Subscription fixes in config - removal of hardcoded subscriptions (#1401

) * Subscription fixes in config - removal of hardcoded subscriptions * small runtime updates * added test * trying to make idempotent test
MyRobotLab · Feb 4, 2024 · 7746bc5 · 7746bc5
1 parent 350fafa
commit 7746bc5
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Showing 9 changed files with 102 additions and 94 deletions.
diff --git a/src/main/java/org/myrobotlab/config/ConfigUtils.java b/src/main/java/org/myrobotlab/config/ConfigUtils.java
@@ -0,0 +1,71 @@
+package org.myrobotlab.config;
+
+import java.io.File;
+import java.io.IOException;
+
+import org.myrobotlab.codec.CodecUtils;
+import org.myrobotlab.framework.StartYml;
+import org.myrobotlab.io.FileIO;
+import org.myrobotlab.service.Runtime;
+import org.myrobotlab.service.config.RuntimeConfig;
+
+public class ConfigUtils {
+
+  /**
+   * This gets the current resource root without starting a Runtime instance if
+   * not already started. The resource root depends on config, if Runtime is
+   * running the logic and current config name is already available. If Runtime
+   * is not running, we need to go through a series of steps to deterime where
+   * the resource root is configured.
+   * 
+   * @return
+   */
+  public static String getResourceRoot() {
+
+    String resource = "resource";
+
+    // check if runtime is running
+    if (!Runtime.isAvailable()) {
+      // check for start.yml
+
+      File checkStartYml = new File("start.yml");
+      StartYml startYml = new StartYml();
+      if (checkStartYml.exists()) {
+        String yml;
+        try {
+          yml = FileIO.toString("start.yml");
+          startYml = CodecUtils.fromYaml(yml, StartYml.class);
+
+          // see if autostart is on with a config
+          if (startYml.enable) {
+            // use that config to find runtime.yml
+
+            File runtimeYml = new File(Runtime.ROOT_CONFIG_DIR + File.separator + startYml.config + File.separator + "runtime.yml");
+            if (runtimeYml.exists()) {
+              // parse that file look for resource: entry in file
+              RuntimeConfig config = (RuntimeConfig) CodecUtils.readServiceConfig(runtimeYml.getAbsolutePath());
+              resource = config.resource;
+            }
+
+          } else {
+            // start.yml enable = false / so we'll use default config
+            File runtimeYml = new File(Runtime.ROOT_CONFIG_DIR + File.separator + "default" + File.separator + "runtime.yml");
+            if (runtimeYml.exists()) {
+              // parse that file look for resource: entry in file
+              RuntimeConfig config = (RuntimeConfig) CodecUtils.readServiceConfig(runtimeYml.getAbsolutePath());
+              resource = config.resource;
+            }
+          }
+
+        } catch (IOException e) {
+          // problem getting or parsing
+          // going to assume default "resource"
+        }
+      } // no startYml
+      return resource;
+    } else {
+      // Runtime is available - ask it
+      return Runtime.getInstance().getConfig().resource;
+    }
+  }
+}
diff --git a/src/main/java/org/myrobotlab/service/InMoov2.java b/src/main/java/org/myrobotlab/service/InMoov2.java
@@ -1123,7 +1123,6 @@ public void onStartConfig(String configName) {
    */
   @Override
   public void onStarted(String name) {
-    InMoov2Config c = (InMoov2Config) config;
 
     log.info("onStarted {}", name);
     try {
@@ -1157,81 +1156,21 @@ public void onStarted(String 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;
@@ -1991,28 +1930,6 @@ public void startService() {
     // chatbot getresponse attached to publishEvent
     addListener("publishEvent", getPeerName("chatBot"), "getResponse");
 
-    try {
-      // copy config if it doesn't already exist
-      String resourceBotDir = FileIO.gluePaths(getResourceDir(), "config");
-      List<File> 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");
   }
 

diff --git 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;
   }
 
-  @Deprecated /* use onMove */
+  @Deprecated /* use onMove(map) */
   public void onMoveArm(HashMap<String, Double> map) {
     onMove(map);
   }

diff --git a/src/main/java/org/myrobotlab/service/InMoov2Hand.java b/src/main/java/org/myrobotlab/service/InMoov2Hand.java
@@ -490,7 +490,7 @@ public LeapData onLeapData(LeapData data) {
     return data;
   }
 
-  @Deprecated /* use onMove */
+  @Deprecated /* use onMove(map) */
   public void onMoveHand(HashMap<String, Double> map) {
     onMove(map);
   }

diff --git a/src/main/java/org/myrobotlab/service/InMoov2Head.java b/src/main/java/org/myrobotlab/service/InMoov2Head.java
@@ -221,7 +221,7 @@ public void lookAt(Double x, Double y, Double z) {
     log.info("object distance is {},rothead servo {},neck servo {} ", distance, rotation, colatitude);
   }
 
-  @Deprecated /* use onMoov */
+  @Deprecated /* use onMove(map) */
   public void onMoveHead(HashMap<String, Double> map) {
     onMove(map);
   }

diff --git a/src/main/java/org/myrobotlab/service/InMoov2Torso.java b/src/main/java/org/myrobotlab/service/InMoov2Torso.java
@@ -94,7 +94,7 @@ public void disable() {
       lowStom.disable();
   }
 
-  @Deprecated /* use onMove */
+  @Deprecated /* use onMove(map) */
   public void onMoveTorso(HashMap<String, Double> map) {
     onMove(map);
   }

diff --git a/src/main/java/org/myrobotlab/service/Runtime.java b/src/main/java/org/myrobotlab/service/Runtime.java
@@ -229,7 +229,7 @@ public class Runtime extends Service<RuntimeConfig> implements MessageListener,
   /**
    * default parent path of configPath static !
    */
-  final static protected String ROOT_CONFIG_DIR = DATA_DIR + fs + "config";
+  public final static String ROOT_CONFIG_DIR = DATA_DIR + fs + "config";
 
   /**
    * number of services created by this runtime
@@ -5408,4 +5408,12 @@ public static void removeConfig(String configName) {
     }
   }
 
+  /**
+   * Method used to determine is runtime is running without starting it
+   * @return true if available
+   */
+  static public boolean isAvailable() {
+    return runtime != null && runtime.isRunning();
+  }
+
 }
diff --git a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java
@@ -522,12 +522,12 @@ public Plan getDefault(Plan plan, String name) {
     listeners.add(new Listener("publishProcessMessage", getPeerName("py4j"), "onPythonMessage"));
 
     // InMoov2 --to--> InMoov2
-    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));
+    listeners.add(new Listener("publishMoveHead", getPeerName("head"), "onMove"));
+    listeners.add(new Listener("publishMoveRightArm", getPeerName("rightArm"), "onMove"));
+    listeners.add(new Listener("publishMoveLeftArm", getPeerName("leftArm"), "onMove"));
+    listeners.add(new Listener("publishMoveRightHand", getPeerName("rightHand"), "onMove"));
+    listeners.add(new Listener("publishMoveLeftHand", getPeerName("leftHand"), "onMove"));
+    listeners.add(new Listener("publishMoveTorso", getPeerName("torso"), "onMove"));
 
     // service --to--> InMoov2
     AudioFileConfig mouth_audioFile = (AudioFileConfig) plan.get(getPeerName("mouth.audioFile"));

diff --git a/src/test/java/org/myrobotlab/service/RuntimeTest.java b/src/test/java/org/myrobotlab/service/RuntimeTest.java
@@ -1,6 +1,7 @@
 package org.myrobotlab.service;
 
 import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertFalse;
 import static org.junit.Assert.assertTrue;
 
 import java.util.Date;
@@ -103,6 +104,17 @@ public void testRuntimeLocale() {
     assertEquals("fr-FR", l.toString());
 
   }
+
+  @Test 
+  public void testRuntimeIsAvailable() {
+    Runtime.getInstance();
+    assertTrue(Runtime.isAvailable());
+    Runtime.releaseAll(true, true);
+    assertFalse(Runtime.isAvailable());
+    Runtime.getInstance();
+    assertTrue(Runtime.isAvailable());
+  }
+
 
   @Test
   public void testGetDescribeMessage() {