Peer config utilities

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"  
 

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");
@@ -1999,14 +2002,15 @@ 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) {
       log.error("main threw", e);
     }
   }
 
+
 }

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();

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

@@ -141,7 +141,7 @@ public class Runtime extends Service<RuntimeConfig> 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<String, ServiceInterface> 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<org.myrobotlab.service.config.ServiceConfig.Listener> 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());

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;
 
   /**

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<String, OpenCVFilter> filters = new LinkedHashMap<>();
+  /**
+   * flip the video vertically
+   */
+  public boolean flip = false;
 
 }

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 {
 

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)

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"