Merge branch 'develop' of github.com-myrobotlab:MyRobotLab/myrobotlab…

… into inmoov-and-statemachine-1

src/main/java/org/myrobotlab/audio/AudioProcessor.java

@@ -5,6 +5,10 @@
 import java.util.concurrent.BlockingQueue;
 import java.util.concurrent.LinkedBlockingQueue;
 
+import java.util.concurrent.Executors;
+import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.TimeUnit;
+
 import javax.sound.sampled.AudioFormat;
 import javax.sound.sampled.AudioInputStream;
 import javax.sound.sampled.AudioSystem;
@@ -32,6 +36,8 @@ public class AudioProcessor extends Thread {
   // it seems to make sense - some how the file gets decoded enough - so that
   // a audio decoder can be slected from some
   // internal registry ... i think
+
+  private final ScheduledExecutorService scheduler = Executors.newScheduledThreadPool(1);  transient private final ScheduledExecutorService delayScheduler = Executors.newScheduledThreadPool(1);
 
   protected int currentTrackCount = 0;
 
@@ -231,7 +237,14 @@ public AudioData play(AudioData data) {
                 peak = abs;
               }
             }
-            audioFile.invoke("publishPeak", peak * (double) audioFile.getPeakMultiplier());
+
+            final double value = peak * (double) audioFile.getPeakMultiplier();
+
+            if (audioFile.getConfig().peakDelayMs == null) {
+              audioFile.invoke("publishPeak", value);  
+            } else {              
+              delayScheduler.schedule(() -> audioFile.invoke("publishPeak", value), audioFile.getConfig().peakDelayMs, TimeUnit.MILLISECONDS);
+            }
           }
         }
         // Stop
@@ -247,6 +260,12 @@ public AudioData play(AudioData data) {
 
         // System.gc();
 
+        if (audioFile.getConfig().peakDelayMs == null) {
+          audioFile.invoke("publishPeak", 0);  
+        } else {              
+          delayScheduler.schedule(() -> audioFile.invoke("publishPeak", 0), audioFile.getConfig().peakDelayMs, TimeUnit.MILLISECONDS);
+        }
+
         audioFile.invoke("publishPeak", 0);
         audioFile.invoke("publishAudioEnd", data);
 
@@ -313,6 +332,7 @@ public void run() {
     }
     // default waits on queued audio requests
     log.info("audio processor {} exiting", getName());
+    delayScheduler.shutdown();
   }
 
   public void setVolume(Double volume) {

src/main/java/org/myrobotlab/service/AudioFile.java

@@ -223,10 +223,10 @@ public AudioData play(String filename, boolean blocking, Integer repeat, String
     data.track = track;
     data.repeat = repeat;
 
-    return play(data);
+    return playAudioData(data);
   }
 
-  public AudioData play(AudioData data) {
+  public AudioData playAudioData(AudioData data) {
     // use File interface such that filename is preserved
     // but regardless of location (e.g. url, local, resource)
     // or type (mp3 wav) a stream is opened and the
@@ -382,7 +382,7 @@ public AudioData repeat(String filename, Integer count) {
     // TODO Auto-generated method stub
     AudioData data = new AudioData(filename);
     data.repeat = count;
-    return play(data);
+    return playAudioData(data);
   }
 
   @Deprecated /* use setTrack() */

src/main/java/org/myrobotlab/service/I2cMux.java

@@ -237,11 +237,13 @@ public void attach(Attachable service) throws Exception {
     }
   }
 
+  @Deprecated /* use attach(String) */
   public void attach(String controllerName, String deviceBus, String deviceAddress) {
     attach((I2CController) Runtime.getService(controllerName), deviceBus, deviceAddress);
   }
 
   @Override
+  @Deprecated /*use attach(String) */
   public void attach(I2CController controller, String deviceBus, String deviceAddress) {
 
     if (isAttached && this.controller != controller) {

src/main/java/org/myrobotlab/service/InMoov2.java

@@ -32,7 +32,8 @@
 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.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;
@@ -1274,6 +1275,19 @@ 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 (volume > 0.5) {
+          invoke("publishSpeakingFlash", "speaking");
+      }
+    }
+  }
 
   /**
    * onPeak volume callback TODO - maybe make it variable with volume ?
@@ -1852,16 +1866,6 @@ public void setRightHandSpeed(Integer thumb, Integer index, Integer majeure, Int
     setHandSpeed("right", (double) thumb, (double) index, (double) majeure, (double) ringFinger, (double) pinky, (double) wrist);
   }
 
-  public String setSpeechType(String speechType) {
-    updatePeerType("mouth" /* getPeerName("mouth") */, 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);
   }
@@ -2225,6 +2229,44 @@ 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);
+      mouth.speechRecognizers = new String[] { getName() + ".ear" };
+
+      savePeerConfig("mouth", plan.get(peerName));
+
+      if (isPeerStarted("mouth")) {
+        // restart 
+        releasePeer("mouth");
+        startPeer("mouth");
+      }
+
+    } 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() {
 
@@ -2383,9 +2425,91 @@ 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" });
+      // Platform.setVirtual(true);
+      // Runtime.start("s01", "Servo");
+      // Runtime.start("intro", "Intro");
+
+      Runtime.startConfig("dev");
+
+      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;
+      }
+
+
+      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.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);
     }

src/main/java/org/myrobotlab/service/Motor.java

@@ -196,4 +196,16 @@ public static void main(String[] args) {
 
   }
 
+  @Override
+  public void attachMotorController(String controller) throws Exception {
+    // TODO Auto-generated method stub
+
+  }
+
+  @Override
+  public void detachMotorController(String controller) {
+    // TODO Auto-generated method stub
+
+  }
+
 }

src/main/java/org/myrobotlab/service/MotorDualPwm.java

@@ -1,14 +1,13 @@
 package org.myrobotlab.service;
 
-import java.io.IOException;
 import java.util.Arrays;
 import java.util.List;
 
+import org.myrobotlab.framework.Platform;
 import org.myrobotlab.logging.Level;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.service.abstracts.AbstractMotor;
 import org.myrobotlab.service.config.MotorDualPwmConfig;
-import org.myrobotlab.service.config.ServiceConfig;
 
 public class MotorDualPwm extends AbstractMotor<MotorDualPwmConfig> {
   private static final long serialVersionUID = 1L;
@@ -92,32 +91,34 @@ public MotorDualPwmConfig apply(MotorDualPwmConfig c) {
     return c;
   }
 
-  public static void main(String[] args) throws InterruptedException {
-
-    LoggingFactory.init(Level.INFO);
-    String arduinoPort = "COM5";
-
-    VirtualArduino virtual = (VirtualArduino) Runtime.start("virtual", "VirtualArduino");
+  public static void main(String[] args) {
     try {
-      virtual.connect(arduinoPort);
-    } catch (IOException e) {
-      // TODO Auto-generated catch block
-      e.printStackTrace();
-    }
-    Runtime.start("gui", "SwingGui");
-    Runtime.start("python", "Python");
+      LoggingFactory.init(Level.INFO);
+      String arduinoPort = "COM5";
+
+      Platform.setVirtual(true);
+      Runtime.startConfig("dev");
+      Runtime.start("webgui", "WebGui");
+      MotorDualPwm motor = (MotorDualPwm) Runtime.start("motor", "MotorDualPwm");
+      Arduino arduino = (Arduino) Runtime.start("arduino", "Arduino");
+      arduino.connect(arduinoPort);
+      motor.setPwmPins(10, 11);
 
-    MotorDualPwm motor = (MotorDualPwm) Runtime.start("motor", "MotorDualPwm");
-    Arduino arduino = (Arduino) Runtime.start("arduino", "Arduino");
-    arduino.connect(arduinoPort);
-    motor.setPwmPins(10, 11);
-    try {
       motor.attach(arduino);
     } catch (Exception e) {
-      // TODO Auto-generated catch block
       e.printStackTrace();
     }
+  }
 
+  @Override
+  public void attachMotorController(String controller) throws Exception {
+    // TODO Auto-generated method stub
+
   }
 
+  @Override
+  public void detachMotorController(String controller) {
+    // TODO Auto-generated method stub
+
+  }
 }

src/main/java/org/myrobotlab/service/MotorHat4Pi.java

@@ -113,4 +113,16 @@ public static void main(String[] args) {
     hat.attach(raspi, "1", "0x60");
   }
 
+  @Override
+  public void attachMotorController(String controller) throws Exception {
+    // TODO Auto-generated method stub
+
+  }
+
+  @Override
+  public void detachMotorController(String controller) {
+    // TODO Auto-generated method stub
+
+  }
+
 }