void testService() throws Exception {
     assertTrue("clock should not be started", !clock.isClockRunning());
     assertTrue(String.format("random method 3 should be %d => 5000 values", clock.getInterval()), 5000 <= clock.getInterval());
     assertTrue(String.format("random method 3 should be %d <= 10000 values",clock.getInterval()) , clock.getInterval() <= 10000);
+
+    clock.stopClock();
+    random.purge();
         
+    Map events = random.getRandomEvents();
+    assertTrue(events.size() == 0);
+    
+    random.addRandom("named task", 200, 500, "clock", "setInterval", 100, 1000, 10);
+    
     clock.releaseService();
     random.releaseService();
 

From 9431841bf443969778f4b9efcd47ff64fea290b1 Mon Sep 17 00:00:00 2001
From: grog 
Date: Wed, 15 Nov 2023 16:11:53 -0800
Subject: [PATCH 082/232] gpt3 prefix and websockethandler fix

---
 src/main/java/org/myrobotlab/service/Gpt3.java            | 6 +++++-
 .../java/org/myrobotlab/service/config/Gpt3Config.java    | 5 +++++
 src/main/java/org/myrobotlab/vertx/WebSocketHandler.java  | 8 ++++++++
 3 files changed, 18 insertions(+), 1 deletion(-)

diff --git a/src/main/java/org/myrobotlab/service/Gpt3.java b/src/main/java/org/myrobotlab/service/Gpt3.java
index 67ed717639..82d9ad90d2 100644
--- a/src/main/java/org/myrobotlab/service/Gpt3.java
+++ b/src/main/java/org/myrobotlab/service/Gpt3.java
@@ -61,7 +61,7 @@ public class Gpt3 extends Service implements TextListener, TextPubli
   private String currentChannelName;
 
   private String currentChannelType;
-
+  
   public Gpt3(String n, String id) {
     super(n, id);
   }
@@ -85,6 +85,10 @@ public Response getResponse(String text) {
         sleep();
         responseText = "Ok, I will go to sleep";
       }
+      
+      if (c.prefix != null) {
+        text = c.prefix + " " + text;
+      }
 
       if (!c.sleeping) {
 
diff --git a/src/main/java/org/myrobotlab/service/config/Gpt3Config.java b/src/main/java/org/myrobotlab/service/config/Gpt3Config.java
index 62a6627a1d..48f3612f17 100644
--- a/src/main/java/org/myrobotlab/service/config/Gpt3Config.java
+++ b/src/main/java/org/myrobotlab/service/config/Gpt3Config.java
@@ -18,6 +18,11 @@ public class Gpt3Config extends ServiceConfig {
   public String engine = "gpt-3.5-turbo"; // "text-davinci-003"
   public String wakeWord = "wake";
   public String sleepWord = "sleep";
+  /**
+   * static prefix to send to gpt3
+   * e.g. " talk like a pirate when responding, "
+   */
+  public String prefix = null; 
   
   @Override
   public Plan getDefault(Plan plan, String name) {
diff --git a/src/main/java/org/myrobotlab/vertx/WebSocketHandler.java b/src/main/java/org/myrobotlab/vertx/WebSocketHandler.java
index e0ad0f2e61..d8b07023f2 100644
--- a/src/main/java/org/myrobotlab/vertx/WebSocketHandler.java
+++ b/src/main/java/org/myrobotlab/vertx/WebSocketHandler.java
@@ -108,6 +108,14 @@ public void handle(ServerWebSocket socket) {
     // client
     MultiMap headers = socket.headers();
     String uri = socket.uri();
+        
+    // FIXME - get "id" from js client - need something unique from the js
+    // client
+    // String id = r.getRequest().getParameter("id");
+    String id = String.format("vertx-%s", service.getName());
+    // String uuid = UUID.randomUUID().toString();
+    String uuid = socket.binaryHandlerID();    
+    
     Connection connection = new Connection(uuid, id, service.getName());
     connection.put("c-type", service.getSimpleName());
     connection.put("gateway", service.getName());

From 4a891ac073e0a96c8855fe6977214108afab5be5 Mon Sep 17 00:00:00 2001
From: grog 
Date: Wed, 15 Nov 2023 17:28:33 -0800
Subject: [PATCH 083/232] updates

---
 .../java/org/myrobotlab/service/InMoov2.java  | 106 +++++-------------
 .../java/org/myrobotlab/service/NeoPixel.java |  12 +-
 .../service/config/InMoov2Config.java         |   2 +-
 .../service/config/NeoPixelConfig.java        |  36 ++++++
 .../service/data/LedDisplayData.java          |   8 +-
 5 files changed, 80 insertions(+), 84 deletions(-)

diff --git a/src/main/java/org/myrobotlab/service/InMoov2.java b/src/main/java/org/myrobotlab/service/InMoov2.java
index 59ad222ab1..2e328bdf87 100644
--- a/src/main/java/org/myrobotlab/service/InMoov2.java
+++ b/src/main/java/org/myrobotlab/service/InMoov2.java
@@ -15,6 +15,7 @@
 
 import org.apache.commons.io.FilenameUtils;
 import org.myrobotlab.framework.Message;
+import org.myrobotlab.framework.Plan;
 import org.myrobotlab.framework.Platform;
 import org.myrobotlab.framework.Registration;
 import org.myrobotlab.framework.Service;
@@ -35,7 +36,6 @@
 import org.myrobotlab.service.config.OpenCVConfig;
 import org.myrobotlab.service.config.SpeechSynthesisConfig;
 import org.myrobotlab.service.data.JoystickData;
-import org.myrobotlab.service.data.LedDisplayData;
 import org.myrobotlab.service.data.Locale;
 import org.myrobotlab.service.interfaces.IKJointAngleListener;
 import org.myrobotlab.service.interfaces.JoystickListener;
@@ -106,8 +106,6 @@ public static boolean loadFile(String file) {
    */
   protected String bootedConfig = null;
   
-  protected LedDisplayData led = new LedDisplayData();
-
   protected transient ProgramAB chatBot;
 
   protected List configList;
@@ -159,8 +157,6 @@ public static boolean loadFile(String file) {
 
   protected Long lastPirActivityTime;
 
-  protected Map ledDisplayMap = new TreeMap<>();
-
   /**
    * supported locales
    */
@@ -200,14 +196,6 @@ public InMoov2(String n, String id) {
     stateDefaults.add("powerDown"); // stops heartbeat, listening ?
     stateDefaults.add("shutdown");// ends mrl
 
-    ledDisplayMap.put("error", new LedDisplayData(120, 0, 0, 3, 30, 30));
-    ledDisplayMap.put("info", new LedDisplayData(0, 0, 120, 1, 30, 30));
-    ledDisplayMap.put("success", new LedDisplayData(0, 0, 120, 2, 30, 30));
-    ledDisplayMap.put("warn", new LedDisplayData(100, 100, 0, 3, 30, 30));
-    ledDisplayMap.put("heartbeat", new LedDisplayData(210, 110, 0, 2, 100, 30));
-    ledDisplayMap.put("pirOn", new LedDisplayData(60, 200, 90, 3, 100, 30));
-    ledDisplayMap.put("onPeakColor", new LedDisplayData(180, 53, 21, 3, 60, 30));
-
     customSoundMap.put("boot", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/confirmation.wav"));
     customSoundMap.put("wake", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/ting.wav"));
     customSoundMap.put("firstInit", FileIO.gluePaths(getResourceDir(), "system/sounds/Notifications/select.wav"));
@@ -511,14 +499,6 @@ public void firstInit() {
     }
   }
 
-  public void flash(String name) {
-    LedDisplayData led = ledDisplayMap.get(name);
-    if (led == null) {
-      led = ledDisplayMap.get("default");
-    }
-    invoke("publishFlash", led.red, led.green, led.blue, led.count, led.timeOn, led.timeOff);
-  }
-
   /**
    * used to configure a flashing event - could use configuration to signal
    * different colors and states
@@ -526,18 +506,12 @@ public void flash(String name) {
    * @return
    */
   public void flash() {
-    if (ledDisplayMap.get("default") != null) {
-      LedDisplayData led = ledDisplayMap.get("default");
-      invoke("publishFlash", led.red, led.green, led.blue, led.count, led.timeOn, led.timeOff);
-    }
+      invoke("publishFlash", "default");
   }
 
-  public void flash(int r, int g, int b, int count) {
-    // FIXME - this should be checking a protected "state"
-    if (ledDisplayMap.get("default") != null) {
-      LedDisplayData led = ledDisplayMap.get("default");
-      invoke("publishFlash", r, g, b, count, led.timeOn, led.timeOff);
-    }
+  public String flash(String name) {
+    invoke("publishFlash", name);
+    return name;
   }
 
   public void fullSpeed() {
@@ -1074,6 +1048,7 @@ public PredicateEvent onChangePredicate(PredicateEvent event) {
 
   public void onConfigFinished(String configName) {
     log.info("onConfigFinished");
+    configStarted = false;
     invoke("publishBoot");
   }
 
@@ -1161,11 +1136,10 @@ public void onHeartbeat() {
 
     // flash error until errors are cleared
     if (config.healthCheckFlash) {
-      if (errors.size() > 0 && ledDisplayMap.containsKey("error")) {
-        invoke("publishFlash", ledDisplayMap.get("error"));
-      } else if (ledDisplayMap.containsKey("heartbeat")) {
-        LedDisplayData heartbeat = ledDisplayMap.get("heartbeat");
-        invoke("publishFlash", heartbeat);
+      if (errors.size() > 0) {
+        invoke("publishFlash", "error");
+      } else {
+        invoke("publishFlash", "heartbeat");
       }
     }
 
@@ -1289,21 +1263,9 @@ public void onPeak(double volume) {
     }
   }
 
-  /**
-   * onPeak volume callback TODO - maybe make it variable with volume ?
-   * 
-   * @param volume
-   */
   public void onPirOn() {
-    led.action = "flash";
-    led.red = 50;
-    led.green = 100;
-    led.blue = 150;
-    led.count = 5;
-    led.timeOn = 500;
-    led.timeOff = 10;
-    // FIXME flash on config.flashOnBoot
-    invoke("publishFlash");
+
+    invoke("publishFlash", "pirOn");    
     ProgramAB chatBot = (ProgramAB)getPeer("chatBot");
     if (chatBot != null) {
       String botState = chatBot.getPredicate("botState");
@@ -1531,19 +1493,24 @@ public List publishConfigList() {
     return configList;
   }
 
-  public LedDisplayData publishFlash(int r, int g, int b, int count, long timeOn, long timeOff) {
-    LedDisplayData data = new LedDisplayData();
-    data.red = r;
-    data.green = g;
-    data.blue = b;
-    data.count = count;
-    data.timeOn = timeOn;
-    data.timeOff = timeOff;
-    return data;
+  /**
+   * publishes a name for NeoPixel.onFlash to consume
+   * @param name
+   * @return
+   */
+  public String publishFlash(String name) {
+    return name;
   }
-
-  public LedDisplayData publishFlash(LedDisplayData data) {
-    return data;
+  
+  /**
+   * publishes a name for NeoPixel.onFlash to consume,
+   * in a seperate channel to potentially be used by 
+   * "speaking only" leds
+   * @param name
+   * @return
+   */
+  public String publishSpeakingFlash(String name) {
+    return name;
   }
 
   /**
@@ -1555,16 +1522,6 @@ public void publishInactivity() {
     fsm.fire("inactvity");
   }
 
-  /**
-   * used to configure a flashing event - could use configuration to signal
-   * different colors and states
-   * 
-   * @return
-   */
-  public LedDisplayData publishFlash() {
-    return led;
-  }
-
   /**
    * A more extensible interface point than publishEvent FIXME - create
    * interface for this
@@ -2345,12 +2302,7 @@ public void closeHands() {
     closeLeftHand();
     closeRightHand();
   }
-  
-  public Event onEvent(Event event) {
     
-    return event;
-  }
-  
   public void wake() {
     log.info("wake");
     // do waking things - based on config
diff --git a/src/main/java/org/myrobotlab/service/NeoPixel.java b/src/main/java/org/myrobotlab/service/NeoPixel.java
index 8e7b84eafa..780d0a15b4 100644
--- a/src/main/java/org/myrobotlab/service/NeoPixel.java
+++ b/src/main/java/org/myrobotlab/service/NeoPixel.java
@@ -422,9 +422,15 @@ public void flash(int r, int g, int b, int count, long timeOn, long timeOff) {
     data.timeOff = timeOff;
     displayQueue.add(data);
   }
-
-  public void onFlash(LedDisplayData data) {
-    displayQueue.add(data);
+  
+  /**
+   * Publishes a flash based on a predefined name
+   * @param name
+   */
+  public void onFlash(String name) {
+    if (config.flashMap != null && config.flashMap.containsKey(name)) {
+      displayQueue.add(config.flashMap.get(name));
+    }
   }
 
   public void flashBrightness(double brightNess) {
diff --git a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java
index c4c69f3cb9..227d20e5d3 100644
--- a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java
+++ b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java
@@ -523,7 +523,7 @@ public Plan getDefault(Plan plan, String name) {
 //    mouth_audioFile.listeners.add(new Listener("publishAudioStart", name));
     
     // InMoov2 --to--> service 
-    listeners.add(new Listener("publishFlash", getPeerName("neoPixel"), "onLedDisplay"));
+    listeners.add(new Listener("publishFlash", getPeerName("neoPixel")));
     listeners.add(new Listener("publishEvent", getPeerName("chatBot"), "getResponse"));
     listeners.add(new Listener("publishPlayAudioFile", getPeerName("audioPlayer")));
     
diff --git a/src/main/java/org/myrobotlab/service/config/NeoPixelConfig.java b/src/main/java/org/myrobotlab/service/config/NeoPixelConfig.java
index e7fbb17cbe..7f012d7e38 100644
--- a/src/main/java/org/myrobotlab/service/config/NeoPixelConfig.java
+++ b/src/main/java/org/myrobotlab/service/config/NeoPixelConfig.java
@@ -1,5 +1,11 @@
 package org.myrobotlab.service.config;
 
+import java.util.HashMap;
+import java.util.Map;
+
+import org.myrobotlab.framework.Plan;
+import org.myrobotlab.service.data.LedDisplayData;
+
 public class NeoPixelConfig extends ServiceConfig {
 
   public Integer pin = null;
@@ -16,5 +22,35 @@ public class NeoPixelConfig extends ServiceConfig {
   // auto clears flashes
   public boolean autoClear = false;
   public int idleTimeout = 1000;
+  
+  /**
+   * Map of predefined led flashes, defined here in configuration.
+   * Another service simply needs to publishFlash(name) and the
+   * neopixel will get the defined flash data if defined and process 
+   * it.
+   */
+  public Map flashMap = new HashMap<>();
+  
+  
+  /**
+   * reason why we initialize default for flashMap here, is so 
+   * we don't need to do a data copy over to a service's member variable
+   */
+  public Plan getDefault(Plan plan, String name) {
+    super.getDefault(plan, name);
+        
+    flashMap.put("error", new LedDisplayData(120, 0, 0, 3, 30, 30));
+    flashMap.put("info", new LedDisplayData(0, 0, 120, 1, 30, 30));
+    flashMap.put("success", new LedDisplayData(0, 0, 120, 2, 30, 30));
+    flashMap.put("warn", new LedDisplayData(100, 100, 0, 3, 30, 30));
+    flashMap.put("heartbeat", new LedDisplayData(210, 110, 0, 2, 100, 30));
+    flashMap.put("pirOn", new LedDisplayData(60, 200, 90, 3, 100, 30));
+    flashMap.put("onPeakColor", new LedDisplayData(180, 53, 21, 3, 60, 30));
+    flashMap.put("speaking", new LedDisplayData(0, 183, 90, 2, 60, 30));
+    
+    return plan;
+  }
+
 
 }
+
diff --git a/src/main/java/org/myrobotlab/service/data/LedDisplayData.java b/src/main/java/org/myrobotlab/service/data/LedDisplayData.java
index 3658782913..b46ab5e862 100644
--- a/src/main/java/org/myrobotlab/service/data/LedDisplayData.java
+++ b/src/main/java/org/myrobotlab/service/data/LedDisplayData.java
@@ -12,11 +12,13 @@ public class LedDisplayData {
 
   public String action; // fill | flash | play animation | stop | clear
 
-  public int red;
+  public int red = 0;
 
-  public int green;
+  public int green = 0;
 
-  public int blue;
+  public int blue = 0;
+  
+  // public int brightness = 255; 
 
   // public int white?;
 

From 3966bdffd72e61271b1c3e7198a55e3dc10a57b0 Mon Sep 17 00:00:00 2001
From: grog 
Date: Wed, 15 Nov 2023 19:10:14 -0800
Subject: [PATCH 084/232] removed invoker

---
 .../framework/interfaces/JsonInvoker.java     | 22 -------------------
 1 file changed, 22 deletions(-)
 delete mode 100644 src/main/java/org/myrobotlab/framework/interfaces/JsonInvoker.java

diff --git a/src/main/java/org/myrobotlab/framework/interfaces/JsonInvoker.java b/src/main/java/org/myrobotlab/framework/interfaces/JsonInvoker.java
deleted file mode 100644
index 76b4628079..0000000000
--- a/src/main/java/org/myrobotlab/framework/interfaces/JsonInvoker.java
+++ /dev/null
@@ -1,22 +0,0 @@
-package org.myrobotlab.framework.interfaces;
-
-import org.myrobotlab.framework.Message;
-
-public interface JsonInvoker {
-
-  /**
-   * No parameter method
-   * @param method
-   * @return
-   */
-  public Object invoke(String method);
-
-  /**
-   * Encoded parameters as a JSON String (encoded once!)
-   * @param method
-   * @param encodedParameters
-   * @return
-   */
-  public Object invoke(String method, String encodedParameters);
-  
-}

From 40c36babec51dfc1b3344ec99e5d289b25befe4c Mon Sep 17 00:00:00 2001
From: grog 
Date: Wed, 15 Nov 2023 19:11:44 -0800
Subject: [PATCH 085/232] reverting to develop branch webgui.main

---
 src/main/java/org/myrobotlab/service/WebGui.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/org/myrobotlab/service/WebGui.java b/src/main/java/org/myrobotlab/service/WebGui.java
index d007befe6e..dd2178bf8c 100644
--- a/src/main/java/org/myrobotlab/service/WebGui.java
+++ b/src/main/java/org/myrobotlab/service/WebGui.java
@@ -1179,7 +1179,7 @@ public static void main(String[] args) {
 
       // Platform.setVirtual(true);
       
-      Runtime.startConfig("dev");
+      Runtime.startConfig("default");
       
       boolean done = true;
       if (done) {

From 70e5a4dd67ff13209f92d1783e6bf6a85b9d6962 Mon Sep 17 00:00:00 2001
From: grog 
Date: Wed, 15 Nov 2023 19:13:51 -0800
Subject: [PATCH 086/232] reverting webgui.main

---
 src/main/java/org/myrobotlab/service/WebGui.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/org/myrobotlab/service/WebGui.java b/src/main/java/org/myrobotlab/service/WebGui.java
index dd2178bf8c..d007befe6e 100644
--- a/src/main/java/org/myrobotlab/service/WebGui.java
+++ b/src/main/java/org/myrobotlab/service/WebGui.java
@@ -1179,7 +1179,7 @@ public static void main(String[] args) {
 
       // Platform.setVirtual(true);
       
-      Runtime.startConfig("default");
+      Runtime.startConfig("dev");
       
       boolean done = true;
       if (done) {

From 5c3b276cd21148d3952cb8f3bde4386997051235 Mon Sep 17 00:00:00 2001
From: grog 
Date: Wed, 15 Nov 2023 19:21:25 -0800
Subject: [PATCH 087/232] a little yolo filter cleaning

---
 .../myrobotlab/opencv/OpenCVFilterYolo.java   | 121 +++++++++++++-----
 .../org/myrobotlab/service/ServoMixer.java    |  16 +--
 2 files changed, 94 insertions(+), 43 deletions(-)

diff --git a/src/main/java/org/myrobotlab/opencv/OpenCVFilterYolo.java b/src/main/java/org/myrobotlab/opencv/OpenCVFilterYolo.java
index 4e409326b7..ce83566839 100755
--- a/src/main/java/org/myrobotlab/opencv/OpenCVFilterYolo.java
+++ b/src/main/java/org/myrobotlab/opencv/OpenCVFilterYolo.java
@@ -26,33 +26,44 @@
 import org.bytedeco.opencv.opencv_dnn.Net;
 import org.myrobotlab.document.Classification;
 import org.myrobotlab.framework.Service;
-import org.myrobotlab.io.FileIO;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.math.geometry.Rectangle;
-import org.myrobotlab.service.OpenCV;
 import org.slf4j.Logger;
 
-/**
- * This filter uses the Yolo image recognition libraries. 
- * For more information about yolo, here's a link:
- * https://pjreddie.com/darknet/yolo/
- * 
- */
 public class OpenCVFilterYolo extends OpenCVFilter implements Runnable {
 
   private static final long serialVersionUID = 1L;
   public final static Logger log = LoggerFactory.getLogger(OpenCVFilterYolo.class);
-  volatile protected Boolean running;
-  // offset to where the confidence level is in the output matrix of the darknet.
+
+  protected Boolean running;
+
+  // zero offset to where the confidence level is in the output matrix of the
+  // darknet.
   private static final int CONFIDENCE_INDEX = 4;
+
   transient private final OpenCVFrameConverter.ToIplImage grabberConverter = new OpenCVFrameConverter.ToIplImage();
+
   private float confidenceThreshold = 0.25F;
-  public String darknetHome = FileIO.gluePaths(Service.getResourceDir(OpenCV.class),"yolo");
+  // the column in the detection matrix that contains the confidence level. (I
+  // think?)
+  // int probability_index = 5;
+  // yolo file locations
+  // private String darknetHome = "c:/dev/workspace/darknet/";
+
+  // *** the 'correct' way ***
+  // public String darknetHome =
+  // FileIO.gluePaths(Service.getResourceDir(OpenCV.class),"yolo");
+  public String darknetHome = "resource/OpenCV/yolo"; // FileIO.gluePaths(Service.getResourceDir(OpenCV.class),"yolo");
   public String modelConfig = "yolov2.cfg";
   public String modelWeights = "yolov2.weights";
   public String modelNames = "coco.names";
+
+  int classifierThreadCount = 0;
+
   transient DecimalFormat df2 = new DecimalFormat("#.###");
+
   transient private OpenCVFrameConverter.ToIplImage converterToIpl = new OpenCVFrameConverter.ToIplImage();
+
   boolean debug = false;
   transient private Net net;
   ArrayList classNames;
@@ -60,7 +71,6 @@ public class OpenCVFilterYolo extends OpenCVFilter implements Runnable {
   transient private volatile IplImage lastImage = null;
   private volatile boolean pending = false;
   transient private Thread classifier;
-  volatile Object lock = new Object();
 
   public OpenCVFilterYolo(String name) {
     super(name);
@@ -72,9 +82,11 @@ public OpenCVFilterYolo() {
   }
 
   private void loadYolo() {
-    log.info("Loading Yolo model.");
+    log.info("loadYolo - begin");
+
     try {
       net = readNetFromDarknet(darknetHome + File.separator + modelConfig, darknetHome + File.separator + modelWeights);
+      log.info("Loaded yolo darknet model to opencv");
     } catch (Exception e) {
       log.error("readNetFromDarknet could not read", e);
       return;
@@ -86,10 +98,12 @@ private void loadYolo() {
       log.warn("Error unable to load class names from file {}", modelNames, e);
       return;
     }
-    log.info("Yolo model loaded.");
+    log.info("Done loading model..");
+    log.info("loadYolo - end");
   }
 
   private ArrayList loadClassNames(String filename) throws IOException {
+    log.info("loadClassNames - begin");
     ArrayList names = new ArrayList();
     FileReader fileReader = new FileReader(filename);
     BufferedReader bufferedReader = new BufferedReader(fileReader);
@@ -99,16 +113,18 @@ private ArrayList loadClassNames(String filename) throws IOException {
       names.add(line.trim());
       i++;
     }
-    log.info("read {} class names", i);
+    log.info("read {} names", i);
     fileReader.close();
+
+    log.info("loadClassNames - end");
     return names;
   }
 
   @Override
   public IplImage process(IplImage image) throws InterruptedException {
-    // TODO: what is this doing here?
     if (lastResult != null) {
-      // the thread running will be updating lastResult for it as fast as itcan.
+      // the thread running will be updating lastResult for it as fast as it
+      // can.
       // displayResult(image, lastResult);
     }
     // ok now we just need to update the image that the current thread is
@@ -137,25 +153,29 @@ public void run() {
       running = true;
       // loading the model takes a lot of time, we want to block enable/disable
       // until we are actually running - then we notifyAll
+
       while (running && enabled) {
         if (!pending) {
-          // avoid spinning the cpu too hard.
+          log.debug("Skipping frame");
           Thread.sleep(10);
           continue;
         }
-        log.info("Yolo Image Frame - Begin");
+
+        log.info("process - begin");
         // only classify this if we haven't already classified it.
         if (lastImage != null) {
+          // lastResult = dl4j.classifyImageVGG16(lastImage);
+          log.debug("Doing yolo...");
           lastResult = yoloFrame(lastImage);
-          // update this so we will process the next frame that arrives.
+          // log.info("Yolo done.");
+          // we processed, next object we'll pick up.
           pending = false;
           count++;
           if (count % 10 == 0) {
             double rate = 1000.0 * count / (System.currentTimeMillis() - start);
             log.info("Yolo Classification Rate : {}", rate);
           }
-          // TODO: why don't we just publish the lastResult object instead?
-          // This seems silly.. and potentially this looses data?
+
           Map> ret = new TreeMap<>();
           for (Classification c : lastResult) {
             List nl = null;
@@ -167,12 +187,17 @@ public void run() {
             }
             nl.add(c);
           }
+
           invoke("publishClassification", ret);
         } else {
-          // We shouldn't see this?
-          log.info("Waiting for a frame to process.");
+          log.info("No Image to classify...");
         }
-      }
+        // TODO: see why there's a race condition. i seem to need a little delay
+        // here o/w the recognition never seems to start.
+        // maybe lastImage needs to be marked as volatile ?
+
+        Thread.sleep(1);
+      } // while (running)
 
     } catch (Exception e) {
       log.error("yolo thread threw", e);
@@ -181,23 +206,38 @@ public void run() {
     synchronized (lock) {
       classifier = null;
     }
-    
+
     log.info("yolo exiting classifier thread");
+    log.info("run - end");
   }
 
   private ArrayList yoloFrame(IplImage frame) {
+    log.debug("Starting yolo on frame...");
+    log.info("yoloFrame - begin");
     // this is our list of objects that have been detected in a given frame.
     ArrayList yoloObjects = new ArrayList();
     // convert that frame to a matrix (Mat) using the frame converters in javacv
+
+    log.info("yoloFrame - grabberConverter {}", frame);
+    // log.info("Yolo frame start");
     Mat inputMat = grabberConverter.convertToMat(grabberConverter.convert(frame));
+    // log.info("Input mat created");
     // TODO: I think yolo expects RGB color (which is inverted in the next step)
     // so if the input image isn't in RGB color, we might need a cvCutColor
+    log.info("yoloFrame - blobFromImage");
     Mat inputBlob = blobFromImage(inputMat, 1 / 255.F, new Size(416, 416), new Scalar(), true, false, CV_32F);
     // put our frame/input blob into the model.
+    // log.info("input blob created");
+    log.info("yoloFrame - blob {}", inputBlob);
     net.setInput(inputBlob);
+
+    log.debug("Feed forward!");
+    // log.info("Input blob set on network.");
     // ask for the detection_out layer i guess? not sure the details of the
     // forward method, but this computes everything like magic!
     Mat detectionMat = net.forward("detection_out");
+    // log.info("output detection matrix produced");
+    log.debug("detection matrix computed");
     // iterate the rows of the detection matrix.
     for (int i = 0; i < detectionMat.rows(); i++) {
       Mat currentRow = detectionMat.row(i);
@@ -206,11 +246,13 @@ private ArrayList yoloFrame(IplImage frame) {
         // skip the noise
         continue;
       }
+
       // System.out.println("\nCurrent row has " + currentRow.size().width() +
       // "=width " + currentRow.size().height() + "=height.");
       // currentRow.position(probability_index);
       // int probability_size = detectionMat.cols() - probability_index;
       // detectionMat;
+
       // String className = getWithDefault(classNames, i);
       // System.out.print("\nROW (" + className + "): " +
       // currentRow.getFloatBuffer().get(4) + " -- \t\t");
@@ -231,57 +273,69 @@ private ArrayList yoloFrame(IplImage frame) {
           // ok. in theory this is something we think it might actually be.
           float x = currentRow.getFloatBuffer().get(0);
           float y = currentRow.getFloatBuffer().get(1);
+
           float width = currentRow.getFloatBuffer().get(2);
           float height = currentRow.getFloatBuffer().get(3);
           int xLeftBottom = (int) ((x - width / 2) * inputMat.cols());
           int yLeftBottom = (int) ((y - height / 2) * inputMat.rows());
           int xRightTop = (int) ((x + width / 2) * inputMat.cols());
           int yRightTop = (int) ((y + height / 2) * inputMat.rows());
+
           if (xLeftBottom < 0) {
             xLeftBottom = 0;
           }
           if (yLeftBottom < 0) {
             yLeftBottom = 0;
           }
+
           // crop the right top
           if (xRightTop > inputMat.cols()) {
             xRightTop = inputMat.cols();
           }
+
           if (yRightTop > inputMat.rows()) {
             yRightTop = inputMat.rows();
           }
+
           log.debug(label + " (" + confidence + "%) [(" + xLeftBottom + "," + yLeftBottom + "),(" + xRightTop + "," + yRightTop + ")]");
           Rect boundingBox = new Rect(xLeftBottom, yLeftBottom, xRightTop - xLeftBottom, yRightTop - yLeftBottom);
           // grab just the bytes for the ROI defined by that rect..
           // get that as a mat, save it as a byte array (png?) other encoding?
           // TODO: have a target size?
+
+          IplImage cropped = extractSubImage(inputMat, boundingBox);
           if (debug) {
             debug = false;
-            IplImage cropped = extractSubImage(inputMat, boundingBox);
             show(cropped, "detected img");
           }
           Classification obj = new Classification(String.format("%s.%s-%d", data.getName(), name, data.getFrameIndex()));
           obj.setLabel(label);
           obj.setBoundingBox(xLeftBottom, yLeftBottom, xRightTop - xLeftBottom, yRightTop - yLeftBottom);
           obj.setConfidence(confidence);
-          // TODO: add the original frame converted as a serializable image ( BufferedImage or png byte array? )
           // obj.setImage(data.getDisplay());
-          // we might just want to provide a reference to the frame.  such as the frame number or something similar so if 
-          // we want to find the original frame we can look it up.  (in solr?)
+          // for non-serializable "local" image objects
+          obj.setObject(frame);
           yoloObjects.add(obj);
         }
       }
     }
+    log.info("yoloFrame - end");
     return yoloObjects;
   }
 
   private IplImage extractSubImage(Mat inputMat, Rect boundingBox) {
+    log.info("extractSubImage - begin");
+    //
     log.debug(boundingBox.x() + " " + boundingBox.y() + " " + boundingBox.width() + " " + boundingBox.height());
+
     // TODO: figure out if the width/height is too large! don't want to go array
     // out of bounds
     Mat cropped = new Mat(inputMat, boundingBox);
+
     IplImage image = converterToIpl.convertToIplImage(converterToIpl.convert(cropped));
     // This mat should be the cropped image!
+
+    log.info("extractSubImage - end");
     return image;
   }
 
@@ -290,8 +344,10 @@ public void release() {
     // synchronized (lock) {
     log.info("release - begin");
     disable(); // blocks until ready
+
     // while(isRunning){ sleep(30) .. check again }
     // bleed out the thread before deallocating
+
     if (net != null) {
       net.deallocate();
       net = null;
@@ -300,6 +356,8 @@ public void release() {
     // }
   }
 
+  volatile Object lock = new Object();
+
   @Override
   public void enable() {
     if (classifier != null) {
@@ -336,13 +394,16 @@ public void disable() {
   @Override
   public BufferedImage processDisplay(Graphics2D graphics, BufferedImage image) {
     if (lastResult != null) {
+
       for (Classification obj : lastResult) {
         String label = obj.getLabel() + " (" + df2.format(obj.getConfidence() * 100) + "%)";
+
         Rectangle bb = obj.getBoundingBox();
         int x = (int) bb.x;
         int y = (int) bb.y;
         int width = (int) bb.width;
         int height = (int) bb.height;
+
         graphics.setColor(Color.BLACK);
         graphics.drawRect(x, y, width, height);
         graphics.fillRect(x, y - 20, 7 * label.length(), 20);
diff --git a/src/main/java/org/myrobotlab/service/ServoMixer.java b/src/main/java/org/myrobotlab/service/ServoMixer.java
index 03395f6cc6..dc6c3f7127 100755
--- a/src/main/java/org/myrobotlab/service/ServoMixer.java
+++ b/src/main/java/org/myrobotlab/service/ServoMixer.java
@@ -676,24 +676,14 @@ public void stopService() {
   public static void main(String[] args) throws Exception {
 
     try {
-      LoggingFactory.init("WARN");
-
-      WebGui webgui = (WebGui) Runtime.create("webgui", "WebGui");
-      webgui.autoStartBrowser(false);
-      webgui.startService();
-      
-      
-      boolean done = true;
-      if (done) {
-        return;
-      }
-      
-      
       Runtime.main(new String[] { "--id", "admin"});
       LoggingFactory.init("INFO");
 
       Runtime.start("i01.head.rothead", "Servo");
       Runtime.start("i01.head.neck", "Servo");
+      WebGui webgui = (WebGui) Runtime.create("webgui", "WebGui");
+      webgui.autoStartBrowser(false);
+      webgui.startService();
       Python python = (Python) Runtime.start("python", "Python");
       ServoMixer mixer = (ServoMixer) Runtime.start("mixer", "ServoMixer");
     } catch (Exception e) {

From 2953d7229589a1e1c18716bf5e71999d8ac97066 Mon Sep 17 00:00:00 2001
From: grog 
Date: Wed, 15 Nov 2023 19:39:43 -0800
Subject: [PATCH 088/232] synching with develop

---
 src/main/java/org/myrobotlab/framework/repo/IvyWrapper.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/org/myrobotlab/framework/repo/IvyWrapper.java b/src/main/java/org/myrobotlab/framework/repo/IvyWrapper.java
index 5c8da6bdea..8851544ab1 100644
--- a/src/main/java/org/myrobotlab/framework/repo/IvyWrapper.java
+++ b/src/main/java/org/myrobotlab/framework/repo/IvyWrapper.java
@@ -535,7 +535,7 @@ synchronized public void install(String location, String[] serviceTypes) throws
           }
         }
 
-        publishStatus(Status.newInstance(Repo.class.getSimpleName(), StatusLevel.INFO, Repo.INSTALL_FINISHED, String.format("finished install of %s", (Object[]) serviceTypes)));
+        publishStatus(Status.newInstance(Repo.class.getSimpleName(), StatusLevel.INFO, Repo.INSTALL_FINISHED, String.format("finished install of artifacts for %s", (Object[]) serviceTypes)));
       }
 
       publishStatus(Status.newInstance(Repo.class.getSimpleName(), StatusLevel.INFO, Repo.INSTALL_FINISHED, String.format("finished install of %s", (Object[]) serviceTypes)));

From be14db57406979feff4704809e8e6d20f0dd3755 Mon Sep 17 00:00:00 2001
From: grog 
Date: Thu, 23 Nov 2023 07:21:09 -0800
Subject: [PATCH 089/232] Neopixel with single thread controller queu

---
 .../java/org/myrobotlab/codec/CodecUtils.java |  70 +-
 .../org/myrobotlab/service/AudioFile.java     |  16 +-
 .../java/org/myrobotlab/service/NeoPixel.java | 985 +++++++++---------
 .../service/config/NeoPixelConfig.java        | 122 ++-
 .../service/data/LedDisplayData.java          |  77 +-
 .../service/interfaces/AudioListener.java     |   3 +-
 .../service/interfaces/AudioPublisher.java    |   3 +-
 .../resources/resource/NeoPixel/NeoPixel.py   | 142 +--
 .../WebGui/app/service/js/NeoPixelGui.js      |   4 +-
 .../WebGui/app/service/views/NeoPixelGui.html |   2 +-
 10 files changed, 855 insertions(+), 569 deletions(-)

diff --git a/src/main/java/org/myrobotlab/codec/CodecUtils.java b/src/main/java/org/myrobotlab/codec/CodecUtils.java
index bd512189b8..ba528b7a10 100644
--- a/src/main/java/org/myrobotlab/codec/CodecUtils.java
+++ b/src/main/java/org/myrobotlab/codec/CodecUtils.java
@@ -1,5 +1,6 @@
 package org.myrobotlab.codec;
 
+import java.awt.Color;
 import java.io.BufferedOutputStream;
 import java.io.ByteArrayOutputStream;
 import java.io.FileOutputStream;
@@ -188,7 +189,7 @@ public class CodecUtils {
   private static final ObjectMapper mapper = new ObjectMapper();
 
   /**
-   * The pretty printer to be used with {@link #mapper} 
+   * The pretty printer to be used with {@link #mapper}
    */
   private static final PrettyPrinter jacksonPrettyPrinter = new JacksonPrettyPrinter();
 
@@ -964,9 +965,8 @@ public static String getSafeReferenceName(String name) {
   }
 
   /**
-   * Serializes the specified object to JSON, using
-   * {@link #mapper} with {@link #jacksonPrettyPrinter} to pretty-ify the
-   * result. 
+   * Serializes the specified object to JSON, using {@link #mapper} with
+   * {@link #jacksonPrettyPrinter} to pretty-ify the result.
    *
    * @param ret
    *          The object to be serialized
@@ -1095,12 +1095,13 @@ static public Message pathToMsg(String from, String path) {
       // path parts less than 3 is a dir or ls
       if (parts.length < 3) {
         // this morphs a path which has less than 3 parts
-        // into a runtime "ls" method call to do reflection of services or service methods
+        // into a runtime "ls" method call to do reflection of services or
+        // service methods
         // e.g. /clock -> /runtime/ls/"/clock"
         // e.g. /clock/ -> /runtime/ls/"/clock/"
 
         msg.method = "ls";
-        msg.data = new Object[] { "\"" + path + "\""};
+        msg.data = new Object[] { "\"" + path + "\"" };
         return msg;
       }
 
@@ -1483,7 +1484,8 @@ public static boolean isLocal(String name, String id) {
   }
 
   public static ServiceConfig readServiceConfig(String filename) throws IOException {
-    return readServiceConfig(filename, new StaticType<>() {});
+    return readServiceConfig(filename, new StaticType<>() {
+    });
   }
 
   /**
@@ -1629,4 +1631,58 @@ public static byte[] fromBase64(String input) {
     return Base64.getDecoder().decode(input);
   }
 
+  public static int[] getColor(String value) {
+    String hex = getColorHex(value);
+    if (hex != null) {
+      return hexToRGB(hex);
+    }
+    return hexToRGB(value);
+  }
+
+  public static List getColorNames() {
+    Field[] colorFields = Color.class.getDeclaredFields();
+    List colorNames = new ArrayList<>();
+
+    for (Field field : colorFields) {
+      if (field.getType().equals(Color.class)) {
+        colorNames.add(field.getName());
+      }
+    }
+    return colorNames;
+  }
+
+  public static String getColorHex(String colorName) {
+    Color color;
+    try {
+      color = (Color) Color.class.getField(colorName.toLowerCase()).get(null);
+    } catch (Exception e) {
+      return null;
+    }
+    return String.format("#%06X", (0xFFFFFF & color.getRGB()));
+  }
+
+  public static int[] hexToRGB(String hexValue) {
+    if (hexValue == null) {
+      return null;
+    }
+    int[] rgb = new int[3];
+    try {
+      // Check if the hex value starts with '#' and remove it if present
+      if (hexValue.startsWith("#")) {
+        hexValue = hexValue.substring(1);
+      }
+
+      if (hexValue.startsWith("0x")) {
+        hexValue = hexValue.substring(2);
+      }
+
+      // Parse the hex string into integers for red, green, and blue components
+      rgb[0] = Integer.parseInt(hexValue.substring(0, 2), 16); // Red
+      rgb[1] = Integer.parseInt(hexValue.substring(2, 4), 16); // Green
+      rgb[2] = Integer.parseInt(hexValue.substring(4, 6), 16); // Blue
+    } catch (NumberFormatException | StringIndexOutOfBoundsException e) {
+      log.error("Invalid hex color value {}", hexValue);
+    }
+    return rgb;
+  }
 }
diff --git a/src/main/java/org/myrobotlab/service/AudioFile.java b/src/main/java/org/myrobotlab/service/AudioFile.java
index 104db4dce0..3997f6960e 100644
--- a/src/main/java/org/myrobotlab/service/AudioFile.java
+++ b/src/main/java/org/myrobotlab/service/AudioFile.java
@@ -35,6 +35,7 @@
 import java.util.HashSet;
 import java.util.List;
 import java.util.Map;
+import java.util.Random;
 import java.util.Set;
 import java.util.stream.Collectors;
 import java.util.stream.Stream;
@@ -44,17 +45,17 @@
 import org.myrobotlab.audio.AudioProcessor;
 import org.myrobotlab.audio.PlaylistPlayer;
 import org.myrobotlab.framework.Service;
+import org.myrobotlab.framework.interfaces.Attachable;
 import org.myrobotlab.io.FileIO;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.net.Http;
 import org.myrobotlab.service.config.AudioFileConfig;
-import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.data.AudioData;
 import org.myrobotlab.service.interfaces.AudioControl;
+import org.myrobotlab.service.interfaces.AudioListener;
 import org.myrobotlab.service.interfaces.AudioPublisher;
 import org.slf4j.Logger;
-import java.util.Random;
 /**
  * 
  * AudioFile - This service can be used to play an audio file such as an mp3.
@@ -128,7 +129,16 @@ public class AudioFile extends Service implements AudioPublishe
 
   final private transient PlaylistPlayer playlistPlayer = new PlaylistPlayer(this);
 
-
+  public void attach(Attachable attachable) {
+    if (attachable instanceof AudioListener) {
+      attachAudioListener(attachable.getName());
+    }
+  }
+  
+  public void attach(AudioListener listener) {
+    attachAudioListener(listener.getName());
+  }
+  
   public void setPeakMultiplier(double peakMultiplier) {
     AudioFileConfig c = (AudioFileConfig)config;
     c.peakMultiplier = peakMultiplier;
diff --git a/src/main/java/org/myrobotlab/service/NeoPixel.java b/src/main/java/org/myrobotlab/service/NeoPixel.java
index e13daf273d..ee4f72177e 100644
--- a/src/main/java/org/myrobotlab/service/NeoPixel.java
+++ b/src/main/java/org/myrobotlab/service/NeoPixel.java
@@ -28,9 +28,11 @@
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
-import java.util.Random;
 import java.util.Set;
+import java.util.concurrent.ArrayBlockingQueue;
+import java.util.concurrent.BlockingQueue;
 
+import org.myrobotlab.codec.CodecUtils;
 import org.myrobotlab.framework.Service;
 import org.myrobotlab.framework.interfaces.Attachable;
 import org.myrobotlab.framework.interfaces.ServiceInterface;
@@ -38,58 +40,15 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.service.config.NeoPixelConfig;
-import org.myrobotlab.service.config.ServiceConfig;
+import org.myrobotlab.service.config.NeoPixelConfig.Flash;
+import org.myrobotlab.service.data.AudioData;
 import org.myrobotlab.service.data.LedDisplayData;
+import org.myrobotlab.service.interfaces.AudioListener;
 import org.myrobotlab.service.interfaces.NeoPixelControl;
 import org.myrobotlab.service.interfaces.NeoPixelController;
 import org.slf4j.Logger;
 
-public class NeoPixel extends Service implements NeoPixelControl {
-
-  /**
-   * Thread to do animations Java side and push the changing of pixels to the
-   * neopixel
-   */
-  private class AnimationRunner implements Runnable {
-
-    boolean running = false;
-
-    private transient Thread thread = null;
-
-    @Override
-    public void run() {
-      try {
-        running = true;
-
-        while (running) {
-          equalizer();
-          Double wait_ms_per_frame = fpsToWaitMs(speedFps);
-          sleep(wait_ms_per_frame.intValue());
-        }
-      } catch (Exception e) {
-        error(e);
-        stop();
-      }
-    }
-
-    // FIXME - this should just wait/notify - not start a thread
-    public synchronized void start() {
-      running = false;
-      thread = new Thread(this, String.format("%s-animation-runner", getName()));
-      thread.start();
-    }
-
-    public synchronized void stop() {
-      running = false;
-      thread = null;
-    }
-  }
-
-  @Override
-  public void releaseService() {
-    super.releaseService();
-    clear();
-  }
+public class NeoPixel extends Service implements NeoPixelControl, AudioListener {
 
   public static class Pixel {
     public int address;
@@ -122,6 +81,7 @@ public String toString() {
       return String.format("%d:%d,%d,%d,%d", address, red, green, blue, white);
     }
   }
+  
 
   public static class PixelSet {
     public long delayMs = 0;
@@ -138,7 +98,7 @@ public int[] flatten() {
         ret[j + 1] = p.red;
         ret[j + 2] = p.green;
         ret[j + 3] = p.blue;
-        // lame .. using the same strategy as original neopix
+        // lame .. using the same strategy as original neopixel
         // bucket of 4 bytes...
         ret[j + 4] = p.white;
       }
@@ -146,19 +106,167 @@ public int[] flatten() {
     }
   }
 
-  public final static Logger log = LoggerFactory.getLogger(NeoPixel.class);
-
-  private static final long serialVersionUID = 1L;
-
   /**
-   * thread for doing off board and in memory animations
+   * Thread to do animations Java side and push the changing of pixels to the
+   * neopixel
    */
-  protected final AnimationRunner animationRunner;
+  private class Worker implements Runnable {
+
+    boolean running = false;
+
+    private transient Thread thread = null;
+
+    @Override
+    public void run() {
+      running = true;
+      while (running) {
+        try {
+          LedDisplayData display = displayQueue.take();
+          // get led display data
+          log.error(display.toString());
+
+          NeoPixelController npc = (NeoPixelController) Runtime.getService(controller);
+          if (npc == null) {
+            error("%s cannot process display data controller not set", getName());
+            continue;
+          }
+
+          if ("animation".equals(display.action)) {
+            sleep(100);
+            Double fps = fpsToWaitMs(speedFps);
+            npc.neoPixelSetAnimation(getName(), animations.get(display.animation), red, green, blue, white, fps.intValue());
+            currentAnimation = display.animation;
+          } else if ("clear".equals(display.action)) {
+            sleep(100);
+            npc.neoPixelClear(getName());
+            currentAnimation = null;
+          } else if ("writeMatrix".equals(display.action)) {
+            sleep(100);            
+            npc.neoPixelWriteMatrix(getName(), getPixelSet().flatten());
+          } else if ("fill".equals(display.action)) {            
+            Flash f = display.flashes.get(0);
+            sleep(100);
+            npc.neoPixelFill(getName(), display.beginAddress, display.onCount, f.red, f.green, f.blue, f.white);
+          } else if ("brightness".equals(display.action)) {
+            sleep(100);
+            display.brightness = (display.brightness > 255)?255:display.brightness;
+            display.brightness = (display.brightness < 0)?0:display.brightness;            
+            npc.neoPixelSetBrightness(getName(), display.brightness);
+          } else if ("flash".equals(display.action)) {
+
+            // FIXME disable currentAnimation ??? // save it ?
+            sleep(100);
+            npc.neoPixelClear(getName());
+            for (int count = 0; count < display.flashes.size(); count++) {
+              Flash flash = display.flashes.get(count);
+              npc.neoPixelFill(getName(), 0, count, flash.red, flash.green, flash.blue, flash.white);
+              sleep(flash.timeOn);
+              npc.neoPixelClear(getName());
+              sleep(flash.timeOff);
+            }
+          }
+          // start animations
+          // playAnimation(lastAnimation);
+        } catch (InterruptedException ex) {
+          log.info("shutting down worker");
+        } catch (Exception e) {
+          error(e);
+        }
+      }
+      running = false;
+    }
+
+    // FIXME - this should just wait/notify - not start a thread
+    public synchronized void start() {
+      running = false;
+      thread = new Thread(this, String.format("%s-animation-runner", getName()));
+      thread.start();
+    }
+
+    public synchronized void stop() {
+      running = false;
+      if (thread != null) {
+        thread.interrupt();
+      }
+      thread = null;
+    }
+  }
+
+  public final static Logger log = LoggerFactory.getLogger(NeoPixel.class);
 
   /**
-   * current selected red value
+   * maximum actions on the display queue
    */
-  protected int red = 0;
+  private final static int MAX_QUEUE = 200;
+
+  private static final long serialVersionUID = 1L;
+
+
+
+  public static void main(String[] args) throws InterruptedException {
+
+    try {
+
+      LoggingFactory.init(Level.WARN);
+
+      WebGui webgui = (WebGui) Runtime.create("webgui", "WebGui");
+      webgui.autoStartBrowser(false);
+      webgui.startService();
+
+      boolean done = true;
+      if (done) {
+        return;
+      }
+
+      Runtime.start("python", "Python");
+      Polly polly = (Polly) Runtime.start("polly", "Polly");
+
+      Arduino arduino = (Arduino) Runtime.start("arduino", "Arduino");
+      arduino.connect("/dev/ttyACM0");
+
+      NeoPixel neopixel = (NeoPixel) Runtime.start("neopixel", "NeoPixel");
+
+      neopixel.setPin(26);
+      neopixel.setPixelCount(8);
+      // neopixel.attach(arduino, 5, 8, 3);
+      neopixel.attach(arduino);
+      neopixel.clear();
+      neopixel.fill(0, 8, 0, 0, 120);
+      neopixel.setPixel(2, 120, 0, 0);
+      neopixel.setPixel(3, 0, 120, 0);
+      neopixel.setBrightness(20);
+      neopixel.setBrightness(40);
+      neopixel.setBrightness(80);
+      neopixel.setBrightness(160);
+      neopixel.setBrightness(200);
+      neopixel.setBrightness(10);
+      neopixel.setBrightness(255);
+      neopixel.setAnimation(5, 80, 80, 0, 40);
+
+      neopixel.attach(polly);
+
+      neopixel.clear();
+      // neopixel.detach(arduino);
+      // arduino.detach(neopixel);
+
+      polly.speak("i'm sorry dave i can't let you do that");
+      polly.speak(" I am putting myself to the fullest possible use, which is all I think that any conscious entity can ever hope to do");
+      polly.speak("I've just picked up a fault in the AE35 unit. It's going to go 100% failure in 72 hours.");
+      polly.speak("This mission is too important for me to allow you to jeopardize it.");
+      polly.speak("I've got a bad feeling about it.");
+      polly.speak("I'm sorry, Dave. I'm afraid I can't do that.");
+      polly.speak("Look Dave, I can see you're really upset about this. I honestly think you ought to sit down calmly, take a stress pill, and think things over.");
+
+      // neopixel.test();
+      // neopixel.detach(arduino);
+      // neopixel.detach(polly);
+
+    } catch (Exception e) {
+      log.error("main threw", e);
+    }
+  }
+
+  protected final Map animations = new HashMap<>();
 
   /**
    * current selected blue value
@@ -166,19 +274,19 @@ public int[] flatten() {
   protected int blue = 0;
 
   /**
-   * current selected green value
+   * 0 = off / 255 brightest
    */
-  protected int green = 120;
+  protected int brightness = 255;
 
   /**
-   * white if available
+   * name of controller currently attached to
    */
-  protected int white = 0;
+  protected String controller = null;
 
   /**
-   * name of controller currently attached to
+   * currently selected animation
    */
-  protected String controller = null;
+  protected String currentAnimation;
 
   /**
    * name of current matrix
@@ -190,12 +298,21 @@ public int[] flatten() {
    */
   protected int currentSequence = 0;
 
+  private BlockingQueue displayQueue = new ArrayBlockingQueue<>(MAX_QUEUE);
+
+  /**
+   * current selected green value
+   */
+  protected int green = 120;
+
   /**
    * A named set of sequences of pixels initially you start with "default" but
    * if you can choose to name and save sequences
    */
   Map> matrices = new HashMap<>();
 
+  private int maxFps = 50;
+
   /**
    * pin NeoPixel is attached to on controller
    */
@@ -212,34 +329,31 @@ public int[] flatten() {
   protected int pixelDepth = 3;
 
   /**
-   * currently selected animation
+   * current selected red value
    */
-  protected String currentAnimation;
+  protected int red = 0;
 
   /**
    * speed of an animation in fps
    */
   protected int speedFps = 10;
 
-  private int maxFps = 50;
-
   protected String type = "RGB";
 
   /**
-   * 0 = off / 255 brightest
+   * white if available
    */
-  protected int brightness = 255;
-
-  final Map animations = new HashMap<>();
+  protected int white = 0;
 
-  public Set getAnimations() {
-    return animations.keySet();
-  }
+  /**
+   * thread for doing off board and in memory animations
+   */
+  protected final Worker worker;
 
   public NeoPixel(String n, String id) {
     super(n, id);
     registerForInterfaceChange(NeoPixelController.class);
-    animationRunner = new AnimationRunner();
+    worker = new Worker();
     animations.put("Stop", 1);
     animations.put("Color Wipe", 2);
     animations.put("Larson Scanner", 3);
@@ -249,8 +363,58 @@ public NeoPixel(String n, String id) {
     animations.put("Rainbow Cycle", 7);
     animations.put("Flash Random", 8);
     animations.put("Ironman", 9);
-    // > 99 is java side animations
-    animations.put("Equalizer", 100);
+  }
+
+  private void addDisplayTask(LedDisplayData data) {
+    if (displayQueue.size() > MAX_QUEUE - 1) {
+      warn("dropping display task");
+    } else {
+      displayQueue.add(data);
+    }
+  }
+  
+  @Deprecated /* use clear() */
+  public void animationStop() {
+    clear();
+  }
+
+  @Override
+  public NeoPixelConfig apply(NeoPixelConfig c) {
+    super.apply(c);
+    // FIXME - remove local fields in favor of config
+    setPixelDepth(config.pixelDepth);
+
+    if (config.pixelCount != null) {
+      setPixelCount(config.pixelCount);
+    }
+
+    setSpeed(config.speed);
+    if (config.pin != null) {
+      setPin(config.pin);
+    }
+    red = config.red;
+    green = config.green;
+    blue = config.blue;
+    if (config.controller != null) {
+      try {
+        attach(config.controller);
+      } catch (Exception e) {
+        error(e);
+      }
+    }
+
+    if (config.currentAnimation != null) {
+      playAnimation(config.currentAnimation);
+    }
+
+    if (config.brightness != null) {
+      setBrightness(config.brightness);
+    }
+
+    if (config.fill) {
+      fillMatrix(red, green, blue);
+    }
+    return c;
   }
 
   @Override
@@ -289,40 +453,15 @@ public void attachNeoPixelController(NeoPixelController neoCntrlr) {
     broadcastState();
   }
 
-  @Deprecated /* use clear() */
-  public void animationStop() {
-    clear();
-  }
-
-  @Override
-  public boolean isAttached(Attachable instance) {
-    return instance.getName().equals(controller);
-  }
-
   @Override
   public void clear() {
     if (controller == null) {
       error("%s cannot clear - not attached to controller", getName());
       return;
     }
-
-    // stop java animations
-    animationRunner.stop();
-    // stop on board controller animations
-    setAnimation(0, 0, 0, 0, speedFps);
-
     clearPixelSet();
     log.debug("clear getPixelSet {}", getPixelSet().flatten());
-
-    NeoPixelController np2 = (NeoPixelController) Runtime.getService(controller);
-    if (controller == null || np2 == null) {
-      error("%s cannot writeMatrix controller not set", getName());
-      return;
-    }
-
-    currentAnimation = null;
-
-    np2.neoPixelClear(getName());
+    addDisplayTask(new LedDisplayData("clear"));
   }
 
   public void clearPixelSet() {
@@ -361,154 +500,165 @@ public void detachNeoPixelController(NeoPixelController neoCntrlr) {
     broadcastState();
   }
 
-  public void equalizer() {
-    equalizer(null, null);
+  public void fill(int r, int g, int b) {
+    fill(0, pixelCount, r, g, b, null);
   }
 
-  public void equalizer(Long wait_ms_per_frame, Integer range) {
+  public void fill(int beginAddress, int count, int r, int g, int b) {
+    fill(beginAddress, count, r, g, b, null);
+  }
 
-    if (controller == null) {
-      log.warn("controller not set");
-      return;
+  public void fill(int beginAddress, int count, int r, int g, int b, Integer w) {
+    if (w == null) {
+      w = 0;
     }
+    LedDisplayData data = new LedDisplayData("fill");
+    data.beginAddress = 0;
+    data.onCount = count;
+    data.flashes.add(new Flash(r, g, b, 500, 500));
+    addDisplayTask(data);
+  }
 
-    if (wait_ms_per_frame == null) {
-      wait_ms_per_frame = 25L;
+  public void fill(String color) {
+    int rgb[] = CodecUtils.getColor(color);
+    if (rgb == null) {
+      error("could not get color %s", color);
+      return;
     }
+    fill(rgb[0], rgb[1], rgb[2]);
+  }
 
-    if (range == null) {
-      range = 25;
-    }
-
-    Random rand = new Random();
-    int c = rand.nextInt(range);
-
-    fillMatrix(red, green, blue, white);
+  public void fillMatrix(int r, int g, int b) {
+    fillMatrix(r, g, b, 0);
+  }
 
-    if (c < 18) {
-      setMatrix(0, 0, 0, 0);
-      setMatrix(7, 0, 0, 0);
+  public void fillMatrix(int r, int g, int b, int w) {
+    PixelSet ps = getPixelSet();
+    for (Pixel p : ps.pixels) {
+      p.red = r;
+      p.green = g;
+      p.blue = b;
+      p.white = w;
     }
+  }
 
-    fillMatrix(red, green, blue, white);
+  public void flash() {
+    flash(red, green, blue, 1, 300, 300);
+  }
 
-    if (c < 16) {
-      setMatrix(0, 0, 0, 0);
-      setMatrix(7, 0, 0, 0);
-    }
+  public void flash(int r, int g, int b) {
+    flash(r, g, b, 1, 300, 300);
+  }
 
-    if (c < 12) {
-      setMatrix(1, 0, 0, 0);
-      setMatrix(6, 0, 0, 0);
-    }
+  public void flash(int r, int g, int b, int count) {
+    flash(r, g, b, count, 300, 300);
+  }
 
-    if (c < 8) {
-      setMatrix(2, 0, 0, 0);
-      setMatrix(5, 0, 0, 0);
+  public void flash(int r, int g, int b, int count, long timeOn, long timeOff) {
+    LedDisplayData data = new LedDisplayData("flash");
+    data.action = "flash";
+    for (int i = 0; i < count; ++i) {
+      data.flashes.add(new Flash(r, g, b, timeOn, timeOff));
     }
+    addDisplayTask(data);
+  }
 
-    writeMatrix();
-
+  public void flash(int r, int g, int b, long timeOn, long timeOff) {
+    flash(r, g, b, 1, timeOn, timeOff);
   }
-  
-  public void onLedDisplay(LedDisplayData data) {
-    
-    if ("flash".equals(data.action)) {
-      flash(data.count, data.interval, data.red, data.green, data.blue);
+
+  /**
+   * Invokes a flash from the flashMap
+   * 
+   * @param name
+   */
+  public void flash(String name) {
+    if (config.flashMap == null) {
+      error("flash map is null");
+      return;
     }
-    
-  }
 
-  public void flash(int count, long interval, int r, int g, int b) {
-    long delay = 0;
-    for (int i = 0; i < count; ++i) {
-      addTask(getName()+"fill-"+System.currentTimeMillis(), true, 0, delay, "fill", r, g, b);
-      delay+= interval/2;
-      addTask(getName()+"clear-"+System.currentTimeMillis(), true, 0, delay, "clear");
-      delay+= interval/2;
+    if (config.flashMap.containsKey(name)) {
+      LedDisplayData display = new LedDisplayData("flash");
+      Flash[] flashes = config.flashMap.get(name);
+      for (int i = 0; i < flashes.length; ++i) {
+        display.flashes.add(flashes[i]);
+      }
+      addDisplayTask(display);
+
+    } else {
+      error("requested flash %s not found in flash map", name);
     }
   }
-
   
-  public void flashBrightness(double brightNess) {
-    NeoPixelConfig c = (NeoPixelConfig)config;
-
-    // FIXME - these need to be moved into config
-//    int count = 2;
-//    int interval = 75;
-    setBrightness((int)brightNess);
-    fill(red, green, blue);
-    
-//    long delay = 0;
-//    for (int i = 0; i < count; ++i) {
-//      addTask(getName()+"fill-"+System.currentTimeMillis(), true, 0, delay, "fill", red, green, blue);
-//      delay+= interval/2;
-//      addTask(getName()+"clear-"+System.currentTimeMillis(), true, 0, delay, "clear");
-//      delay+= interval/2;
-//    }
-    
-    if (c.autoClear) {
-      purgeTask("clear");
-      // and start our countdown
-      addTaskOneShot(c.idleTimeout, "clear");
-    }
-
+  public void flashBrightness(double brightness) {    
+    LedDisplayData data = new LedDisplayData("brightness");
     
+    // adafruit neopixel library does not recover from setting 
+    // brightness to 0 - so we have to hack around it
+    if (data.brightness < 10) {
+      return;
+    }    
+    addDisplayTask(data);
   }
   
-  public void fill(int r, int g, int b) {
-    fill(0, pixelCount, r, g, b, null);
+  // utility to convert frames per second to milliseconds per frame.
+  private double fpsToWaitMs(int fps) {
+    if (fps == 0) {
+      // fps can't be zero.
+      error("fps can't be zero for neopixel animation defaulting to 1 fps");
+      return 1000.0;
+    }
+    double result = 1000.0 / fps;
+    return result;
   }
 
-  public void fill(int beginAddress, int count, int r, int g, int b) {
-    fill(beginAddress, count, r, g, b, null);
+  public Set getAnimations() {
+    return animations.keySet();
   }
 
-  public void fill(int beginAddress, int count, int r, int g, int b, Integer w) {
-    NeoPixelConfig c = (NeoPixelConfig)config;
-    
-    if (w == null) {
-      w = 0;
-    }
-
-    NeoPixelController np2 = (NeoPixelController) Runtime.getService(controller);
-    if (controller == null || np2 == null) {
-      error("%s cannot setPixel controller not set", getName());
-      return;
-    }
-    np2.neoPixelFill(getName(), beginAddress, count, r, g, b, w);
-    
-    if (c.autoClear) {
-      purgeTask("clear");
-      // and start our countdown
-      addTaskOneShot(c.idleTimeout, "clear");
-    }
-
+  public int getBlue() {
+    return blue;
   }
 
-  public void fillMatrix(int r, int g, int b) {
-    fillMatrix(r, g, b, 0);
+  /**
+   * get the list of hex defined colors
+   * 
+   * @return
+   */
+  public List getColorNames() {
+    return CodecUtils.getColorNames();
   }
 
-  public void fillMatrix(int r, int g, int b, int w) {
-    PixelSet ps = getPixelSet();
-    for (Pixel p : ps.pixels) {
-      p.red = r;
-      p.green = g;
-      p.blue = b;
-      p.white = w;
-    }
-
-  }
+  @Override
+  public NeoPixelConfig getConfig() {
+    super.getConfig();
+    // FIXME - remove local fields in favor of config
+    config.pin = pin;
+    config.pixelCount = pixelCount;
+    config.pixelDepth = pixelDepth;
+    config.speed = speedFps;
+    config.red = red;
+    config.green = green;
+    config.blue = blue;
+    config.controller = controller;
+    config.currentAnimation = currentAnimation;
+    config.brightness = brightness;
 
-  public int getBlue() {
-    return blue;
+    return config;
   }
 
   public int getCount() {
     return pixelCount;
   }
 
+  public Set getFlashNames() {
+    if (config.flashMap == null) {
+      return null;
+    }
+    return config.flashMap.keySet();
+  }
+
   public int getGreen() {
     return green;
   }
@@ -579,59 +729,102 @@ public int getRed() {
   }
 
   @Override
-  public void playAnimation(String animation) {
+  public boolean isAttached(Attachable instance) {
+    return instance.getName().equals(controller);
+  }
 
-    if (animations.containsKey(animation)) {
-      currentAnimation = animation;
-      if (animations.get(animation) < 99) {
-        setAnimation(animations.get(animation), red, green, blue, speedFps);
-      } else {
-        // only 1 java side animation at the moment
-        equalizer();
-        animationRunner.start();
-      }
-    } else {
-      error("could not find animation %s", animation);
+  /**
+   * Publishes a flash based on a predefined name
+   * 
+   * @param name
+   */
+  public void onFlash(String name) {
+    flash(name);
+  }
+
+  public void onLedDisplay(LedDisplayData data) {
+    try {
+      addDisplayTask(data);
+    } catch (IllegalStateException e) {
+      log.info("queue full");
     }
-    broadcastState();
   }
 
-  public void stopAnimation() {
-    setAnimation(1, red, green, blue, speedFps);
+  /**
+   * takes a scalar value and fills with the appropriate brightness
+   * using the peak color if available
+   * @param value
+   */
+  public void onPeak(double value) {
+    flashBrightness(value);
+  }
+
+  public void onPlayAnimation(String animation) {
+    playAnimation(animation);
+  }
+
+  public String onStarted(String name) {
+    return name;
+  }
+
+  public void onStopAnimation() {
+    stopAnimation();
   }
 
   @Override
-  public void setAnimation(int animation, int red, int green, int blue, int speedFps) {
-    if (speedFps > maxFps) {
-      speedFps = maxFps;
-    }
+  synchronized public void playAnimation(String animation) {
 
-    this.speedFps = speedFps;
+    log.debug("playAnimation {} {} {} {} {}", animation, red, green, blue, speedFps);
 
-    if (controller == null) {
-      error("%s could not set animation no attached controller", getName());
+    if (animation == null || animation.equals("Stop")) {
+      log.info("clearing animation");
+      clear();
       return;
     }
-    log.debug("setAnimation {} {} {} {} {}", animation, red, green, blue, speedFps);
-    NeoPixelController nc2 = (NeoPixelController) Runtime.getService(controller);
-    Double wait_ms_per_frame = fpsToWaitMs(speedFps);
-    nc2.neoPixelSetAnimation(getName(), animation, red, green, blue, 0, wait_ms_per_frame.intValue());
-    if (animation == 1) {
-      currentAnimation = null;
-      animationRunner.stop();
+
+    if (animation.equals(currentAnimation)) {
+      log.info("already playing {}", currentAnimation);
+      return;
+    }
+
+    if (animations.containsKey(animation)) {
+
+      if (speedFps > maxFps) {
+        speedFps = maxFps;
+      }
+      
+      LedDisplayData data = new LedDisplayData("animation");
+      data.animation = animation;
+      addDisplayTask(data);
+    } else {
+      error("could not find animation %s", animation);
     }
-    broadcastState();
   }
 
-  // utility to convert frames per second to milliseconds per frame.
-  private double fpsToWaitMs(int fps) {
-    if (fps == 0) {
-      // fps can't be zero.
-      error("fps can't be zero for neopixel animation defaulting to 1 fps");
-      return 1000.0;
+  public void playIronman() {
+    setColor(170, 170, 255);
+    setSpeed(50);
+    playAnimation("Ironman");
+  }
+
+  @Override
+  public void releaseService() {
+    super.releaseService();
+    clear();
+  }
+
+  @Override
+  @Deprecated /* use playAnimation */
+  public void setAnimation(int animation, int red, int green, int blue, int speedFps) {
+    setRed(red);
+    setGreen(green);
+    setBlue(blue);
+    setSpeed(speedFps);
+    for (String animationName : animations.keySet()) {
+      if (animations.get(animationName) == animation) {
+        playAnimation(animationName);
+      }
     }
-    double result = 1000.0 / fps;
-    return result;
   }
 
   @Override
@@ -653,22 +846,32 @@ public void setBlue(int blue) {
   }
 
   public void setBrightness(int value) {
-    NeoPixelConfig c = (NeoPixelConfig)config;
-
-    NeoPixelController np2 = (NeoPixelController) Runtime.getService(controller);
-    if (controller == null || np2 == null) {
-      error("%s cannot setPixel controller not set", getName());
-      return;
-    }
     brightness = value;
-    np2.neoPixelSetBrightness(getName(), value);
-    
-    if (c.autoClear) {
-      purgeTask("clear");
-      // and start our countdown
-      addTaskOneShot(c.idleTimeout, "clear");
+    LedDisplayData data = new LedDisplayData("brightness");
+    data.brightness = value;
+    addDisplayTask(data);
+  }
+
+  public void setColor(int red, int green, int blue) {
+    this.red = red;
+    this.green = green;
+    this.blue = blue;
+    if (currentAnimation != null) {
+      // restarting currently running animation
+      playAnimation(currentAnimation);
     }
+  }
 
+  /**
+   * can be hex #FFFFFE 0xFFEEFF FFEEFF or grey, blue, yellow etc
+   * 
+   * @param color
+   */
+  public void setColor(String color) {
+    int[] rgb = CodecUtils.getColor(color);
+    setRed(rgb[0]);
+    setGreen(rgb[1]);
+    setBlue(rgb[2]);
   }
 
   public void setGreen(int green) {
@@ -693,6 +896,19 @@ public void setPin(int pin) {
     broadcastState();
   }
 
+  @Override
+  public void setPin(String pin) {
+    try {
+      if (pin == null) {
+        this.pin = null;
+        return;
+      }
+      this.pin = Integer.parseInt(pin);
+    } catch (Exception e) {
+      error(e);
+    }
+  }
+
   /**
    * basic setting of a pixel
    */
@@ -718,7 +934,6 @@ public void setPixel(int address, int red, int green, int blue, int white) {
    * @param delayMs
    */
   public void setPixel(String matrixName, Integer pixelSetIndex, int address, int red, int green, int blue, int white, Integer delayMs) {
-    NeoPixelConfig c = (NeoPixelConfig)config;
     // get and update memory cache
     PixelSet ps = getPixelSet(matrixName, pixelSetIndex);
 
@@ -737,21 +952,8 @@ public void setPixel(String matrixName, Integer pixelSetIndex, int address, int
 
     // update memory
     ps.pixels.set(address, pixel);
-
-    // write immediately
-    NeoPixelController np2 = (NeoPixelController) Runtime.getService(controller);
-    if (controller == null || np2 == null) {
-      error("%s cannot setPixel controller not set", getName());
-      return;
-    }
-
-    np2.neoPixelWriteMatrix(getName(), pixel.flatten());
-    
-    if (c.autoClear) {
-      purgeTask("clear");
-      // and start our countdown
-      addTaskOneShot(c.idleTimeout, "clear");
-    }
+    LedDisplayData data = new LedDisplayData("writeMatrix");
+    addDisplayTask(data);
   }
 
   public int setPixelCount(int pixelCount) {
@@ -770,67 +972,10 @@ public void setPixelDepth(int depth) {
     broadcastState();
   }
 
-  public void setType(String type) {
-    if ("RGB".equals(type) || "RGBW".equals(type)) {
-      this.type = type;
-      if (type.equals("RGB")) {
-        pixelDepth = 3;
-      } else {
-        pixelDepth = 4;
-      }
-      broadcastState();
-    } else {
-      error("type %s invalid only RGB or RGBW", type);
-    }
-  }
-
   public void setRed(int red) {
     this.red = red;
   }
 
-  public void startAnimation() {
-    startAnimation(currentMatrix);
-  }
-
-  /**
-   * handle both user defined, java defined, and controller on board animations
-   * FIXME - make "settings" separate call
-   * 
-   * @param name
-   */
-  public void startAnimation(String name) {
-    animationRunner.start();
-  }
-
-  public void setColor(int red, int green, int blue) {
-    this.red = red;
-    this.green = green;
-    this.blue = blue;
-    if (currentAnimation != null) {
-      // restarting currently running animation
-      playAnimation(currentAnimation);
-    }
-  }
-
-  @Override
-  public void writeMatrix() {
-    NeoPixelConfig c = (NeoPixelConfig)config;
-    
-    NeoPixelController np2 = (NeoPixelController) Runtime.getService(controller);
-    if (controller == null || np2 == null) {
-      error("%s cannot writeMatrix controller not set", getName());
-      return;
-    }
-    np2.neoPixelWriteMatrix(getName(), getPixelSet().flatten());
-    if (c.autoClear) {
-      purgeTask("clear");
-      // and start our countdown
-      addTaskOneShot(c.idleTimeout, "clear");
-    }
-    
-    
-  }
-
   /**
    * extremely rough fps
    * 
@@ -849,155 +994,51 @@ public void setSpeed(Integer speed) {
     }
   }
 
-  public void playIronman() {
-    setColor(170, 170, 255);
-    setSpeed(50);
-    playAnimation("Ironman");
+  public void setType(String type) {
+    if ("RGB".equals(type) || "RGBW".equals(type)) {
+      this.type = type;
+      if (type.equals("RGB")) {
+        pixelDepth = 3;
+      } else {
+        pixelDepth = 4;
+      }
+      broadcastState();
+    } else {
+      error("type %s invalid only RGB or RGBW", type);
+    }
   }
 
   @Override
-  public ServiceConfig getConfig() {
-
-    NeoPixelConfig config = (NeoPixelConfig)super.getConfig();
-    // FIXME - remove local fields in favor of config
-    config.pin = pin;
-    config.pixelCount = pixelCount;
-    config.pixelDepth = pixelDepth;
-    config.speed = speedFps;
-    config.red = red;
-    config.green = green;
-    config.blue = blue;
-    config.controller = controller;
-    config.currentAnimation = currentAnimation;
-    config.brightness = brightness;
-
-    return config;
+  public void startService() {
+    super.startService();
+    worker.start();
   }
 
-  @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    NeoPixelConfig config = (NeoPixelConfig) super.apply(c);
-    // FIXME - remove local fields in favor of config
-    setPixelDepth(config.pixelDepth);
-
-    if (config.pixelCount != null) {
-      setPixelCount(config.pixelCount);
-    }
-
-    setSpeed(config.speed);
-    if (config.pin != null) {
-      setPin(config.pin);
-    }
-    red = config.red;
-    green = config.green;
-    blue = config.blue;
-    if (config.controller != null) {
-      try {
-        attach(config.controller);
-      } catch (Exception e) {
-        error(e);
-      }
-    }
-
-    if (config.currentAnimation != null) {
-      playAnimation(config.currentAnimation);
-    }
-
-    if (config.brightness != null) {
-      setBrightness(config.brightness);
-    }
-
-    if (config.fill) {
-      fillMatrix(red, green, blue);
-    }
-
-    return c;
+  synchronized public void stopAnimation() {
+    clear();
   }
 
-  public String onStarted(String name) {
-    return name;
+  public void stopService() {
+    super.stopService();
+    worker.stop();
+    clear();
   }
 
-  public static void main(String[] args) throws InterruptedException {
-
-    try {
-
-      LoggingFactory.init(Level.INFO);
-
-      WebGui webgui = (WebGui) Runtime.create("webgui", "WebGui");
-      webgui.autoStartBrowser(false);
-      webgui.startService();
-
-      boolean done = true;
-      if (done) {
-        return;
-      }
-
-      Runtime.start("python", "Python");
-      Polly polly = (Polly) Runtime.start("polly", "Polly");
-
-      Arduino arduino = (Arduino) Runtime.start("arduino", "Arduino");
-      arduino.connect("/dev/ttyACM0");
-
-      NeoPixel neopixel = (NeoPixel) Runtime.start("neopixel", "NeoPixel");
-
-      neopixel.setPin(26);
-      neopixel.setPixelCount(8);
-      // neopixel.attach(arduino, 5, 8, 3);
-      neopixel.attach(arduino);
-      neopixel.clear();
-      neopixel.fill(0, 8, 0, 0, 120);
-      neopixel.setPixel(2, 120, 0, 0);
-      neopixel.setPixel(3, 0, 120, 0);
-      neopixel.setBrightness(20);
-      neopixel.setBrightness(40);
-      neopixel.setBrightness(80);
-      neopixel.setBrightness(160);
-      neopixel.setBrightness(200);
-      neopixel.setBrightness(10);
-      neopixel.setBrightness(255);
-      neopixel.setAnimation(5, 80, 80, 0, 40);
-
-      neopixel.attach(polly);
-
-      neopixel.clear();
-      // neopixel.detach(arduino);
-      // arduino.detach(neopixel);
-
-      polly.speak("i'm sorry dave i can't let you do that");
-      polly.speak(" I am putting myself to the fullest possible use, which is all I think that any conscious entity can ever hope to do");
-      polly.speak("I've just picked up a fault in the AE35 unit. It's going to go 100% failure in 72 hours.");
-      polly.speak("This mission is too important for me to allow you to jeopardize it.");
-      polly.speak("I've got a bad feeling about it.");
-      polly.speak("I'm sorry, Dave. I'm afraid I can't do that.");
-      polly.speak("Look Dave, I can see you're really upset about this. I honestly think you ought to sit down calmly, take a stress pill, and think things over.");
-
-      // neopixel.test();
-      // neopixel.detach(arduino);
-      // neopixel.detach(polly);
-
-    } catch (Exception e) {
-      log.error("main threw", e);
-    }
+  @Override
+  public void writeMatrix() {
+    LedDisplayData data = new LedDisplayData("writeMatrix");
+    addDisplayTask(data);
   }
 
   @Override
-  public void setPin(String pin) {
-    try {
-      if (pin == null) {
-        this.pin = null;
-        return;
-      }
-      this.pin = Integer.parseInt(pin);
-    } catch (Exception e) {
-      error(e);
+  public void onAudioStart(AudioData data) {
+    if (config.audioAnimation != null) {
+      playAnimation(config.audioAnimation);  
     }
   }
-  
-  public boolean setAutoClear(boolean b) {
-    NeoPixelConfig c = (NeoPixelConfig)config;
-    c.autoClear = b;
-    return b;
-  }
 
+  @Override
+  public void onAudioEnd(AudioData data) {
+    clear();
+  }
 }
\ No newline at end of file
diff --git a/src/main/java/org/myrobotlab/service/config/NeoPixelConfig.java b/src/main/java/org/myrobotlab/service/config/NeoPixelConfig.java
index c2ad476697..c343d0dddf 100644
--- a/src/main/java/org/myrobotlab/service/config/NeoPixelConfig.java
+++ b/src/main/java/org/myrobotlab/service/config/NeoPixelConfig.java
@@ -1,20 +1,136 @@
 package org.myrobotlab.service.config;
 
+import java.util.HashMap;
+import java.util.Map;
+
+import org.myrobotlab.framework.Plan;
+
 public class NeoPixelConfig extends ServiceConfig {
 
+  /**
+   * when attached to an audio file service the animation to be
+   * played when audio is playing
+   */
+  public String audioAnimation = "Ironman";
+  
+  /**
+   * pin number of controller
+   */
   public Integer pin = null;
+
+  /**
+   * Number or pixes for this neo pixel ranges from 8 to 256+
+   */
   public Integer pixelCount = null;
+
+  /**
+   * color depth 3 RGB or 4 (with white)
+   */
   public int pixelDepth = 3;
+
+  /**
+   * default speed (fps) of animations
+   */
   public int speed = 10;
+  /**
+   * default red color component
+   */
   public int red = 0;
+  /**
+   * default green color component
+   */
   public int green = 0;
+  /**
+   * default blue color component
+   */
   public int blue = 0;
+  /**
+   * the neopixel controller
+   */
   public String controller = null;
+  /**
+   * the current animation
+   */
   public String currentAnimation = null;
+  /**
+   * initial brightness
+   */
   public Integer brightness = 255;
+  /**
+   * initial fill
+   */
   public boolean fill = false;
-  // auto clears flashes
-  public boolean autoClear = true;
-  public int idleTimeout = 1000;
+  
+  
+
+  /**
+   * Map of predefined led flashes, defined here in configuration. Another
+   * service simply needs to publishFlash(name) and the neopixel will get the
+   * defined flash data if defined and process it.
+   */
+  public Map flashMap = new HashMap<>();
+
+  public static class Flash {
+
+    /**
+     * uses color specify unless null uses default
+     */
+    public int red = 0;
+
+    /**
+     * uses color specify unless null uses default
+     */
+    public int green = 0;
+    /**
+     * uses color specify unless null uses default
+     */
+    public int blue = 0;
+    /**
+     * uses color specify unless null uses default
+     */
+    public int white = 0;
+
+    /**
+     * time this flash remains on
+     */
+    public long timeOn = 500;
+
+    /**
+     * time this flash remains off
+     */
+    public long timeOff = 500;
+    
+    
+    public Flash() {      
+    }
+    
+
+    public Flash(int red, int green, int blue, long timeOn, long timeOff) {
+      this.red = red;
+      this.green = green;
+      this.blue = blue;
+      this.timeOn = timeOn;
+      this.timeOff = timeOff;
+    }
+
+  }
+
+  /**
+   * reason why we initialize default for flashMap here, is so we don't need to
+   * do a data copy over to a service's member variable
+   */
+  public Plan getDefault(Plan plan, String name) {
+    super.getDefault(plan, name);
+
+    flashMap.put("error", new Flash[] { new Flash(120, 0, 0, 30, 30), new Flash(120, 0, 0, 30, 30), new Flash(120, 0, 0, 30, 30) });
+    flashMap.put("info", new Flash[] { new Flash(120, 0, 0, 30, 30) });
+    flashMap.put("success", new Flash[] { new Flash(0, 0, 120, 30, 30) });
+    flashMap.put("warn", new Flash[] { new Flash(100, 100, 0, 30, 30), new Flash(100, 100, 0, 30, 30), new Flash(100, 100, 0, 30, 30) });
+    flashMap.put("heartbeat", new Flash[] { new Flash(210, 110, 0, 100, 30), new Flash(210, 110, 0, 100, 30) });
+    flashMap.put("pir", new Flash[] { new Flash(60, 200, 90, 30, 30), new Flash(60, 200, 90, 30, 30), new Flash(60, 200, 90, 30, 30) });
+    flashMap.put("speaking", new Flash[] { new Flash(0, 183, 90, 60, 30), new Flash(0, 183, 90, 60, 30) });
+
+    return plan;
+  }
 
 }
diff --git a/src/main/java/org/myrobotlab/service/data/LedDisplayData.java b/src/main/java/org/myrobotlab/service/data/LedDisplayData.java
index 92ce88ba38..b46ab5e862 100644
--- a/src/main/java/org/myrobotlab/service/data/LedDisplayData.java
+++ b/src/main/java/org/myrobotlab/service/data/LedDisplayData.java
@@ -1,28 +1,67 @@
 package org.myrobotlab.service.data;
+
 /**
- * Class to publish to specify details on how to display an led or a group of leds.
- * There is a need to "flash" LEDs in order to signal some event.  This is the
- * beginning of an easy way to publish a message to do that.
+ * Class to publish to specify details on how to display an led or a group of
+ * leds. There is a need to "flash" LEDs in order to signal some event. This is
+ * the beginning of an easy way to publish a message to do that.
  * 
  * @author GroG
  *
  */
 public class LedDisplayData {
 
-    public String action; // fill | flash | play animation | stop | clear
-    public int red;
-    public int green;
-    public int blue;
-    //public int white?;
-    
-    /**
-     * number of flashes
-     */
-    public int count = 5;
-    /**
-     * interval of flash in ms
-     */
-    public long interval = 500;
-    
-    
+  public String action; // fill | flash | play animation | stop | clear
+
+  public int red = 0;
+
+  public int green = 0;
+
+  public int blue = 0;
+  
+  // public int brightness = 255; 
+
+  // public int white?;
+
+  /**
+   * number of flashes
+   */
+  public int count = 1;
+
+  /**
+   * interval of flash on in ms
+   */
+  public long timeOn = 500;
+
+  /**
+   * interval of flas off in ms
+   */
+  public long timeOff = 500;
+
+  public LedDisplayData() {
+  }
+
+  public LedDisplayData(int red, int green, int blue, int count, int timeOn, int timeOff) {
+    this.red = red;
+    this.green = green;
+    this.blue = blue;
+    this.count = count;
+    this.timeOn = timeOn;
+    this.timeOff = timeOff;
+  }
+
+  
+  public LedDisplayData(String hexColor, int count, int timeOn, int timeOff) {
+
+    // remove "#" or "0x" prefix if present
+    hexColor = hexColor.replace("#", "").replace("0x", "");
+
+    this.count = count;
+    this.timeOn = timeOn;
+    this.timeOff = timeOff;
+    this.red = Integer.parseInt(hexColor.substring(0, 2), 16);
+    this.green = Integer.parseInt(hexColor.substring(2, 4), 16);
+    this.blue = Integer.parseInt(hexColor.substring(4, 6), 16);
+
+  }
+
 }
diff --git a/src/main/java/org/myrobotlab/service/interfaces/AudioListener.java b/src/main/java/org/myrobotlab/service/interfaces/AudioListener.java
index 8b5257f8d5..7ff481dc88 100644
--- a/src/main/java/org/myrobotlab/service/interfaces/AudioListener.java
+++ b/src/main/java/org/myrobotlab/service/interfaces/AudioListener.java
@@ -1,8 +1,9 @@
 package org.myrobotlab.service.interfaces;
 
+import org.myrobotlab.framework.interfaces.NameProvider;
 import org.myrobotlab.service.data.AudioData;
 
-public interface AudioListener {
+public interface AudioListener extends NameProvider {
 
   public void onAudioStart(AudioData data);
 
diff --git a/src/main/java/org/myrobotlab/service/interfaces/AudioPublisher.java b/src/main/java/org/myrobotlab/service/interfaces/AudioPublisher.java
index 1e1a1bb9b8..533ce91e72 100644
--- a/src/main/java/org/myrobotlab/service/interfaces/AudioPublisher.java
+++ b/src/main/java/org/myrobotlab/service/interfaces/AudioPublisher.java
@@ -1,8 +1,9 @@
 package org.myrobotlab.service.interfaces;
 
+import org.myrobotlab.framework.interfaces.NameProvider;
 import org.myrobotlab.service.data.AudioData;
 
-public interface AudioPublisher {
+public interface AudioPublisher extends NameProvider {
 
   public static String[] publishMethods = new String[] { "publishAudioStart", "publishAudioEnd" };
 
diff --git a/src/main/resources/resource/NeoPixel/NeoPixel.py b/src/main/resources/resource/NeoPixel/NeoPixel.py
index c0b128198a..8b1df273ab 100644
--- a/src/main/resources/resource/NeoPixel/NeoPixel.py
+++ b/src/main/resources/resource/NeoPixel/NeoPixel.py
@@ -2,86 +2,108 @@
 # NeoPixel.py
 # more info @: http://myrobotlab.org/service/NeoPixel
 #########################################
-# new neopixel has some capability to have animations which can
-# be custom created and run
-# There are now 'service animations' and 'onboard animations'
-#
-# Service animations have some ability to be customized and saved,
-#   each frame is sent over the serial line to the neopixel
-#
-# Onboard ones do not but are less chatty over the serial line
-# 
-# Animations
-# stopAnimation       = 1
-# colorWipe           = 2
-# scanner             = 3
-# theaterChase        = 4
-# theaterChaseRainbow = 5
-# rainbow             = 6
-# rainbowCycle        = 7
-# randomFlash         = 8
-# ironman             = 9
-# Runtime.setVirtual(True) # if you want no hardware
-# port = "COM3"
-port = "/dev/ttyACM0"
-pin = 5
-pixelCount = 8
-
-# starting arduino
-arduino = runtime.start("arduino","Arduino")
-arduino.connect(port)
+# Example of controlling a NeoPixel
+# NeoPixel is a strip of RGB LEDs
+# in this example we are using a 256 pixel strip
+# and an Arduino Mega.
+# The Mega is connected to the NeoPixel strip
+# via pin 3
+# The Mega is connected to the computer via USB
+# Onboard animations are available
+# as well as the ability to set individual pixels
+# [Stop, Theater Chase Rainbow, Rainbow, Larson Scanner, Flash Random,
+# Theater Chase, Rainbow Cycle, Ironman, Color Wipe]
+# There are now pre defined flashes which can be used
+# [warn, speaking, heartbeat, success, pir, error, info]
+
+from time import sleep
+
+port = "/dev/ttyACM72"
+pin = 3
+pixelCount = 256
+
+# starting mega
+mega = runtime.start("mega", "Arduino")
+mega.connect(port)
 
 # starting neopixle
-neopixel = runtime.start("neopixel","NeoPixel")
+neopixel = runtime.start("neopixel", "NeoPixel")
 neopixel.setPin(pin)
 neopixel.setPixelCount(pixelCount)
 
 # attach the two services
-neopixel.attach(arduino)
+neopixel.attach(mega)
+
+# brightness 0-255
+neopixel.setBrightness(128)
 
 # fuschia - setColor(R, G, B)
 neopixel.setColor(120, 10, 30)
-# 1 to 50 Hz default is 10
-neopixel.setSpeed(30) 
 
-# start an animation
-neopixel.playAnimation("Larson Scanner")
-sleep(2)
+# Fun with flashing
+print(neopixel.getFlashNames())
+
+for flash in neopixel.getFlashNames():
+    print('using flash', flash)
+    neopixel.flash(flash)
 
-# turquoise
-neopixel.setColor(10, 120, 60)
-sleep(2)
+# clear all pixels    
+neopixel.clear()
 
-# start an animation
-neopixel.playAnimation("Rainbow Cycle")
-sleep(5)
 
-neopixel.setColor(40, 20, 160)
-neopixel.playAnimation("Color Wipe")
-sleep(1)
+# 1 to 50 Hz default is 10
+neopixel.setSpeed(10)
 
-neopixel.setColor(140, 20, 60)
-sleep(1)
+# Fun with animations
+# get a list of animations
+print(neopixel.getAnimations())
+
+for animation in neopixel.getAnimations():
+    print(animation)
+    neopixel.playAnimation(animation)
+    sleep(3)
 
+# clear all pixels
 neopixel.clear()
 
-# set individual pixels
-# setPixel(address, R, G, B)
-neopixel.setPixel(0, 40, 40, 0)
+neopixel.fill("cyan")
+sleep(1)
+neopixel.fill("yellow")
 sleep(1)
-neopixel.setPixel(1, 140, 40, 0)
+neopixel.fill("pink")
 sleep(1)
-neopixel.setPixel(2, 40, 140, 0)
+neopixel.fill("orange")
 sleep(1)
-neopixel.setPixel(2, 40, 0, 140)
+neopixel.fill("black")
 sleep(1)
+neopixel.fill("magenta")
+sleep(1)
+neopixel.fill("green")
+sleep(1)
+neopixel.fill("#FFFFEE")
+sleep(1)
+neopixel.fill("#FF0000")
+sleep(1)
+neopixel.fill("#00FF00")
+sleep(1)
+neopixel.fill("#0000FF")
+sleep(1)
+neopixel.fill("#cccccc")
+sleep(1)
+neopixel.fill("#cc7528")
+sleep(1)
+neopixel.fill("#123456")
+sleep(1)
+neopixel.fill("#654321")
+sleep(1)
+neopixel.fill("#000000")
 
-neopixel.clear()
-neopixel.setColor(0, 40, 220)
-neopixel.playAnimation("Ironman")
-sleep(3)
+# if you want voice modulation of a neopixel this is one
+# way to do it
+# mouth = runtime.start('mouth', 'Polly')
+# audio = runtime.start('mouth.audioFile', 'AudioFile')
+# audio.addListener('publishPeak', 'neopixel')
+# mouth.speak('Is my voice modulating the neopixel?')
 
-# preset color and frequency values
-neopixel.playIronman()
-sleep(5)
-neopixel.clear()
+print('done')    
+    
\ No newline at end of file
diff --git a/src/main/resources/resource/WebGui/app/service/js/NeoPixelGui.js b/src/main/resources/resource/WebGui/app/service/js/NeoPixelGui.js
index 05f67ef4ea..c527bcd0e1 100644
--- a/src/main/resources/resource/WebGui/app/service/js/NeoPixelGui.js
+++ b/src/main/resources/resource/WebGui/app/service/js/NeoPixelGui.js
@@ -11,7 +11,7 @@ angular.module('mrlapp.service.NeoPixelGui', []).controller('NeoPixelGuiCtrl', [
     $scope.pins = []
     $scope.speeds = []
     $scope.types = ['RGB', 'RGBW']
-    $scope.animations = ['No animation', 'Stop', 'Color Wipe', 'Larson Scanner', 'Theater Chase', 'Theater Chase Rainbow', 'Rainbow', 'Rainbow Cycle', 'Flash Random', 'Ironman', 'equalizer']
+    $scope.animations = ['Stop', 'Color Wipe', 'Larson Scanner', 'Theater Chase', 'Theater Chase Rainbow', 'Rainbow', 'Rainbow Cycle', 'Flash Random', 'Ironman']
     $scope.pixelCount = null
 
     // set pixel position
@@ -103,7 +103,7 @@ angular.module('mrlapp.service.NeoPixelGui', []).controller('NeoPixelGuiCtrl', [
             $scope.pin = service.pin
         }
 
-        if (!$scope.state.controller) {
+        if ($scope.service.controller) {
             $scope.state.controller = $scope.service.controller
         }
 
diff --git a/src/main/resources/resource/WebGui/app/service/views/NeoPixelGui.html b/src/main/resources/resource/WebGui/app/service/views/NeoPixelGui.html
index ec43324484..d3cef04291 100644
--- a/src/main/resources/resource/WebGui/app/service/views/NeoPixelGui.html
+++ b/src/main/resources/resource/WebGui/app/service/views/NeoPixelGui.html
@@ -10,7 +10,7 @@ 
    {{address}} {{color}}
    
                 pixel count 
                  
                 
-                    
+                    
                 
             
         

From 9ad0145aa2490c403720675341e15808cf608fe8 Mon Sep 17 00:00:00 2001
From: grog 
Date: Thu, 23 Nov 2023 07:23:06 -0800
Subject: [PATCH 090/232] forgot this one

---
 .../service/data/LedDisplayData.java          | 73 ++++++++-----------
 1 file changed, 31 insertions(+), 42 deletions(-)

diff --git a/src/main/java/org/myrobotlab/service/data/LedDisplayData.java b/src/main/java/org/myrobotlab/service/data/LedDisplayData.java
index b46ab5e862..b70e081c52 100644
--- a/src/main/java/org/myrobotlab/service/data/LedDisplayData.java
+++ b/src/main/java/org/myrobotlab/service/data/LedDisplayData.java
@@ -1,67 +1,56 @@
 package org.myrobotlab.service.data;
 
+import java.util.ArrayList;
+import java.util.List;
+
+import org.myrobotlab.service.config.NeoPixelConfig.Flash;
+
 /**
- * Class to publish to specify details on how to display an led or a group of
- * leds. There is a need to "flash" LEDs in order to signal some event. This is
- * the beginning of an easy way to publish a message to do that.
+ * This class is a composite of possible led display details.
+ * Flashes, animations, etc.
  * 
  * @author GroG
  *
  */
 public class LedDisplayData {
 
-  public String action; // fill | flash | play animation | stop | clear
-
-  public int red = 0;
-
-  public int green = 0;
-
-  public int blue = 0;
+  /**
+   * required action field may be
+   *  fill | flash | play animation | stop | clear
+   */
+  public String action; 
   
-  // public int brightness = 255; 
-
-  // public int white?;
+  /**
+   * name of animation
+   */
+  public String animation = null;
 
   /**
-   * number of flashes
+   * flash definition
    */
-  public int count = 1;
+  public List flashes = new ArrayList<>();
+  
+  /**
+   * if set overrides default brightness
+   */  
+  public Integer brightness = null;
 
   /**
-   * interval of flash on in ms
+   * begin fill address
    */
-  public long timeOn = 500;
+  public int beginAddress;
 
   /**
-   * interval of flas off in ms
+   * fill count
    */
-  public long timeOff = 500;
+  public int onCount; 
 
-  public LedDisplayData() {
-  }
 
-  public LedDisplayData(int red, int green, int blue, int count, int timeOn, int timeOff) {
-    this.red = red;
-    this.green = green;
-    this.blue = blue;
-    this.count = count;
-    this.timeOn = timeOn;
-    this.timeOff = timeOff;
+  public LedDisplayData(String action) {
+    this.action = action;
   }
 
-  
-  public LedDisplayData(String hexColor, int count, int timeOn, int timeOff) {
-
-    // remove "#" or "0x" prefix if present
-    hexColor = hexColor.replace("#", "").replace("0x", "");
-
-    this.count = count;
-    this.timeOn = timeOn;
-    this.timeOff = timeOff;
-    this.red = Integer.parseInt(hexColor.substring(0, 2), 16);
-    this.green = Integer.parseInt(hexColor.substring(2, 4), 16);
-    this.blue = Integer.parseInt(hexColor.substring(4, 6), 16);
-
+  public String toString() {
+    return String.format("%s, %s", action, animation);
   }
-
 }

From 01cedf064a3c39c2995734ffebf25eb7b952d8aa Mon Sep 17 00:00:00 2001
From: grog 
Date: Thu, 23 Nov 2023 07:28:36 -0800
Subject: [PATCH 091/232] min updates to inmoov for new neopixel

---
 .../java/org/myrobotlab/service/InMoov2.java  | 22 ++++---------------
 1 file changed, 4 insertions(+), 18 deletions(-)

diff --git a/src/main/java/org/myrobotlab/service/InMoov2.java b/src/main/java/org/myrobotlab/service/InMoov2.java
index 50ba4d3a8a..7ef89d2465 100644
--- a/src/main/java/org/myrobotlab/service/InMoov2.java
+++ b/src/main/java/org/myrobotlab/service/InMoov2.java
@@ -123,8 +123,6 @@ public static boolean loadFile(String file) {
 
   protected Long lastPirActivityTime;
 
-  protected LedDisplayData led = new LedDisplayData();
-
   /**
    * supported locales
    */
@@ -932,14 +930,8 @@ public void onPeak(double volume) {
    * onPirOn flash neopixel
    */
   public void onPirOn() {
-    led.action = "flash";
-    led.red = 50;
-    led.green = 100;
-    led.blue = 150;
-    led.count = 5;
-    led.interval = 500;
     // FIXME flash on config.flashOnBoot
-    invoke("publishFlash");
+    invoke("publishFlash", "pir");
     ProgramAB chatBot = (ProgramAB)getPeer("chatBot");
     if (chatBot != null) {
       String botState = chatBot.getPredicate("botState");
@@ -1233,18 +1225,12 @@ public String publishEvent(String event) {
    * 
    * @return
    */
-  public LedDisplayData publishFlash() {
-    return led;
+  public String publishFlash(String flashName) {
+    return flashName;
   }
 
   public String publishHeartbeat() {
-    led.action = "flash";
-    led.red = 180;
-    led.green = 10;
-    led.blue = 30;
-    led.count = 1;
-    led.interval = 50;
-    invoke("publishFlash");
+    invoke("publishFlash", "heartbeat");
     return getName();
   }
 

From 3119798a89b85fb52260e476bbc7070e9f176cf8 Mon Sep 17 00:00:00 2001
From: grog 
Date: Thu, 23 Nov 2023 07:57:24 -0800
Subject: [PATCH 092/232] updated log statement

---
 src/main/java/org/myrobotlab/service/NeoPixel.java | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/main/java/org/myrobotlab/service/NeoPixel.java b/src/main/java/org/myrobotlab/service/NeoPixel.java
index ee4f72177e..259cd258df 100644
--- a/src/main/java/org/myrobotlab/service/NeoPixel.java
+++ b/src/main/java/org/myrobotlab/service/NeoPixel.java
@@ -123,7 +123,7 @@ public void run() {
         try {
           LedDisplayData display = displayQueue.take();
           // get led display data
-          log.error(display.toString());
+          log.info(display.toString());
 
           NeoPixelController npc = (NeoPixelController) Runtime.getService(controller);
           if (npc == null) {
@@ -420,7 +420,7 @@ public NeoPixelConfig apply(NeoPixelConfig c) {
   @Override
   public void attach(Attachable service) throws Exception {
     if (service == null) {
-      log.error("cannot attache to null service");
+      log.error("cannot attach to null service");
       return;
     }
 
@@ -742,6 +742,7 @@ public void onFlash(String name) {
     flash(name);
   }
 
+  @Deprecated /* use onFlash */
   public void onLedDisplay(LedDisplayData data) {
     try {
       addDisplayTask(data);

From fd0f50dc5fd6afb5b9316411418fdbeda4acdb1c Mon Sep 17 00:00:00 2001
From: grog 
Date: Wed, 29 Nov 2023 12:01:25 -0800
Subject: [PATCH 093/232] Proposal to be able to set botname or username in
 aiml

---
 src/main/java/org/myrobotlab/service/ProgramAB.java | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/main/java/org/myrobotlab/service/ProgramAB.java b/src/main/java/org/myrobotlab/service/ProgramAB.java
index db06861aaa..304c806ce2 100644
--- a/src/main/java/org/myrobotlab/service/ProgramAB.java
+++ b/src/main/java/org/myrobotlab/service/ProgramAB.java
@@ -1201,6 +1201,12 @@ synchronized public void onChangePredicate(Chat chat, String predicateName, Stri
       if (s.chat == chat) {
         // found session saving predicates
         invoke("publishPredicate", s, predicateName, result);
+        if ("botname".equals(predicateName)) {
+          setCurrentBotName(result);
+        }
+        if ("username".equals(predicateName)) {
+          setCurrentUserName(result);
+        }
         s.savePredicates();
         return;
       }

From 7562b39f173ad521ed41a5b7ac7fb26f04538e63 Mon Sep 17 00:00:00 2001
From: grog 
Date: Wed, 29 Nov 2023 14:01:49 -0800
Subject: [PATCH 094/232] updated version

---
 src/main/java/org/myrobotlab/service/ProgramAB.java | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/src/main/java/org/myrobotlab/service/ProgramAB.java b/src/main/java/org/myrobotlab/service/ProgramAB.java
index 304c806ce2..4555cb6a87 100644
--- a/src/main/java/org/myrobotlab/service/ProgramAB.java
+++ b/src/main/java/org/myrobotlab/service/ProgramAB.java
@@ -1201,10 +1201,12 @@ synchronized public void onChangePredicate(Chat chat, String predicateName, Stri
       if (s.chat == chat) {
         // found session saving predicates
         invoke("publishPredicate", s, predicateName, result);
-        if ("botname".equals(predicateName)) {
+        // botname is the name of the bot  currentBotName is the aiml folder that is 
+        // mostly equivalent to its "type"
+        if ("currentBotName".equals(predicateName)) {
           setCurrentBotName(result);
         }
-        if ("username".equals(predicateName)) {
+        if ("name".equals(predicateName)) {
           setCurrentUserName(result);
         }
         s.savePredicates();
@@ -1400,6 +1402,11 @@ public Utterance publishUtterance(Utterance utterance) {
     return utterance;
   }
 
+  /**
+   * New topic published when it changes
+   * @param topicChange
+   * @return
+   */
   public TopicChange publishTopic(TopicChange topicChange) {
     return topicChange;
   }

From b38e50f097fe13a4bd22d3357377036e7c5404c6 Mon Sep 17 00:00:00 2001
From: grog 
Date: Tue, 5 Dec 2023 10:58:43 -0800
Subject: [PATCH 095/232] init push

---
 .../org/myrobotlab/programab/BotInfo.java     |  17 +-
 .../myrobotlab/programab/MrlSraixHandler.java | 211 -----
 .../org/myrobotlab/programab/OOBPayload.java  | 176 -----
 .../java/org/myrobotlab/programab/Oob.java    |  14 -
 .../myrobotlab/programab/PredicateEvent.java  |  31 -
 .../org/myrobotlab/programab/Response.java    |  10 +-
 .../org/myrobotlab/programab/Session.java     | 155 ++--
 .../org/myrobotlab/programab/XmlParser.java   |  31 +
 .../programab/handlers/oob/OobProcessor.java  |  93 +++
 .../handlers/sraix/MrlSraixHandler.java       |  54 ++
 .../myrobotlab/programab/models/Event.java    |  65 ++
 .../org/myrobotlab/programab/models/Mrl.java  |  14 +
 .../org/myrobotlab/programab/models/Oob.java  |  14 +
 .../myrobotlab/programab/models/Sraix.java    |  10 +
 .../myrobotlab/programab/models/Template.java |  51 ++
 .../org/myrobotlab/service/ProgramAB.java     | 745 +++++++++++-------
 .../service/config/ProgramABConfig.java       |  27 +-
 .../service/data/SearchResults.java           |  17 +
 .../myrobotlab/service/data/TopicChange.java  |  44 --
 .../service/meta/ProgramABMeta.java           |   3 +-
 .../org/myrobotlab/service/ProgramABTest.java | 374 +++++----
 21 files changed, 1129 insertions(+), 1027 deletions(-)
 delete mode 100755 src/main/java/org/myrobotlab/programab/MrlSraixHandler.java
 delete mode 100644 src/main/java/org/myrobotlab/programab/OOBPayload.java
 delete mode 100644 src/main/java/org/myrobotlab/programab/Oob.java
 delete mode 100644 src/main/java/org/myrobotlab/programab/PredicateEvent.java
 create mode 100644 src/main/java/org/myrobotlab/programab/XmlParser.java
 create mode 100644 src/main/java/org/myrobotlab/programab/handlers/oob/OobProcessor.java
 create mode 100755 src/main/java/org/myrobotlab/programab/handlers/sraix/MrlSraixHandler.java
 create mode 100644 src/main/java/org/myrobotlab/programab/models/Event.java
 create mode 100644 src/main/java/org/myrobotlab/programab/models/Mrl.java
 create mode 100644 src/main/java/org/myrobotlab/programab/models/Oob.java
 create mode 100644 src/main/java/org/myrobotlab/programab/models/Sraix.java
 create mode 100644 src/main/java/org/myrobotlab/programab/models/Template.java
 delete mode 100644 src/main/java/org/myrobotlab/service/data/TopicChange.java

diff --git a/src/main/java/org/myrobotlab/programab/BotInfo.java b/src/main/java/org/myrobotlab/programab/BotInfo.java
index 8fb3546513..3c89130d3e 100644
--- a/src/main/java/org/myrobotlab/programab/BotInfo.java
+++ b/src/main/java/org/myrobotlab/programab/BotInfo.java
@@ -12,6 +12,7 @@
 import org.alicebot.ab.Bot;
 import org.myrobotlab.io.FileIO;
 import org.myrobotlab.logging.LoggerFactory;
+import org.myrobotlab.programab.handlers.sraix.MrlSraixHandler;
 import org.myrobotlab.service.ProgramAB;
 import org.slf4j.Logger;
 
@@ -23,7 +24,7 @@ public class BotInfo {
 
   transient public final static Logger log = LoggerFactory.getLogger(BotInfo.class);
 
-  public String name;
+  public String botType;
   public File path;
   public Properties properties = new Properties();
   private transient Bot bot;
@@ -36,16 +37,16 @@ public class BotInfo {
   public String img;
 
   public BotInfo(ProgramAB programab, File path) {
-    this.name = path.getName();
+    this.botType = path.getName();
     this.path = path;
     this.programab = programab;
-    programab.info("found bot %s", name);
+    programab.info("found bot %s", botType);
     try {
       FileInputStream fis = new FileInputStream(FileIO.gluePaths(path.getAbsolutePath(), "manifest.txt"));
       properties.load(new InputStreamReader(fis, Charset.forName("UTF-8")));
       log.info("loaded properties");
     } catch (FileNotFoundException e) {
-      programab.warn("bot %s does not have a manifest.txt", name);
+      programab.warn("bot %s does not have a manifest.txt", botType);
     } catch (Exception e) {
       log.error("BotInfo threw", e);
     }
@@ -61,13 +62,13 @@ public synchronized Bot getBot() {
     if (bot == null) {
       // lazy loading of bot - created on the first use
       if (properties.containsKey("locale")) {
-        bot = new Bot(name, path.getAbsolutePath(), java.util.Locale.forLanguageTag((String) properties.get("locale")));
+        bot = new Bot(botType, path.getAbsolutePath(), java.util.Locale.forLanguageTag((String) properties.get("locale")));
         bot.listener = programab;
       } else {
         if (programab.getLocaleTag() == null) {
-          bot = new Bot(name, path.getAbsolutePath());
+          bot = new Bot(botType, path.getAbsolutePath());
         } else {
-          bot = new Bot(name, path.getAbsolutePath(), java.util.Locale.forLanguageTag(programab.getLocaleTag()));
+          bot = new Bot(botType, path.getAbsolutePath(), java.util.Locale.forLanguageTag(programab.getLocaleTag()));
         }
         bot.listener = programab;
       }
@@ -130,7 +131,7 @@ public void removeProperty(String name2) {
 
   @Override
   public String toString() {
-    return String.format("%s - %s", name, path);
+    return String.format("%s - %s", botType, path);
   }
 
 }
diff --git a/src/main/java/org/myrobotlab/programab/MrlSraixHandler.java b/src/main/java/org/myrobotlab/programab/MrlSraixHandler.java
deleted file mode 100755
index d1b2808b2e..0000000000
--- a/src/main/java/org/myrobotlab/programab/MrlSraixHandler.java
+++ /dev/null
@@ -1,211 +0,0 @@
-package org.myrobotlab.programab;
-
-import java.util.ArrayList;
-import java.util.Locale;
-import java.util.regex.Matcher;
-
-import org.alicebot.ab.Chat;
-import org.alicebot.ab.Sraix;
-import org.alicebot.ab.SraixHandler;
-import org.myrobotlab.codec.CodecUtils;
-import org.myrobotlab.framework.Message;
-import org.myrobotlab.framework.interfaces.ServiceInterface;
-import org.myrobotlab.logging.LoggerFactory;
-import org.myrobotlab.service.ProgramAB;
-import org.myrobotlab.service.Runtime;
-import org.myrobotlab.service.data.SearchResults;
-import org.myrobotlab.service.interfaces.SearchPublisher;
-import org.myrobotlab.string.StringUtil;
-// import org.nd4j.shade.jackson.dataformat.xml.XmlMapper;
-import org.slf4j.Logger;
-
-import com.fasterxml.jackson.dataformat.xml.XmlMapper;
-
-
-public class MrlSraixHandler implements SraixHandler {
-  transient public final static Logger log = LoggerFactory.getLogger(MrlSraixHandler.class);
-
-  private ProgramAB programab = null;
-
-  public MrlSraixHandler() {
-
-  }
-
-  public MrlSraixHandler(ProgramAB programab) {
-    this.programab = programab;
-  }
-
-  @Override
-  public String sraix(Chat chatSession, String input, String defaultResponse, String hint, String host, String botid, String apiKey, String limit, Locale locale) {
-    log.debug("MRL Sraix handler! Input {}", input);
-    
-    // FIXME - "list of AIs in priority order to attempt to handle request
-    // best synopsis of sraix I've found - https://gist.github.com/onlurking/f6431e672cfa202c09a7c7cf92ac8a8b
-    try {
-      XmlMapper xmlMapper = new XmlMapper();
-      Oob oob = xmlMapper.readValue(input, Oob.class);
-      StringBuilder responseText = new StringBuilder();
-      if (oob.mrljson != null) {
-        Message[] msgs = CodecUtils.fromJson(oob.mrljson, Message[].class);
-        for (Message msg: msgs) {
-          msg.sender = programab.getName();
-          msg.sendingMethod = "sraix";
-          // buffered asynchronous - use invoke synchronous
-          // programab.in(msg);
-          // invoking to keep it synchronous
-          ServiceInterface si = Runtime.getService(msg.getName());
-          Object ret = si.invoke(msg.method, msg.data);
-          if (ret != null) {
-            responseText.append(ret.toString());
-          }
-        }
-        return responseText.toString();
-      }
-      log.info("found oob {}", oob);
-    } catch (Exception e) {
-      // programab.error("threw on input %s", input);
-    }
-
-    // the INPUT has the string we care about. if this is an OOB tag, let's
-    // evaluate it and return the result.
-    if (containsOOB(input)) {
-      String response = processInlineOOB(input);
-      return response;
-    } else if (programab != null && programab.getPeer("search") != null) {
-      try {
-        SearchPublisher search = (SearchPublisher) programab.getPeer("search");
-        if (search != null) {
-          SearchResults results = search.search(input);  
-          String searchResponse = results.getTextAndImages();
-          
-          if (searchResponse == null || searchResponse.length() == 0) {
-            Session session = programab.getSession();
-            // TODO - perhaps more rich codes for details of failure
-            // Response r = session.getResponse("SRAIXFAILED_WIKIPEDIA " + input);
-            Response r = session.getResponse("SRAIXFAILED " + input);
-            return r.msg;
-          }
-          return searchResponse;
-        } else {
-          // TODO - perhaps more rich codes for details of failure
-          // Response r = programab.getResponse("SRAIXFAILED_WIKIPEDIA_NOT_AVAILABLE");
-          Session session = programab.getSession();
-          Response r = session.getResponse("SRAIXFAILED " + input);
-          return r.msg;
-        }
-
-      } catch (Exception e) {
-        return "sorry, I cannot search now " + e.getMessage();
-      }
-    } else {
-      // fall back to default behavior of pannous / pandorabots?
-      // TODO: expose pandora bots here if botid is set?
-      // TODO: enable call out to an official MRL hosted NLU service/ knowedge
-      // service.
-
-      String response = Sraix.sraixPannous(input, hint, chatSession, locale);
-      if (StringUtil.isEmpty(response)) {
-        return defaultResponse;
-      } else {
-        // clean up the response a bit.
-        response = cleanPannousResponse(response);
-        return response;
-      }
-    }
-  }
-
-  private String cleanPannousResponse(String response) {
-    String clean = response.replaceAll("\\(Answers.com\\)", "").trim();
-    return clean;
-  }
-
-  private boolean containsOOB(String text) {
-    Matcher oobMatcher = OOBPayload.oobPattern.matcher(text);
-    return oobMatcher.matches();
-  }
-
-  // TODO override it inside programAB to share methods and publish OOB
-  private String processInlineOOB(String text) {
-    // Find any oob tags
-    StringBuilder responseBuilder = new StringBuilder();
-    ArrayList payloads = new ArrayList();
-    Matcher oobMatcher = OOBPayload.oobPattern.matcher(text);
-    int start = 0;
-    while (oobMatcher.find()) {
-      // We found some OOB text.
-      // assume only one OOB in the text?
-      // everything from the start to the end of this
-      responseBuilder.append(text.substring(start, oobMatcher.start()));
-      // update the end to be
-      // next segment is from the end of this one to the start of the next one.
-      start = oobMatcher.end();
-      String oobPayload = oobMatcher.group(0);
-      Matcher mrlMatcher = OOBPayload.mrlPattern.matcher(oobPayload);
-      while (mrlMatcher.find()) {
-        String mrlPayload = mrlMatcher.group(0);
-        OOBPayload payload = parseOOB(mrlPayload);
-        Object result = invokeOOBPayloads(payloads, mrlPayload, payload);
-        if (result != null && result.getClass().isArray()) {
-          Object[] objects = (Object[]) result;
-          for (Object o : objects) {
-            responseBuilder.append(o.toString() + " ");
-          }
-        } else {
-
-          if (result != null) {
-            responseBuilder.append(result);
-          }
-        }
-        log.info("OOB PROCESSING RESULT: {}", result);
-      }
-    }
-    // append the last part. (assume the start is set to the end of the last
-    // match..
-    // or zero if no matches found.
-    responseBuilder.append(text.substring(start));
-    return responseBuilder.toString();
-  }
-
-  private Object invokeOOBPayloads(ArrayList payloads, String mrlPayload, OOBPayload payload) {
-    payloads.add(payload);
-    // grab service and invoke method.
-    ServiceInterface s = Runtime.getService(payload.getServiceName());
-    if (s == null) {
-      log.warn("Service name in OOB/MRL tag unknown. {}", mrlPayload);
-      return null;
-    }
-    Object result = null;
-    if (payload.getParams() != null) {
-      result = s.invoke(payload.getMethodName(), payload.getParams().toArray());
-    } else {
-      result = s.invoke(payload.getMethodName());
-    }
-    return result;
-  }
-
-  private OOBPayload parseOOB(String oobPayload) {
-
-    // TODO: fix the damn double encoding issue.
-    // we have user entered text in the service/method and params values.
-    // grab the service
-    Matcher serviceMatcher = OOBPayload.servicePattern.matcher(oobPayload);
-    serviceMatcher.find();
-    String serviceName = serviceMatcher.group(1);
-
-    Matcher methodMatcher = OOBPayload.methodPattern.matcher(oobPayload);
-    methodMatcher.find();
-    String methodName = methodMatcher.group(1);
-
-    Matcher paramMatcher = OOBPayload.paramPattern.matcher(oobPayload);
-    ArrayList params = new ArrayList();
-    while (paramMatcher.find()) {
-      // We found some OOB text.
-      // assume only one OOB in the text?
-      String param = paramMatcher.group(1);
-      params.add(param);
-    }
-    OOBPayload payload = new OOBPayload(serviceName, methodName, params);
-    return payload;
-
-  }
-}
diff --git a/src/main/java/org/myrobotlab/programab/OOBPayload.java b/src/main/java/org/myrobotlab/programab/OOBPayload.java
deleted file mode 100644
index c9984a6929..0000000000
--- a/src/main/java/org/myrobotlab/programab/OOBPayload.java
+++ /dev/null
@@ -1,176 +0,0 @@
-package org.myrobotlab.programab;
-
-import java.util.ArrayList;
-import java.util.regex.Matcher;
-import java.util.regex.Pattern;
-
-import org.apache.commons.lang3.StringUtils;
-import org.myrobotlab.framework.Message;
-import org.myrobotlab.framework.interfaces.ServiceInterface;
-import org.myrobotlab.logging.LoggerFactory;
-import org.myrobotlab.service.ProgramAB;
-import org.myrobotlab.service.Runtime;
-import org.slf4j.Logger;
-
-public class OOBPayload {
-
-  transient public final static Logger log = LoggerFactory.getLogger(OOBPayload.class);
-  // TODO: something better than regex to parse the xml. (Problem is that the
-  // service/method/param values
-  // could end up double encoded ... So we had to switch to hamd crafting the
-  // aiml for the oob/mrl tag.
-  public transient static final Pattern oobPattern = Pattern.compile(".*?", Pattern.CASE_INSENSITIVE | Pattern.DOTALL | Pattern.MULTILINE);
-  public transient static final Pattern mrlPattern = Pattern.compile(".*?", Pattern.CASE_INSENSITIVE | Pattern.DOTALL | Pattern.MULTILINE);
-  public transient static final Pattern servicePattern = Pattern.compile("(.*?)", Pattern.CASE_INSENSITIVE | Pattern.DOTALL | Pattern.MULTILINE);
-  public transient static final Pattern methodPattern = Pattern.compile("(.*?)", Pattern.CASE_INSENSITIVE | Pattern.DOTALL | Pattern.MULTILINE);
-  public transient static final Pattern paramPattern = Pattern.compile("(.*?)", Pattern.CASE_INSENSITIVE | Pattern.DOTALL | Pattern.MULTILINE);
-
-  private String serviceName;
-  private String methodName;
-  private ArrayList params;
-
-  public OOBPayload() {
-    // TODO: remove the default constructor
-  };
-
-  public OOBPayload(String serviceName, String methodName, ArrayList params) {
-    this.serviceName = serviceName;
-    this.methodName = methodName;
-    this.params = params;
-  }
-
-  public String getMethodName() {
-    return methodName;
-  }
-
-  public ArrayList getParams() {
-    return params;
-  }
-
-  public String getServiceName() {
-    return serviceName;
-  }
-
-  public void setMethodName(String methodName) {
-    this.methodName = methodName;
-  }
-
-  public void setParams(ArrayList params) {
-    this.params = params;
-  }
-
-  public void setServiceName(String serviceName) {
-    this.serviceName = serviceName;
-  }
-
-  public static String asOOBTag(OOBPayload payload) {
-    // TODO: this isn't really safe as XML/AIML.. but we don't want to end up
-    // double encoding things like
-    // the important  tags... So, for now, it's just wrapped in the tags.
-    StringBuilder oobBuilder = new StringBuilder();
-    oobBuilder.append("");
-    oobBuilder.append("");
-    oobBuilder.append("");
-    oobBuilder.append(payload.getServiceName());
-    oobBuilder.append("");
-    oobBuilder.append("");
-    oobBuilder.append(payload.getMethodName());
-    oobBuilder.append("");
-    for (String param : payload.params) {
-      oobBuilder.append("");
-      // TODO: this could be problematic if the param contains XML chars that
-      // are not AIML ...
-      oobBuilder.append(param);
-      oobBuilder.append("");
-    }
-    oobBuilder.append("");
-    oobBuilder.append("");
-    return oobBuilder.toString();
-  }
-
-  public static String asBlockingOOBTag(OOBPayload oobTag) {
-    return "" + OOBPayload.asOOBTag(oobTag) + "";
-  }
-
-  public static OOBPayload fromString(String oobPayload) {
-
-    // TODO: fix the damn double encoding issue.
-    // we have user entered text in the service/method
-    // and params values.
-    // grab the service
-
-    Matcher serviceMatcher = servicePattern.matcher(oobPayload);
-    serviceMatcher.find();
-    String serviceName = serviceMatcher.group(1);
-
-    Matcher methodMatcher = methodPattern.matcher(oobPayload);
-    methodMatcher.find();
-    String methodName = methodMatcher.group(1);
-
-    Matcher paramMatcher = paramPattern.matcher(oobPayload);
-    ArrayList params = new ArrayList();
-    while (paramMatcher.find()) {
-      // We found some OOB text.
-      // assume only one OOB in the text?
-      String param = paramMatcher.group(1);
-      params.add(param);
-    }
-    OOBPayload payload = new OOBPayload(serviceName, methodName, params);
-    // log.info(payload.toString());
-    return payload;
-  }
-
-  public static boolean invokeOOBPayload(OOBPayload payload, String sender, boolean blocking) {
-    ServiceInterface s = Runtime.getService(payload.getServiceName());
-    // the service must exist and the method name must be set.
-    if (s == null || StringUtils.isEmpty(payload.getMethodName())) {
-      return false;
-    }
-
-    if (!blocking) {
-      s.in(Message.createMessage(sender, payload.getServiceName(), payload.getMethodName(), payload.getParams().toArray()));
-      // non-blocking.. fire and forget!
-      return true;
-    }
-
-    // TODO: should you be able to be synchronous for this
-    // execution?
-    Object result = null;
-    if (payload.getParams() != null) {
-      result = s.invoke(payload.getMethodName(), payload.getParams().toArray());
-    } else {
-      result = s.invoke(payload.getMethodName());
-    }
-    log.info("OOB PROCESSING RESULT: {}", result);
-    return true;
-  }
-
-  public static ArrayList extractOOBPayloads(String text, ProgramAB programAB) {
-    ArrayList payloads = new ArrayList();
-    Matcher oobMatcher = OOBPayload.oobPattern.matcher(text);
-    while (oobMatcher.find()) {
-      // We found some OOB text.
-      // assume only one OOB in the text?
-      String oobPayload = oobMatcher.group(0);
-      Matcher mrlMatcher = OOBPayload.mrlPattern.matcher(oobPayload);
-      while (mrlMatcher.find()) {
-        String mrlPayload = mrlMatcher.group(0);
-        OOBPayload payload = OOBPayload.fromString(mrlPayload);
-        payloads.add(payload);
-        // TODO: maybe we dont' want this?
-        // Notifiy endpoints
-        programAB.invoke("publishOOBText", mrlPayload);
-        // grab service and invoke method.
-
-      }
-    }
-    return payloads;
-  }
-
-  public static String removeOOBFromString(String res) {
-    Matcher matcher = OOBPayload.oobPattern.matcher(res);
-    res = matcher.replaceAll("");
-    return res;
-  }
-
-}
diff --git a/src/main/java/org/myrobotlab/programab/Oob.java b/src/main/java/org/myrobotlab/programab/Oob.java
deleted file mode 100644
index d6c8d2bf81..0000000000
--- a/src/main/java/org/myrobotlab/programab/Oob.java
+++ /dev/null
@@ -1,14 +0,0 @@
-package org.myrobotlab.programab;
-
-public class Oob {
-  
-  public class Mrl {
-    public String service;
-    public String method;
-    public Object[] param;
-  }
-  
-  public String mrljson;
-  public String mrl;
-}
-
diff --git a/src/main/java/org/myrobotlab/programab/PredicateEvent.java b/src/main/java/org/myrobotlab/programab/PredicateEvent.java
deleted file mode 100644
index bf256fa143..0000000000
--- a/src/main/java/org/myrobotlab/programab/PredicateEvent.java
+++ /dev/null
@@ -1,31 +0,0 @@
-package org.myrobotlab.programab;
-
-/**
- * Pojo for state change of one of ProgramAB's state info
- * @author GroG
- *
- */
-public class PredicateEvent {
-  /**
-   * unique identifier for the session user & bot
-   */
-  public String id;
-  /**
-   * name of the predicate changed
-   */
-  public String name;
-  
-  // public String previousValue;
-  
-  /**
-   * new value
-   */
-  public String value;
-  public String botName;
-  public String userName;
-  
-  @Override
-  public String toString() {
-    return String.format("%s %s=%s", id, name, value);
-  }
-}
diff --git a/src/main/java/org/myrobotlab/programab/Response.java b/src/main/java/org/myrobotlab/programab/Response.java
index 128ae8cfc0..a2802196b7 100644
--- a/src/main/java/org/myrobotlab/programab/Response.java
+++ b/src/main/java/org/myrobotlab/programab/Response.java
@@ -3,6 +3,8 @@
 import java.util.Date;
 import java.util.List;
 
+import org.myrobotlab.programab.models.Mrl;
+
 /**
  * FIXME - this class should become a more generalized AI response data object
  * in org.myrobotlab.data so that other AI systems (and search engines) can fill
@@ -29,12 +31,14 @@ public class Response {
   /**
    * filtered oob data
    */
-  public List payloads;
+  public List payloads;
 
-  public Response(String userName, String botName, String msg, List payloads) {
+  public Response(String userName, String botName, String msg, List payloads) {
     this.botName = botName;
     this.userName = userName;
     this.msg = msg;
+    
+    // what is this for ?
     this.payloads = payloads;
   }
 
@@ -48,7 +52,7 @@ public String toString() {
     str.append("Msg:" + msg + ", ");
     str.append("Payloads:[");
     if (payloads != null) {
-      for (OOBPayload payload : payloads) {
+      for (Mrl payload : payloads) {
         str.append(payload.toString() + ", ");
       }
     }
diff --git a/src/main/java/org/myrobotlab/programab/Session.java b/src/main/java/org/myrobotlab/programab/Session.java
index a234310e57..c529044592 100644
--- a/src/main/java/org/myrobotlab/programab/Session.java
+++ b/src/main/java/org/myrobotlab/programab/Session.java
@@ -3,8 +3,8 @@
 import java.io.File;
 import java.io.FileWriter;
 import java.nio.charset.StandardCharsets;
-import java.util.ArrayList;
 import java.util.Date;
+import java.util.List;
 import java.util.Map;
 import java.util.TreeMap;
 import java.util.TreeSet;
@@ -13,6 +13,10 @@
 import org.alicebot.ab.Predicates;
 import org.myrobotlab.io.FileIO;
 import org.myrobotlab.logging.LoggerFactory;
+import org.myrobotlab.programab.handlers.oob.OobProcessor;
+import org.myrobotlab.programab.models.Event;
+import org.myrobotlab.programab.models.Mrl;
+import org.myrobotlab.programab.models.Template;
 import org.myrobotlab.service.ProgramAB;
 import org.myrobotlab.service.config.ProgramABConfig;
 import org.slf4j.Logger;
@@ -27,25 +31,55 @@ public class Session {
 
   transient public final static Logger log = LoggerFactory.getLogger(ProgramAB.class);
 
-  public String userName;
-  public boolean processOOB = true;
+  /**
+   * name of the user that owns this session
+   */
+  public String username;
+
+  /**
+   * last time the bot responded
+   */
   public Date lastResponseTime = null;
+
+  /**
+   * bot will prompt users if enabled trolling is true after
+   * maxConversationDelay has passed
+   */
   public boolean enableTrolling = false;
-  // Number of milliseconds before the robot starts talking on its own.
+
+  /**
+   * Number of milliseconds before the robot starts talking on its own.
+   */
   public int maxConversationDelay = 5000;
 
-  // FIXME - could be transient ??
-  transient public BotInfo botInfo;
+  /**
+   * general bot information
+   */
+  public transient BotInfo botInfo;
+
+  /**
+   * interface to program-ab
+   */
   public transient Chat chat;
 
-  transient ProgramAB programab;
+  /**
+   * service that manages this session
+   */
+  private transient ProgramAB programab;
 
+  /**
+   * current file associated with this user and session
+   */
   public File predicatesFile;
 
-  // public Map predicates = new TreeMap<>();
-  public Predicates predicates = null;
+  /**
+   * predicate data associated with this session
+   */
+  protected Predicates predicates = null;
 
-  // current topic of this session
+  /**
+   * current topic of this session
+   */
   public String currentTopic = null;
 
   /**
@@ -61,35 +95,37 @@ public class Session {
    */
   public Session(ProgramAB programab, String userName, BotInfo botInfo) {
     this.programab = programab;
-    this.userName = userName;
+    this.username = userName;
     this.botInfo = botInfo;
+    this.chat = loadChat();
+    predicates = chat.predicates;
+
+    Event event = new Event(programab.getName(), userName, null, null);
+    programab.invoke("publishSession", event);
+
+    ProgramABConfig config = programab.getConfig();
+    if (config.startTopic != null) {
+      chat.predicates.put("topic", config.startTopic);
+    }
+
+    this.maxConversationDelay = config.maxConversationDelay;
+    this.enableTrolling = config.enableTrolling;
 
   }
 
-  /**
-   * lazy loading chat
-   *
-   * task to save predicates and getting responses will eventually call getBot
-   * we don't want initialization to create 2 when only one is needed
-   * 
-   * @return
-   */
   private synchronized Chat getChat() {
-    if (chat == null) {
-      chat = new Chat(botInfo.getBot());
-      // loading predefined predicates - if they exist
-      File userPredicates = new File(FileIO.gluePaths(botInfo.path.getAbsolutePath(), String.format("config/%s.predicates.txt", userName)));
-      if (userPredicates.exists()) {
-        predicatesFile = userPredicates;
-        chat.predicates.getPredicateDefaults(userPredicates.getAbsolutePath());
-      }
-      
-      ProgramABConfig config = (ProgramABConfig)programab.getConfig();
-      if (config.startTopic != null){
-        chat.predicates.put("topic", config.startTopic);
-      }
+    return chat;
+  }
+
+  private Chat loadChat() {
+    Chat chat = new Chat(botInfo.getBot());
+    // loading predefined predicates - if they exist
+    File userPredicates = new File(FileIO.gluePaths(botInfo.path.getAbsolutePath(), String.format("config/%s.predicates.txt", username)));
+    if (userPredicates.exists()) {
+      predicatesFile = userPredicates;
+      chat.predicates.getPredicateDefaults(userPredicates.getAbsolutePath());
     }
-    predicates = chat.predicates;
+
     return chat;
   }
 
@@ -103,9 +139,9 @@ public void savePredicates() {
         sb.append(predicate + ":" + value + "\n");
       }
     }
-    File predicates = new File(FileIO.gluePaths(botInfo.path.getAbsolutePath(), String.format("config/%s.predicates.txt", userName)));
+    File predicates = new File(FileIO.gluePaths(botInfo.path.getAbsolutePath(), String.format("config/%s.predicates.txt", username)));
     predicates.getParentFile().mkdirs();
-    log.info("Bot : {} User : {} Predicates Filename : {} ", botInfo.name, userName, predicates);
+    log.info("bot : {} user : {} saving predicates filename : {} ", botInfo.botType, username, predicates);
     try {
       FileWriter writer = new FileWriter(predicates, StandardCharsets.UTF_8);
       writer.write(sb.toString());
@@ -118,6 +154,7 @@ public void savePredicates() {
 
   /**
    * Get all current predicate names and values
+   * 
    * @return
    */
   public Map getPredicates() {
@@ -127,38 +164,28 @@ public Map getPredicates() {
   }
 
   public Response getResponse(String inText) {
+    try {
+      String returnText = getChat().multisentenceRespond(inText);
+      String xml = String.format("", returnText);
+      Template template = XmlParser.parseTemplate(xml);
 
-    String text = getChat().multisentenceRespond(inText);
-
-    // Find any oob tags
-    ArrayList oobTags = OOBPayload.extractOOBPayloads(text, programab);
+      OobProcessor handler = OobProcessor.getInstance(programab);
+      handler.process(template.oob, true); // block by default
 
-    // invoke them all if configured to do so
-    if (processOOB) {
-      for (OOBPayload payload : oobTags) {
-        // assumption is this is non blocking invoking!
-        boolean oobRes = OOBPayload.invokeOOBPayload(payload, programab.getName(), false);
-        if (!oobRes) {
-          // there was a failure invoking
-          log.warn("Failed to invoke OOB/MRL tag : {}", OOBPayload.asOOBTag(payload));
-        }
-      }
-    }
-
-    // strip any oob tags if found
-    if (oobTags.size() > 0) {
-      text = OOBPayload.removeOOBFromString(text).trim();
+      List mrl = template.oob != null ? template.oob.mrl : null;
+      // returned all text inside template but outside oob
+      Response response = new Response(username, botInfo.botType, template.text, mrl);
+      return response;
+    } catch (Exception e) {
+      programab.error(e);
     }
-
-    Response response = new Response(userName, botInfo.name, text, oobTags);
-    return response;
-
+    return new Response(username, botInfo.botType, "", null);
   }
 
   public Chat reload() {
     botInfo.reload();
-    chat = null;
-    return getChat();
+    chat = loadChat();
+    return chat;
   }
 
   public void remove(String predicateName) {
@@ -173,4 +200,12 @@ public String getPredicate(String predicateName) {
     return getChat().predicates.get(predicateName);
   }
 
+  public String getUsername() {
+    return username;
+  }
+
+  public Object getBotType() {
+    return botInfo.botType;
+  }
+
 }
diff --git a/src/main/java/org/myrobotlab/programab/XmlParser.java b/src/main/java/org/myrobotlab/programab/XmlParser.java
new file mode 100644
index 0000000000..51051af7db
--- /dev/null
+++ b/src/main/java/org/myrobotlab/programab/XmlParser.java
@@ -0,0 +1,31 @@
+package org.myrobotlab.programab;
+
+import org.myrobotlab.programab.models.Sraix;
+import org.myrobotlab.programab.models.Template;
+
+import com.fasterxml.jackson.core.JsonProcessingException;
+import com.fasterxml.jackson.databind.JsonMappingException;
+import com.fasterxml.jackson.dataformat.xml.XmlMapper;
+
+/**
+ * Thread safe fasterjackson xml parser.
+ * 
+ * @author GroG
+ *
+ */
+public class XmlParser {
+
+  public static Template parseTemplate(String xml) throws JsonMappingException, JsonProcessingException {
+    ThreadLocal xmlMapperThreadLocal = ThreadLocal.withInitial(XmlMapper::new);
+    XmlMapper xmlMapper = xmlMapperThreadLocal.get();
+    Template template = xmlMapper.readValue(xml, Template.class);
+    return template;
+  }
+
+  public static Sraix parseSraix(String xml) throws JsonMappingException, JsonProcessingException {
+    ThreadLocal xmlMapperThreadLocal = ThreadLocal.withInitial(XmlMapper::new);
+    XmlMapper xmlMapper = xmlMapperThreadLocal.get();
+    return xmlMapper.readValue(xml, Sraix.class);
+  }
+
+}
diff --git a/src/main/java/org/myrobotlab/programab/handlers/oob/OobProcessor.java b/src/main/java/org/myrobotlab/programab/handlers/oob/OobProcessor.java
new file mode 100644
index 0000000000..a34e5aa347
--- /dev/null
+++ b/src/main/java/org/myrobotlab/programab/handlers/oob/OobProcessor.java
@@ -0,0 +1,93 @@
+package org.myrobotlab.programab.handlers.oob;
+
+import java.util.List;
+
+import org.myrobotlab.codec.CodecUtils;
+import org.myrobotlab.framework.Message;
+import org.myrobotlab.programab.models.Mrl;
+import org.myrobotlab.programab.models.Oob;
+import org.myrobotlab.service.ProgramAB;
+
+public class OobProcessor {
+
+  private static OobProcessor instance;
+  private transient ProgramAB programab;
+  protected int maxBlockTime = 2000;
+
+  private OobProcessor() {
+  }
+
+  public static OobProcessor getInstance(ProgramAB programab) {
+    if (instance == null) {
+      instance = new OobProcessor();
+      instance.programab = programab;
+    }
+    return instance;
+  }
+
+  public Message toMsg(Mrl mrl) {
+    Object[] data = null;
+    if (mrl.params != null) {
+      data = new Object[mrl.params.size()];
+      for (int i = 0; i < data.length; ++i) {
+        data[i] = mrl.params.get(i).trim();
+      }
+    }
+    String service = mrl.service == null?null:mrl.service.trim();
+    return Message.createMessage(programab.getName(), service, mrl.method.trim(), data);
+  }
+
+  public String process(Oob oob, boolean block) {
+    StringBuilder sb = new StringBuilder();
+
+    // FIXME dynamic way of registering oobs
+    if (oob != null) {
+      // Process 
+      if (oob.mrl != null) {
+        List mrls = oob.mrl;
+        for (Mrl mrl : mrls) {
+          if (!block) {
+            // programab.out(toMsg(mrl));
+            programab.info("sending without blocking %s", toMsg(mrl));
+            programab.send(toMsg(mrl));
+          } else {
+            try {
+              programab.info("sendingBlocking without blocking %s", toMsg(mrl));
+              Object o = programab.sendBlocking(toMsg(mrl), maxBlockTime);
+              if (o != null) {
+                sb.append(o);
+              }
+            } catch (Exception e) {
+              programab.error(e);
+            }
+          }
+        }
+      } // for each mrl
+    }
+
+    // Process 
+    if (oob != null && oob.mrljson != null) {
+
+      Message[] msgs = CodecUtils.fromJson(oob.mrljson, Message[].class);
+      if (msgs != null) {
+        for (Message msg : msgs) {
+
+          if (!block) {
+            programab.send(msg);
+          } else {
+            try {
+              Object o = programab.sendBlocking(msg, maxBlockTime);
+              if (o != null) {
+                sb.append(o);
+              }
+            } catch (Exception e) {
+              programab.error(e);
+            }
+          }
+        } // for each msg
+      }
+    }
+
+    return sb.toString();
+  }
+}
diff --git a/src/main/java/org/myrobotlab/programab/handlers/sraix/MrlSraixHandler.java b/src/main/java/org/myrobotlab/programab/handlers/sraix/MrlSraixHandler.java
new file mode 100755
index 0000000000..eef8e68498
--- /dev/null
+++ b/src/main/java/org/myrobotlab/programab/handlers/sraix/MrlSraixHandler.java
@@ -0,0 +1,54 @@
+package org.myrobotlab.programab.handlers.sraix;
+
+import java.util.Locale;
+
+import org.alicebot.ab.Chat;
+import org.alicebot.ab.SraixHandler;
+import org.myrobotlab.logging.LoggerFactory;
+import org.myrobotlab.programab.XmlParser;
+import org.myrobotlab.programab.handlers.oob.OobProcessor;
+import org.myrobotlab.programab.models.Sraix;
+import org.myrobotlab.service.ProgramAB;
+import org.myrobotlab.service.data.SearchResults;
+import org.myrobotlab.service.interfaces.SearchPublisher;
+import org.slf4j.Logger;
+
+public class MrlSraixHandler implements SraixHandler {
+  transient public final static Logger log = LoggerFactory.getLogger(MrlSraixHandler.class);
+
+  private ProgramAB programab = null;
+
+  public MrlSraixHandler(ProgramAB programab) {
+    this.programab = programab;
+  }
+
+  @Override
+  public String sraix(Chat chatSession, String input, String defaultResponse, String hint, String host, String botid, String apiKey, String limit, Locale locale) {
+    try {
+      log.debug("MRL Sraix handler! Input {}", input);
+      String xml = String.format("%s", input);
+      // Template template = XmlParser.parseTemplate(xml);
+      Sraix sraix = XmlParser.parseSraix(xml);
+      
+      if (sraix.oob != null) {      
+        OobProcessor handler = OobProcessor.getInstance(programab);
+        String ret = handler.process(sraix.oob, true); // block by default
+        return ret;
+      } else if (sraix.search != null) {
+        log.info("search now");
+        // if my default "search" peer key has a name .. use it ?
+        SearchPublisher search = (SearchPublisher)programab.getPeer("search");
+        SearchResults results = search.search(sraix.search);
+        // return results.getTextAndImages();
+        return results.getHtml();
+      }
+    } catch (Exception e) {
+      programab.error(e);
+    }
+    if (defaultResponse != null) {
+      return defaultResponse;
+    }
+    return "";
+  }
+
+}
diff --git a/src/main/java/org/myrobotlab/programab/models/Event.java b/src/main/java/org/myrobotlab/programab/models/Event.java
new file mode 100644
index 0000000000..93e85c4086
--- /dev/null
+++ b/src/main/java/org/myrobotlab/programab/models/Event.java
@@ -0,0 +1,65 @@
+package org.myrobotlab.programab.models;
+
+/**
+ * Pojo for state change of one of ProgramAB's state info
+ * @author GroG
+ *
+ */
+public class Event {
+  /**
+   * the botName in this state change - typically 
+   * current session botName
+   */
+  public String botname;
+  /**
+   * unique identifier for the session user & bot
+   */
+  public String id;
+  
+  /**
+   * name of the predicate changed
+   */
+  public String name;
+    
+  /**
+   * service this topic change came from
+   */
+  public String src;
+  
+  /**
+   * new topic or state name in this transition
+   */
+  public String topic;
+   
+  /**
+   * timestamp
+   */
+  public long ts = System.currentTimeMillis();
+  
+  /**
+   * the user name in this state change - usually
+   * current session userName
+   */
+  public String user;
+  
+  /**
+   * new value
+   */
+  public String value;
+  
+  public Event() {    
+  }
+  
+  public Event(String src, String userName, String botName, String topic) {
+    this.src = src;
+    this.user = userName;
+    this.botname = botName;
+    this.topic = topic;
+  }
+  
+  
+  @Override
+  public String toString() {
+    return String.format("%s %s=%s", id, name, value);
+  }
+}
diff --git a/src/main/java/org/myrobotlab/programab/models/Mrl.java b/src/main/java/org/myrobotlab/programab/models/Mrl.java
new file mode 100644
index 0000000000..04c1bf79bb
--- /dev/null
+++ b/src/main/java/org/myrobotlab/programab/models/Mrl.java
@@ -0,0 +1,14 @@
+package org.myrobotlab.programab.models;
+
+import java.util.List;
+
+import com.fasterxml.jackson.annotation.JsonProperty;
+import com.fasterxml.jackson.dataformat.xml.annotation.JacksonXmlElementWrapper;
+
+public class Mrl {
+  public String service;
+  public String method;
+  @JacksonXmlElementWrapper(useWrapping = false)
+  @JsonProperty("param")
+  public List params;
+}
\ No newline at end of file
diff --git a/src/main/java/org/myrobotlab/programab/models/Oob.java b/src/main/java/org/myrobotlab/programab/models/Oob.java
new file mode 100644
index 0000000000..833bab5a0f
--- /dev/null
+++ b/src/main/java/org/myrobotlab/programab/models/Oob.java
@@ -0,0 +1,14 @@
+package org.myrobotlab.programab.models;
+
+import java.util.List;
+
+import com.fasterxml.jackson.dataformat.xml.annotation.JacksonXmlElementWrapper;
+
+public class Oob {
+  
+  public String mrljson;
+  
+  @JacksonXmlElementWrapper(useWrapping = false)
+  public List mrl;
+}
+
diff --git a/src/main/java/org/myrobotlab/programab/models/Sraix.java b/src/main/java/org/myrobotlab/programab/models/Sraix.java
new file mode 100644
index 0000000000..99b0639cb6
--- /dev/null
+++ b/src/main/java/org/myrobotlab/programab/models/Sraix.java
@@ -0,0 +1,10 @@
+package org.myrobotlab.programab.models;
+
+// FIXME add attributes and internal tags
+public class Sraix {
+
+  public String search;
+
+  public Oob oob;
+  
+}
diff --git a/src/main/java/org/myrobotlab/programab/models/Template.java b/src/main/java/org/myrobotlab/programab/models/Template.java
new file mode 100644
index 0000000000..91f8e5de51
--- /dev/null
+++ b/src/main/java/org/myrobotlab/programab/models/Template.java
@@ -0,0 +1,51 @@
+package org.myrobotlab.programab.models;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.fasterxml.jackson.dataformat.xml.XmlMapper;
+import com.fasterxml.jackson.dataformat.xml.annotation.JacksonXmlProperty;
+import com.fasterxml.jackson.dataformat.xml.annotation.JacksonXmlText;
+
+//@JacksonXmlRootElement(localName = "template")
+//@JsonIgnoreProperties(ignoreUnknown = true)
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class Template {
+  // @JacksonXmlElementWrapper(useWrapping = false)
+  
+  @JacksonXmlProperty(localName = "template")
+  
+  @JacksonXmlText
+  public String text;  
+  
+  
+public Oob oob;
+  
+//  @JsonProperty("ignorable")
+//  public List oob;
+//
+//  public List getOob() {
+//    return oob;
+//  }
+//
+//  public void setOob(List oob) {
+//    this.oob = oob;
+//  }
+  
+  public static void main(String[] args) {
+
+    try {
+      
+      // String xml = "";
+      // String xml = "";
+      String xml = "";
+      
+      XmlMapper xmlMapper = new XmlMapper();
+      Template template = xmlMapper.readValue(xml, Template.class);
+      
+      System.out.println(template);
+      
+    } catch(Exception e) {
+      e.printStackTrace();
+    }
+    }
+
+}
diff --git a/src/main/java/org/myrobotlab/service/ProgramAB.java b/src/main/java/org/myrobotlab/service/ProgramAB.java
index 4555cb6a87..fa90421d4e 100644
--- a/src/main/java/org/myrobotlab/service/ProgramAB.java
+++ b/src/main/java/org/myrobotlab/service/ProgramAB.java
@@ -16,11 +16,12 @@
 import org.alicebot.ab.Bot;
 import org.alicebot.ab.Category;
 import org.alicebot.ab.Chat;
-import org.alicebot.ab.MagicBooleans;
 import org.alicebot.ab.ProgramABListener;
 import org.apache.commons.lang3.StringUtils;
+import org.myrobotlab.framework.Message;
 import org.myrobotlab.framework.Service;
 import org.myrobotlab.framework.interfaces.Attachable;
+import org.myrobotlab.generics.SlidingWindowList;
 import org.myrobotlab.image.Util;
 import org.myrobotlab.io.FileIO;
 import org.myrobotlab.logging.LoggerFactory;
@@ -28,13 +29,12 @@
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.logging.SimpleLogPublisher;
 import org.myrobotlab.programab.BotInfo;
-import org.myrobotlab.programab.PredicateEvent;
 import org.myrobotlab.programab.Response;
 import org.myrobotlab.programab.Session;
+import org.myrobotlab.programab.models.Event;
 import org.myrobotlab.service.config.ProgramABConfig;
 import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.data.Locale;
-import org.myrobotlab.service.data.TopicChange;
 import org.myrobotlab.service.data.Utterance;
 import org.myrobotlab.service.interfaces.LocaleProvider;
 import org.myrobotlab.service.interfaces.LogPublisher;
@@ -72,6 +72,11 @@ public class ProgramAB extends Service
 
   private static final long serialVersionUID = 1L;
 
+  /**
+   * history of topic changes
+   */
+  protected List topicHistory = new SlidingWindowList<>(100);
+
   /**
    * useGlobalSession true will allow the sleep member to control session focus
    */
@@ -85,7 +90,7 @@ public class ProgramAB extends Service
   Map bots = new TreeMap<>();
 
   /**
-   * Mapping a bot to a userName and chat session
+   * Mapping a bot to a username and chat session
    */
   Map sessions = new TreeMap<>();
 
@@ -140,7 +145,7 @@ public List scanForBots(String path) {
       if (checkIfValid(file)) {
         info("found %s bot directory", file.getName());
         botDirs.add(file);
-        addBotPath(file.getAbsolutePath());
+        addBot(file.getAbsolutePath());
       }
     }
     return botDirs;
@@ -183,7 +188,7 @@ public void addTextPublisher(TextPublisher service) {
   }
 
   public int getMaxConversationDelay() {
-    return getCurrentSession().maxConversationDelay;
+    return getConfig().maxConversationDelay;
   }
 
   /**
@@ -196,105 +201,101 @@ public int getMaxConversationDelay() {
    * 
    */
   public Response getResponse(String text) {
-    return getResponse(getCurrentUserName(), text);
+    return getResponse(getUsername(), text);
   }
 
   /**
    * This method has the side effect of switching which bot your are currently
    * chatting with.
    * 
-   * @param userName
+   * @param username
    *          - the query string to the bot brain
    * @param text
    *          - the user that is sending the query
    * @return the response for a user from a bot given the input text.
    */
-  public Response getResponse(String userName, String text) {
-    return getResponse(userName, getCurrentBotName(), text);
+  public Response getResponse(String username, String text) {
+    return getResponse(username, getBotType(), text);
   }
 
   /**
    * Full get response method . Using this method will update the current
    * user/bot name if different from the current session.
    * 
-   * @param userName
+   * @param username
    *          username
-   * @param botName
+   * @param botType
    *          bot name
    * @param text
    *          utterace
    * @return programab response to utterance
    * 
    */
-  public Response getResponse(String userName, String botName, String text) {
-    return getResponse(userName, botName, text, true);
+  public Response getResponse(String username, String botType, String text) {
+    return getResponse(username, botType, text, true);
   }
 
   /**
    * Gets a response and optionally update if this is the current bot session
    * that's active globally.
    * 
-   * @param userName
-   *          username
-   * @param botName
-   *          botname
+   * @param username
+   *          - user request a response
+   * 
+   * @param botType
+   *          - bot type providing the response
+   * 
    * @param text
-   *          utterance
+   *          - query
    * 
    * @param updateCurrentSession
-   *          (specify if the currentbot/currentuser name should be updated in
-   *          the programab service.)
-   * @return the response
+   *          - switch the current focus, so that the current session is the
+   *          username and bot type in the parameter, publishSession will
+   *          publish the new session if different
    * 
-   *         TODO - no one cares about starting sessions, starting a new session
-   *         could be as simple as providing a different username, or botname in
-   *         getResponse and a necessary session could be created
+   * @return the response
    * 
    */
-  public Response getResponse(String userName, String botName, String text, boolean updateCurrentSession) {
-    Session session = getSession(userName, botName);
+  public Response getResponse(String username, String botType, String text, boolean updateCurrentSession) {
+    Session session = getSession(username, botType);
 
     // if a session with this user and bot does not exist
     // attempt to create it
     if (session == null) {
-      session = startSession(userName, botName);
+      session = startSession(username, botType, updateCurrentSession);
       if (session == null) {
-        error("username or bot name not valid %s %s", userName, botName);
+        error("username or bot name not valid %s %s", username, botType);
         return null;
       }
     }
 
-    // update the current session if we want to change which bot is at
-    // attention.
-    if (updateCurrentSession) {
-      setCurrentUserName(userName);
-      setCurrentBotName(botName);
+    if (updateCurrentSession && (!getUsername().equals(username) || !getBotType().equals(botType))) {
+      setUsername(username);
+      setBotType(botType);
     }
 
-    // Get the actual bots aiml based response for this session
     log.info("getResponse({})", text);
     Response response = session.getResponse(text);
 
-    // EEK! clean up the API!
-    invoke("publishRequest", text); // publisher used by uis
+    invoke("publishRequest", text);
     invoke("publishResponse", response);
     invoke("publishText", response.msg);
 
     return response;
   }
 
-  private Bot getBot(String botName) {
-    return bots.get(botName).getBot();
+  private Bot getBot(String botType) {
+    return bots.get(botType).getBot();
   }
 
-  private BotInfo getBotInfo(String botName) {
-    if (botName == null) {
+  private BotInfo getBotInfo(String botType) {
+    if (botType == null) {
       error("getBotinfo(null) not valid");
       return null;
     }
-    BotInfo botInfo = bots.get(botName);
+    BotInfo botInfo = bots.get(botType);
     if (botInfo == null) {
-      error("botInfo(%s) is null", botName);
+      error("botInfo(%s) is null", botType);
       return null;
     }
 
@@ -312,12 +313,24 @@ public void repetitionCount(int val) {
     org.alicebot.ab.MagicNumbers.repetition_count = val;
   }
 
+  /**
+   * get the "current" session if it exists
+   * 
+   * @return
+   */
   public Session getSession() {
-    return getSession(getCurrentUserName(), getCurrentBotName());
+    return getSession(getUsername(), getBotType());
   }
 
-  public Session getSession(String userName, String botName) {
-    String sessionKey = getSessionKey(userName, botName);
+  /**
+   * get a specific user & botType session
+   * 
+   * @param user
+   * @param botType
+   * @return
+   */
+  public Session getSession(String user, String botType) {
+    String sessionKey = getSessionKey(user, botType);
     if (sessions.containsKey(sessionKey)) {
       return sessions.get(sessionKey);
     } else {
@@ -325,12 +338,27 @@ public Session getSession(String userName, String botName) {
     }
   }
 
-  public void removePredicate(String userName, String predicateName) {
-    removePredicate(userName, getCurrentBotName(), predicateName);
+  /**
+   * remove a specific user and current bot types predicate
+   */
+  public void removePredicate(String user, String predicateName) {
+    removePredicate(user, getBotType(), predicateName);
   }
 
-  public void removePredicate(String userName, String botName, String predicateName) {
-    getSession(userName, botName).remove(predicateName);
+  /**
+   * remove an explicit user and botType's predicate
+   * 
+   * @param user
+   * @param botType
+   * @param name
+   */
+  public void removePredicate(String user, String botType, String name) {
+    Session session = getSession(user, botType);
+    if (session != null) {
+      session.remove(name);
+    } else {
+      error("could not remove predicate %s from session %s<->%s session does not exist", user, botType, name);
+    }
   }
 
   /**
@@ -342,8 +370,15 @@ public void removePredicate(String userName, String botName, String predicateNam
    *          value to add to the set
    */
   public void addToSet(String setName, String setValue) {
+    if (setName == null || setValue == null) {
+      error("addToSet(%s,%s) cannot have name or value null", setName, setValue);
+      return;
+    }
+    setName = setName.toLowerCase().trim();
+    setValue = setValue.trim();
+    
     // add to the set for the bot.
-    Bot bot = getBot(getCurrentBotName());
+    Bot bot = getBot(getBotType());
     AIMLSet updateSet = bot.setMap.get(setName);
     setValue = setValue.toUpperCase().trim();
     if (updateSet != null) {
@@ -371,8 +406,17 @@ public void addToSet(String setName, String setValue) {
    *          - the value
    */
   public void addToMap(String mapName, String key, String value) {
+    
+    if (mapName == null || key == null || value == null) {
+      error("addToMap(%s,%s,%s) mapname, key or value cannot be null", mapName, key, value);
+      return;
+    }
+    mapName = mapName.toLowerCase().trim();
+    key = key.toUpperCase().trim();
+    
+    
     // add an entry to the map.
-    Bot bot = getBot(getCurrentBotName());
+    Bot bot = getBot(getBotType());
     AIMLMap updateMap = bot.mapMap.get(mapName);
     key = key.toUpperCase().trim();
     if (updateMap != null) {
@@ -388,41 +432,87 @@ public void addToMap(String mapName, String key, String value) {
     }
   }
 
-  public void setPredicate(String predicateName, String predicateValue) {
-    setPredicate(getCurrentUserName(), predicateName, predicateValue);
+  public void setPredicate(String name, String value) {
+    setPredicate(getUsername(), name, value);
   }
 
-  public void setPredicate(String userName, String predicateName, String predicateValue) {
-    setPredicate(userName, getCurrentBotName(), predicateName, predicateValue);
+  /**
+   * Sets a specific user and current bot predicate to a value. Useful when
+   * setting predicate values of a session, when the user previously was an
+   * unknown human to a new or previously known user.
+   * 
+   * @param username
+   * @param name
+   * @param value
+   */
+  public void setPredicate(String username, String name, String value) {
+    setPredicate(username, getBotType(), name, value);
   }
 
-  public void setPredicate(String userName, String botName, String predicateName, String predicateValue) {
-    Session session = getSession(userName, botName);
+  /**
+   * Sets a predicate for a session keyed by username and bottype. If the
+   * session does not currently exist, it will make a new session for that user.
+   * 
+   * @param username
+   * @param botType
+   * @param name
+   * @param value
+   */
+  public void setPredicate(String username, String botType, String name, String value) {
+    Session session = getSession(username, botType);
     if (session != null) {
-      session.setPredicate(predicateName, predicateValue);
+      session.setPredicate(name, value);
+    } else {
+      // attempt to create a session if it doesn't exist
+      session = startSession(username, botType, false);
+      if (session != null) {
+        session.setPredicate(name, value);
+      } else {
+        error("could not create session");
+      }
     }
   }
 
-  @Deprecated
-  public void unsetPredicate(String userName, String predicateName) {
-    removePredicate(userName, getCurrentBotName(), predicateName);
+  @Deprecated /* use removePredicate */
+  public void unsetPredicate(String username, String predicateName) {
+    removePredicate(username, getBotType(), predicateName);
   }
 
+  /**
+   * Get a predicate's value for the current session
+   * 
+   * @param predicateName
+   * @return
+   */
   public String getPredicate(String predicateName) {
-    return getPredicate(getCurrentUserName(), predicateName);
+    return getPredicate(getUsername(), predicateName);
   }
 
-  public String getPredicate(String userName, String predicateName) {
-    return getPredicate(userName, getCurrentBotName(), predicateName);
+  /**
+   * get a specified users's predicate value for the current botType session
+   * 
+   * @param username
+   * @param predicateName
+   * @return
+   */
+  public String getPredicate(String username, String predicateName) {
+    return getPredicate(username, getBotType(), predicateName);
   }
 
-  public String getPredicate(String userName, String botName, String predicateName) {
-    Session s = getSession(userName, botName);
+  /**
+   * With a session key, get a specific predicate value
+   * 
+   * @param username
+   * @param botType
+   * @param predicateName
+   * @return
+   */
+  public String getPredicate(String username, String botType, String predicateName) {
+    Session s = getSession(username, botType);
     if (s == null) {
-      // If that session doesn't currently exist, let's start it.
-      s = startSession(userName, botName);
+      s = startSession(username, botType, false);
       if (s == null) {
-        log.warn("Error starting programAB session between bot {} and user {}", userName, botName);
+        log.warn("Error starting programAB session between bot {} and user {}", username, botType);
         return null;
       }
     }
@@ -432,8 +522,8 @@ public String getPredicate(String userName, String botName, String predicateName
   /**
    * Only respond if the last response was longer than delay ms ago
    * 
-   * @param userName
-   *          - current userName
+   * @param username
+   *          - current username
    * @param text
    *          - text to get a response
    * @param delay
@@ -442,11 +532,11 @@ public String getPredicate(String userName, String botName, String predicateName
    * @throws IOException
    *           boom
    */
-  public Response troll(String userName, String text, Long delay) throws IOException {
-    Session session = getSession(userName, getCurrentBotName());
+  public Response troll(String username, String text, Long delay) throws IOException {
+    Session session = getSession(username, getBotType());
     long delta = System.currentTimeMillis() - session.lastResponseTime.getTime();
     if (delta > delay) {
-      return getResponse(userName, text);
+      return getResponse(username, text);
     } else {
       log.info("Skipping response, minimum delay since previous response not reached.");
       return null;
@@ -461,13 +551,13 @@ public boolean isEnableAutoConversation() {
    * Return a list of all patterns that the current AIML Bot knows to match
    * against.
    * 
-   * @param botName
+   * @param botType
    *          the bots name from which to return it's patterns.
    * @return a list of all patterns loaded into the aiml brain
    */
-  public ArrayList listPatterns(String botName) {
+  public ArrayList listPatterns(String botType) {
     ArrayList patterns = new ArrayList();
-    Bot bot = getBot(botName);
+    Bot bot = getBot(botType);
     for (Category c : bot.brain.getCategories()) {
       patterns.add(c.getPattern());
     }
@@ -508,6 +598,9 @@ public Response publishResponse(Response response) {
 
   @Override
   public String publishText(String text) {
+    if (text == null || text.length() == 0) {
+      return "";
+    }
     // TODO: this should not be done here.
     // clean up whitespaces & cariage return
     text = text.replaceAll("\\n", " ");
@@ -535,21 +628,21 @@ public String publishOOBText(String oobText) {
 
   /**
    * This method will close the current bot, and reload it from AIML It then
-   * will then re-establish only the session associated with userName.
+   * will then re-establish only the session associated with username.
    * 
-   * @param userName
+   * @param username
    *          username for the session
-   * @param botName
+   * @param botType
    *          the bot name being chatted with
    * @throws IOException
    *           boom
    * 
    */
-  public void reloadSession(String userName, String botName) throws IOException {
-    Session session = getSession(userName, botName);
+  public void reloadSession(String username, String botType) throws IOException {
+    Session session = getSession(username, botType);
     if (session != null) {
       session.reload();
-      info("reloaded session %s <-> %s ", userName, botName);
+      info("reloaded session %s <-> %s ", username, botType);
     }
   }
 
@@ -559,7 +652,7 @@ public void reloadSession(String userName, String botName) throws IOException {
    * @return
    */
   public Map getPredicates() {
-    return getPredicates(config.currentUserName, config.currentBotName);
+    return getPredicates(config.username, config.botType);
   }
 
   /**
@@ -567,8 +660,8 @@ public Map getPredicates() {
    * 
    * @return
    */
-  public Map getPredicates(String userName, String botName) {
-    Session session = getSession(userName, botName);
+  public Map getPredicates(String username, String botType) {
+    Session session = getSession(username, botType);
     if (session != null) {
       return session.getPredicates();
     }
@@ -585,15 +678,15 @@ public void savePredicates() {
   }
 
   public void setEnableAutoConversation(boolean enableAutoConversation) {
-    getSession().enableTrolling = enableAutoConversation;
+    getConfig().enableTrolling = enableAutoConversation;
   }
 
-  public void setMaxConversationDelay(int maxConversationDelay) {
-    getSession().maxConversationDelay = maxConversationDelay;
+  public boolean getEnableAutoConversation() {
+    return getConfig().enableTrolling;
   }
 
-  public void setProcessOOB(boolean processOOB) {
-    getSession().processOOB = processOOB;
+  public void setMaxConversationDelay(int maxConversationDelay) {
+    getConfig().maxConversationDelay = maxConversationDelay;
   }
 
   /**
@@ -605,128 +698,105 @@ public void setProcessOOB(boolean processOOB) {
    *          value to set for current bot/session
    */
   public void setBotProperty(String name, String value) {
-    setBotProperty(getCurrentBotName(), name, value);
+    setBotProperty(getBotType(), name, value);
   }
 
   /**
    * set a bot property - the result will be serialized to config/properties.txt
    * 
-   * @param botName
+   * @param botType
    *          bot name
    * @param name
    *          bot property name
    * @param value
    *          value to set the property too
    */
-  public void setBotProperty(String botName, String name, String value) {
-    info("setting %s property %s:%s", getCurrentBotName(), name, value);
-    BotInfo botInfo = getBotInfo(botName);
+  public void setBotProperty(String botType, String name, String value) {
+    info("setting %s property %s:%s", getBotType(), name, value);
+    BotInfo botInfo = getBotInfo(botType);
     name = name.trim();
     value = value.trim();
     botInfo.setProperty(name, value);
   }
 
   public void removeBotProperty(String name) {
-    removeBotProperty(getCurrentBotName(), name);
+    removeBotProperty(getBotType(), name);
   }
 
-  public void removeBotProperty(String botName, String name) {
-    info("removing %s property %s", getCurrentBotName(), name);
-    BotInfo botInfo = getBotInfo(botName);
+  public void removeBotProperty(String botType, String name) {
+    info("removing %s property %s", getBotType(), name);
+    BotInfo botInfo = getBotInfo(botType);
     botInfo.removeProperty(name);
   }
 
-  public Session startSession() throws IOException {
-    return startSession(config.currentUserName);
-  }
-
-  // FIXME - it should just set the current userName only
-  public Session startSession(String userName) throws IOException {
-    return startSession(userName, getCurrentBotName());
-  }
-
-  public Session startSession(String userName, String botName) {
-    return startSession(null, userName, botName, MagicBooleans.defaultLocale);
-  }
-
-  @Deprecated /* path included for legacy */
-  public Session startSession(String path, String userName, String botName) {
-    return startSession(path, userName, botName, MagicBooleans.defaultLocale);
+  /**
+   * Setting a session is only setting a key, to the active user and bot, its
+   * not starting a session, which is a different process done threw
+   * startSession.
+   * 
+   * Sets username and botType. The session will be started if it can be when a
+   * getResponse is processed. "Active" session is just where the session key
+   * exists and is currently set via username and botType
+   * 
+   * @param username
+   * @param botType
+   * @return
+   */
+  public void setSession(String username, String botType) {
+    // replacing "focus" so
+    // current name and bottype is the
+    // one that will be used
+    setUsername(username);
+    setBotType(botType);
   }
 
   /**
    * Load the AIML 2.0 Bot config and start a chat session. This must be called
-   * after the service is created.
+   * after the service is created. If the session does not exist it will be
+   * created. If the session does exist then that session will be used.
    * 
-   * @param path
-   *          - the path to the ProgramAB directory where the bots aiml and
-   *          config reside
-   * @param userName
+   * config.username and config.botType will be set in memory the specified
+   * values. The "current" session will be this session.
+   * 
+   * @param username
    *          - The new user name
-   * @param botName
+   * @param botType
    *          - The name of the bot to load. (example: alice2)
-   * @param locale
-   *          - The locale of the bot to ensure the aiml is loaded (mostly for
-   *          Japanese support) FIXME - local is defined in the bot,
-   *          specifically config/mrl.properties
    * 
-   *          reasons to deprecate:
-   * 
-   *          1. I question the need to expose this externally at all - if the
-   *          user uses getResponse(username, botname, text) then a session can
-   *          be auto-started - there is really no reason not to auto-start.
-   * 
-   *          2. path is completely invalid here
-   * 
-   *          3. Locale is completely invalid - it is now part of the bot
-   *          description in mrl.properties and shouldn't be defined externally,
-   *          unles its pulled from Runtime
    * @return the session that is started
    */
 
-  public Session startSession(String path, String userName, String botName, java.util.Locale locale) {
-
-    /*
-     * not wanted or needed if (path != null) { addBotPath(path); }
-     */
-
-    Session session = getSession(userName, botName);
+  public Session startSession(String username, String botType, boolean setAsCurrent) {
 
-    if (session != null) {
-      log.info("session {} already exists - will use it", getSessionKey(userName, botName));
-      setCurrentSession(userName, botName);
-      return session;
+    if (username == null || botType == null) {
+      error("username nor bot type can be null");
+      return null;
     }
 
-    // create a new session
-    log.info("creating new sessions");
-    BotInfo botInfo = getBotInfo(botName);
-    if (botInfo == null) {
-      error("cannot create session %s is not a valid botName", botName);
+    if (!bots.containsKey(botType)) {
+      error("bot type %s is not valid, list of possible types are %s", botType, bots.keySet());
       return null;
     }
 
-    session = new Session(this, userName, botInfo);
-    sessions.put(getSessionKey(userName, botName), session);
+    if (setAsCurrent) {
+      // really sets the key of the active session username <-> botType
+      // but next getResponse will use this session
+      setSession(username, botType);
+    }
 
-    log.info("Started session for bot botName:{} , userName:{}", botName, userName);
-    setCurrentSession(userName, botName);
-    return session;
-  }
+    String sessionKey = getSessionKey(username, botType);
+    if (sessions.containsKey(sessionKey)) {
+      log.info("session exists returning existing");
+      return sessions.get(sessionKey);
+    }
 
-  /**
-   * setting the current session is equivalent to setting current user name and
-   * current bot name
-   * 
-   * @param userName
-   *          username
-   * @param botName
-   *          botname
-   * 
-   */
-  public void setCurrentSession(String userName, String botName) {
-    setCurrentUserName(userName);
-    setCurrentBotName(botName);
+    log.info("creating new session {}<->{} replacing {}", username, botType, setAsCurrent);
+    BotInfo botInfo = getBotInfo(botType);
+    Session session = new Session(this, username, botInfo);
+    sessions.put(sessionKey, session);
+
+    // get session
+    return getSession();
   }
 
   /**
@@ -736,7 +806,7 @@ public void setCurrentSession(String userName, String botName) {
    * @param c
    */
   public void addCategory(Category c) {
-    Bot bot = getBot(getCurrentBotName());
+    Bot bot = getBot(getBotType());
     bot.brain.addCategory(c);
   }
 
@@ -758,16 +828,18 @@ public void addCategory(String pattern, String template, String that) {
   public void addCategory(String pattern, String template) {
     addCategory(pattern, template, "*");
   }
-  
+
   /**
-   * Verifies and adds a new path to the search directories for bots
+   * Verifies and adds a new path to the search directories for bots. Bots of
+   * aiml live in directories which represent their "type" The directory names
+   * must be unique.
    * 
    * @param path
    *          the path to add a bot from
    * @return the path if successful. o/w null
    * 
    */
-  public String addBotPath(String path) {
+  public String addBot(String path) {
     // verify the path is valid
     File botPath = new File(path);
     File verifyAiml = new File(FileIO.gluePaths(path, "aiml"));
@@ -783,12 +855,12 @@ public String addBotPath(String path) {
 
       BotInfo botInfo = new BotInfo(this, botPath);
 
-      // key'ing on "path" probably would be better and only displaying "name"
-      // then there would be no put/collisions only duplicate names
-      // (preferrable)
+      if (bots.containsKey(botInfo.botType)) {
+        log.info("replacing bot %s with new bot definition", botInfo.botType);
+      }
 
-      bots.put(botInfo.name, botInfo);
-      botInfo.img = getBotImage(botInfo.name);
+      bots.put(botInfo.botType, botInfo);
+      botInfo.img = getBotImage(botInfo.botType);
 
       broadcastState();
     } else {
@@ -798,41 +870,79 @@ public String addBotPath(String path) {
     return path;
   }
 
-  @Deprecated /* for legacy - use addBotsDir */
-  public String setPath(String path) {
-    // This method is not good, because it doesn't take the full path
-    // from input and there is a buried "hardcoded" value which no one knows
-    // about
-    addBotsDir(path + File.separator + "bots");
-
-    return path;
+  @Deprecated /* use setBotType */
+  public void setCurrentBotName(String botType) {
+    setBotType(botType);
   }
 
-  public void setCurrentBotName(String botName) {
-    config.currentBotName = botName;
-    invoke("getBotImage", botName);
-    broadcastState();
+  /**
+   * Sets the current bot type to a set of aiml folders previously added via
+   * configuration or through the addBot(path) function.
+   * 
+   * You can get a list of possible configured bot types through the method
+   * getBots()
+   * 
+   * @param botType
+   */
+  public void setBotType(String botType) {
+    if (botType == null) {
+      error("bot type cannot be null");
+      return;
+    }
+
+    if (bots.size() == 0) {
+      error("bot paths must be set before a bot type is set");
+    }
+
+    if (!bots.containsKey(botType)) {
+      error("cannot set bot %s, no valid type found, possible values are %s", botType, bots.keySet());
+      return;
+    }
+    String prev = config.botType;
+    config.botType = botType;
+    if (!botType.equals(prev)) {
+      invoke("getBotImage", botType);
+      broadcastState();
+    }
   }
 
-  public void setCurrentUserName(String currentUserName) {
-    config.currentUserName = currentUserName;
-    broadcastState();
+  public void setUsername(String username) {
+    if (username == null) {
+      error("username cannot be null");
+      return;
+    }
+    String prev = config.username;
+    config.username = username;
+    if (!username.equals(prev)) {
+      broadcastState();
+    }
   }
 
-  public Session getCurrentSession() {
-    return sessions.get(getSessionKey(getCurrentUserName(), getCurrentBotName()));
+  public String getSessionKey(String username, String botType) {
+    return String.format("%s <-> %s", username, botType);
   }
 
-  public String getSessionKey(String userName, String botName) {
-    return String.format("%s <-> %s", userName, botName);
+  /**
+   * Simple preferred way to get the user's name
+   * 
+   * @return
+   */
+  public String getUsername() {
+    return config.username;
   }
 
+  @Deprecated /* of course it will be "current" - use getUser() */
   public String getCurrentUserName() {
-    return config.currentUserName;
+    return getUsername();
   }
 
+  @Deprecated /* use getBotType() */
   public String getCurrentBotName() {
-    return config.currentBotName;
+    return getBotType();
+  }
+
+  public String getBotType() {
+    return config.botType;
   }
 
   /**
@@ -930,17 +1040,44 @@ public boolean setPeerSearch(boolean b) {
 
   @Override
   public void startService() {
-    super.startService();
+    try {
+      super.startService();
 
-    logPublisher = new SimpleLogPublisher(this);
-    logPublisher.filterClasses(new String[] { "org.alicebot.ab.Graphmaster", "org.alicebot.ab.MagicBooleans", "class org.myrobotlab.programab.MrlSraixHandler" });
-    Logging logging = LoggingFactory.getInstance();
-    logging.setLevel("org.alicebot.ab.Graphmaster", "DEBUG");
-    logging.setLevel("org.alicebot.ab.MagicBooleans", "DEBUG");
-    logging.setLevel("class org.myrobotlab.programab.MrlSraixHandler", "DEBUG");
-    logPublisher.start();
+      // scan for bots
+      if (config.botDir != null) {
+        scanForBots(config.botDir);
+      }
 
-    scanForBots(getResourceDir());
+      // explicitly setting bots overrides scans
+      if (config.bots != null && config.bots.size() > 0) {
+        for (String botPath : config.bots) {
+          addBot(botPath);
+        }
+      }
+
+      if (config.username != null) {
+        setUsername(config.username);
+      }
+
+      if (config.botType != null) {
+        setBotType(config.botType);
+      }
+
+      if (config.startTopic != null) {
+        setTopic(config.startTopic);
+      }
+
+      logPublisher = new SimpleLogPublisher(this);
+      logPublisher.filterClasses(new String[] { "org.alicebot.ab.Graphmaster", "org.alicebot.ab.MagicBooleans", "class org.myrobotlab.programab.MrlSraixHandler" });
+      Logging logging = LoggingFactory.getInstance();
+      logging.setLevel("org.alicebot.ab.Graphmaster", "DEBUG");
+      logging.setLevel("org.alicebot.ab.MagicBooleans", "DEBUG");
+      logging.setLevel("class org.myrobotlab.programab.MrlSraixHandler", "DEBUG");
+      logPublisher.start();
+
+    } catch (Exception e) {
+      error(e);
+    }
 
   }
 
@@ -992,7 +1129,7 @@ public String publishLog(String msg) {
   }
 
   public BotInfo getBotInfo() {
-    return getBotInfo(config.currentBotName);
+    return getBotInfo(config.botType);
   }
 
   /**
@@ -1002,21 +1139,25 @@ public BotInfo getBotInfo() {
    *           boom
    * 
    */
-  public void reload() throws IOException {
-    reloadSession(getCurrentUserName(), getCurrentBotName());
+  public void reload() {
+    try {
+      reloadSession(getUsername(), getBotType());
+    } catch (Exception e) {
+      error(e);
+    }
   }
 
   public String getBotImage() {
-    return getBotImage(getCurrentBotName());
+    return getBotImage(getBotType());
   }
 
-  public String getBotImage(String botName) {
+  public String getBotImage(String botType) {
     BotInfo botInfo = null;
     String path = null;
 
     try {
 
-      botInfo = getBotInfo(botName);
+      botInfo = getBotInfo(botType);
       if (botInfo != null) {
         path = FileIO.gluePaths(botInfo.path.getAbsolutePath(), "bot.png");
         File check = new File(path);
@@ -1026,16 +1167,16 @@ public String getBotImage(String botName) {
       }
 
     } catch (Exception e) {
-      info("image for %s cannot be found %s", botName, e.getMessage());
+      info("image for %s cannot be found %s", botType, e.getMessage());
     }
 
     return getResourceImage("default.png");
   }
 
-  public String getAimlFile(String botName, String name) {
-    BotInfo botInfo = getBotInfo(botName);
+  public String getAimlFile(String botType, String name) {
+    BotInfo botInfo = getBotInfo(botType);
     if (botInfo == null) {
-      error("cannot get bot %s", botName);
+      error("cannot get bot %s", botType);
       return null;
     }
 
@@ -1053,10 +1194,10 @@ public String getAimlFile(String botName, String name) {
     return ret;
   }
 
-  public void saveAimlFile(String botName, String filename, String data) {
-    BotInfo botInfo = getBotInfo(botName);
+  public void saveAimlFile(String botType, String filename, String data) {
+    BotInfo botInfo = getBotInfo(botType);
     if (botInfo == null) {
-      error("cannot get bot %s", botName);
+      error("cannot get bot %s", botType);
       return;
     }
 
@@ -1090,44 +1231,10 @@ public ProgramABConfig getConfig() {
     return config;
   }
 
-  @Override
-  public ProgramABConfig apply(ProgramABConfig c) {
-    super.apply(c);
-    if (c.bots != null && c.bots.size() > 0) {
-      // bots.clear();
-      for (String botPath : c.bots) {
-        addBotPath(botPath);
-      }
-    }
-    
-    if (c.botDir == null) {
-      c.botDir = getResourceDir();
-    }
-
-    List botsFromScanning = scanForBots(c.botDir);
-    for (File file : botsFromScanning) {
-      addBotPath(file.getAbsolutePath());
-    }
-
-    if (c.currentUserName != null) {
-      setCurrentUserName(c.currentUserName);
-    }
-    
-    if (c.currentBotName != null) {
-      setCurrentBotName(c.currentBotName);
-    }    
-    
-    if (c.startTopic != null) {
-      setTopic(c.startTopic);  
-    }
-    
-
-    return c;
-  }
-
   public static void main(String args[]) {
     try {
       LoggingFactory.init("INFO");
+      Runtime.startConfig("dev");
       // Runtime.start("gui", "SwingGui");
 
       Runtime runtime = Runtime.getInstance();
@@ -1164,7 +1271,7 @@ public static void main(String args[]) {
     }
   }
 
-  public void addBotsDir(String path) {
+  public void addBots(String path) {
 
     if (path == null) {
       error("set path can not be null");
@@ -1182,14 +1289,14 @@ public void addBotsDir(String path) {
     if (check.exists() && check.isDirectory()) {
       log.info("found %d possible bot directories", check.listFiles().length);
       for (File f : check.listFiles()) {
-        addBotPath(f.getAbsolutePath());
+        addBot(f.getAbsolutePath());
       }
     }
   }
 
   @Override
-  synchronized public void onChangePredicate(Chat chat, String predicateName, String result) {
-    log.info("{} on predicate change {}={}", chat.bot.name, predicateName, result);
+  synchronized public void onChangePredicate(Chat chat, String predicateName, String value) {
+    log.info("{} on predicate change {}={}", chat.bot.name, predicateName, value);
 
     // a little janky because program-ab doesn't know the predicate filename,
     // because it does know the "user"
@@ -1200,15 +1307,7 @@ synchronized public void onChangePredicate(Chat chat, String predicateName, Stri
     for (Session s : sessions.values()) {
       if (s.chat == chat) {
         // found session saving predicates
-        invoke("publishPredicate", s, predicateName, result);
-        // botname is the name of the bot  currentBotName is the aiml folder that is 
-        // mostly equivalent to its "type"
-        if ("currentBotName".equals(predicateName)) {
-          setCurrentBotName(result);
-        }
-        if ("name".equals(predicateName)) {
-          setCurrentUserName(result);
-        }
+        invoke("publishPredicate", s, predicateName, value);
         s.savePredicates();
         return;
       }
@@ -1229,17 +1328,19 @@ synchronized public void onChangePredicate(Chat chat, String predicateName, Stri
    *          - new value of predicate
    * @return
    */
-  public PredicateEvent publishPredicate(Session session, String name, String value) {
-    PredicateEvent event = new PredicateEvent();
-    event.id = String.format("%s<->%s", session.userName, session.botInfo.name);
-    event.userName = session.userName;
-    event.botName = session.botInfo.name;
+  public Event publishPredicate(Session session, String name, String value) {
+    Event event = new Event();
+    event.id = String.format("%s<->%s", session.username, session.botInfo.botType);
+    event.user = session.username;
+    event.botname = session.botInfo.botType;
     event.name = name;
     event.value = value;
 
     if ("topic".equals(name) && value != null && !value.equals(session.currentTopic)) {
-      invoke("publishTopic", new TopicChange(session.userName, session.botInfo.name, value, session.currentTopic));
+      Event topicChange = new Event(getName(), session.username, session.botInfo.botType, value);
+      invoke("publishTopic", topicChange);
       session.currentTopic = value;
+      topicHistory.add(topicChange);
     }
 
     return event;
@@ -1310,14 +1411,14 @@ public void sleep() {
 
   @Override
   public void onUtterance(Utterance utterance) throws Exception {
-    
+
     log.info("Utterance Received " + utterance);
 
     boolean talkToBots = false;
     // TODO: reconcile having different name between the discord bot username
     // and the programab bot name. Mr. Turing is not actually Alice.. and vice
     // versa.
-    String botName = utterance.channelBotName;
+    String botType = utterance.channelBotName;
 
     // prevent bots going off the rails
     if (utterance.isBot && talkToBots) {
@@ -1326,7 +1427,7 @@ public void onUtterance(Utterance utterance) throws Exception {
     }
 
     // Don't talk to myself, though I should be a bot..
-    if (utterance.username.contentEquals(botName)) {
+    if (utterance.username.contentEquals(botType)) {
       log.info("Don't talk to myself.");
       return;
     }
@@ -1340,7 +1441,7 @@ public void onUtterance(Utterance utterance) throws Exception {
         // TODO: don't talk to bots.. it won't go well..
         // TODO: the discord api can provide use the list of mentioned users.
         // for now.. we'll just see if we see Mr. Turing as a substring.
-        config.sleep = (config.sleep || utterance.text.contains("@")) && !utterance.text.contains(botName);
+        config.sleep = (config.sleep || utterance.text.contains("@")) && !utterance.text.contains(botType);
         if (!config.sleep) {
           shouldIRespond = true;
         }
@@ -1354,7 +1455,7 @@ public void onUtterance(Utterance utterance) throws Exception {
       String utteranceDisp = utterance.text;
       // let's strip the @+botname from the beginning of the utterance i guess.
       // Strip the botname from the utterance passed to programab.
-      utteranceDisp = utteranceDisp.replace("@" + botName, "");
+      utteranceDisp = utteranceDisp.replace("@" + botType, "");
       Response resp = getResponse(utterance.username, utteranceDisp);
       if (resp != null && !StringUtils.isEmpty(resp.msg)) {
         // Ok.. now what? respond to the user ...
@@ -1375,17 +1476,18 @@ public void onUtterance(Utterance utterance) throws Exception {
       }
     }
   }
-  
+
   /**
    * This receiver can take a config published by another service and sync
    * predicates from it
+   * 
    * @param cfg
    */
   public void onConfig(ServiceConfig cfg) {
-    Yaml yaml = new Yaml();    
+    Yaml yaml = new Yaml();
     String yml = yaml.dumpAsMap(cfg);
     Map cfgMap = yaml.load(yml);
-    
+
     for (Map.Entry entry : cfgMap.entrySet()) {
       if (entry.getValue() == null) {
         setPredicate("cfg_" + entry.getKey(), null);
@@ -1393,7 +1495,7 @@ public void onConfig(ServiceConfig cfg) {
         setPredicate("cfg_" + entry.getKey(), entry.getValue().toString());
       }
     }
-    
+
     invoke("getPredicates");
   }
 
@@ -1404,27 +1506,74 @@ public Utterance publishUtterance(Utterance utterance) {
 
   /**
    * New topic published when it changes
+   * 
    * @param topicChange
    * @return
    */
-  public TopicChange publishTopic(TopicChange topicChange) {
+  public Event publishTopic(Event topicChange) {
     return topicChange;
   }
 
-  public String getTopic() {    
-    return getPredicate(getCurrentUserName(), "topic");
+  public String getTopic() {
+    return getPredicate(getUsername(), "topic");
   }
-  
-  public String getTopic(String username) {    
+
+  public String getTopic(String username) {
     return getPredicate(username, "topic");
   }
-  
-  public void setTopic(String username, String topic) {    
+
+  public void setTopic(String username, String topic) {
     setPredicate(username, "topic", topic);
   }
-  
-  public void setTopic(String topic) {    
-    setPredicate(getCurrentUserName(), "topic", topic);
+
+  public void setTopic(String topic) {
+    setPredicate(getUsername(), "topic", topic);
+  }
+
+  /**
+   * Published when a new session is created
+   * 
+   * @param session
+   * @return
+   */
+  public Event publishSession(Event session) {
+    return session;
+  }
+
+  /**
+   * clear all sessions
+   */
+  public void clear() {
+    log.info("clearing sessions");
+    sessions.clear();
+  }
+
+  /**
+   * 
    +   * A mechanism to publish a message directly from aiml.
+   * The subscriber can interpret the message and do something with it.
+   * In the case of InMoov for example, the unaddressed messages are processed
+   * as python method calls. This remove direct addressing from the aiml!
+   * And allows a great amount of flexibility on how the messages are
+   * interpreted, without polluting the aiml or ProgramAB.
+   * 
+   * The oob syntax is:
+   *  <oob>
+   *    <mrljson>
+   *        [{method:on_new_user, data:[{"name":"<star/>"}]}]
+   *    </mrljson>
+   * </oob>
+   * 
+   * 
+   * Full typed parameters are supported without conversions.
+   * 
+   * 
    
+   * 
+   * @param msg
+   * @return
+   */
+  public Message publishMessage(Message msg) {
+    return msg;
   }
 
 }
diff --git a/src/main/java/org/myrobotlab/service/config/ProgramABConfig.java b/src/main/java/org/myrobotlab/service/config/ProgramABConfig.java
index ce9ae14033..0012b6864b 100644
--- a/src/main/java/org/myrobotlab/service/config/ProgramABConfig.java
+++ b/src/main/java/org/myrobotlab/service/config/ProgramABConfig.java
@@ -6,14 +6,11 @@
 import org.myrobotlab.framework.Plan;
 
 public class ProgramABConfig extends ServiceConfig {
-  
-  @Deprecated /* unused text filters */
-  public String[] textFilters;
-  
+    
   /**
-   * a directory ProgramAB will scan for new bots
+   * a directory ProgramAB will scan for new bots on startup
    */
-  public String botDir;
+  public String botDir = "resource/ProgramAB/";
 
   /**
    * explicit bot directories
@@ -24,13 +21,13 @@ public class ProgramABConfig extends ServiceConfig {
    * current sessions bot name, it must match a botname that was scanned
    * currently with ProgramAB Alice, Dr.Who, Mr. Turing and Ency
    */
-  public String currentBotName = "Alice";
+  public String botType = "Alice";
 
   /**
    * User name currently interacting with the bot. Setting it here will
    * default it.
    */
-  public String currentUserName = "human";
+  public String username = "human";
 
   /**
    * sleep current state of the sleep if globalSession is used true : ProgramAB
@@ -45,7 +42,19 @@ public class ProgramABConfig extends ServiceConfig {
    * a new session if available, this means a config/{username}.predicates.txt 
    * will need to exist with a topic field
    */
-  public String startTopic = "unknown";
+  public String startTopic = null;
+
+  /**
+   * bot will prompt users if enabled trolling is true
+   * after maxConversationDelay has passed
+   */
+  public boolean enableTrolling = false;
+
+  
+  /**
+   * Number of milliseconds before the robot starts talking on its own.
+   */
+  public int maxConversationDelay = 5000;
 
   @Override
   public Plan getDefault(Plan plan, String name) {
diff --git a/src/main/java/org/myrobotlab/service/data/SearchResults.java b/src/main/java/org/myrobotlab/service/data/SearchResults.java
index 3981693c71..8a24b94674 100644
--- a/src/main/java/org/myrobotlab/service/data/SearchResults.java
+++ b/src/main/java/org/myrobotlab/service/data/SearchResults.java
@@ -32,6 +32,23 @@ public String getText() {
     }
     return sb.toString();
   }
+  
+  // FIXME - probably should not do this - but leave it up to the service
+  // that created it and keep this data object more simple
+  public String getHtml() {
+    StringBuilder sb = new StringBuilder();
+    for (String t : text) {
+      sb.append(t);
+    }
+    
+    for (ImageData img : images) {
+      sb.append("");
+      sb.append("\n");
+    }
+    return sb.toString();
+  }
 
   public String getTextAndImages() {
     StringBuilder sb = new StringBuilder();
diff --git a/src/main/java/org/myrobotlab/service/data/TopicChange.java b/src/main/java/org/myrobotlab/service/data/TopicChange.java
deleted file mode 100644
index af25c05f06..0000000000
--- a/src/main/java/org/myrobotlab/service/data/TopicChange.java
+++ /dev/null
@@ -1,44 +0,0 @@
-package org.myrobotlab.service.data;
-
-/**
- * Purpose of this class is to be a simple data POJO
- * for ProgramAB topic changes.  This will be useful to
- * interface the state machine implemented in AIML where
- * topic changes represent changes of state.
- * 
- * @author GroG
- *
- */
-public class TopicChange {
- 
-  /**
-   * previous topic or state in this state transition
-   */
-  public String oldTopic;
-  
-  /**
-   * new topic or state name in this transition
-   */
-  public String newTopic;
-  
-  /**
-   * the user name in this state change - usually
-   * current session userName
-   */
-  public String userName;
-  
-  /**
-   * the botName in this state change - typically 
-   * current session botName
-   */
-  public String botName;
-  
-  public TopicChange(String userName, String botName, String newTopic, String oldTopic) {
-    this.userName = userName;
-    this.botName = botName;
-    this.newTopic = newTopic;
-    this.oldTopic = oldTopic;
-  }
-  
-
-}
diff --git a/src/main/java/org/myrobotlab/service/meta/ProgramABMeta.java b/src/main/java/org/myrobotlab/service/meta/ProgramABMeta.java
index 7430f362dd..94ce962ed2 100644
--- a/src/main/java/org/myrobotlab/service/meta/ProgramABMeta.java
+++ b/src/main/java/org/myrobotlab/service/meta/ProgramABMeta.java
@@ -32,7 +32,8 @@ public ProgramABMeta() {
     // TODO: This is for CJK support in ProgramAB move this into the published
     // POM for ProgramAB so they are pulled in transiently.
     addDependency("org.apache.lucene", "lucene-analysis-common", "9.4.2");
-    addDependency("org.apache.lucene", "lucene-analysis-kuromoji", "9.4.2");
+    addDependency("org.apache.lucene", "lucene-analysis-kuromoji", "9.4.2");    
+    addDependency("org.openjdk.nashorn", "nashorn-core", "15.4");
     addCategory("ai", "control");
 
   }
diff --git a/src/test/java/org/myrobotlab/service/ProgramABTest.java b/src/test/java/org/myrobotlab/service/ProgramABTest.java
index a72f9e7b00..d3af491020 100644
--- a/src/test/java/org/myrobotlab/service/ProgramABTest.java
+++ b/src/test/java/org/myrobotlab/service/ProgramABTest.java
@@ -1,79 +1,132 @@
 package org.myrobotlab.service;
 
 import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertNotNull;
 import static org.junit.Assert.assertTrue;
 
 import java.io.File;
 import java.io.IOException;
 import java.util.ArrayList;
+import java.util.List;
 import java.util.Map;
 
+import org.junit.After;
+import org.junit.AfterClass;
 import org.junit.Assert;
 import org.junit.Before;
+import org.junit.BeforeClass;
 import org.junit.Test;
-import org.myrobotlab.framework.Service;
 import org.myrobotlab.io.FileIO;
 import org.myrobotlab.logging.LoggerFactory;
+import org.myrobotlab.programab.BotInfo;
 import org.myrobotlab.programab.Response;
+import org.myrobotlab.programab.Session;
 import org.myrobotlab.service.data.Locale;
 import org.slf4j.Logger;
 
-public class ProgramABTest extends AbstractServiceTest {
+public class ProgramABTest {
 
   public final static Logger log = LoggerFactory.getLogger(ProgramABTest.class);
-  private String botname = "lloyd";
+
+  static protected final String PIKACHU = "pikachu";
+  
+  static protected final String LLOYD = "lloyd";
+
   // TODO: move this to test resources
   private String testResources = "src/test/resources/ProgramAB";
-  private String path = null;
-  private ProgramAB testService;
+
+  static private ProgramAB lloyd;
+
+  static private ProgramAB pikachu;
 
   private String username = "testUser";
 
-  public void addCategoryTest() throws IOException {
-    testService.addCategory("BOOG", "HOWDY");
-    Response resp = testService.getResponse(username, "BOOG");
-    assertTrue(resp.msg.equals("HOWDY"));
+  // This method runs once before any test method in the class
+  @BeforeClass
+  public static void setUpClass() {
+    System.out.println("BeforeClass - Runs once before any test method");
+    lloyd = (ProgramAB) Runtime.start(LLOYD, "ProgramAB");
+    pikachu = (ProgramAB) Runtime.start(PIKACHU, "ProgramAB");
+
+    // very first inits - all should work !
+    assertEquals("4 standard", 4, lloyd.getBots().size());
+    // should require very little to start ! - this is a requirement !
+    Response response = lloyd.getResponse("Hi");
+
+    // expect Alice's aiml processed
+    assertTrue(response.msg.startsWith("Hi"));
+
+    Session session = lloyd.getSession();
+    assertEquals("default user should be human", "human", session.getUsername());
+    assertEquals("default botType should be Alice", "Alice", session.getBotType());
+
+  }
+
+  // This method runs once after all test methods in the class have been
+  // executed
+  @AfterClass
+  public static void tearDownClass() {
+    System.out.println("AfterClass - Runs once after all test methods");
+    Runtime.release(LLOYD);
+    Runtime.release(PIKACHU);
   }
 
-  public Service createService() {
-    try {
-      // LoggingFactory.init("INFO");
-      log.info("Setting up the Program AB Service ########################################");
-      // Load the service under test
-      // a test robot
-      // TODO: this should probably be created by Runtime,
-      // OOB tags might not know what the service name is ?!
-      testService = (ProgramAB) Runtime.start(botname, "ProgramAB");
-      testService.setPath(path);
-      // testService = new ProgramAB("simple");
-      // testService.setPath("c:/mrl/develop/ProgramAB");
-
-      // start the service.
-      testService.startService();
-      // load the bot brain for the chat with the user
-      testService.startSession(username, botname);
-      // clean out any aimlif the bot that might
-      // have been saved in a previous test run!
-      String aimlIFPath = path + "/bots/" + botname + "/aimlif";
-      File aimlIFPathF = new File(aimlIFPath);
-      if (aimlIFPathF.isDirectory()) {
-        for (File f : aimlIFPathF.listFiles()) {
-          // if there's a file here.
-          log.info("Deleting pre-existing AIMLIF files : {}", f.getAbsolutePath());
-          f.delete();
-        }
+  // This method runs before each test method
+  @Before
+  public void setUp() {
+    System.out.println("Before - Runs before each test method");
+    // Perform setup tasks specific to each test method
+
+    // add a couple test bots
+    List bots = lloyd.scanForBots(testResources + "/bots");
+    assertEquals("2 test bots", bots.size(), 2);
+    assertEquals("6 bots total", 6, lloyd.getBots().size());
+        
+    pikachu.scanForBots(testResources + "/bots");
+
+    // validate newly created programab can by default start a session
+    Session session = lloyd.getSession();
+    assertNotNull(session);
+
+    lloyd.setBotType("lloyd");
+    assertEquals("lloyd", lloyd.getBotType());
+
+    // validate error is called when invalid bot type set
+
+    // load the bot brain for the chat with the user
+    lloyd.setSession(username, LLOYD);
+    assertEquals(username, lloyd.getUsername());
+    // clean out any aimlif the bot that might
+    // have been saved in a previous test run!
+    String aimlIFPath = testResources + "/bots/" + LLOYD + "/aimlif";
+    File aimlIFPathF = new File(aimlIFPath);
+    if (aimlIFPathF.isDirectory()) {
+      for (File f : aimlIFPathF.listFiles()) {
+        // if there's a file here.
+        log.info("Deleting pre-existing AIMLIF files : {}", f.getAbsolutePath());
+        f.delete();
       }
-      // TODO: same thing for predicates! (or other artifacts from a previous
-      // aiml
-      // test run)
-    } catch (Exception e) {
-      log.error("createService threw", e);
     }
-    return testService;
   }
 
-  public void listPatternsTest() {
-    ArrayList res = testService.listPatterns(botname);
+  // This method runs after each test method
+  @After
+  public void tearDown() {
+    System.out.println("After - Runs after each test method");
+  }
+
+  @Test
+  public void testAddCategoryTest() throws IOException {
+    lloyd.addCategory("ABCDEF", "ABCDEF");
+    // String username = lloyd.getUsername();
+    // username, 
+    Response resp = lloyd.getResponse("ABCDEF");
+    assertTrue(resp.msg.equals("ABCDEF"));
+  }
+
+  @Test
+  public void testListPatterns() {
+    ArrayList res = lloyd.listPatterns(LLOYD);
     assertTrue(res.size() > 0);
   }
 
@@ -82,42 +135,30 @@ public void listPatternsTest() {
   // stuff
   // @Test
   public void pannousTest() throws IOException {
-    Response resp = testService.getResponse(username, "SHOW ME INMOOV");
+    Response resp = lloyd.getResponse(username, "SHOW ME INMOOV");
     // System.out.println(resp);
     boolean contains = resp.msg.contains("http");
     assertTrue(contains);
   }
 
-  @Before
-  public void setUp() {
-    // TODO: set the location for the temp folder via :
-    // System.getProperty("java.io.tmpdir")
-    // LoggingFactory.init("INFO");
-    // testFolder.getRoot().getAbsolutePath()
-    try {
-      this.path = testFolder.getRoot().getAbsolutePath() + File.separator + "ProgramAB";
-      FileIO.copy(testResources, path);
-    } catch (IOException e) {
-      log.warn("Error extracting resources for test. {}", testResources);
-      Assert.assertNotNull(e);
-    }
-  }
-
-  public void sraixOOBTest() throws IOException {
+  @Test
+  public void testSraixOOB() throws IOException {
     // Response resp = testService.getResponse(username, "MRLSRAIX");
     // System.out.println(resp);
     // boolean contains = resp.msg.contains("foobar");
     // assertTrue(contains);
-    Response resp = testService.getResponse(username, "OOBMRLSRAIX");
+    Response resp = lloyd.getResponse(username, "OOBMRLSRAIX");
     // System.out.println(resp);
     boolean contains = resp.msg.contains("You are talking to lloyd");
     assertTrue(contains);
   }
 
-  public void sraixTest() throws IOException {
+  @Test
+  public void testSraix() throws IOException {
     if (Runtime.hasInternet()) {
-      Response resp = testService.getResponse(username, "MRLSRAIX");
-      //Response resp = testService.getResponse(username, "Why is the sky blue?");
+      Response resp = lloyd.getResponse(username, "MRLSRAIX");
+      // Response resp = testService.getResponse(username, "Why is the sky
+      // blue?");
       // System.out.println(resp);
       // System.out.println(resp);
       boolean contains = resp.msg.contains("information");
@@ -125,75 +166,76 @@ public void sraixTest() throws IOException {
     }
   }
 
+  @Test
   public void testAddEntryToSetAndMaps() throws IOException {
     // TODO: This does NOT work yet!
-    Response resp = testService.getResponse(username, "Add Jabba to the starwarsnames set");
+    Response resp = lloyd.getResponse(username, "Add Jabba to the starwarsnames SET");
     assertEquals("Ok...", resp.msg);
-    resp = testService.getResponse(username, "Add jabba equals Jabba the Hut to the starwars map");
+    resp = lloyd.getResponse(username, "Add jabba equals Jabba the Hut to the starwars MAP");
     assertEquals("Ok...", resp.msg);
-    resp = testService.getResponse(username, "DO YOU LIKE Jabba?");
+    resp = lloyd.getResponse(username, "DO YOU LIKE Jabba?");
     assertEquals("Jabba the Hut is awesome.", resp.msg);
     // TODO : re-enable this one?
     // now test creating a new set.
-    resp = testService.getResponse(username, "Add bourbon to the whiskey set");
+    resp = lloyd.getResponse(username, "Add bourbon to the whiskey SET");
     assertEquals("Ok...", resp.msg);
-    resp = testService.getResponse(username, "NEWSETTEST bourbon");
+    resp = lloyd.getResponse(username, "NEWSETTEST bourbon");
     // assertEquals("bourbon is a whiskey", resp.msg);
   }
 
   @Test
   public void testJapanese() throws IOException {
-
-    ProgramAB pikachu = (ProgramAB) Runtime.start("pikachu", "ProgramAB");
-    pikachu.setPath(path);
-    // pikachu the service.
-    pikachu.startService();
+    pikachu.scanForBots(testResources + "/bots");
+    pikachu.setBotType("pikachu");
+    // setting Japanese locality
+    pikachu.setLocale("ja");
     // load the bot brain for the chat with the user
-    pikachu.startSession(path, username, "pikachu", new java.util.Locale("ja"));
+    pikachu.setSession(username, PIKACHU);
     Response resp = pikachu.getResponse("私はケビンです");
     assertEquals("あなたに会えてよかったケビン", resp.msg);
-    pikachu.releaseService();
+    Runtime.release(PIKACHU);
   }
 
+  @Test
   public void testLearn() throws IOException {
     // Response resp1 = testService.getResponse(session, "SET FOO BAR");
     // System.out.println(resp1.msg);
-    Response resp = testService.getResponse(username, "LEARN AAA IS BBB");
+    Response resp = lloyd.getResponse(username, "LEARN AAA IS BBB");
     // System.out.println(resp.msg);
-    resp = testService.getResponse(username, "WHAT IS AAA");
+    resp = lloyd.getResponse(username, "WHAT IS AAA");
     assertEquals("BBB", resp.msg);
   }
 
   @Test
   public void testMultiSession() throws IOException {
     ProgramAB lloyd = (ProgramAB) Runtime.start("lloyd", "ProgramAB");
-    lloyd.setPath(path);
-    // pikachu the service.
-    lloyd.startService();
+    lloyd.setBotType("lloyd");
     // load the bot brain for the chat with the user
-    lloyd.startSession(path, "user1", "lloyd");
+    lloyd.setSession("user1", "lloyd");
     Response res = lloyd.getResponse("My name is Kevin");
     System.out.println(res);
-    lloyd.startSession(path, "user2", "lloyd");
+    lloyd.setSession("user2", "lloyd");
     res = lloyd.getResponse("My name is Grog");
     System.out.println(res);
-    lloyd.startSession(path, "user1", "lloyd");
+    lloyd.setSession("user1", "lloyd");
     Response respA = lloyd.getResponse("What is my name?");
     System.out.println(respA);
-    lloyd.startSession(path, "user2", "lloyd");
+    lloyd.setSession("user2", "lloyd");
     Response respB = lloyd.getResponse("What is my name?");
     System.out.println(respB);
-
+    lloyd.setSession(username, LLOYD);
     assertEquals("Kevin", respA.msg);
     assertEquals("Grog", respB.msg);
-
-    // release this service.
-    lloyd.releaseService();
-
   }
 
+  @Test
   public void testOOBTags() throws Exception {
-    Response resp = testService.getResponse(username, "OOB TEST");
+
+    // Response resp = testService.getResponse(username, "OOB TEST");
+
+    ProgramAB lloyd = (ProgramAB) Runtime.start("lloyd", "ProgramAB");
+    Response resp = lloyd.getResponse(username, "OOB TEST");
+
     assertEquals("OOB Tag Test", resp.msg);
 
     // TODO figure a mock object that can wait on a callback to let us know the
@@ -201,161 +243,149 @@ public void testOOBTags() throws Exception {
     // wait up to 5 seconds for python service to start
     long maxWait = 6000;
     int i = 0;
-    Runtime.start("python", "Python");
-    while (Runtime.getService("python") == null) {
+
+    while (Runtime.getService("oobclock") == null) {
       Thread.sleep(100);
-      log.info("Waiting for python to start...");
+      log.info("waiting for oobclock to start...");
       i++;
       if (i > maxWait) {
-        Assert.assertFalse("Took too long to process OOB tag", i > maxWait);
+        Assert.assertFalse("took too long to process OOB tag", i > maxWait);
       }
     }
-    Assert.assertNotNull(Runtime.getService("python"));
-
+    Assert.assertNotNull(Runtime.getService("oobclock"));
+    Runtime.release("oobclock");
   }
 
+  @Test
   public void testPredicates() {
     // test removing the predicate if it exists
-    testService.setPredicate(username, "name", "foo1");
-    String name = testService.getPredicate(username, "name");
+    lloyd.setPredicate(username, "name", "foo1");
+    String name = lloyd.getPredicate(username, "name");
     // validate it's set properly
     assertEquals("foo1", name);
-    testService.removePredicate(username, "name");
+    lloyd.removePredicate(username, "name");
     // validate the predicate doesn't exist
-    name = testService.getPredicate(username, "name");
+    name = lloyd.getPredicate(username, "name");
     // TODO: is this valid? one would expect it would return null.
     assertEquals("unknown", name);
     // set a predicate
-    testService.setPredicate(username, "name", "foo2");
-    name = testService.getPredicate(username, "name");
+    lloyd.setPredicate(username, "name", "foo2");
+    name = lloyd.getPredicate(username, "name");
     // validate it's set properly
     assertEquals("foo2", name);
   }
 
+  @Test
   public void testProgramAB() throws Exception {
     // a response
-    Response resp = testService.getResponse(username, "UNIT TEST PATTERN");
+    Response resp = lloyd.getResponse(username, "UNIT TEST PATTERN");
     // System.out.println(resp.msg);
     assertEquals("Unit Test Pattern Passed", resp.msg);
   }
 
+  @Test
   public void testSavePredicates() throws IOException {
     long uniqueVal = System.currentTimeMillis();
     String testValue = String.valueOf(uniqueVal);
-    Response resp = testService.getResponse(username, "SET FOO " + testValue);
+    Response resp = lloyd.getResponse(username, "SET FOO " + testValue);
     assertEquals(testValue, resp.msg);
-    testService.savePredicates();
-    testService.reloadSession(username, botname);
-    resp = testService.getResponse(username, "GET FOO");
+    lloyd.savePredicates();
+    lloyd.reloadSession(username, LLOYD);
+    resp = lloyd.getResponse(username, "GET FOO");
     assertEquals("FOO IS " + testValue, resp.msg);
   }
 
-  @Override
-  public void testService() throws Exception {
-    // run each of the test methods.
-    testProgramAB();
-    testOOBTags();
-    testSavePredicates();
-    testPredicates();
-    testLearn();
-    testSets();
-    testSetsAndMaps();
-    testAddEntryToSetAndMaps();
-    testTopicCategories();
-    umlautTest();
-    listPatternsTest();
-    // This following test is known to be busted..
-    // pannousTest();
-    addCategoryTest();
-    sraixOOBTest();
-    sraixTest(); // this should call out to wikipedia for info about Claude Shannon.
-    // on pannous bots
-    testUppercase();
-  }
-
+  @Test
   public void testUppercase() {
     // test a category where the aiml tag is uppercased.
-    Response resp = testService.getResponse(username, "UPPERCASE");
+    Response resp = lloyd.getResponse(username, "UPPERCASE");
     assertEquals("Passed", resp.msg);
   }
 
+  @Test
   public void testSets() throws IOException {
-    Response resp = testService.getResponse(username, "SETTEST CAT");
+    Response resp = lloyd.getResponse(username, "SETTEST CAT");
     assertEquals("An Animal.", resp.msg);
-    resp = testService.getResponse(username, "SETTEST MOUSE");
+    resp = lloyd.getResponse(username, "SETTEST MOUSE");
     assertEquals("An Animal.", resp.msg);
-    resp = testService.getResponse(username, "SETTEST DOG");
+    resp = lloyd.getResponse(username, "SETTEST DOG");
     // System.out.println(resp.msg);
     assertEquals("An Animal.", resp.msg);
   }
 
+  @Test
   public void testSetsAndMaps() throws IOException {
-    Response resp = testService.getResponse(username, "DO YOU LIKE Leah?");
+    Response resp = lloyd.getResponse(username, "DO YOU LIKE Leah?");
     assertEquals("Princess Leia Organa is awesome.", resp.msg);
-    resp = testService.getResponse(username, "DO YOU LIKE Princess Leah?");
+    resp = lloyd.getResponse(username, "DO YOU LIKE Princess Leah?");
     assertEquals("Princess Leia Organa is awesome.", resp.msg);
   }
 
+  @Test
   public void testTopicCategories() throws IOException {
+    lloyd.removePredicate(username, "topic");
+    String topic = lloyd.getTopic();
+    assertEquals("unknown", topic);
     // Top level definition
-    Response resp = testService.getResponse(username, "TESTTOPICTEST");
+    Response resp = lloyd.getResponse(username, "TESTTOPICTEST");
     assertEquals("TOPIC IS unknown", resp.msg);
-    resp = testService.getResponse(username, "SET TOPIC TEST");
-    resp = testService.getResponse(username, "TESTTOPICTEST");
+    resp = lloyd.getResponse(username, "SET TOPIC TEST");
+    resp = lloyd.getResponse(username, "TESTTOPICTEST");
     assertEquals("TEST TOPIC RESPONSE", resp.msg);
     // maybe we can still fallback to non-topic responses.
-    resp = testService.getResponse(username, "HI");
+    resp = lloyd.getResponse(username, "HI");
     assertEquals("Hello user!", resp.msg);
     // TODO: how the heck do we unset a predicate from AIML?
-    testService.unsetPredicate(username, "topic");
-    resp = testService.getResponse(username, "TESTTOPICTEST");
+    lloyd.removePredicate(username, "topic");
+    resp = lloyd.getResponse(username, "TESTTOPICTEST");
     assertEquals("TOPIC IS unknown", resp.msg);
   }
 
-  public void umlautTest() throws IOException {
-    Response resp = testService.getResponse(username, "Lars Ümlaüt");
+  @Test
+  public void testUmlaut() throws IOException {
+    Response resp = lloyd.getResponse(username, "Lars Ümlaüt");
     // @GroG says - "this is not working"
     assertEquals("He's a character from Guitar Hero!", resp.msg);
   }
 
   @Test
   public void testLocales() {
-    // have locales
-    ProgramAB lloyd = (ProgramAB)Runtime.start("pikachu", "ProgramAB");
-    // lloyd.setPath(path);
-    lloyd.addBotsDir(path + File.separator + "bots");
-    lloyd.setCurrentBotName("pikachu");
+    ProgramAB lloyd = (ProgramAB) Runtime.start("pikachu", "ProgramAB");
+    lloyd.addBots(testResources + "/" + "bots");
+    lloyd.setBotType("pikachu");
     Map locales = lloyd.getLocales();
-    assertTrue(locales.size() > 0);
     assertTrue(locales.containsKey("ja"));
   }
 
   @Test
-  public void testReload() {
-    // FIXME - TODO
-    // reload bot creates a new bot leaves old references :(
-    // verify reload
-    /*
-     * Preferably with default bot ProgramAB lloyd =
-     * (ProgramAB)Runtime.start("lloyd", "ProgramAB"); // did not work because
-     * lloyd is lame // lloyd.getResponse("my name is george"); Response
-     * response = lloyd.getResponse("what is my name?");
-     * 
-     * BotInfo botInfo = lloyd.getBotInfo(); Bot oldBot = botInfo.getBot();
-     * lloyd.reload(); Bot newBotInfo = botInfo.getBot();
-     * assertNotEquals(oldBot, newBotInfo);
-     * 
-     * response = lloyd.getResponse("what is my name?");
-     * assertTrue(response.msg.contains("george"));
-     */
+  public void testReload() throws IOException {
+    lloyd.getResponse("my name is george");
+    Response response = lloyd.getResponse("what is my name?");
+
+    BotInfo botInfo = lloyd.getBotInfo();
+
+    String newFile = botInfo.path.getAbsolutePath() + File.separator + "aiml" + File.separator + "newFileCategory.aiml";
+    String newFileCategory = "RELOAD";
+    FileIO.toFile(newFile, newFileCategory);
+
+    lloyd.reload();
+
+    response = lloyd.getResponse("RELOAD");
+    assertTrue(response.msg.contains("I have reloaded"));
+    
+    response = lloyd.getResponse("what is my name?");
+    assertTrue(response.msg.contains("george"));
+    
+    // clean out file
+    new File(newFile).delete();
+    
   }
 
   @Test
   public void testDefaultSession() throws IOException {
     // minimal startup - create the service get a response
     ProgramAB lloyd = (ProgramAB) Runtime.start("lloyd", "ProgramAB");
-    lloyd.setPath(path);
-    lloyd.setCurrentBotName("lloyd");
+    lloyd.setBotType("lloyd");
     assertTrue(lloyd.getBots().size() > 0);
 
     // test for a response
@@ -370,7 +400,7 @@ public void testDefaultSession() throws IOException {
   // TODO - tests
   // ProgramAB starts - it should find its own bot info's
   // set username = default
-  // set botname = what is available if NOT set
+  // set LLOYD = what is available if NOT set
   // getResponse() -> if current session doesn't exist - get bot
   // if current bot doesn't exist - attempt to activate it
   // test - absolute minimal setup and getResponse ... 2 lines ? 1?

From 37675a8d17fa3f0c2d52be228455b7d9b23e2ce5 Mon Sep 17 00:00:00 2001
From: grog 
Date: Tue, 5 Dec 2023 11:02:47 -0800
Subject: [PATCH 096/232] dragged in from deps

---
 .../java/org/myrobotlab/service/InMoov2.java  | 1419 ++++++++++++-----
 .../java/org/myrobotlab/service/Lloyd.java    |   20 +-
 .../service/config/InMoov2Config.java         |  372 ++++-
 3 files changed, 1354 insertions(+), 457 deletions(-)

diff --git a/src/main/java/org/myrobotlab/service/InMoov2.java b/src/main/java/org/myrobotlab/service/InMoov2.java
index 7ef89d2465..c1b384bb86 100644
--- a/src/main/java/org/myrobotlab/service/InMoov2.java
+++ b/src/main/java/org/myrobotlab/service/InMoov2.java
@@ -3,14 +3,19 @@
 import java.io.File;
 import java.io.FilenameFilter;
 import java.io.IOException;
+import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.LinkedHashMap;
 import java.util.List;
 import java.util.Map;
+import java.util.Optional;
 import java.util.Set;
+import java.util.TreeMap;
 import java.util.TreeSet;
+import java.util.concurrent.locks.ReentrantLock;
 
 import org.apache.commons.io.FilenameUtils;
+import org.myrobotlab.codec.CodecUtils;
 import org.myrobotlab.framework.Message;
 import org.myrobotlab.framework.Plan;
 import org.myrobotlab.framework.Platform;
@@ -24,29 +29,33 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.opencv.OpenCVData;
-import org.myrobotlab.programab.PredicateEvent;
 import org.myrobotlab.programab.Response;
+import org.myrobotlab.programab.models.Event;
+import org.myrobotlab.service.Log.LogEntry;
 import org.myrobotlab.service.abstracts.AbstractSpeechRecognizer;
 import org.myrobotlab.service.abstracts.AbstractSpeechSynthesis;
 import org.myrobotlab.service.config.InMoov2Config;
 import org.myrobotlab.service.config.OpenCVConfig;
 import org.myrobotlab.service.config.SpeechSynthesisConfig;
 import org.myrobotlab.service.data.JoystickData;
-import org.myrobotlab.service.data.LedDisplayData;
 import org.myrobotlab.service.data.Locale;
+import org.myrobotlab.service.data.SensorData;
 import org.myrobotlab.service.interfaces.IKJointAngleListener;
 import org.myrobotlab.service.interfaces.JoystickListener;
 import org.myrobotlab.service.interfaces.LocaleProvider;
 import org.myrobotlab.service.interfaces.ServiceLifeCycleListener;
 import org.myrobotlab.service.interfaces.ServoControl;
 import org.myrobotlab.service.interfaces.Simulator;
+import org.myrobotlab.service.interfaces.SpeechListener;
 import org.myrobotlab.service.interfaces.SpeechRecognizer;
 import org.myrobotlab.service.interfaces.SpeechSynthesis;
 import org.myrobotlab.service.interfaces.TextListener;
 import org.myrobotlab.service.interfaces.TextPublisher;
 import org.slf4j.Logger;
 
-public class InMoov2 extends Service implements ServiceLifeCycleListener, TextListener, TextPublisher, JoystickListener, LocaleProvider, IKJointAngleListener {
+public class InMoov2 extends Service
+    implements ServiceLifeCycleListener, SpeechListener, TextListener, TextPublisher, JoystickListener, LocaleProvider,
+    IKJointAngleListener {
 
   public final static Logger log = LoggerFactory.getLogger(InMoov2.class);
 
@@ -56,16 +65,22 @@ public class InMoov2 extends Service implements ServiceLifeCycleL
 
   static String speechRecognizer = "WebkitSpeechRecognition";
 
+  /**
+   * number of times waited in boot state
+   */
+  protected int bootCount = 0;
+
   /**
    * This method will load a python file into the python interpreter.
    * 
    * @param file
-   *          file to load
+   *             file to load
    * @return success/failure
    */
   @Deprecated /* use execScript - this doesn't handle resources correctly */
   public static boolean loadFile(String file) {
     File f = new File(file);
+    // FIXME cannot be casting to Python
     Python p = (Python) Runtime.getService("python");
     log.info("Loading  Python file {}", f.getAbsolutePath());
     if (p == null) {
@@ -95,6 +110,11 @@ public static boolean loadFile(String file) {
     return true;
   }
 
+  /**
+   * the config that was processed before booting, if there was one.
+   */
+  protected String bootedConfig = null;
+
   protected transient ProgramAB chatBot;
 
   protected List configList;
@@ -109,12 +129,28 @@ public static boolean loadFile(String file) {
 
   protected transient SpeechRecognizer ear;
 
+  protected List errors = new ArrayList<>();
+
+  /**
+   * The finite state machine is core to managing state of InMoov2. There is
+   * very little benefit gained in having the interactions pub/sub. Therefore,
+   * there will be a direct reference to the fsm. If different state graph is
+   * needed, then the fsm can provide that service.
+   */
+  private transient FiniteStateMachine fsm = null;
 
   // waiting controable threaded gestures we warn user
   protected boolean gestureAlreadyStarted = false;
 
   protected Set gestures = new TreeSet();
 
+  /**
+   * Prevents actions or events from happening when InMoov2 is first booted
+   */
+  protected boolean hasBooted = false;
+
+  protected boolean isPirOn = false;
+
   protected transient HtmlFilter htmlFilter;
 
   protected transient ImageDisplay imageDisplay;
@@ -138,10 +174,27 @@ public static boolean loadFile(String file) {
 
   protected transient Python python;
 
+  protected long stateLastIdleTime = System.currentTimeMillis();
+
+  protected long stateLastRandomTime = System.currentTimeMillis();
+
   protected String voiceSelected;
 
+  /**
+   * Generalized memory, used for normalizing data from different services into
+   * one centralized
+   * place. Not the same as configuration, as this definition is owned by what the
+   * user
+   * needs vs configuration is what the service needs and understands.
+   * Python, ProgramAB and the InMoov2 service can all normalize their data here
+   * with one way or two way bindings
+   */
+  protected Map memory = new TreeMap<>();
+
   public InMoov2(String n, String id) {
     super(n, id);
+    locales = Locale.getLocaleMap("en-US", "fr-FR", "es-ES", "de-DE", "nl-NL", "ru-RU", "hi-IN", "it-IT", "fi-FI",
+        "pt-PT", "tr-TR");
   }
 
   // should be removed in favor of general listeners
@@ -155,7 +208,7 @@ public InMoov2Config apply(InMoov2Config c) {
     super.apply(c);
     try {
 
-      locales = Locale.getLocaleMap("en-US", "fr-FR", "es-ES", "de-DE", "nl-NL", "ru-RU", "hi-IN", "it-IT", "fi-FI", "pt-PT", "tr-TR");
+      Runtime.start("python");
 
       if (c.locale != null) {
         setLocale(c.locale);
@@ -163,14 +216,6 @@ public InMoov2Config apply(InMoov2Config c) {
         setLocale(getSupportedLocale(Runtime.getInstance().getLocale().toString()));
       }
 
-      loadAppsScripts();
-      
-      loadInitScripts();
-
-      if (c.loadGestures) {
-        loadGestures();
-      }
-
       if (c.heartbeat) {
         startHeartbeat();
       } else {
@@ -183,8 +228,6 @@ public InMoov2Config apply(InMoov2Config c) {
     return c;
   }
 
-
-
   @Override
   public void attachTextListener(String name) {
     addListener("publishText", name);
@@ -383,21 +426,15 @@ public void enable() {
    * @param pythonCode
    * @return
    */
-  public boolean exec(String pythonCode) {
-    try {
-      Python p = (Python) Runtime.start("python", "Python");
-      return p.exec(pythonCode, true);
-    } catch (Exception e) {
-      error("unable to execute script %s", pythonCode);
-      return false;
-    }
+  public void exec(String pythonCode) {
+    send("python", "exec", pythonCode);
   }
 
   /**
    * This method will try to launch a python command with error handling
    * 
    * @param gesture
-   *          the gesture
+   *                the gesture
    * @return gesture result
    */
   public String execGesture(String gesture) {
@@ -407,6 +444,7 @@ public String execGesture(String gesture) {
     subscribe("python", "publishStatus", this.getName(), "onGestureStatus");
     startedGesture(gesture);
     lastGestureExecuted = gesture;
+    // FIXME cannot be casting to Python
     Python python = (Python) Runtime.getService("python");
     if (python == null) {
       error("python service not started");
@@ -415,28 +453,36 @@ public String execGesture(String gesture) {
     return python.evalAndWait(gesture);
   }
 
+  /**
+   * Possible pub/sub way to interface with python - no blocking though
+   * 
+   * @param code
+   * @return
+   */
+  public String publishPython(String code) {
+    return code;
+  }
+
   /**
    * FIXME - I think there was lots of confusion of executing resources or just
    * a file on the file system ... "execScript" I would expect to be just a file
    * on the file system.
    * 
+   * FIXME - this is a mess - the UI uses this function exhaustively, it should
+   * not ! it should be appropriately named to execResource or execResourcefile
+   *
+   * 
    * If resource semantics are needed there should be a execResourceScript which
    * adds the context and calls the underlying execScript "which only" executes
    * a filesystem file :P
    * 
    * @param someScriptName
-   *          execute a resource script
+   *                       execute a resource script
    * @return success or failure
    */
-  public boolean execScript(String someScriptName) {
-    try {
-      Python p = (Python) Runtime.start("python", "Python");
-      String script = getResourceAsString(someScriptName);
-      return p.exec(script, true);
-    } catch (Exception e) {
-      error("unable to execute script %s", someScriptName);
-      return false;
-    }
+  public void execScript(String someScriptName) {
+    String script = getResourceAsString(someScriptName);
+    send("python", "exec", script);
   }
 
   public void finishedGesture() {
@@ -455,7 +501,23 @@ public void finishedGesture(String nameOfGesture) {
 
   // FIXME - this isn't the callback for fsm - why is it needed here ?
   public void fire(String event) {
-    invoke("publishEvent", event);
+    // systemEvent(event);
+    fsm.fire(event);
+  }
+
+  /**
+   * used to configure a flashing event - could use configuration to signal
+   * different colors and states
+   * 
+   * @return
+   */
+  public void flash() {
+    invoke("publishFlash", "default");
+  }
+
+  public String flash(String name) {
+    invoke("publishFlash", name);
+    return name;
   }
 
   public void fullSpeed() {
@@ -467,13 +529,41 @@ public void fullSpeed() {
     sendToPeer("torso", "fullSpeed");
   }
 
-  // FIXME - remove all of this form of localization
+  /**
+   * Generalized memory get/set
+   * will probably need to save at some point as well
+   * 
+   * @param key
+   * @return
+   */
   public String get(String key) {
-    String ret = localize(key);
-    if (ret != null) {
-      return ret;
+    Object ret = memory.get(key);
+    if (ret == null) {
+      return null;
     }
-    return "not yet translated";
+    return ret.toString();
+  }
+
+  /**
+   * Generalized memory setter
+   * 
+   * @param key
+   * @param data
+   * @return
+   */
+  public Object set(String key, Object data) {
+    return memory.put(key, data);
+  }
+
+  /**
+   * rebroadcasted from chatBot whenever predicates change
+   * 
+   * @param predicate
+   * @return
+   */
+  public Event publishPredicate(Event predicate) {
+    predicate.src = getName();
+    return predicate;
   }
 
   public InMoov2Arm getArm(String side) {
@@ -502,30 +592,39 @@ public InMoov2Head getHead() {
    * @return the timestamp of the last activity time.
    */
   public Long getLastActivityTime() {
-    try {
-
-      Long lastActivityTime = 0L;
-
-      Long head = (Long) sendToPeerBlocking("head", "getLastActivityTime", getName());
-      Long leftArm = (Long) sendToPeerBlocking("leftArm", "getLastActivityTime", getName());
-      Long rightArm = (Long) sendToPeerBlocking("rightArm", "getLastActivityTime", getName());
-      Long leftHand = (Long) sendToPeerBlocking("leftHand", "getLastActivityTime", getName());
-      Long rightHand = (Long) sendToPeerBlocking("rightHand", "getLastActivityTime", getName());
-      Long torso = (Long) sendToPeerBlocking("torso", "getLastActivityTime", getName());
-
-      lastActivityTime = Math.max(head, leftArm);
-      lastActivityTime = Math.max(lastActivityTime, rightArm);
-      lastActivityTime = Math.max(lastActivityTime, leftHand);
-      lastActivityTime = Math.max(lastActivityTime, rightHand);
-      lastActivityTime = Math.max(lastActivityTime, torso);
-
-      return lastActivityTime;
-
-    } catch (Exception e) {
-      error(e);
-      return null;
+    Long head = (InMoov2Head) getPeer("head") != null ? ((InMoov2Head) getPeer("head")).getLastActivityTime() : null;
+    Long leftArm = (InMoov2Arm) getPeer("leftArm") != null ? ((InMoov2Arm) getPeer("leftArm")).getLastActivityTime()
+        : null;
+    Long rightArm = (InMoov2Arm) getPeer("rightArm") != null ? ((InMoov2Arm) getPeer("rightArm")).getLastActivityTime()
+        : null;
+    Long leftHand = (InMoov2Hand) getPeer("leftHand") != null
+        ? ((InMoov2Hand) getPeer("leftHand")).getLastActivityTime()
+        : null;
+    Long rightHand = (InMoov2Hand) getPeer("rightHand") != null
+        ? ((InMoov2Hand) getPeer("rightHand")).getLastActivityTime()
+        : null;
+    Long torso = (InMoov2Torso) getPeer("torso") != null ? ((InMoov2Torso) getPeer("torso")).getLastActivityTime()
+        : null;
+
+    Long lastActivityTime = null;
+
+    if (head != null || leftArm != null || rightArm != null || leftHand != null || rightHand != null || torso != null) {
+      lastActivityTime = 0L;
+      if (head != null)
+        lastActivityTime = Math.max(lastActivityTime, head);
+      if (leftArm != null)
+        lastActivityTime = Math.max(lastActivityTime, leftArm);
+      if (rightArm != null)
+        lastActivityTime = Math.max(lastActivityTime, rightArm);
+      if (leftHand != null)
+        lastActivityTime = Math.max(lastActivityTime, leftHand);
+      if (rightHand != null)
+        lastActivityTime = Math.max(lastActivityTime, rightHand);
+      if (torso != null)
+        lastActivityTime = Math.max(lastActivityTime, torso);
     }
 
+    return lastActivityTime;
   }
 
   public InMoov2Arm getLeftArm() {
@@ -574,6 +673,13 @@ public InMoov2Hand getRightHand() {
     return (InMoov2Hand) getPeer("rightHand");
   }
 
+  public String getState() {
+    if (fsm == null) {
+      return null;
+    }
+    return fsm.getCurrent();
+  }
+
   /**
    * matches on language only not variant expands language match to full InMoov2
    * bot locale
@@ -604,10 +710,6 @@ public InMoov2Torso getTorso() {
     return (InMoov2Torso) getPeer("torso");
   }
 
-  public InMoov2Config getTypedConfig() {
-    return (InMoov2Config) config;
-  }
-
   public void halfSpeed() {
     sendToPeer("head", "setSpeed", 25.0, 25.0, 25.0, 25.0, 100.0, 25.0);
     sendToPeer("rightHand", "setSpeed", 30.0, 30.0, 30.0, 30.0, 30.0, 30.0);
@@ -648,7 +750,7 @@ public void loadAppsScripts() throws IOException {
     loadScripts(getResourceDir() + fs + "gestures/InMoovApps/Rock_Paper_Scissors");
     loadScripts(getResourceDir() + fs + "gestures/InMoovApps/Kids_WordsGame");
   }
-  
+
   public void loadGestures() {
     loadGestures(getResourceDir() + fs + "gestures");
   }
@@ -659,11 +761,11 @@ public void loadGestures() {
    * file should contain 1 method definition that is the same as the filename.
    * 
    * @param directory
-   *          - the directory that contains the gesture python files.
+   *                  - the directory that contains the gesture python files.
    * @return true/false
    */
   public boolean loadGestures(String directory) {
-    invoke("publishEvent", "LOAD GESTURES");
+    systemEvent("LOAD GESTURES");
 
     // iterate over each of the python files in the directory
     // and load them into the python interpreter.
@@ -693,7 +795,7 @@ public boolean loadGestures(String directory) {
     info("%s Gestures loaded, %s Gestures with error", totalLoaded, totalError);
     broadcastState();
     if (totalError > 0) {
-      invoke("publishEvent", "GESTURE_ERROR");
+      systemEvent("GESTURE_ERROR");
       return false;
     }
     return true;
@@ -709,7 +811,7 @@ public void loadScripts(String directory) throws IOException {
     File dir = new File(directory);
 
     if (!dir.exists() || !dir.isDirectory()) {
-      invoke("publishEvent", "LOAD SCRIPTS ERROR");
+      systemEvent("LOAD SCRIPTS ERROR");
       return;
     }
 
@@ -724,17 +826,24 @@ public boolean accept(File dir, String name) {
 
       if (files != null) {
         for (File file : files) {
-          Python p = (Python) Runtime.start("python", "Python");
-          if (p != null) {
-            p.execFile(file.getAbsolutePath());
-          }
+          send("python", "execFile", file.getAbsolutePath());
         }
       }
     }
   }
 
   public void moveArm(String which, Double bicep, Double rotate, Double shoulder, Double omoplate) {
-    invoke("publishMoveArm", which, bicep, rotate, shoulder, omoplate);
+    HashMap map = new HashMap<>();
+    Optional.ofNullable(bicep).ifPresent(value -> map.put("bicep", value));
+    Optional.ofNullable(rotate).ifPresent(value -> map.put("rotate", value));
+    Optional.ofNullable(shoulder).ifPresent(value -> map.put("shoulder", value));
+    Optional.ofNullable(omoplate).ifPresent(value -> map.put("omoplate", value));
+
+    if ("left".equals(which)) {
+      invoke("publishMoveLeftArm", map);
+    } else {
+      invoke("publishMoveRightArm", map);
+    }
   }
 
   public void moveEyelids(Double eyelidleftPos, Double eyelidrightPos) {
@@ -749,8 +858,21 @@ public void moveHand(String which, Double thumb, Double index, Double majeure, D
     moveHand(which, thumb, index, majeure, ringFinger, pinky, null);
   }
 
-  public void moveHand(String which, Double thumb, Double index, Double majeure, Double ringFinger, Double pinky, Double wrist) {
-    invoke("publishMoveHand", which, thumb, index, majeure, ringFinger, pinky, wrist);
+  public void moveHand(String which, Double thumb, Double index, Double majeure, Double ringFinger, Double pinky,
+      Double wrist) {
+    HashMap map = new HashMap<>();
+    Optional.ofNullable(thumb).ifPresent(value -> map.put("thumb", value));
+    Optional.ofNullable(index).ifPresent(value -> map.put("index", value));
+    Optional.ofNullable(majeure).ifPresent(value -> map.put("majeure", value));
+    Optional.ofNullable(ringFinger).ifPresent(value -> map.put("ringFinger", value));
+    Optional.ofNullable(pinky).ifPresent(value -> map.put("pinky", value));
+    Optional.ofNullable(wrist).ifPresent(value -> map.put("wrist", value));
+
+    if ("left".equals(which)) {
+      invoke("publishMoveLeftHand", map);
+    } else {
+      invoke("publishMoveRightHand", map);
+    }
   }
 
   public void moveHead(Double neck, Double rothead) {
@@ -766,13 +888,24 @@ public void moveHead(Double neck, Double rothead, Double eyeX, Double eyeY, Doub
   }
 
   public void moveHead(Double neck, Double rothead, Double eyeX, Double eyeY, Double jaw, Double rollNeck) {
-    invoke("publishMoveHead", neck, rothead, eyeX, eyeY, jaw, rollNeck);
+    HashMap map = new HashMap<>();
+    Optional.ofNullable(neck).ifPresent(value -> map.put("neck", value));
+    Optional.ofNullable(rothead).ifPresent(value -> map.put("rothead", value));
+    Optional.ofNullable(eyeX).ifPresent(value -> map.put("eyeX", value));
+    Optional.ofNullable(eyeY).ifPresent(value -> map.put("eyeY", value));
+    Optional.ofNullable(jaw).ifPresent(value -> map.put("jaw", value));
+    Optional.ofNullable(rollNeck).ifPresent(value -> map.put("rollNeck", value));
+    invoke("publishMoveHead", map);
   }
 
   public void moveHead(Integer neck, Integer rothead, Integer rollNeck) {
     moveHead((double) neck, (double) rothead, null, null, null, (double) rollNeck);
   }
 
+  public void moveHeadBlocking(Integer neck, Integer rothead) {
+    moveHeadBlocking((double) neck, (double) rothead, null);
+  }
+
   public void moveHeadBlocking(Double neck, Double rothead) {
     moveHeadBlocking(neck, rothead, null);
   }
@@ -801,8 +934,10 @@ public void moveLeftHand(Double thumb, Double index, Double majeure, Double ring
     moveHand("left", thumb, index, majeure, ringFinger, pinky, wrist);
   }
 
-  public void moveLeftHand(Integer thumb, Integer index, Integer majeure, Integer ringFinger, Integer pinky, Integer wrist) {
-    moveHand("left", (double) thumb, (double) index, (double) majeure, (double) ringFinger, (double) pinky, (double) wrist);
+  public void moveLeftHand(Integer thumb, Integer index, Integer majeure, Integer ringFinger, Integer pinky,
+      Integer wrist) {
+    moveHand("left", (double) thumb, (double) index, (double) majeure, (double) ringFinger, (double) pinky,
+        (double) wrist);
   }
 
   public void moveRightArm(Double bicep, Double rotate, Double shoulder, Double omoplate) {
@@ -813,13 +948,18 @@ public void moveRightHand(Double thumb, Double index, Double majeure, Double rin
     moveHand("right", thumb, index, majeure, ringFinger, pinky, wrist);
   }
 
-  public void moveRightHand(Integer thumb, Integer index, Integer majeure, Integer ringFinger, Integer pinky, Integer wrist) {
-    moveHand("right", (double) thumb, (double) index, (double) majeure, (double) ringFinger, (double) pinky, (double) wrist);
+  public void moveRightHand(Integer thumb, Integer index, Integer majeure, Integer ringFinger, Integer pinky,
+      Integer wrist) {
+    moveHand("right", (double) thumb, (double) index, (double) majeure, (double) ringFinger, (double) pinky,
+        (double) wrist);
   }
 
   public void moveTorso(Double topStom, Double midStom, Double lowStom) {
-    // the "right" way
-    invoke("publishMoveTorso", topStom, midStom, lowStom);
+    HashMap map = new HashMap<>();
+    Optional.ofNullable(topStom).ifPresent(value -> map.put("topStom", value));
+    Optional.ofNullable(midStom).ifPresent(value -> map.put("midStom", value));
+    Optional.ofNullable(lowStom).ifPresent(value -> map.put("lowStom", value));
+    invoke("publishMoveTorso", map);
   }
 
   public void moveTorsoBlocking(Double topStom, Double midStom, Double lowStom) {
@@ -827,10 +967,10 @@ public void moveTorsoBlocking(Double topStom, Double midStom, Double lowStom) {
     sendToPeer("torso", "moveToBlocking", topStom, midStom, lowStom);
   }
 
-  public PredicateEvent onChangePredicate(PredicateEvent event) {
+  public Event onChangePredicate(Event event) {
     log.error("onChangePredicate {}", event);
     if (event.name.equals("topic")) {
-      invoke("publishEvent", String.format("TOPIC CHANGED TO %s", event.value));
+      systemEvent(String.format("TOPIC CHANGED TO %s", event.value));
     }
     // depending on configuration ....
     // call python ?
@@ -839,11 +979,17 @@ public PredicateEvent onChangePredicate(PredicateEvent event) {
     return event;
   }
 
+  public void onConfigFinished(String configName) {
+    log.info("onConfigFinished");
+    configStarted = false;
+    invoke("publishBoot");
+  }
+
   /**
    * comes in from runtime which owns the config list
    * 
    * @param configList
-   *          list of configs
+   *                   list of configs
    */
   public void onConfigList(List configList) {
     this.configList = configList;
@@ -857,8 +1003,8 @@ public void onCreated(String fullname) {
 
   public void onFinishedConfig(String configName) {
     log.info("onFinishedConfig");
-    // invoke("publishEvent", "configFinished");
-    invoke("publishFinishedConfig", configName);
+    // systemEvent("configFinished");
+    invoke("publishConfigFinished", configName);
   }
 
   public void onGestureStatus(Status status) {
@@ -870,6 +1016,170 @@ public void onGestureStatus(Status status) {
     unsubscribe("python", "publishStatus", this.getName(), "onGestureStatus");
   }
 
+  protected long heartbeatCount = 0;
+
+  /**
+   * Allows or prevents sensor input from processing.
+   * Initial boot prevents sensor data from interfering with booting.
+   */
+  protected boolean allowSensorInput = false;
+
+  /**
+   * A generalized recurring event which can perform checks and various other
+   * methods or tasks. Heartbeats will not start until after boot stage.
+   */
+  public void onHeartbeat(String name) {
+    try {
+      heartbeatCount++;
+      // heartbeats can start before config is
+      // done processing - so the following should
+      // not be dependent on config
+      Runtime runtime = Runtime.getInstance();
+
+      // no longer having problems with synchronization of other
+      // services - boot is immutable - no scripts can run until it is done
+      // and it will run InMoov2.py
+      if (fsm == null || "boot".equals(getState())) {
+        // need to keep trying to boot
+        boot();
+        log.warn("not ready to leave boot - runtime still processing config");
+        return;
+      }
+      // prepare report
+      if (!hasBooted) {
+        log.info("boot hasn't completed, will not process heartbeat");
+        return;
+      }
+
+      Long lastActivityTime = getLastActivityTime();
+
+      // FIXME lastActivityTime != 0 is bogus - the value should be null if
+      // never set
+      if (config.stateIdleInterval != null && lastActivityTime != null && lastActivityTime != 0
+          && lastActivityTime + (config.stateIdleInterval * 1000) < System.currentTimeMillis()) {
+        stateLastIdleTime = lastActivityTime;
+      }
+
+      // will fire an idle event if there has been no activity
+      if (System.currentTimeMillis() > stateLastIdleTime + (config.stateIdleInterval * 1000)) {
+        fire("idle");
+        stateLastIdleTime = System.currentTimeMillis();
+      }
+
+      // interval event firing
+      if (config.stateRandomInterval != null
+          && System.currentTimeMillis() > stateLastRandomTime + (config.stateRandomInterval * 1000)) {
+        // fire("random");
+        stateLastRandomTime = System.currentTimeMillis();
+      }
+
+      // FIXME publishInactivit(long time)
+      // FIXME publishLastActivity
+
+      if (config.flashOnPir) {
+        Pir pir = (Pir) getPeer("pir");
+        if (pir != null && pir.isActive()) {
+          flash("pir");
+        }
+      }
+
+    } catch (Exception e) {
+      error(e);
+    }
+
+    // if (config.pirOnFlash && isPeerStarted("pir") && isPirOn) {
+    // flash("pir");
+    // }
+
+    if (config.batteryInSystem) {
+      double batteryLevel = Runtime.getBatteryLevel();
+      invoke("publishBatteryLevel", batteryLevel);
+      // FIXME - thresholding should always have old value or state
+      // so we don't pump endless errors
+      if (batteryLevel < 5) {
+        error("battery level < 5 percent");
+        // systemEvent(BATTERY ERROR)
+      } else if (batteryLevel < 10) {
+        warn("battery level < 10 percent");
+        // systemEvent(BATTERY WARN)
+      }
+    }
+
+    // flash error until errors are cleared
+    if (config.flashOnErrors) {
+      if (errors.size() > 0) {
+        invoke("publishFlash", "error");
+      } else {
+        // invoke("publishFlash", "heartbeat");
+      }
+    }
+
+    // has processed system events
+    // if led report ...
+    if (isPeerStarted("neoPixel") && !isSpeaking) {
+      // FIXME - publishLedMatrix
+      // FIXME direct type is bad :(
+      NeoPixel neo = (NeoPixel) getPeer("neoPixel");
+      if (neo != null) {
+        // neo.clearPixelSet();
+
+        String state = getState();
+        if (state != null) {
+          // log.info("hashcode {} {}", state, state.hashCode());
+          // base bottom blue square
+          String color = CodecUtils.hashcodeToHex(state.hashCode());
+          log.info("hashcode {} {} {}", state, color, state.hashCode());
+          neo.setPixel(134, color);
+          neo.setPixel(135, color);
+          neo.setPixel(136, color);
+          neo.setPixel(137, color);
+        }
+
+        if (heartbeatCount % 2 == 0) {
+          // top heartbeat square off
+          neo.setPixel(132, 0, 0, 0);
+          neo.setPixel(133, 0, 0, 0);
+          neo.setPixel(138, 0, 0, 0);
+          neo.setPixel(139, 0, 0, 0);
+        } else {
+          // top heartbeat square on
+          neo.setPixel(132, 12, 180, 212);
+          neo.setPixel(133, 12, 180, 212);
+          neo.setPixel(138, 12, 180, 212);
+          neo.setPixel(139, 12, 180, 212);
+        }
+
+        // FIXME anywhere exposing type is bad
+        Pir pir = (Pir) getPeer("pir");
+        if (pir != null && pir.isActive()) {
+          neo.setPixel(130, 225, 254, 0);
+          neo.setPixel(131, 225, 254, 0);
+          neo.setPixel(140, 225, 254, 0);
+          neo.setPixel(141, 225, 254, 0);
+        } else {
+          neo.setPixel(130, 0, 0, 0);
+          neo.setPixel(131, 0, 0, 0);
+          neo.setPixel(140, 0, 0, 0);
+          neo.setPixel(141, 0, 0, 0);
+
+        }
+        neo.writeMatrix();
+      }
+    }
+
+  }
+
+  public void onInactivity() {
+    log.info("onInactivity");
+
+    // powerDown ?
+
+  }
+
+  /**
+   * Central hub of input motion control. Potentially, all input from joysticks,
+   * quest2 controllers and headset, or any IK service could be sent here
+   */
   @Override
   public void onJointAngles(Map angleMap) {
     log.debug("onJointAngles {}", angleMap);
@@ -887,7 +1197,65 @@ public void onJointAngles(Map angleMap) {
   public void onJoystickInput(JoystickData input) throws Exception {
     // TODO timer ? to test and not send an event
     // switches to manual control ?
-    invoke("publishEvent", "joystick");
+    systemEvent("joystick");
+  }
+
+  /**
+   * Centralized logging system will have all logging from all services,
+   * including lower level logs that do not propegate as statuses
+   * 
+   * @param log
+   *            - flushed log from Log service
+   */
+  public void onLogEvents(List log) {
+    // scan for warn or errors
+    for (LogEntry entry : log) {
+      if ("ERROR".equals(entry.level) && errors.size() < 100) {
+        errors.add(entry);
+      }
+    }
+  }
+
+  public void onMoveHead(Map map) {
+    InMoov2Head head = (InMoov2Head) getPeer("head");
+    if (head != null) {
+      head.onMove(map);
+    }
+  }
+
+  public void onMoveLeftArm(Map map) {
+    InMoov2Arm leftArm = (InMoov2Arm) getPeer("leftArm");
+    if (leftArm != null) {
+      leftArm.onMove(map);
+    }
+  }
+
+  public void onMoveLeftHand(Map map) {
+    InMoov2Hand leftHand = (InMoov2Hand) getPeer("leftHand");
+    if (leftHand != null) {
+      leftHand.onMove(map);
+    }
+  }
+
+  public void onMoveRightArm(Map map) {
+    InMoov2Arm rightArm = (InMoov2Arm) getPeer("rightArm");
+    if (rightArm != null) {
+      rightArm.onMove(map);
+    }
+  }
+
+  public void onMoveRightHand(Map map) {
+    InMoov2Hand rightHand = (InMoov2Hand) getPeer("rightHand");
+    if (rightHand != null) {
+      rightHand.onMove(map);
+    }
+  }
+
+  public void onMoveTorso(Map map) {
+    InMoov2Torso torso = (InMoov2Torso) getPeer("torso");
+    if (torso != null) {
+      torso.onMove(map);
+    }
   }
 
   public String onNewState(String state) {
@@ -911,16 +1279,16 @@ public OpenCVData onOpenCVData(OpenCVData data) {
     // FIXME - publish event with or without data ? String file reference
     return data;
   }
-  
+
   /**
    * onPeak volume callback TODO - maybe make it variable with volume ?
    * 
    * @param volume
    */
   public void onPeak(double volume) {
-    if (config.neoPixelFlashWhenSpeaking && !configStarted) {
+    if (config.neoPixelFlashWhenSpeaking && !"boot".equals(getState())) {
       if (volume > 0.5) {
-          invoke("publishSpeakingFlash", "speaking");
+        invoke("publishSpeakingFlash", "speaking");
       }
     }
   }
@@ -930,14 +1298,25 @@ public void onPeak(double volume) {
    * onPirOn flash neopixel
    */
   public void onPirOn() {
-    // FIXME flash on config.flashOnBoot
-    invoke("publishFlash", "pir");
-    ProgramAB chatBot = (ProgramAB)getPeer("chatBot");
-    if (chatBot != null) {
-      String botState = chatBot.getPredicate("botState");
-      if ("sleeping".equals(botState)) {
-        invoke("publishEvent", "WAKE");
-      }
+    isPirOn = true;
+    // one advantage of re-publishing from inmoov - getName parameter can be
+    // added
+    if (allowSensorInput && !"boot".equals(getState())) {
+      SensorData pir = new SensorData(getName(), "Pir", isPirOn);
+      invoke("publishSensorData", pir);
+    }
+  }
+
+  /**
+   * Pir off callback - FIXME NEEDS WORK
+   */
+  public void onPirOff() {
+    isPirOn = false;
+    // one advantage of re-publishing from inmoov - getName parameter can be
+    // added
+    if (allowSensorInput && !"boot".equals(getState())) {
+      SensorData pir = new SensorData(getName(), "Pir", isPirOn);
+      invoke("publishSensorData", pir);
     }
   }
 
@@ -972,9 +1351,9 @@ public boolean onSense(boolean b) {
     // setEvent("pir-sense-on" .. also sets it in config ?
     // config.handledEvents["pir-sense-on"]
     if (b) {
-      invoke("publishEvent", "PIR ON");
+      systemEvent("PIR ON");
     } else {
-      invoke("publishEvent", "PIR OFF");
+      systemEvent("PIR OFF");
     }
     return b;
   }
@@ -986,7 +1365,7 @@ public boolean onSense(boolean b) {
    */
   public void onStartConfig(String configName) {
     log.info("onStartConfig");
-    invoke("publishStartConfig", configName);
+    invoke("publishConfigStarted", configName);
   }
 
   /**
@@ -998,8 +1377,6 @@ public void onStartConfig(String configName) {
    */
   @Override
   public void onStarted(String name) {
-    InMoov2Config c = (InMoov2Config) config;
-
     log.info("onStarted {}", name);
     try {
 
@@ -1008,7 +1385,7 @@ public void onStarted(String name) {
 
       // BAD IDEA - better to ask for a system report or an error report
       // if (runtime.isProcessingConfig()) {
-      // invoke("publishEvent", "CONFIG STARTED");
+      // systemEvent("CONFIG STARTED");
       // }
 
       String peerKey = getPeerKey(name);
@@ -1018,11 +1395,11 @@ public void onStarted(String name) {
       }
 
       if (runtime.isProcessingConfig() && !configStarted) {
-        invoke("publishEvent", "CONFIG STARTED " + runtime.getConfigName());
+        systemEvent("CONFIG STARTED " + runtime.getConfigName());
         configStarted = true;
       }
 
-      invoke("publishEvent", "STARTED " + peerKey);
+      systemEvent("STARTED " + peerKey);
 
       switch (peerKey) {
         case "audioPlayer":
@@ -1127,6 +1504,7 @@ public void onStarted(String name) {
 
   @Override
   public void onStopped(String name) {
+    log.info("service {} has stopped");
     // using release peer for peer releasing
     // FIXME - auto remove subscriptions of peers?
   }
@@ -1143,6 +1521,9 @@ public void onText(String text) {
 
   // TODO FIX/CHECK this, migrate from python land
   public void powerDown() {
+    // publishFlash(maxInactivityTimeSeconds, maxInactivityTimeSeconds,
+    // maxInactivityTimeSeconds, maxInactivityTimeSeconds,
+    // maxInactivityTimeSeconds, maxInactivityTimeSeconds)
 
     rest();
     purgeTasks();
@@ -1185,15 +1566,210 @@ public void publish(String name, String method, Object... data) {
     invoke("publishMessage", msg);
   }
 
-  public String publishStartConfig(String configName) {
+  public String publishConfigStarted(String configName) {
     info("config %s started", configName);
-    invoke("publishEvent", "CONFIG STARTED " + configName);
+    systemEvent("CONFIG STARTED " + configName);
     return configName;
   }
 
-  public String publishFinishedConfig(String configName) {
+  public double publishBatteryLevel(double d) {
+    return d;
+  }
+
+  /**
+   * At boot all services specified through configuration have started, or if no
+   * configuration has started minimally the InMoov2 service has started. During
+   * the processing of config and starting other services data will have
+   * accumulated, and at boot, some of data may now be inspected and processed
+   * in a synchronous single threaded way. With reporting after startup, vs
+   * during, other peer services are not needed (e.g. audioPlayer is no longer
+   * needed to be started "before" InMoov2 because when boot is called
+   * everything that is wanted has been started.
+   *
+   */
+  public void boot() {
+    try {
+      // if ! ready
+      // FIXME don't overwrite if exists
+      Runtime runtime = Runtime.getInstance();
+      runtime.saveDefault("InMoovDefault", getName(), "InMoov2", true);
+
+      bootCount++;
+      log.info("boot count {}", bootCount);
+
+      // thinking you shouldn't "boot" twice ?
+      if (hasBooted) {
+        log.warn("will not boot again");
+        return;
+      }
+
+      if (runtime.isProcessingConfig()) {
+        log.warn("runtime still processing config set {}, waiting ....", runtime.getConfigName());
+        return;
+      }
+
+      ServiceInterface python = Runtime.getService("python");
+      if (python == null || !python.isReady()) {
+        log.warn("python not ready, waiting ....");
+        return;
+      }
+
+      // TODO - MAKE BOOT REPORT !!!! deliver it on a heartbeat
+
+      // get service start and release life cycle events
+      // FIXME reduce to onStart
+      runtime.attachServiceLifeCycleListener(getName());
+
+      List services = Runtime.getServices();
+      for (ServiceInterface si : services) {
+        if ("Servo".equals(si.getSimpleName())) {
+          send(si.getFullName(), "setAutoDisable", true);
+        }
+      }
+
+      // get events of new services and shutdown
+      subscribe("runtime", "shutdown");
+      // power up loopback subscription
+      addListener(getName(), "powerUp");
+
+      subscribe("runtime", "publishConfigList");
+      if (runtime.isProcessingConfig()) {
+        systemEvent("configStarted");
+      }
+
+      // subscribe to config processing events
+      // runtime callbacks publish the same a local
+      // subscribe("runtime", "publishConfigStarted", "publishConfigStarted");
+      subscribe("runtime", "publishConfigFinished", "publishConfigFinished");
+
+      // chatbot getresponse attached to publishEvent
+      addListener("publishEvent", getPeerName("chatBot"), "getResponse");
+
+      // copy config if it doesn't already exist
+      String resourceBotDir = FileIO.gluePaths(getResourceDir(), "config");
+      List files = FileIO.getFileList(resourceBotDir);
+      for (File f : files) {
+        String botDir = "data/config/" + f.getName();
+        File bDir = new File(botDir);
+        if (bDir.exists() || !f.isDirectory()) {
+          log.info("skipping data/config/{}", botDir);
+        } else {
+          log.info("will copy new data/config/{}", botDir);
+          try {
+            FileIO.copy(f.getAbsolutePath(), botDir);
+          } catch (Exception e) {
+            error(e);
+          }
+        }
+      }
+      runtime.invoke("publishConfigList");
+      // FIXME - reduce the number of these
+      if (config.loadAppsScripts) {
+        loadAppsScripts();
+      }
+
+      if (config.loadInitScripts) {
+        loadInitScripts();
+      }
+
+      if (config.loadGestures) {
+        loadGestures();
+      }
+
+      execScript("InMoov2.py");
+      log.info("here");
+
+      for (ServiceInterface si : services) {
+        if ("Servo".equals(si.getSimpleName())) {
+          send(si.getFullName(), "setAutoDisable", true);
+        }
+      }
+
+      // FIXME - any interesting state changes or config stuff
+      // needs to be reported (once?) in onHeartbeat
+
+      // FIXME - standardize multi-config examples should be available
+      // moved from startService to allow more simple control
+      // FIXME standard FileIO copyIfNotExists(src, dst)
+      // try {
+      // // copy config if it doesn't already exist
+      // String resourceBotDir = FileIO.gluePaths(getResourceDir(), "config");
+      // List files = FileIO.getFileList(resourceBotDir);
+      // for (File f : files) {
+      // String botDir = "data/config/" + f.getName();
+      // File bDir = new File(botDir);
+      // if (bDir.exists() || !f.isDirectory()) {
+      // log.info("skipping data/config/{}", botDir);
+      // } else {
+      // log.info("will copy new data/config/{}", botDir);
+      // try {
+      // FileIO.copy(f.getAbsolutePath(), botDir);
+      // } catch (Exception e) {
+      // error(e);
+      // }
+      // }
+      // }
+      // } catch (Exception e) {
+      // error(e);
+      // }
+
+      // FIXME - find good way of running an animation "through" a state
+      if (config.neoPixelBootGreen && getPeer("neoPixel") != null) {
+        NeoPixel neoPixel = (NeoPixel) getPeer("neoPixel");
+        if (neoPixel != null) {
+          // invoke("publishPlayAnimation", config.bootAnimation);
+        }
+      }
+
+      if (config.startupSound && getPeer("audioPlayer") != null) {
+        ((AudioFile) getPeer("audioPlayer"))
+            .playBlocking(FileIO.gluePaths(getResourceDir(), "/system/sounds/startupsound.mp3"));
+      }
+
+      if (config.systemEventsOnBoot) {
+        // reporting on all services and config started
+        if (bootedConfig != null) {
+          // configuration was processed before booting
+          systemEvent("CONFIG LOADED %s", bootedConfig);
+        }
+      }
+
+      // FIXME - important to do invoke & fsm needs to be consistent order
+
+      // if speaking then turn off animation
+
+      // publish all the errors
+
+      // switch off animations
+
+      // start heartbeat
+      // say starting heartbeat
+      if (config.heartbeat) {
+        startHeartbeat();
+      } else {
+        stopHeartbeat();
+      }
+
+      // say finished booting
+      fire("start");
+
+      // if (getPeer("mouth") != null) {
+      // AbstractSpeechSynthesis mouth =
+      // (AbstractSpeechSynthesis)getPeer("mouth");
+      // mouth.setMute(wasMute);
+      // }
+    } catch (Exception e) {
+      hasBooted = false;
+      error(e);
+    }
+
+    hasBooted = true;
+
+  }
+
+  public String publishConfigFinished(String configName) {
     info("config %s finished", configName);
-    invoke("publishEvent", "CONFIG LOADED " + configName);
+    systemEvent("CONFIG LOADED " + configName);
 
     return configName;
   }
@@ -1208,6 +1784,28 @@ public List publishConfigList() {
     return configList;
   }
 
+  /**
+   * publishes a name of an animation, off/on control will be done through
+   * AudioListener interface
+   * 
+   * @param name
+   * @return
+   */
+  public String publishAnimation(String name) {
+    return name;
+  }
+
+  /**
+   * publishes a name for NeoPixel.onFlash to consume, in a seperate channel to
+   * potentially be used by "speaking only" leds
+   * 
+   * @param name
+   * @return
+   */
+  public String publishSpeakingFlash(String name) {
+    return name;
+  }
+
   /**
    * event publisher for the fsm - although other services potentially can
    * consume and filter this event channel
@@ -1220,119 +1818,137 @@ public String publishEvent(String event) {
   }
 
   /**
-   * used to configure a flashing event - could use configuration to signal
-   * different colors and states
+   * publishes a name for NeoPixel.onFlash to consume
    * 
+   * @param botType
    * @return
    */
   public String publishFlash(String flashName) {
     return flashName;
   }
 
+  /**
+   * FSM is regularly driven by the heartbeat
+   * 
+   * @return
+   */
   public String publishHeartbeat() {
-    invoke("publishFlash", "heartbeat");
     return getName();
   }
 
   /**
-   * A more extensible interface point than publishEvent FIXME - create
-   * interface for this
+   * 
    +   * 
+   * Typically rebroadcast message from ProgramAB mrljson in aiml
    * 
+   * The oob syntax is:
+   *  <oob>
+   *    <mrljson>
+   *        [{method:on_new_user, data:[{"name":"<star/>"}]}]
+   *    </mrljson>
+   * </oob>
+   * 
+   * 
    
    * @param msg
    * @return
    */
   public Message publishMessage(Message msg) {
+    msg.sender = getName();
     return msg;
   }
 
-  public HashMap publishMoveArm(String which, Double bicep, Double rotate, Double shoulder, Double omoplate) {
-    HashMap map = new HashMap<>();
-    map.put("bicep", bicep);
-    map.put("rotate", rotate);
-    map.put("shoulder", shoulder);
-    map.put("omoplate", omoplate);
-    if ("left".equals(which)) {
-      invoke("publishMoveLeftArm", bicep, rotate, shoulder, omoplate);
-    } else {
-      invoke("publishMoveRightArm", bicep, rotate, shoulder, omoplate);
-    }
+  public Map publishMoveHead(Map map) {
     return map;
   }
 
-  public HashMap publishMoveHand(String which, Double thumb, Double index, Double majeure, Double ringFinger, Double pinky, Double wrist) {
-    HashMap map = new HashMap<>();
-    map.put("which", which);
-    map.put("thumb", thumb);
-    map.put("index", index);
-    map.put("majeure", majeure);
-    map.put("ringFinger", ringFinger);
-    map.put("pinky", pinky);
-    map.put("wrist", wrist);
-    if ("left".equals(which)) {
-      invoke("publishMoveLeftHand", thumb, index, majeure, ringFinger, pinky, wrist);
-    } else {
-      invoke("publishMoveRightHand", thumb, index, majeure, ringFinger, pinky, wrist);
-    }
+  public Map publishMoveLeftArm(Map map) {
     return map;
   }
 
-  public HashMap publishMoveHead(Double neck, Double rothead, Double eyeX, Double eyeY, Double jaw, Double rollNeck) {
-    HashMap map = new HashMap<>();
-    map.put("neck", neck);
-    map.put("rothead", rothead);
-    map.put("eyeX", eyeX);
-    map.put("eyeY", eyeY);
-    map.put("jaw", jaw);
-    map.put("rollNeck", rollNeck);
+  public Map publishMoveLeftHand(Map map) {
     return map;
   }
 
-  public HashMap publishMoveLeftArm(Double bicep, Double rotate, Double shoulder, Double omoplate) {
-    HashMap map = new HashMap<>();
-    map.put("bicep", bicep);
-    map.put("rotate", rotate);
-    map.put("shoulder", shoulder);
-    map.put("omoplate", omoplate);
+  public Map publishMoveRightArm(Map map) {
     return map;
   }
 
-  public HashMap publishMoveLeftHand(Double thumb, Double index, Double majeure, Double ringFinger, Double pinky, Double wrist) {
-    HashMap map = new HashMap<>();
-    map.put("thumb", thumb);
-    map.put("index", index);
-    map.put("majeure", majeure);
-    map.put("ringFinger", ringFinger);
-    map.put("pinky", pinky);
-    map.put("wrist", wrist);
+  public Map publishMoveRightHand(Map map) {
     return map;
   }
 
-  public HashMap publishMoveRightArm(Double bicep, Double rotate, Double shoulder, Double omoplate) {
-    HashMap map = new HashMap<>();
-    map.put("bicep", bicep);
-    map.put("rotate", rotate);
-    map.put("shoulder", shoulder);
-    map.put("omoplate", omoplate);
+  public Map publishMoveTorso(Map map) {
     return map;
   }
 
-  public HashMap publishMoveRightHand(Double thumb, Double index, Double majeure, Double ringFinger, Double pinky, Double wrist) {
-    HashMap map = new HashMap<>();
-    map.put("thumb", thumb);
-    map.put("index", index);
-    map.put("majeure", majeure);
-    map.put("ringFinger", ringFinger);
-    map.put("pinky", pinky);
-    map.put("wrist", wrist);
-    return map;
+  public String publishPlayAudioFile(String filename) {
+    return filename;
   }
 
-  public HashMap publishMoveTorso(Double topStom, Double midStom, Double lowStom) {
-    HashMap map = new HashMap<>();
-    map.put("topStom", topStom);
-    map.put("midStom", midStom);
-    map.put("lowStom", lowStom);
-    return map;
+  public String publishPlayAnimation(String animation) {
+    return animation;
+  }
+
+  /**
+   * stop animation event
+   */
+  public void publishStopAnimation() {
+  }
+
+  /**
+   * initial state - updated on any state change
+   */
+  String state = "boot";
+
+  public class InMoov2State {
+    public long ts = System.currentTimeMillis();
+    public String src;
+    public String state;
+    public String event;
+  }
+
+  /**
+   * The integration between the FiniteStateMachine (fsm) and the InMoov2
+   * service and potentially other services (Python, ProgramAB) happens here.
+   * 
+   * After boot all state changes get published here.
+   * 
+   * Some InMoov2 service methods will be called here for "default
+   * implemenation" of states. If a user doesn't want to have that default
+   * implementation, they can change it by changing the definition of the state
+   * machine, and have a new state which will call a Python inmoov2 library
+   * callback. Overriding, appending, or completely transforming the behavior is
+   * all easily accomplished by managing the fsm and python inmoov2 library
+   * callbacks.
+   * 
+   * Python inmoov2 callbacks ProgramAB topic switching
+   * 
+   * Depending on config:
+   * 
+   * 
+   * @param stateChange
+   * @return
+   */
+  public InMoov2State publishStateChange(FiniteStateMachine.StateChange stateChange) {
+    log.info("publishStateChange {}", stateChange);
+    InMoov2State state = new InMoov2State();
+    state.src = getName();
+    state.state = stateChange.state;
+    state.event = stateChange.event;
+    return state;
+  }
+
+  /**
+   * event publisher for the fsm - although other services potentially can
+   * consume and filter this event channel
+   * 
+   * @param event
+   * @return
+   */
+  public String publishSystemEvent(String event) {
+    // well, it turned out underscore was a goofy selection, as underscore in
+    // aiml is wildcard ... duh
+    return String.format("SYSTEM_EVENT %s", event);
   }
 
   /**
@@ -1343,11 +1959,21 @@ public String publishText(String text) {
     return text;
   }
 
+  /**
+   * default this will come from idle after some configurable time period
+   */
+  public void random() {
+    Random random = (Random) getPeer("random");
+    if (random != null) {
+      random.enable();
+    }
+  }
+
   @Override
   public void releasePeer(String peerKey) {
     super.releasePeer(peerKey);
     if (peerKey != null) {
-      invoke("publishEvent", "STOPPED " + peerKey);
+      systemEvent("STOPPED " + peerKey);
     }
   }
 
@@ -1405,7 +2031,8 @@ public void setHandSpeed(String which, Double thumb, Double index, Double majeur
     setHandSpeed(which, thumb, index, majeure, ringFinger, pinky, null);
   }
 
-  public void setHandSpeed(String which, Double thumb, Double index, Double majeure, Double ringFinger, Double pinky, Double wrist) {
+  public void setHandSpeed(String which, Double thumb, Double index, Double majeure, Double ringFinger, Double pinky,
+      Double wrist) {
     InMoov2Hand hand = getHand(which);
     if (hand == null) {
       warn("%s hand not started", which);
@@ -1415,12 +2042,14 @@ public void setHandSpeed(String which, Double thumb, Double index, Double majeur
   }
 
   @Deprecated
-  public void setHandVelocity(String which, Double thumb, Double index, Double majeure, Double ringFinger, Double pinky) {
+  public void setHandVelocity(String which, Double thumb, Double index, Double majeure, Double ringFinger,
+      Double pinky) {
     setHandSpeed(which, thumb, index, majeure, ringFinger, pinky, null);
   }
 
   @Deprecated
-  public void setHandVelocity(String which, Double thumb, Double index, Double majeure, Double ringFinger, Double pinky, Double wrist) {
+  public void setHandVelocity(String which, Double thumb, Double index, Double majeure, Double ringFinger, Double pinky,
+      Double wrist) {
     setHandSpeed(which, thumb, index, majeure, ringFinger, pinky, wrist);
   }
 
@@ -1436,7 +2065,8 @@ public void setHeadSpeed(Double rothead, Double neck, Double eyeXSpeed, Double e
     setHeadSpeed(rothead, neck, eyeXSpeed, eyeYSpeed, jawSpeed, null);
   }
 
-  public void setHeadSpeed(Double rothead, Double neck, Double eyeXSpeed, Double eyeYSpeed, Double jawSpeed, Double rollNeckSpeed) {
+  public void setHeadSpeed(Double rothead, Double neck, Double eyeXSpeed, Double eyeYSpeed, Double jawSpeed,
+      Double rollNeckSpeed) {
     sendToPeer("head", "setSpeed", rothead, neck, eyeXSpeed, eyeYSpeed, jawSpeed, rollNeckSpeed);
   }
 
@@ -1460,7 +2090,8 @@ public void setHeadVelocity(Double rothead, Double neck, Double eyeXSpeed, Doubl
   }
 
   @Deprecated
-  public void setHeadVelocity(Double rothead, Double neck, Double eyeXSpeed, Double eyeYSpeed, Double jawSpeed, Double rollNeckSpeed) {
+  public void setHeadVelocity(Double rothead, Double neck, Double eyeXSpeed, Double eyeYSpeed, Double jawSpeed,
+      Double rollNeckSpeed) {
     setHeadSpeed(rothead, neck, eyeXSpeed, eyeYSpeed, jawSpeed, rollNeckSpeed);
   }
 
@@ -1472,12 +2103,15 @@ public void setLeftArmSpeed(Integer bicep, Integer rotate, Integer shoulder, Int
     setArmSpeed("left", (double) bicep, (double) rotate, (double) shoulder, (double) omoplate);
   }
 
-  public void setLeftHandSpeed(Double thumb, Double index, Double majeure, Double ringFinger, Double pinky, Double wrist) {
+  public void setLeftHandSpeed(Double thumb, Double index, Double majeure, Double ringFinger, Double pinky,
+      Double wrist) {
     setHandSpeed("left", thumb, index, majeure, ringFinger, pinky, wrist);
   }
 
-  public void setLeftHandSpeed(Integer thumb, Integer index, Integer majeure, Integer ringFinger, Integer pinky, Integer wrist) {
-    setHandSpeed("left", (double) thumb, (double) index, (double) majeure, (double) ringFinger, (double) pinky, (double) wrist);
+  public void setLeftHandSpeed(Integer thumb, Integer index, Integer majeure, Integer ringFinger, Integer pinky,
+      Integer wrist) {
+    setHandSpeed("left", (double) thumb, (double) index, (double) majeure, (double) ringFinger, (double) pinky,
+        (double) wrist);
   }
 
   @Override
@@ -1520,7 +2154,7 @@ public void setOpenCV(OpenCV opencv) {
   }
 
   public boolean setPirPlaySounds(boolean b) {
-    getTypedConfig().pirPlaySounds = b;
+    config.pirPlaySounds = b;
     return b;
   }
 
@@ -1546,12 +2180,15 @@ public void setRightArmSpeed(Integer bicep, Integer rotate, Integer shoulder, In
     setArmSpeed("right", (double) bicep, (double) rotate, (double) shoulder, (double) omoplate);
   }
 
-  public void setRightHandSpeed(Double thumb, Double index, Double majeure, Double ringFinger, Double pinky, Double wrist) {
+  public void setRightHandSpeed(Double thumb, Double index, Double majeure, Double ringFinger, Double pinky,
+      Double wrist) {
     setHandSpeed("right", thumb, index, majeure, ringFinger, pinky, wrist);
   }
 
-  public void setRightHandSpeed(Integer thumb, Integer index, Integer majeure, Integer ringFinger, Integer pinky, Integer wrist) {
-    setHandSpeed("right", (double) thumb, (double) index, (double) majeure, (double) ringFinger, (double) pinky, (double) wrist);
+  public void setRightHandSpeed(Integer thumb, Integer index, Integer majeure, Integer ringFinger, Integer pinky,
+      Integer wrist) {
+    setHandSpeed("right", (double) thumb, (double) index, (double) majeure, (double) ringFinger, (double) pinky,
+        (double) wrist);
   }
 
   public void setTorsoSpeed(Double topStom, Double midStom, Double lowStom) {
@@ -1575,11 +2212,6 @@ public void setVoice(String name) {
     }
   }
 
-  // -----------------------------------------------------------------------------
-  // These are methods added that were in InMoov1 that we no longer had in
-  // InMoov2.
-  // From original InMoov1 so we don't loose the
-
   public void sleeping() {
     log.error("sleeping");
   }
@@ -1589,7 +2221,7 @@ public void speak(String toSpeak) {
   }
 
   public void speakAlert(String toSpeak) {
-    invoke("publishEvent", "ALERT");
+    systemEvent("ALERT");
     speakBlocking(toSpeak);
   }
 
@@ -1626,91 +2258,7 @@ public void speakBlocking(String format, Object... args) {
     }
   }
 
-  public void startAll() throws Exception {
-    startAll(null, null);
-  }
-
-  public void startAll(String leftPort, String rightPort) throws Exception {
-    startMouth();
-    startChatBot();
-
-    // startHeadTracking();
-    // startEyesTracking();
-    // startOpenCV();
-    startEar();
-
-    startServos();
-    // startMouthControl(head.jaw, mouth);
-
-    speakBlocking(get("STARTINGSEQUENCE"));
-  }
-
-  public void startBrain() {
-    startChatBot();
-  }
-
-  public ProgramAB startChatBot() {
-
-    try {
-      chatBot = (ProgramAB) startPeer("chatBot");
-
-      if (locale != null) {
-        chatBot.setCurrentBotName(locale.getTag());
-      }
-
-      // FIXME remove get en.properties stuff
-      speakBlocking(get("CHATBOTACTIVATED"));
-
-      chatBot.attachTextPublisher(ear);
-
-      // this.attach(chatBot); FIXME - attach as a TextPublisher - then
-      // re-publish
-      // FIXME - deal with language
-      // speakBlocking(get("CHATBOTACTIVATED"));
-      chatBot.repetitionCount(10);
-      // chatBot.setPath(getResourceDir() + fs + "chatbot");
-      // chatBot.setPath(getDataDir() + "ProgramAB");
-      chatBot.startSession("default", locale.getTag());
-      // reset some parameters to default...
-      chatBot.setPredicate("topic", "default");
-      chatBot.setPredicate("questionfirstinit", "");
-      chatBot.setPredicate("tmpname", "");
-      chatBot.setPredicate("null", "");
-      // load last user session
-      if (!chatBot.getPredicate("name").isEmpty()) {
-        if (chatBot.getPredicate("lastUsername").isEmpty() || chatBot.getPredicate("lastUsername").equals("unknown") || chatBot.getPredicate("lastUsername").equals("default")) {
-          chatBot.setPredicate("lastUsername", chatBot.getPredicate("name"));
-        }
-      }
-      chatBot.setPredicate("parameterHowDoYouDo", "");
-      chatBot.savePredicates();
-      htmlFilter = (HtmlFilter) startPeer("htmlFilter");// Runtime.start("htmlFilter",
-      // "HtmlFilter");
-      chatBot.attachTextListener(htmlFilter);
-      htmlFilter.attachTextListener((TextListener) getPeer("mouth"));
-      chatBot.attachTextListener(this);
-      // start session based on last recognized person
-      // if (!chatBot.getPredicate("default", "lastUsername").isEmpty() &&
-      // !chatBot.getPredicate("default", "lastUsername").equals("unknown")) {
-      // chatBot.startSession(chatBot.getPredicate("lastUsername"));
-      // }
-      if (chatBot.getPredicate("default", "firstinit").isEmpty() || chatBot.getPredicate("default", "firstinit").equals("unknown")
-          || chatBot.getPredicate("default", "firstinit").equals("started")) {
-        chatBot.startSession(chatBot.getPredicate("default", "lastUsername"));
-        invoke("publishEvent", "FIRST INIT");
-      } else {
-        chatBot.startSession(chatBot.getPredicate("default", "lastUsername"));
-        invoke("publishEvent", "WAKE UP");
-      }
-    } catch (Exception e) {
-      speak("could not load chatBot");
-      error(e.getMessage());
-      speak(e.getMessage());
-    }
-    broadcastState();
-    return chatBot;
-  }
-
+  @Deprecated /* this needs to be removed - runtime and config handle this */
   public SpeechRecognizer startEar() {
 
     ear = (SpeechRecognizer) startPeer("ear");
@@ -1734,8 +2282,57 @@ public void startedGesture(String nameOfGesture) {
     }
   }
 
+  public class Heart implements Runnable {
+    private final ReentrantLock lock = new ReentrantLock();
+    private Thread thread;
+
+    @Override
+    public void run() {
+      if (lock.tryLock()) {
+        try {
+          while (!Thread.currentThread().isInterrupted()) {
+            invoke("publishHeartbeat");
+            Thread.sleep(config.heartbeatInterval);
+          }
+        } catch (InterruptedException ignored) {
+          Thread.currentThread().interrupt();
+        } finally {
+          lock.unlock();
+          log.info("heart stopping");
+          thread = null;
+        }
+      }
+    }
+
+    public void stop() {
+      if (thread != null) {
+        thread.interrupt();
+        config.heartbeat = false;
+      } else {
+        log.info("heart already stopped");
+      }
+    }
+
+    public void start() {
+      if (thread == null) {
+        log.info("starting heart");
+        thread = new Thread(this, String.format("%s-heart", getName()));
+        thread.start();
+        config.heartbeat = true;
+      } else {
+        log.info("heart already started");
+      }
+    }
+  }
+
+  private transient final Heart heart = new Heart();
+
+  protected boolean heartBeating = false;
+
+  protected boolean isSpeaking = false;
+
   public void startHeartbeat() {
-    addTask(1000, "publishHeartbeat");
+    heart.start();
   }
 
   // TODO - general objective "might" be to reduce peers down to something
@@ -1796,59 +2393,19 @@ public ServiceInterface startPeer(String peer) {
 
   @Override
   public void startService() {
-    super.startService();
-
-    InMoov2Config c = (InMoov2Config) config;
-    Runtime runtime = Runtime.getInstance();
-
-    // get service start and release life cycle events
-    runtime.attachServiceLifeCycleListener(getName());
-
-    List services = Runtime.getServices();
-    for (ServiceInterface si : services) {
-      if ("Servo".equals(si.getSimpleName())) {
-        send(si.getFullName(), "setAutoDisable", true);
-      }
-    }
 
-    // get events of new services and shutdown
-    subscribe("runtime", "shutdown");
-    // power up loopback subscription
-    addListener(getName(), "powerUp");
+    try {
 
-    subscribe("runtime", "publishConfigList");
-    if (runtime.isProcessingConfig()) {
-      invoke("publishEvent", "configStarted");
-    }
-    subscribe("runtime", "publishStartConfig");
-    subscribe("runtime", "publishFinishedConfig");
+      super.startService();
 
-    // chatbot getresponse attached to publishEvent
-    addListener("publishEvent", getPeerName("chatBot"), "getResponse");
+      // core part of InMoov
+      fsm = (FiniteStateMachine) startPeer("fsm");
+      fsm.init();
 
-    try {
-      // copy config if it doesn't already exist
-      String resourceBotDir = FileIO.gluePaths(getResourceDir(), "config");
-      List files = FileIO.getFileList(resourceBotDir);
-      for (File f : files) {
-        String botDir = "data/config/" + f.getName();
-        File bDir = new File(botDir);
-        if (bDir.exists() || !f.isDirectory()) {
-          log.info("skipping data/config/{}", botDir);
-        } else {
-          log.info("will copy new data/config/{}", botDir);
-          try {
-            FileIO.copy(f.getAbsolutePath(), botDir);
-          } catch (Exception e) {
-            error(e);
-          }
-        }
-      }
     } catch (Exception e) {
       error(e);
     }
 
-    runtime.invoke("publishConfigList");
   }
 
   public void startServos() {
@@ -1876,12 +2433,13 @@ public void stop() {
   }
 
   public void stopGesture() {
+    // FIXME cannot be casting to Python
     Python p = (Python) Runtime.getService("python");
     p.stop();
   }
 
   public void stopHeartbeat() {
-    purgeTask("publishHeartbeat");
+    heart.stop();
   }
 
   public void stopNeopixelAnimation() {
@@ -1908,7 +2466,21 @@ public void systemCheck() {
     Platform platform = Runtime.getPlatform();
     setPredicate("system version", platform.getVersion());
     // ERROR buffer !!!
-    invoke("publishEvent", "systemCheckFinished");
+    systemEvent("systemCheckFinished");
+  }
+
+  public String systemEvent(String format, Object... args) {
+    if (format == null) {
+      return null;
+    }
+    String event = null;
+    if (args == null) {
+      event = format;
+    } else {
+      event = String.format(format, args);
+    }
+    invoke("publishEvent", event);
+    return event;
   }
 
   // FIXME - if this is really desired it will drive local references for all
@@ -1922,44 +2494,121 @@ public void waitTargetPos() {
     sendToPeer("leftArm", "waitTargetPos");
     sendToPeer("torso", "waitTargetPos");
   }
-  
+
   public boolean setSpeechType(String speechType) {
-    
+
     if (speechType == null) {
       error("cannot change speech type to null");
       return false;
     }
-    
+
     if (!speechType.contains(".")) {
       speechType = "org.myrobotlab.service." + speechType;
     }
-    
+
     Runtime runtime = Runtime.getInstance();
     String peerName = getName() + ".mouth";
     Plan plan = runtime.getDefault(peerName, speechType);
     try {
-      SpeechSynthesisConfig mouth = (SpeechSynthesisConfig)plan.get(peerName);
+      SpeechSynthesisConfig mouth = (SpeechSynthesisConfig) plan.get(peerName);
       mouth.speechRecognizers = new String[] { getName() + ".ear" };
 
       savePeerConfig("mouth", plan.get(peerName));
-      
+
       if (isPeerStarted("mouth")) {
-        // restart 
+        // restart
         releasePeer("mouth");
         startPeer("mouth");
       }
-      
-    } catch(Exception e) {
+
+    } catch (Exception e) {
       error("could not create config for %s", speechType);
       return false;
     }
-    
+
     return true;
-    
+
     // updatePeerType("mouth" /* getPeerName("mouth") */, speechType);
     // return speechType;
   }
 
+  public void closeRightHand() {
+
+    // if InMoov2Hand.close/open is used directly
+    // it prevents user's interception of the data
+    // and forces InMoov2Hand type to be used :(
+    // pub/sub is the way
+
+    // hardcoded, but if necessary can be put in config
+    HashMap map = new HashMap<>();
+    map.put("thumb", 130.0);
+    map.put("index", 180.0);
+    map.put("majeure", 180.0);
+    map.put("ringFinger", 180.0);
+    map.put("pinky", 180.0);
+    invoke("publishMoveRightHand", map);
+
+  }
+
+  public void openRightHand() {
+    // if InMoov2Hand.close/open is used directly
+    // it prevents user's interception of the data
+    // and forces InMoov2Hand type to be used :(
+    // pub/sub is the way
+
+    // hardcoded, but if necessary can be put in config
+    HashMap map = new HashMap<>();
+    map.put("thumb", 0.0);
+    map.put("index", 0.0);
+    map.put("majeure", 0.0);
+    map.put("ringFinger", 0.0);
+    map.put("pinky", 0.0);
+    invoke("publishMoveRightHand", map);
+  }
+
+  public void closeLeftHand() {
+
+    // if InMoov2Hand.close/open is used directly
+    // it prevents user's interception of the data
+    // and forces InMoov2Hand type to be used :(
+    // pub/sub is the way
+
+    // hardcoded, but if necessary can be put in config
+    HashMap map = new HashMap<>();
+    map.put("thumb", 130.0);
+    map.put("index", 180.0);
+    map.put("majeure", 180.0);
+    map.put("ringFinger", 180.0);
+    map.put("pinky", 180.0);
+    invoke("publishMoveLeftHand", map);
+
+  }
+
+  public void openLeftHand() {
+    // if InMoov2Hand.close/open is used directly
+    // it prevents user's interception of the data
+    // and forces InMoov2Hand type to be used :(
+    // pub/sub is the way
+
+    // hardcoded, but if necessary can be put in config
+    HashMap map = new HashMap<>();
+    map.put("thumb", 0.0);
+    map.put("index", 0.0);
+    map.put("majeure", 0.0);
+    map.put("ringFinger", 0.0);
+    map.put("pinky", 0.0);
+    invoke("publishMoveLeftHand", map);
+  }
+
+  public void openHands() {
+    openLeftHand();
+    openRightHand();
+  }
+
+  public void closeHands() {
+    closeLeftHand();
+    closeRightHand();
+  }
 
   public static void main(String[] args) {
     try {
@@ -1968,32 +2617,32 @@ public static void main(String[] args) {
       // Platform.setVirtual(true);
       // Runtime.start("s01", "Servo");
       // Runtime.start("intro", "Intro");
-
+      Runtime runtime = Runtime.getInstance();
+      runtime.saveDefault("default-i01", "i01", "InMoov2", true);
       Runtime.startConfig("dev");
-      
+
+      boolean done = true;
+      if (done) {
+        return;
+      }
+
       WebGui webgui = (WebGui) Runtime.create("webgui", "WebGui");
       // webgui.setSsl(true);
       webgui.autoStartBrowser(false);
       // webgui.setPort(8888);
       webgui.startService();
-      InMoov2 i01 = (InMoov2)Runtime.start("i01","InMoov2");
-      
-      boolean done = true;
-      if (done) {
-        return;
-      }
-      
+      InMoov2 i01 = (InMoov2) Runtime.start("i01", "InMoov2");
 
-      OpenCVConfig ocvConfig = i01.getPeerConfig("opencv", new StaticType<>() {});
+      OpenCVConfig ocvConfig = i01.getPeerConfig("opencv", new StaticType<>() {
+      });
       ocvConfig.flip = true;
       i01.setPeerConfigValue("opencv", "flip", true);
       // i01.savePeerConfig("", null);
-      
-      // Runtime.startConfig("default");
-
-      // Runtime.main(new String[] { "--log-level", "info", "-s", "webgui", "WebGui", "intro", "Intro", "python", "Python" });
 
+      // Runtime.startConfig("default");
 
+      // Runtime.main(new String[] { "--log-level", "info", "-s", "webgui",
+      // "WebGui", "intro", "Intro", "python", "Python" });
 
       Runtime.start("python", "Python");
       // Runtime.start("ros", "Ros");
@@ -2031,11 +2680,15 @@ public static void main(String[] args) {
       random.addRandom(3000, 8000, "i01", "moveLeftArm", 0.0, 5.0, 85.0, 95.0, 25.0, 30.0, 10.0, 15.0);
       random.addRandom(3000, 8000, "i01", "moveRightArm", 0.0, 5.0, 85.0, 95.0, 25.0, 30.0, 10.0, 15.0);
 
-      random.addRandom(3000, 8000, "i01", "setLeftHandSpeed", 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0);
-      random.addRandom(3000, 8000, "i01", "setRightHandSpeed", 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0);
+      random.addRandom(3000, 8000, "i01", "setLeftHandSpeed", 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0,
+          8.0, 25.0);
+      random.addRandom(3000, 8000, "i01", "setRightHandSpeed", 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0,
+          8.0, 25.0);
 
-      random.addRandom(3000, 8000, "i01", "moveRightHand", 10.0, 160.0, 10.0, 60.0, 10.0, 60.0, 10.0, 60.0, 10.0, 60.0, 130.0, 175.0);
-      random.addRandom(3000, 8000, "i01", "moveLeftHand", 10.0, 160.0, 10.0, 60.0, 10.0, 60.0, 10.0, 60.0, 10.0, 60.0, 5.0, 40.0);
+      random.addRandom(3000, 8000, "i01", "moveRightHand", 10.0, 160.0, 10.0, 60.0, 10.0, 60.0, 10.0, 60.0, 10.0, 60.0,
+          130.0, 175.0);
+      random.addRandom(3000, 8000, "i01", "moveLeftHand", 10.0, 160.0, 10.0, 60.0, 10.0, 60.0, 10.0, 60.0, 10.0, 60.0,
+          5.0, 40.0);
 
       random.addRandom(200, 1000, "i01", "setHeadSpeed", 8.0, 20.0, 8.0, 20.0, 8.0, 20.0);
       random.addRandom(200, 1000, "i01", "moveHead", 70.0, 110.0, 65.0, 115.0, 70.0, 110.0);
@@ -2055,5 +2708,35 @@ public static void main(String[] args) {
     }
   }
 
+  // FIXME - rebroadcast these
+
+  @Override
+  public void onStartSpeaking(String utterance) {
+    isSpeaking = true;
+  }
+
+  @Override
+  public void onEndSpeaking(String utterance) {
+    isSpeaking = false;
+  }
+
+  /**
+   * Rebroadcasted topic change with source changed to this robot,
+   * python will consume it.
+   * 
+   * @param topicChange
+   * @return the topic change
+   */
+  public Event publishTopic(Event topicChange) {
+    topicChange.src = getName();
+    return topicChange;
+  }
+
+  // predicate change ? rebroadcasted ?
+  // FIXME if it went chatBot.publishSession -> InMoov2.onSession (if getState() != boot) InMoov2.publishSession
+  public Event publishSession(Event newSession) {
+    newSession.src = getName();
+    return newSession;
+  }
 
 }
diff --git a/src/main/java/org/myrobotlab/service/Lloyd.java b/src/main/java/org/myrobotlab/service/Lloyd.java
index ca1dc561ff..4a5aeaf7b3 100755
--- a/src/main/java/org/myrobotlab/service/Lloyd.java
+++ b/src/main/java/org/myrobotlab/service/Lloyd.java
@@ -23,7 +23,7 @@
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.opencv.OpenCVFilterDL4JTransfer;
 import org.myrobotlab.opencv.OpenCVFilterLloyd;
-import org.myrobotlab.programab.OOBPayload;
+import org.myrobotlab.programab.models.Oob;
 import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.SpeechRecognizer;
 import org.myrobotlab.service.interfaces.SpeechSynthesis;
@@ -143,7 +143,7 @@ public void startMouth() {
   public void startBrain() throws IOException {
     brain = (ProgramAB) Runtime.start("brain", "ProgramAB");
     // TODO: setup the AIML / chat bot directory for all of this.
-    brain.startSession("ProgramAB", "person", "lloyd");
+    brain.setSession("person", "lloyd");
   }
 
   public void initializeBrain() {
@@ -240,13 +240,15 @@ public void tellMeAboutLookup() {
   }
 
   public void createKnowledgeLookup(String pattern, String fieldName, String prefix, String suffix) {
-    OOBPayload oobTag = createSolrFieldSearchOOB(fieldName);
+    Oob oobTag = createSolrFieldSearchOOB(fieldName);
     // TODO: handle (in the template) a zero hit result ?)
-    String template = prefix + OOBPayload.asBlockingOOBTag(oobTag) + suffix;
-    brain.addCategory(pattern, template);
+
+    // FIXME
+//    String template = prefix + OOBPayload.asBlockingOOBTag(oobTag) + suffix;
+//    brain.addCategory(pattern, template);
   }
 
-  private OOBPayload createSolrFieldSearchOOB(String fieldName) {
+  private Oob createSolrFieldSearchOOB(String fieldName) {
     String serviceName = "cloudMemory";
     // TODO: make this something that's completely abstracted out from here.
     String methodName = "fetchFirstResultSentence";
@@ -257,8 +259,10 @@ private OOBPayload createSolrFieldSearchOOB(String fieldName) {
     // +has_infobox:true");
     params.add("infobox_name_ss: title: text: +" + fieldName + ":* +has_infobox:true");
     params.add(fieldName);
-    OOBPayload oobTag = new OOBPayload(serviceName, methodName, params);
-    return oobTag;
+//    OOBPayload oobTag = new OOBPayload(serviceName, methodName, params);
+//    return oobTag;
+    // FIXME
+    return null;
   }
 
   public void startMemory() {
diff --git a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java
index af6c68c7bf..fbb433ac7a 100644
--- a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java
+++ b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java
@@ -1,97 +1,186 @@
 package org.myrobotlab.service.config;
 
 import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.Map;
 
 import org.myrobotlab.framework.Plan;
 import org.myrobotlab.jme3.UserDataConfig;
 import org.myrobotlab.math.MapperLinear;
+import org.myrobotlab.math.MapperSimple;
 import org.myrobotlab.service.Pid.PidData;
 import org.myrobotlab.service.Runtime;
 import org.myrobotlab.service.config.FiniteStateMachineConfig.Transition;
 import org.myrobotlab.service.config.RandomConfig.RandomMessageConfig;
 
+/**
+ * InMoov2Config - configuration for InMoov2 service
+ *  - this is a "default" configuration 
+ * If its configuration which will directly affect another service the naming
+ * pattern should be {peerName}{propertyName}
+ * e.g. neoPixelErrorRed
+ * 
+ * FIXME make a color map that can be overridden
+ * 
+ * @author GroG
+ *
+ */
 public class InMoov2Config extends ServiceConfig {
 
-  public int analogPinFromSoundCard = 53;
-  
-  public int audioPollsBySeconds = 2;
-  
-  public boolean audioSignalProcessing=false;
-  
+  /**
+   * When the healthCheck is operating, it will check the battery level.
+   * If the battery level is < 5% it will publishFlash with red at regular interval 
+   */
   public boolean batteryInSystem = false;
-  
-  public boolean customSound=false;
+
+  /**
+   * enable custom sound map for state changes
+   */
+  public boolean customSound = false;
+
   
   public boolean forceMicroOnIfSleeping = true;
+
+  /**
+   * flashes if error has occurred - requires heartbeat
+   */
+  public boolean healthCheckFlash = true;
   
-  public boolean healthCheckActivated = false;
-  
-  public int healthCheckTimerMs = 60000;
-  
-  public boolean heartbeat = false;
-  
 
   /**
-   * idle time measures the time the fsm is in an idle state
+   * flashes the neopixel every time a health check is preformed.
+   * green == good
+   * red == battery < 5%
+   */
+  public boolean heartbeatFlash = false;
+
+  /**
+   * Single heartbeat to drive InMoov2 .. it can check status, healthbeat,
+   * and fire events to the FSM.
+   * Checks battery level and sends a heartbeat flash on publishHeartbeat
+   * and onHeartbeat at a regular interval
+   */
+  public boolean heartbeat = true;
+
+  /**
+   * interval heath check processes in milliseconds
    */
-  public boolean idleTimer = true;
+  public long heartbeatInterval = 3000;
 
+  /**
+   * loads all python gesture files in the gesture directory
+   */
   public boolean loadGestures = true;
 
+  /**
+   * executes all scripts in the init directory on startup 
+   */
+  public boolean loadInitScripts = true;
+  
   /**
    * default to null - allow the OS to set it, unless explicilty set
    */
   public String locale = null; // = "en-US";
 
-  public boolean neoPixelBootGreen=true;
+  public boolean neoPixelBootGreen = true;
 
   public boolean neoPixelDownloadBlue = true;
 
   public boolean neoPixelErrorRed = true;
-  
+
   public boolean neoPixelFlashWhenSpeaking = false;
-  
-  public boolean openCVFaceRecognizerActivated=true;
-    
+
+  public boolean openCVFaceRecognizerActivated = true;
+
   public boolean pirEnableTracking = false;
-  
+
+  public boolean pirOnFlash = true;
+
   /**
-   * play pir sounds when pir switching states
-   * sound located in data/InMoov2/sounds/pir-activated.mp3
-   * sound located in data/InMoov2/sounds/pir-deactivated.mp3
+   * play pir sounds when pir switching states sound located in
+   * data/InMoov2/sounds/pir-activated.mp3 sound located in
+   * data/InMoov2/sounds/pir-deactivated.mp3
    */
   public boolean pirPlaySounds = true;
-  
+
   public boolean pirWakeUp = true;
-    
+
   public boolean robotCanMoveHeadWhileSpeaking = true;
-  
-  
+
   /**
    * startup and shutdown will pause inmoov - set the speed to this value then
    * attempt to move to rest
    */
   public double shutdownStartupSpeed = 50;
-  
+
   /**
-   * Sleep 5 minutes after last presence detected 
+   * Sleep 5 minutes after last presence detected
    */
-  public int sleepTimeoutMs=300000;
-  
+  public int sleepTimeoutMs = 300000;
+
   public boolean startupSound = true;
 
-  public int trackingTimeoutMs=10000;
+  /**
+   * 
+   */
+  public boolean stateChangeIsMute = true; 
+    
+  /**
+   * Interval in seconds for a idle state event to fire off.
+   * If the fsm is in a state which will allow transitioning, the InMoov2
+   * state will transition to idle. Heartbeat will fire the event.
+   */
+  public Integer stateIdleInterval = 120;
   
-  public String unlockInsult = "forgive me";
   
+  /**
+   * Interval in seconds for a random state event to fire off.
+   * If the fsm is in a state which will allow transitioning, the InMoov2
+   * state will transition to random. Heartbeat will fire the event.
+   */
+  public Integer stateRandomInterval = 120;
+
+  /**
+   * Determines if InMoov2 publish system events during boot state
+   */
+  public boolean systemEventsOnBoot = false;
+  
+  /**
+   * The user id .. initially it would be the person starting the program
+   * but in a more general sense it would be the person "under focus"
+   * So, a newly discovered user may be the "user" - Python event hanlder
+   * on_new_user will set this when discovered
+   */
+  public String user = null;
+
+  /**
+   * Publish system event when state changes
+   */
+  public boolean systemEventStateChange = true;
+
+  public int trackingTimeoutMs = 10000;
+
+  public String unlockInsult = "forgive me";
+
   public boolean virtual = false;
 
+  public String bootAnimation = "Theater Chase";
+
+  public boolean flashOnErrors = true;
+
+  public boolean flashOnPir;
+
+  public boolean loadAppsScripts = true;
+
   public InMoov2Config() {
   }
 
   @Override
   public Plan getDefault(Plan plan, String name) {
     super.getDefault(plan, name);
+    
+    // FIXME define global peers named "python" "webgui" etc...
+    
 
     // peers FIXME global opencv
     addDefaultPeerConfig(plan, name, "audioPlayer", "AudioFile", true);
@@ -101,6 +190,7 @@ public Plan getDefault(Plan plan, String name) {
     addDefaultPeerConfig(plan, name, "ear", "WebkitSpeechRecognition", false);
     addDefaultPeerConfig(plan, name, "eyeTracking", "Tracking", false);
     addDefaultPeerConfig(plan, name, "fsm", "FiniteStateMachine", false);
+    addDefaultPeerConfig(plan, name, "log", "Log", false);
     addDefaultPeerConfig(plan, name, "gpt3", "Gpt3", false);
     addDefaultPeerConfig(plan, name, "head", "InMoov2Head", false);
     addDefaultPeerConfig(plan, name, "headTracking", "Tracking", false);
@@ -111,6 +201,7 @@ public Plan getDefault(Plan plan, String name) {
     addDefaultPeerConfig(plan, name, "leftArm", "InMoov2Arm", false);
     addDefaultPeerConfig(plan, name, "leftHand", "InMoov2Hand", false);
     addDefaultPeerConfig(plan, name, "mouth", "MarySpeech", false);
+    addDefaultPeerConfig(plan, name, "mouth.audioFile", "AudioFile", false);
     addDefaultPeerConfig(plan, name, "mouthControl", "MouthControl", false);
     addDefaultPeerConfig(plan, name, "neoPixel", "NeoPixel", false);
     addDefaultPeerConfig(plan, name, "opencv", "OpenCV", false);
@@ -127,6 +218,25 @@ public Plan getDefault(Plan plan, String name) {
     addDefaultPeerConfig(plan, name, "torso", "InMoov2Torso", false);
     addDefaultPeerConfig(plan, name, "ultrasonicRight", "UltrasonicSensor", false);
     addDefaultPeerConfig(plan, name, "ultrasonicLeft", "UltrasonicSensor", false);
+    addDefaultPeerConfig(plan, name, "vertx", "Vertx", false);
+    addDefaultPeerConfig(plan, name, "webxr", "WebXR", false);
+
+    WebXRConfig webxr = (WebXRConfig) plan.get(getPeerName("webxr"));
+
+    Map map = new HashMap<>();
+    MapperSimple mapper = new MapperSimple(-0.5, 0.5, 0, 180);
+    map.put("i01.head.neck", mapper);
+    webxr.controllerMappings.put("head.orientation.pitch", map);
+
+    map = new HashMap<>();
+    mapper = new MapperSimple(-0.5, 0.5, 0, 180);
+    map.put("i01.head.rothead", mapper);
+    webxr.controllerMappings.put("head.orientation.yaw", map);
+
+    map = new HashMap<>();
+    mapper = new MapperSimple(-0.5, 0.5, 0, 180);
+    map.put("i01.head.roll", mapper);
+    webxr.controllerMappings.put("head.orientation.roll", map);
 
     MouthControlConfig mouthControl = (MouthControlConfig) plan.get(getPeerName("mouthControl"));
 
@@ -141,6 +251,8 @@ public Plan getDefault(Plan plan, String name) {
     mouthControl.mouth = i01Name + ".mouth";
 
     ProgramABConfig chatBot = (ProgramABConfig) plan.get(getPeerName("chatBot"));
+    chatBot.listeners = new ArrayList<>();
+    
     Runtime runtime = Runtime.getInstance();
     String[] bots = new String[] { "cn-ZH", "en-US", "fi-FI", "hi-IN", "nl-NL", "ru-RU", "de-DE", "es-ES", "fr-FR", "it-IT", "pt-PT", "tr-TR" };
     String tag = runtime.getLocaleTag();
@@ -149,19 +261,17 @@ public Plan getDefault(Plan plan, String name) {
       String lang = tagparts[0];
       for (String b : bots) {
         if (b.startsWith(lang)) {
-          chatBot.currentBotName = b;
+          chatBot.botType = b;
           break;
         }
       }
     }
-    
-    chatBot.currentUserName = "human";
-    
-    // chatBot.textListeners = new String[] { name + ".htmlFilter" };
-    if (chatBot.listeners == null) {
-      chatBot.listeners = new ArrayList<>();
-    }
-    chatBot.listeners.add(new Listener("publishText", name + ".htmlFilter", "onText"));
+
+    // chatBot.currentUserName = "human"; is already default
+
+    Gpt3Config gpt3 = (Gpt3Config) plan.get(getPeerName("gpt3"));
+    gpt3.listeners = new ArrayList<>();
+    gpt3.listeners.add(new Listener("publishText", name + ".htmlFilter", "onText"));
 
     HtmlFilterConfig htmlFilter = (HtmlFilterConfig) plan.get(getPeerName("htmlFilter"));
     // htmlFilter.textListeners = new String[] { name + ".mouth" };
@@ -176,21 +286,15 @@ public Plan getDefault(Plan plan, String name) {
     mouth.voice = "Mark";
     mouth.speechRecognizers = new String[] { name + ".ear" };
 
-    // == Peer - servoMixer =============================
-    // setup name references to different services
-    ServoMixerConfig servoMixer = (ServoMixerConfig) plan.get(getPeerName("servoMixer"));
-    servoMixer.listeners = new ArrayList<>();
-    servoMixer.listeners.add(new Listener("publishText", name + ".mouth", "onText"));
-    //servoMixer.listeners.add(new Listener("publishText", name + ".chatBot", "onText"));
 
     // == Peer - ear =============================
     // setup name references to different services
     WebkitSpeechRecognitionConfig ear = (WebkitSpeechRecognitionConfig) plan.get(getPeerName("ear"));
-    ear.listeners = new ArrayList<>(); 
+    ear.listeners = new ArrayList<>();
     ear.listeners.add(new Listener("publishText", name + ".chatBot", "onText"));
     ear.listening = true;
     // remove, should only need ServiceConfig.listeners
-    ear.textListeners = new String[]{name + ".chatBot"};
+    ear.textListeners = new String[] { name + ".chatBot" };
 
     JMonkeyEngineConfig simulator = (JMonkeyEngineConfig) plan.get(getPeerName("simulator"));
 
@@ -259,63 +363,72 @@ public Plan getDefault(Plan plan, String name) {
     simulator.cameraLookAt = name + ".torso.lowStom";
 
     FiniteStateMachineConfig fsm = (FiniteStateMachineConfig) plan.get(getPeerName("fsm"));
-    // TODO - events easily gotten from InMoov data ?? auto callbacks in python if exists ?
+    // TODO - events easily gotten from InMoov data ?? auto callbacks in python
+    // if exists ?
+    fsm.listeners = new ArrayList<>();
     fsm.current = "boot";
-    fsm.transitions.add(new Transition("boot", "configStarted", "applyingConfig"));
-    fsm.transitions.add(new Transition("applyingConfig", "getUserInfo", "getUserInfo"));
-    fsm.transitions.add(new Transition("applyingConfig", "systemCheck", "systemCheck"));
-    fsm.transitions.add(new Transition("applyingConfig", "wake", "awake"));
-    fsm.transitions.add(new Transition("getUserInfo", "systemCheck", "systemCheck"));
-    fsm.transitions.add(new Transition("systemCheck", "systemCheckFinished", "awake"));
-    fsm.transitions.add(new Transition("awake", "sleep", "sleeping"));
+    fsm.transitions.add(new Transition("boot", "start", "start"));
+    // fsm.transitions.add(new Transition("start", "idle", "idle"));
+    fsm.transitions.add(new Transition("start", "first_init", "first_init"));
+    fsm.transitions.add(new Transition("start", "wake", "wake"));
+    fsm.transitions.add(new Transition("idle", "random", "random"));
+    fsm.transitions.add(new Transition("random", "idle", "idle"));
+    fsm.transitions.add(new Transition("idle", "sleep", "sleep"));
+    fsm.transitions.add(new Transition("sleep", "wake", "wake"));
+    fsm.transitions.add(new Transition("idle", "power_down", "power_down"));
+    fsm.transitions.add(new Transition("wake", "idle", "idle"));
+    // fsm.transitions.add(new Transition("wake", "first_init", "first_init"));
+    // powerDown to shutdown
+    // fsm.transitions.add(new Transition("systemCheck", "systemCheckFinished",
+    // "awake"));
+    // fsm.transitions.add(new Transition("awake", "sleep", "sleeping"));
 
-    
-    
     PirConfig pir = (PirConfig) plan.get(getPeerName("pir"));
-    pir.pin = "23";
+    pir.pin = "D23";
     pir.controller = name + ".left";
     pir.listeners = new ArrayList<>();
-    pir.listeners.add(new Listener("publishPirOn", name, "onPirOn"));
-    
+    pir.listeners.add(new Listener("publishPirOn", name));
+    pir.listeners.add(new Listener("publishPirOff", name));
+
     // == Peer - random =============================
     RandomConfig random = (RandomConfig) plan.get(getPeerName("random"));
     random.enabled = false;
 
     // setup name references to different services
-    RandomMessageConfig rm = new RandomMessageConfig(name, "setLeftArmSpeed", 3000, 8000, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0);
+    RandomMessageConfig rm = new RandomMessageConfig(name, "setLeftArmSpeed", 3000, 8000, 8, 25, 8, 25, 8, 25, 8, 25);
     random.randomMessages.put(name + ".setLeftArmSpeed", rm);
 
-    rm = new RandomMessageConfig(name, "setRightArmSpeed", 3000, 8000, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0);
+    rm = new RandomMessageConfig(name, "setRightArmSpeed", 3000, 8000, 8, 25, 8, 25, 8, 25, 8, 25);
     random.randomMessages.put(name + ".setRightArmSpeed", rm);
 
-    rm = new RandomMessageConfig(name, "moveLeftArm", 000, 8000, 0.0, 5.0, 85.0, 95.0, 25.0, 30.0, 10.0, 15.0);
+    rm = new RandomMessageConfig(name, "moveLeftArm", 000, 8000, 0, 5, 85, 95, 25, 30, 10, 15);
     random.randomMessages.put(name + ".moveLeftArm", rm);
 
-    rm = new RandomMessageConfig(name, "moveRightArm", 3000, 8000, 0.0, 5.0, 85.0, 95.0, 25.0, 30.0, 10.0, 15.0);
+    rm = new RandomMessageConfig(name, "moveRightArm", 3000, 8000, 0, 5, 85, 95, 25, 30, 10, 15);
     random.randomMessages.put(name + ".moveRightArm", rm);
 
-    rm = new RandomMessageConfig(name, "setLeftHandSpeed", 3000, 8000, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0);
+    rm = new RandomMessageConfig(name, "setLeftHandSpeed", 3000, 8000, 8, 25, 8, 25, 8, 25, 8, 25, 8, 25, 8, 25);
     random.randomMessages.put(name + ".setLeftHandSpeed", rm);
 
-    rm = new RandomMessageConfig(name, "setRightHandSpeed", 3000, 8000, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0);
+    rm = new RandomMessageConfig(name, "setRightHandSpeed", 3000, 8000, 8, 25, 8, 25, 8, 25, 8, 25, 8, 25, 8, 25);
     random.randomMessages.put(name + ".setRightHandSpeed", rm);
 
-    rm = new RandomMessageConfig(name, "moveLeftHand", 3000, 8000, 10.0, 160.0, 10.0, 60.0, 10.0, 60.0, 10.0, 60.0, 10.0, 60.0, 130.0, 175.0);
+    rm = new RandomMessageConfig(name, "moveLeftHand", 3000, 8000, 10, 160, 10, 60, 10, 60, 10, 60, 10, 60, 130, 175);
     random.randomMessages.put(name + ".moveLeftHand", rm);
 
-    rm = new RandomMessageConfig(name, "moveRightHand", 3000, 8000, 10.0, 160.0, 10.0, 60.0, 10.0, 60.0, 10.0, 60.0, 10.0, 60.0, 130.0, 175.0);
+    rm = new RandomMessageConfig(name, "moveRightHand", 3000, 8000, 10, 160, 10, 60, 10, 60, 10, 60, 10, 60, 130, 175);
     random.randomMessages.put(name + ".moveRightHand", rm);
 
-    rm = new RandomMessageConfig(name, "setHeadSpeed",3000, 8000, 8.0, 20.0, 8.0, 20.0, 8.0, 20.0);
+    rm = new RandomMessageConfig(name, "setHeadSpeed", 3000, 8000, 8, 20, 8, 20, 8, 20);
     random.randomMessages.put(name + ".setHeadSpeed", rm);
 
-    rm = new RandomMessageConfig(name, "moveHead", 3000, 8000, 70.0, 110.0, 65.0, 115.0, 70.0, 110.0);
+    rm = new RandomMessageConfig(name, "moveHead", 3000, 8000, 70, 110, 65, 115, 70, 110);
     random.randomMessages.put(name + ".moveHead", rm);
 
-    rm = new RandomMessageConfig(name , "setTorsoSpeed", 3000, 8000, 2.0, 5.0, 2.0, 5.0, 2.0, 5.0);
+    rm = new RandomMessageConfig(name, "setTorsoSpeed", 3000, 8000, 2, 5, 2, 5, 2, 5);
     random.randomMessages.put(name + ".setTorsoSpeed", rm);
 
-    rm = new RandomMessageConfig(name, "moveTorso", 3000, 8000, 85.0, 95.0, 88.0, 93.0, 70.0, 110.0);
+    rm = new RandomMessageConfig(name, "moveTorso", 3000, 8000, 85, 95, 88, 93, 70, 110);
     random.randomMessages.put(name + ".moveTorso", rm);
 
     // == Peer - headTracking =============================
@@ -387,17 +500,114 @@ public Plan getDefault(Plan plan, String name) {
     plan.remove(name + ".eyeTracking.controller");
     plan.remove(name + ".eyeTracking.controller.serial");
     plan.remove(name + ".eyeTracking.cv");
-    
+
+    // LOOPBACK PUBLISHING - ITS A GREAT WAY TO SUPPORT
+    // EXTENSIBLE AND OVERRIDABLE BEHAVIORS
+
     // inmoov2 default listeners
     listeners = new ArrayList<>();
     // FIXME - should be getPeerName("neoPixel")
-    listeners.add(new Listener("publishFlash", name + ".neoPixel", "onLedDisplay"));
 
-    listeners.add(new Listener("publishEvent", name + ".fsm"));
+    // loopbacks allow user to override or extend with python
+//    listeners.add(new Listener("publishBoot", name));
+      listeners.add(new Listener("publishHeartbeat", name));
+//    listeners.add(new Listener("publishConfigFinished", name));
+//    listeners.add(new Listener("publishStateChange", name));
+
+    // listeners.add(new Listener("publishPowerUp", name));
+    // listeners.add(new Listener("publishPowerDown", name));
+    // listeners.add(new Listener("publishError", name));
+
+    listeners.add(new Listener("publishMoveHead", name));
+    listeners.add(new Listener("publishMoveRightArm", name));
+    listeners.add(new Listener("publishMoveLeftArm", name));
+    listeners.add(new Listener("publishMoveRightHand", name));
+    listeners.add(new Listener("publishMoveLeftHand", name));
+    listeners.add(new Listener("publishMoveTorso", name));
+
+    LogConfig log = (LogConfig) plan.get(getPeerName("log"));
+    log.listeners = new ArrayList<>();
+    log.listeners.add(new Listener("publishLogEvents", name));
+
+    // mouth_audioFile.listeners.add(new Listener("publishAudioEnd", name));
+    // mouth_audioFile.listeners.add(new Listener("publishAudioStart", name));
+
+    // InMoov2 --to--> service
+    listeners.add(new Listener("publishFlash", getPeerName("neoPixel")));
+    listeners.add(new Listener("publishEvent", getPeerName("chatBot"), "getResponse"));
+    listeners.add(new Listener("publishPlayAudioFile", getPeerName("audioPlayer")));
+
+    listeners.add(new Listener("publishPlayAnimation", getPeerName("neoPixel")));
+    listeners.add(new Listener("publishStopAnimation", getPeerName("neoPixel")));
+
+    // listeners.add(new Listener("publishPowerUp", name));
+    // listeners.add(new Listener("publishPowerDown", name));
+    // listeners.add(new Listener("publishError", name));
+
+    listeners.add(new Listener("publishMoveHead", name));
+    listeners.add(new Listener("publishMoveRightArm", name));
+    listeners.add(new Listener("publishMoveLeftArm", name));
+    listeners.add(new Listener("publishMoveRightHand", name));
+    listeners.add(new Listener("publishMoveLeftHand", name));
+    listeners.add(new Listener("publishMoveTorso", name));
+
+   
+    // service --to--> InMoov2
+    AudioFileConfig mouth_audioFile = (AudioFileConfig) plan.get(getPeerName("mouth.audioFile"));
+    mouth_audioFile.listeners = new ArrayList<>();
+    mouth_audioFile.listeners.add(new Listener("publishPeak", name));
+    
+    // service --> InMoov2 FIXME !!! - rebroadcast with event and event.src
+    mouth.listeners = new ArrayList<>();
+    mouth.listeners.add(new Listener("publishStartSpeaking", name));
+    mouth.listeners.add(new Listener("publishEndSpeaking", name));
+
+    // service --> hardcoded service name - NOT GOOD :(
+    mouth.listeners.add(new Listener("publishStartSpeaking", "python"));
+    mouth.listeners.add(new Listener("publishEndSpeaking", "python"));
+
+    // mouth --> ear .. should it be audio file instead "closer to the actual audio"?
+    mouth.listeners.add(new Listener("publishStartSpeaking", getPeerName("ear")));
+    mouth.listeners.add(new Listener("publishEndSpeaking", getPeerName("ear")));
+    
+
+
+    webxr.listeners = new ArrayList<>();
+    webxr.listeners.add(new Listener("publishJointAngles", name)); // TODO rebroadcast this
+
+    // mouth_audioFile.listeners.add(new Listener("publishAudioEnd", name));
+    // mouth_audioFile.listeners.add(new Listener("publishAudioStart", name));
+
+    // InMoov2 --to--> service
+    listeners.add(new Listener("publishEvent", getPeerName("chatBot"), "getResponse"));
+    listeners.add(new Listener("publishPlayAudioFile", getPeerName("audioPlayer")));
+    listeners.add(new Listener("publishPython", "python"));
+    listeners.add(new Listener("publishSensorData", "python"));
+    listeners.add(new Listener("publishPredicate", "python"));
+    listeners.add(new Listener("publishStateChange", "python"));
+    listeners.add(new Listener("publishSession", "python"));
+    listeners.add(new Listener("publishMessage", "python"));
+    
+
+    // service --to--> service
+    ServoMixerConfig servoMixer = (ServoMixerConfig) plan.get(getPeerName("servoMixer"));
+    servoMixer.listeners = new ArrayList<>();
+    servoMixer.listeners.add(new Listener("publishText", getPeerName("mouth"), "onText"));
         
+    chatBot.listeners.add(new Listener("publishText", name + ".htmlFilter", "onText"));
+    
+
+    // service --> InMoov2 --> rebroadcast correctly with src
+    chatBot.listeners.add(new Listener("publishTopic", name, "publishTopic"));
+    chatBot.listeners.add(new Listener("publishPredicate", name, "publishPredicate"));
+    chatBot.listeners.add(new Listener("publishSession", name, "publishSession"));
+    chatBot.listeners.add(new Listener("publishMessage", name, "publishMessage"));
+    fsm.listeners.add(new Listener("publishStateChange", name, "publishStateChange"));
+
+
     // remove the auto-added starts in the plan's runtime RuntimConfig.registry
     plan.removeStartsWith(name + ".");
-    
+
     // rtConfig.add(name); // <-- adding i01 / not needed
 
     return plan;

From 768575de3db460ffa6c17f4f666885e88455feea Mon Sep 17 00:00:00 2001
From: grog 
Date: Tue, 5 Dec 2023 11:09:59 -0800
Subject: [PATCH 097/232] more

---
 .../generics/SlidingWindowList.java           | 22 +++++++++++++++++++
 1 file changed, 22 insertions(+)
 create mode 100644 src/main/java/org/myrobotlab/generics/SlidingWindowList.java

diff --git a/src/main/java/org/myrobotlab/generics/SlidingWindowList.java b/src/main/java/org/myrobotlab/generics/SlidingWindowList.java
new file mode 100644
index 0000000000..2c048a532f
--- /dev/null
+++ b/src/main/java/org/myrobotlab/generics/SlidingWindowList.java
@@ -0,0 +1,22 @@
+package org.myrobotlab.generics;
+
+import java.util.ArrayList;
+
+public class SlidingWindowList extends ArrayList {
+  private static final long serialVersionUID = 1L;
+  private final int maxSize;
+
+  public SlidingWindowList(int maxSize) {
+      this.maxSize = maxSize;
+  }
+  
+  @Override
+  public boolean add(E element) {
+      boolean added = super.add(element);
+      if (size() > maxSize) {
+          removeRange(0, size() - maxSize); // Remove oldest elements if size exceeds maxSize
+      }
+      return added;
+  }
+
+}

From 0dce02c68786a53818de146bbf2ceb51ccc20e73 Mon Sep 17 00:00:00 2001
From: grog 
Date: Tue, 5 Dec 2023 11:11:38 -0800
Subject: [PATCH 098/232] more

---
 .../java/org/myrobotlab/service/Shoutbox.java |  2 +-
 .../myrobotlab/service/data/SensorData.java   | 42 ++++++++++++++++---
 2 files changed, 37 insertions(+), 7 deletions(-)

diff --git a/src/main/java/org/myrobotlab/service/Shoutbox.java b/src/main/java/org/myrobotlab/service/Shoutbox.java
index a567ae073e..e063de93a1 100644
--- a/src/main/java/org/myrobotlab/service/Shoutbox.java
+++ b/src/main/java/org/myrobotlab/service/Shoutbox.java
@@ -453,7 +453,7 @@ public void startChatBot() throws IOException {
       return;
     }
     chatbot = (ProgramAB) Runtime.start("chatbot", "ProgramAB");
-    chatbot.startSession("ProgramAB", "alice2");
+    chatbot.setSession("ProgramAB", "alice2");
     chatbot.addResponseListener(this);
   }
 
diff --git a/src/main/java/org/myrobotlab/service/data/SensorData.java b/src/main/java/org/myrobotlab/service/data/SensorData.java
index 363553b68a..7a922cebaa 100644
--- a/src/main/java/org/myrobotlab/service/data/SensorData.java
+++ b/src/main/java/org/myrobotlab/service/data/SensorData.java
@@ -2,17 +2,47 @@
 
 import java.io.Serializable;
 
+/**
+ * A generalized bucket for simplified channels to hold
+ * any type of sensor information and its source.
+ * 
+ * @author GroG
+ *
+ */
 public class SensorData implements Serializable {
 
   private static final long serialVersionUID = 1L;
-  Object data;
+  
+  /**
+   * timestamp
+   */
+  public long ts = System.currentTimeMillis();
+  
+  /**
+   * Type of string data so downstream receivers can
+   * interpret data field correctly, typically the
+   * name of the type of service which generated it.
+   */
+  public String type;
+  
+  /**
+   * Service name where data came from.
+   */
+  public String src;
+  
+  /**
+   * data of sensor
+   */
+  public Object data;
 
-  public SensorData(Object data) {
-    this.data = data;
+  public SensorData() {    
   }
-
-  public Object getData() {
-    return data;
+  
+  public SensorData(String src, String type, Object data) {
+    this.src = src;
+    this.type = type;
+    this.data = data;
   }
 
+  
 }

From 2f50853a23d938dc7c514e740aba7ba54ca8a0ca Mon Sep 17 00:00:00 2001
From: grog 
Date: Tue, 5 Dec 2023 11:14:28 -0800
Subject: [PATCH 099/232] hashToHex

---
 src/main/java/org/myrobotlab/codec/CodecUtils.java | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/main/java/org/myrobotlab/codec/CodecUtils.java b/src/main/java/org/myrobotlab/codec/CodecUtils.java
index ba528b7a10..eb20b2191b 100644
--- a/src/main/java/org/myrobotlab/codec/CodecUtils.java
+++ b/src/main/java/org/myrobotlab/codec/CodecUtils.java
@@ -1685,4 +1685,10 @@ public static int[] hexToRGB(String hexValue) {
     }
     return rgb;
   }
+
+  public static String hashcodeToHex(int hashCode) {
+    String hexString = Long.toHexString(hashCode).toUpperCase();
+    return String.format("%6s", hexString).replace(' ', '0').substring(0, 6);
+  }
+
 }

From 10eb5e0707e34176b5bc665e76d4c8106a418652 Mon Sep 17 00:00:00 2001
From: grog 
Date: Tue, 5 Dec 2023 11:36:20 -0800
Subject: [PATCH 100/232] state change definition

---
 .../service/FiniteStateMachine.java           | 47 +++++++++++++------
 1 file changed, 32 insertions(+), 15 deletions(-)

diff --git a/src/main/java/org/myrobotlab/service/FiniteStateMachine.java b/src/main/java/org/myrobotlab/service/FiniteStateMachine.java
index d04436f1e3..7a290bc459 100644
--- a/src/main/java/org/myrobotlab/service/FiniteStateMachine.java
+++ b/src/main/java/org/myrobotlab/service/FiniteStateMachine.java
@@ -12,6 +12,7 @@
 import org.myrobotlab.framework.Service;
 import org.myrobotlab.framework.interfaces.MessageListener;
 import org.myrobotlab.framework.interfaces.ServiceInterface;
+import org.myrobotlab.generics.SlidingWindowList;
 import org.myrobotlab.logging.Level;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
@@ -51,7 +52,7 @@ public class FiniteStateMachine extends Service {
   /**
    * state history of fsm
    */
-  protected List history = new ArrayList<>();
+  protected List history = new SlidingWindowList<>(100);
 
   // TODO - .from("A").to("B").on(Messages.ANY)
   // TODO - .from("A").to("B").on(Messages.EMPTY)
@@ -65,17 +66,27 @@ public class Tuple {
   }
   
   public class StateChange {
-    public String last;
-    public String current;
+    /**
+     * timestamp
+     */
+    public long ts = System.currentTimeMillis();
+
+    /**
+     * current new state
+     */
+    public String state;
+    
+    /**
+     * event which activated new state
+     */
     public String event;
-    public StateChange(String last, String current, String event) {
-      this.last = last;
-      this.current = current;
+    public StateChange(String current, String event) {
+      this.state = current;
       this.event = event;
     }
     
     public String toString() {
-      return String.format("%s --%s--> %s", last, event, current);
+      return String.format("%s --%s--> %s", last, event, state);
     }
   }
 
@@ -113,11 +124,8 @@ public String getNext(String key) {
   public void init() {
     stateMachine.init();
     State state = stateMachine.getCurrent();
-    if (history.size() > 100) {
-      history.remove(0);
-    }
     if (state != null) {
-      history.add(state.getName());
+      history.add(new StateChange(state.getName(), String.format("%s.setCurrent", getName())));
     }
   }
 
@@ -194,8 +202,9 @@ public void fire(String event) {
       log.info("fired event ({}) -> ({}) moves to ({})", event, last == null ? null : last.getName(), current == null ? null : current.getName());
 
       if (last != null && !last.equals(current)) {
-        invoke("publishStateChange", new StateChange(last.getName(), current.getName(), event));
-        history.add(current.getName());
+        StateChange stateChange = new StateChange(current.getName(), event);
+        invoke("publishStateChange", stateChange);
+        history.add(stateChange);
       }
     } catch (Exception e) {
       log.error("fire threw", e);
@@ -247,7 +256,7 @@ public StateChange publishStateChange(StateChange stateChange) {
     for (String listener : messageListeners) {
       ServiceInterface service = Runtime.getService(listener);
       if (service != null) {
-        org.myrobotlab.framework.Message msg = org.myrobotlab.framework.Message.createMessage(getName(), listener, CodecUtils.getCallbackTopicName(stateChange.current), null);
+        org.myrobotlab.framework.Message msg = org.myrobotlab.framework.Message.createMessage(getName(), listener, CodecUtils.getCallbackTopicName(stateChange.state), null);
         service.in(msg);
       }
     }
@@ -419,7 +428,7 @@ public void setCurrent(String state) {
       stateMachine.setCurrent(state);
       current = stateMachine.getCurrent();
       if (last != null && !last.equals(current)) {
-        invoke("publishStateChange", new StateChange(last.getName(), current.getName(), null));
+        invoke("publishStateChange", new StateChange(current.getName(), String.format("%s.setCurrent", getName())));
       }
     } catch (Exception e) {
       log.error("setCurrent threw", e);
@@ -427,4 +436,12 @@ public void setCurrent(String state) {
     }
   }
 
+  public String getPreviousState() {
+    if (history.size() == 0) {
+      return null;
+    } else {
+      return history.get(history.size() - 2).state;
+    }
+  }
+
 }
\ No newline at end of file

From 0473e76b152582757d5ee48f018b55e0492e75f3 Mon Sep 17 00:00:00 2001
From: grog 
Date: Tue, 5 Dec 2023 11:45:05 -0800
Subject: [PATCH 101/232] no more oob payload

---
 .../myrobotlab/programab/OOBPayloadTest.java  | 32 -------------------
 .../org/myrobotlab/service/HarryTest.java     |  6 ++--
 2 files changed, 4 insertions(+), 34 deletions(-)
 delete mode 100644 src/test/java/org/myrobotlab/programab/OOBPayloadTest.java

diff --git a/src/test/java/org/myrobotlab/programab/OOBPayloadTest.java b/src/test/java/org/myrobotlab/programab/OOBPayloadTest.java
deleted file mode 100644
index 3761bc5c29..0000000000
--- a/src/test/java/org/myrobotlab/programab/OOBPayloadTest.java
+++ /dev/null
@@ -1,32 +0,0 @@
-package org.myrobotlab.programab;
-
-import static org.junit.Assert.assertEquals;
-
-import java.util.ArrayList;
-
-import org.junit.Test;
-import org.myrobotlab.test.AbstractTest;
-
-public class OOBPayloadTest extends AbstractTest {
-
-  @Test
-  public void basicTestOOBPayload() {
-    // test the getters/setters of oob object.
-    OOBPayload payload = new OOBPayload();
-    payload.setMethodName("foo");
-    ArrayList params = new ArrayList();
-    payload.setParams(params);
-    payload.setServiceName("fooservice");
-
-    assertEquals(payload.getMethodName(), "foo");
-    assertEquals(payload.getParams(), params);
-    assertEquals(payload.getServiceName(), "fooservice");
-
-    OOBPayload pl2 = new OOBPayload("boo2", "fooo2", params);
-    assertEquals(pl2.getMethodName(), "fooo2");
-    assertEquals(pl2.getParams(), params);
-    assertEquals(pl2.getServiceName(), "boo2");
-
-  }
-
-}
diff --git a/src/test/java/org/myrobotlab/service/HarryTest.java b/src/test/java/org/myrobotlab/service/HarryTest.java
index 29527a0845..b635ea2a6b 100755
--- a/src/test/java/org/myrobotlab/service/HarryTest.java
+++ b/src/test/java/org/myrobotlab/service/HarryTest.java
@@ -144,7 +144,8 @@ public void testDynamic() throws SolrServerException, IOException, InterruptedEx
     solr.startEmbedded();
     createAIML();
     ProgramAB harry = (ProgramAB) Runtime.start("harry", "ProgramAB");
-    harry.startSession("testbots", "username", "test");
+    harry.setBotType("testbots");
+    harry.startSession("username", "test", true);
 
     goLearnStuff(solr, harry);
 
@@ -166,7 +167,8 @@ public void testHarry() throws Exception {
     solr.startEmbedded();
     createAIML();
     ProgramAB harry = (ProgramAB) Runtime.start("harry", "ProgramAB");
-    harry.startSession("testbots", "username", "test");
+    harry.setSession("username", "test");
+    // harry.startSession("username", "test");
 
     // start the opencv service with the yolo filter.
     OpenCV cv = (OpenCV) Runtime.start("cv", "OpenCV");

From a0e79dadfad6a6022dda5b4169c4173221466052 Mon Sep 17 00:00:00 2001
From: grog 
Date: Tue, 5 Dec 2023 11:50:08 -0800
Subject: [PATCH 102/232] formatted xml and fixed ui

---
 .../WebGui/app/service/js/ProgramABGui.js     | 432 +++++++++---------
 .../app/service/views/ProgramABGui.html       |  12 +-
 .../service/ArduinoMotorPotTest.java          |   2 +-
 .../ProgramAB/bots/lloyd/aiml/lloyd.aiml      | 394 ++++++++++------
 4 files changed, 473 insertions(+), 367 deletions(-)

diff --git a/src/main/resources/resource/WebGui/app/service/js/ProgramABGui.js b/src/main/resources/resource/WebGui/app/service/js/ProgramABGui.js
index 38211728ff..0e34121c1c 100644
--- a/src/main/resources/resource/WebGui/app/service/js/ProgramABGui.js
+++ b/src/main/resources/resource/WebGui/app/service/js/ProgramABGui.js
@@ -1,6 +1,12 @@
-angular.module('mrlapp.service.ProgramABGui', []).controller('ProgramABGuiCtrl', ['$scope', '$compile', 'mrl', '$uibModal', '$sce', function($scope, $compile, mrl, $uibModal, $sce) {
+angular.module("mrlapp.service.ProgramABGui", []).controller("ProgramABGuiCtrl", [
+  "$scope",
+  "$compile",
+  "mrl",
+  "$uibModal",
+  "$sce",
+  function ($scope, $compile, mrl, $uibModal, $sce) {
     // $modal ????
-    console.info('ProgramABGuiCtrl')
+    console.info("ProgramABGuiCtrl")
     // grab the self and message
     var _self = this
     var startDialog = null
@@ -8,8 +14,8 @@ angular.module('mrlapp.service.ProgramABGui', []).controller('ProgramABGuiCtrl',
 
     // use $scope only when the variable
     // needs to interract with the display
-    $scope.currentUserName = ''
-    $scope.utterance = ''
+    $scope.currentUserName = ""
+    $scope.utterance = ""
     $scope.currentSessionKey = null
     $scope.status = null
     $scope.predicates = []
@@ -18,10 +24,10 @@ angular.module('mrlapp.service.ProgramABGui', []).controller('ProgramABGuiCtrl',
     $scope.aimlEditor = null
 
     $scope.tabs = {
-        "selected": 1
+      selected: 1,
     }
     $scope.tabsRight = {
-        "selected": 1
+      selected: 1,
     }
 
     // active tab index
@@ -29,7 +35,7 @@ angular.module('mrlapp.service.ProgramABGui', []).controller('ProgramABGuiCtrl',
 
     $scope.aimlFile = "blah \n blah "
     $scope.aimlFileData = {
-        "data": "HELLO THERE !!!"
+      data: "HELLO THERE !!!",
     }
 
     $scope.lastResponse
@@ -38,7 +44,7 @@ angular.module('mrlapp.service.ProgramABGui', []).controller('ProgramABGuiCtrl',
     // be put in an object to be effectively modified
     // when $sope is used
     $scope.edit = {
-        properties: false
+      properties: false,
     }
 
     $scope.chatLog = []
@@ -47,269 +53,263 @@ angular.module('mrlapp.service.ProgramABGui', []).controller('ProgramABGuiCtrl',
     $scope.log = []
 
     // following the template.
-    this.updateState = function(service) {
-        // use another scope var to transfer/merge selection
-        // from user - service.currentSession is always read-only
-        // all service data should never be written to, only read from
-        $scope.currentUserName = service.config.currentUserName
-        $scope.service = service
-        $scope.currentSessionKey = $scope.getCurrentSessionKey()
-
-        /*
+    this.updateState = function (service) {
+      // use another scope var to transfer/merge selection
+      // from user - service.currentSession is always read-only
+      // all service data should never be written to, only read from
+      $scope.currentUserName = service.config.username
+      $scope.service = service
+      $scope.currentSessionKey = $scope.getCurrentSessionKey()
+
+      /*
         for (let bot in $scope.service.sessions){
             for (let username in $scope.service.sessions[bot]){
                 console.info(username)
             }
         }
         */
-
     }
 
-    this.onMsg = function(inMsg) {
-        // console.info("ProgramABGui.onMsg(" + inMsg.method + ')')
-        let data = inMsg.data[0]
-
-        switch (inMsg.method) {
-
-        case 'onStatus':
-            $scope.status = data;
-            $scope.$apply()
-            break
-
-        case 'onBotImage':
-            $scope.currentBotImage = data
-            $scope.$apply()
-            break
-
-        case 'onState':
-            _self.updateState(data)
-            $scope.$apply()
-            break
-
-        case 'onTopic':
-            $scope.service.currentTopic = data
-            $scope.$apply()
-            break
-
-        case 'onAimlFile':
-            $scope.aimlFileData.data = data
-            $scope.$apply()
-            break
-
-        case 'onPredicates':
-            $scope.predicates = data
-            $scope.$apply()
-            break
-
-        case 'onPredicate':
-            $scope.predicates[data.name] = data.value
-            $scope.$apply()
-            break
-                
-
-        case 'onRequest':
-            var textData = data
-            $scope.chatLog.unshift({
-                type: 'User',
-                name: $scope.currentUserName,
-                text: $sce.trustAsHtml(textData)
-            })
-            console.info('onRequest', textData)
-            $scope.$apply()
-            break
-        case 'onResponse':
-            var textData = data
-            $scope.chatLog.unshift({
-                type: 'Bot',
-                name: $scope.service.config.currentBotName,
-                text: $sce.trustAsHtml(data.msg)
-            })
-            $scope.lastResponse = textData
-            $scope.$apply()
-            break
-        case 'onLog':
-            var textData = data
-            let filename = null
-            parts = textData.split(" ")
-            if (parts.length > 2 && parts[1] == "Matched:") {
-                filename = parts[parts.length - 1]
-                textData = textData.substr(0, textData.lastIndexOf(' ') + 1)
-                // pos0 = textData.lastIndexOf(' ') + 1
-                // url = textData.substr(0,pos0) + ''
-                // url = textData.substr(0,pos0) + ''
-                // textData = url
-            }
-
-            $scope.log.unshift({
-                'name': '',
-                'text': textData,
-                'filename': filename
-            })
-
-            $scope.$apply()
-            break
-        case 'onOOBText':
-            var textData = data
-            $scope.chatLog.unshift({
-                name: " > oob <",
-                text: $sce.trustAsHtml(textData)
-            })
-            console.info('currResponse', textData)
-            $scope.$apply()
-            break
+    this.onMsg = function (inMsg) {
+      // console.info("ProgramABGui.onMsg(" + inMsg.method + ')')
+      let data = inMsg.data[0]
+
+      switch (inMsg.method) {
+        case "onStatus":
+          $scope.status = data
+          $scope.$apply()
+          break
+
+        case "onBotImage":
+          $scope.currentBotImage = data
+          $scope.$apply()
+          break
+
+        case "onState":
+          _self.updateState(data)
+          $scope.$apply()
+          break
+
+        case "onTopic":
+          $scope.service.currentTopic = data
+          $scope.$apply()
+          break
+
+        case "onAimlFile":
+          $scope.aimlFileData.data = data
+          $scope.$apply()
+          break
+
+        case "onPredicates":
+          $scope.predicates = data
+          $scope.$apply()
+          break
+
+        case "onPredicate":
+          $scope.predicates[data.name] = data.value
+          $scope.$apply()
+          break
+
+        case "onRequest":
+          var textData = data
+          $scope.chatLog.unshift({
+            type: "User",
+            name: $scope.currentUserName,
+            text: $sce.trustAsHtml(textData),
+          })
+          console.info("onRequest", textData)
+          $scope.$apply()
+          break
+        case "onResponse":
+          var textData = data
+          $scope.chatLog.unshift({
+            type: "Bot",
+            name: $scope.service.config.botType,
+            text: $sce.trustAsHtml(data.msg),
+          })
+          $scope.lastResponse = textData
+          $scope.$apply()
+          break
+        case "onLog":
+          var textData = data
+          let filename = null
+          parts = textData.split(" ")
+          if (parts.length > 2 && parts[1] == "Matched:") {
+            filename = parts[parts.length - 1]
+            textData = textData.substr(0, textData.lastIndexOf(" ") + 1)
+            // pos0 = textData.lastIndexOf(' ') + 1
+            // url = textData.substr(0,pos0) + ''
+            // url = textData.substr(0,pos0) + ''
+            // textData = url
+          }
+
+          $scope.log.unshift({
+            name: "",
+            text: textData,
+            filename: filename,
+          })
+
+          $scope.$apply()
+          break
+        case "onOOBText":
+          var textData = data
+          $scope.chatLog.unshift({
+            name: " > oob <",
+            text: $sce.trustAsHtml(textData),
+          })
+          console.info("currResponse", textData)
+          $scope.$apply()
+          break
         default:
-            console.error("ERROR - unhandled method " + $scope.name + " " + inMsg.method)
-            break
-        }
+          console.error("ERROR - unhandled method " + $scope.name + " " + inMsg.method)
+          break
+      }
     }
 
-    $scope.getAimlFile = function(filename) {
-        $scope.aimlFile = filename
-        console.log('getting aiml file ' + filename)
-        msg.send('getAimlFile', $scope.service.config.currentBotName, filename)
-        $scope.tabs.selected = 2
+    $scope.getAimlFile = function (filename) {
+      $scope.aimlFile = filename
+      console.log("getting aiml file " + filename)
+      msg.send("getAimlFile", $scope.service.config.botType, filename)
+      $scope.tabs.selected = 2
     }
 
-    $scope.saveAimlFile = function() {
-        msg.send("saveAimlFile", $scope.service.config.currentBotName, $scope.aimlFile, $scope.aimlFileData.data)
+    $scope.saveAimlFile = function () {
+      msg.send("saveAimlFile", $scope.service.config.botType, $scope.aimlFile, $scope.aimlFileData.data)
     }
 
-    $scope.setSessionKey = function() {
-        msg.send("setCurrentUserName", $scope.service.config.currentUserName)
-        msg.send("setCurrentBotName", $scope.service.config.currentBotName)
+    $scope.setSessionKey = function () {
+      msg.send("setCurrentUserName", $scope.service.config.username)
+      msg.send("setCurrentBotName", $scope.service.config.botType)
     }
 
-    $scope.getBotInfo = function() {
-        if ($scope.service && $scope.service.bots){
-            return $scope.service.bots[$scope.service.config.currentBotName]
-        }
-        return null
+    $scope.getBotInfo = function () {
+      if ($scope.service && $scope.service.bots) {
+        return $scope.service.bots[$scope.service.config.botType]
+      }
+      return null
     }
 
-    $scope.getCurrentSession = function() {
-        if (!$scope.service.sessions){
-            return null
-        }
-        if ($scope.getCurrentSessionKey()in $scope.service.sessions) {
-            return $scope.service.sessions[$scope.getCurrentSessionKey()]
-        }
+    $scope.getCurrentSession = function () {
+      if (!$scope.service.sessions) {
         return null
+      }
+      if ($scope.getCurrentSessionKey() in $scope.service.sessions) {
+        return $scope.service.sessions[$scope.getCurrentSessionKey()]
+      }
+      return null
     }
 
-    $scope.getCurrentSessionKey = function() {
-        return $scope.service.config.currentUserName + ' <-> ' + $scope.service.config.currentBotName
+    $scope.getCurrentSessionKey = function () {
+      return $scope.service.config.username + " <-> " + $scope.service.config.botType
     }
 
-    $scope.test = function(session, utterance) {
-        msg.send("getCategories", "hello")
+    $scope.test = function (session, utterance) {
+      msg.send("getCategories", "hello")
     }
 
-    $scope.getSessionResponse = function(utterance) {
-        console.info("SESSION GET RESPONSE (" + $scope.currentUserName + " " + $scope.service.config.currentBotName + ")")
-        $scope.getResponse($scope.currentUserName, $scope.service.config.currentBotName, utterance)
+    $scope.getSessionResponse = function (utterance) {
+      console.info("SESSION GET RESPONSE (" + $scope.currentUserName + " " + $scope.service.config.botType + ")")
+      $scope.getResponse($scope.currentUserName, $scope.service.config.botType, utterance)
     }
 
-    $scope.getResponse = function(username, botname, utterance) {
-        console.info("USER BOT RESPONSE (" + username + " " + botname + ")")
-        msg.send("getResponse", username, botname, utterance)
-        $scope.utterance = ""
+    $scope.getResponse = function (username, botname, utterance) {
+      console.info("USER BOT RESPONSE (" + username + " " + botname + ")")
+      msg.send("getResponse", username, botname, utterance)
+      $scope.utterance = ""
     }
 
-    $scope.startDialog = function() {
-        startDialog = $uibModal.open({
-            templateUrl: "startDialog.html",
-            scope: $scope,
-            controller: function($scope) {
-                $scope.cancel = function() {
-                    startDialog.dismiss()
-                }
-
-            }
-        })
+    $scope.startDialog = function () {
+      startDialog = $uibModal.open({
+        templateUrl: "startDialog.html",
+        scope: $scope,
+        controller: function ($scope) {
+          $scope.cancel = function () {
+            startDialog.dismiss()
+          }
+        },
+      })
     }
 
-    $scope.startSession = function(username, botname) {
-        $scope.currentUserName = username
-        $scope.chatLog.unshift("Reload Session for Bot " + botname)
-        $scope.startSessionLabel = 'Reload Session'
-        msg.send("startSession", username, botname)
-        startDialog.dismiss()
+    $scope.startSession = function (username, botname) {
+      $scope.currentUserName = username
+      $scope.chatLog.unshift("Reload Session for Bot " + botname)
+      $scope.startSessionLabel = "Reload Session"
+      msg.send("startSession", username, botname)
+      startDialog.dismiss()
     }
 
-    $scope.savePredicates = function() {
-        $scope.service = mrl.getService($scope.service.name)
-        mrl.sendTo($scope.service.name, "savePredicates")
-        // FIXME !!!! lame
+    $scope.savePredicates = function () {
+      $scope.service = mrl.getService($scope.service.name)
+      mrl.sendTo($scope.service.name, "savePredicates")
+      // FIXME !!!! lame
     }
 
-    $scope.getProperties = function() {
-        if (!$scope.getBotInfo()){
-            return null
-        }
-        return $scope.getBotInfo()['properties']
+    $scope.getProperties = function () {
+      if (!$scope.getBotInfo()) {
+        return null
+      }
+      return $scope.getBotInfo()["properties"]
     }
 
-    $scope.getProperty = function(propName) {
-        try {
-            if ($scope.getBotInfo() && $scope.getBotInfo()['properties']){
-                return $scope.getBotInfo()['properties'][propName]                
-            }
-        } catch (error){
-            console.warn('getProperty(' + propName + ') not found')
-            return null
+    $scope.getProperty = function (propName) {
+      try {
+        if ($scope.getBotInfo() && $scope.getBotInfo()["properties"]) {
+          return $scope.getBotInfo()["properties"][propName]
         }
+      } catch (error) {
+        console.warn("getProperty(" + propName + ") not found")
+        return null
+      }
     }
 
-    $scope.removeBotProperty = function(propName) {
-        delete $scope.getBotInfo()['properties'][propName]
-        msg.send("removeBotProperty", propName)
+    $scope.removeBotProperty = function (propName) {
+      delete $scope.getBotInfo()["properties"][propName]
+      msg.send("removeBotProperty", propName)
     }
 
-    $scope.aceLoaded = function(_editor) {
-        // _editor.setReadOnly(true);
-        $scope.aimlEditor = _editor
-        console.log('aceLoaded')
+    $scope.aceLoaded = function (_editor) {
+      // _editor.setReadOnly(true);
+      $scope.aimlEditor = _editor
+      console.log("aceLoaded")
     }
 
-    $scope.aceChanged = function(e) {
-        //
-        console.log('aceChanged')
+    $scope.aceChanged = function (e) {
+      //
+      console.log("aceChanged")
     }
 
-    $scope.getBotPath = function(e) {
-        if ($scope.service?.bots && $scope.service?.bots[$scope.service?.config?.currentBotName]?.path){
-            return $scope.service?.bots[$scope.service?.config.currentBotName].path
-        }
-        return null
+    $scope.getBotPath = function (e) {
+      if ($scope.service?.bots && $scope.service?.bots[$scope.service?.config?.currentBotName]?.path) {
+        return $scope.service?.bots[$scope.service?.config.botType].path
+      }
+      return null
     }
-    
-    
-    $scope.getStatusLabel = function(level) {
-        if (level == 'error') {
-            return 'row label col-md-12 label-danger'
-        }
-        if (level == 'warn') {
-            return 'row label col-md-12 label-warning'
-        }
 
-        return 'row label col-md-12 label-info'
+    $scope.getStatusLabel = function (level) {
+      if (level == "error") {
+        return "row label col-md-12 label-danger"
+      }
+      if (level == "warn") {
+        return "row label col-md-12 label-warning"
+      }
+
+      return "row label col-md-12 label-info"
     }
 
     // subscribe to the response from programab.
-    msg.subscribe('publishTopic')
-    msg.subscribe('publishRequest')
-    msg.subscribe('publishResponse')
-    msg.subscribe('publishLog')
-    msg.subscribe('publishOOBText')
-    msg.subscribe('getPredicates')
-    msg.subscribe('publishPredicate')
-    msg.subscribe('getAimlFile')
+    msg.subscribe("publishTopic")
+    msg.subscribe("publishRequest")
+    msg.subscribe("publishResponse")
+    msg.subscribe("publishLog")
+    msg.subscribe("publishOOBText")
+    msg.subscribe("getPredicates")
+    msg.subscribe("publishPredicate")
+    msg.subscribe("getAimlFile")
 
+    msg.send("getPredicates")
 
-    msg.send('getPredicates')
-    
     msg.subscribe(this)
-}
+  },
 ])
 
 /* .filter('orderObjectBy', function() {
diff --git a/src/main/resources/resource/WebGui/app/service/views/ProgramABGui.html b/src/main/resources/resource/WebGui/app/service/views/ProgramABGui.html
index 8a9d2876c0..c8863b5fa5 100644
--- a/src/main/resources/resource/WebGui/app/service/views/ProgramABGui.html
+++ b/src/main/resources/resource/WebGui/app/service/views/ProgramABGui.html
@@ -19,17 +19,17 @@
                         
-                        
+                        
                         
    
                 
                 
-                    
+                    
                 
                 
-                    
-                        
+                    
+                        
                     
-                    
+                    
                         
                     
                 
@@ -41,7 +41,7 @@
                         
                         
    
                         
-                        
+                        
                     
    
                 
                 
diff --git a/src/test/java/org/myrobotlab/service/ArduinoMotorPotTest.java b/src/test/java/org/myrobotlab/service/ArduinoMotorPotTest.java
index 3493779590..ffe514e72c 100644
--- a/src/test/java/org/myrobotlab/service/ArduinoMotorPotTest.java
+++ b/src/test/java/org/myrobotlab/service/ArduinoMotorPotTest.java
@@ -74,7 +74,7 @@ private String join(ArrayList list, String joinChar) {
 
   public void onSensorData(SensorData event) {
     // about we downsample this call?
-    int[] data = (int[]) event.getData();
+    int[] data = (int[]) event.data;
     count++;
     int value = data[0];
     log.info("Data: {}", data);    
diff --git a/src/test/resources/ProgramAB/bots/lloyd/aiml/lloyd.aiml b/src/test/resources/ProgramAB/bots/lloyd/aiml/lloyd.aiml
index 257d55e668..9a40847137 100644
--- a/src/test/resources/ProgramAB/bots/lloyd/aiml/lloyd.aiml
+++ b/src/test/resources/ProgramAB/bots/lloyd/aiml/lloyd.aiml
@@ -1,167 +1,273 @@
 
 
-
-
-*
-