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

… into inmoov-and-statemachine-1
MyRobotLab · Nov 15, 2023 · 6a8d930 · 6a8d930
2 parents 3d4c7e1 + 10eb2f5
commit 6a8d930
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Showing 3 changed files with 28 additions and 33 deletions.
diff --git 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.info("publishEvent XRController {}", 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) {
@@ -53,9 +53,9 @@ public Event publishEvent(Event event) {
    * @return
    */
   public Pose publishPose(Pose pose) {
-//    if (log.isDebugEnabled()) {
-      log.error("publishPose {}", pose);
-//    }    
+    if (log.isDebugEnabled()) {
+      log.debug("publishPose {}", pose);
+    }    
     // process mappings config into joint angles
     Map<String, Double> 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/service/interfaces/Executor.java b/src/main/java/org/myrobotlab/service/interfaces/Executor.java
@@ -1,6 +1,5 @@
 package org.myrobotlab.service.interfaces;
 
-import org.myrobotlab.framework.interfaces.JsonInvoker;
 import org.myrobotlab.framework.interfaces.JsonSender;
 
 /**
@@ -11,7 +10,7 @@
  * @author GroG
  *
  */
-public interface Executor extends JsonInvoker, JsonSender {
+public interface Executor extends JsonSender {
 
   /**
    * exec in Python - executes arbitrary code

diff --git a/src/main/java/org/myrobotlab/vertx/WebSocketHandler.java b/src/main/java/org/myrobotlab/vertx/WebSocketHandler.java
@@ -108,10 +108,6 @@ public void handle(ServerWebSocket socket) {
     // client
     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();
     Connection connection = new Connection(uuid, id, service.getName());
     connection.put("c-type", service.getSimpleName());
     connection.put("gateway", service.getName());