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

… into inmoov-and-statemachine-1

pom.xml

@@ -408,7 +408,7 @@
   <dependency>
     <groupId>org.eclipse.jgit</groupId>
     <artifactId>org.eclipse.jgit</artifactId>
-    <version>5.4.0.201906121030-r</version>
+    <version>6.6.1.202309021850-r</version>
     <scope>provided</scope>
   </dependency>
 <!-- Git end -->
@@ -1171,7 +1171,7 @@
   <dependency>
     <groupId>org.json</groupId>
     <artifactId>json</artifactId>
-    <version>20090211</version>
+    <version>20230227</version>
     <scope>provided</scope>
   </dependency>
 <!-- OpenWeatherMap end -->
@@ -1245,7 +1245,7 @@
     <version>2.14.0</version>
     <scope>provided</scope>
   </dependency>
-<!-- Duplicate entry for org.json-json-20090211 skipping -->
+<!-- Duplicate entry for org.json-json-20230227 skipping -->
 <!-- Duplicate entry for commons-io-commons-io-2.7 skipping -->
   <dependency>
     <groupId>org.apache.lucene</groupId>
@@ -1286,7 +1286,7 @@
   <dependency>
     <groupId>org.python</groupId>
     <artifactId>jython-standalone</artifactId>
-    <version>2.7.1</version>
+    <version>2.7.2</version>
   </dependency>
 <!-- Python end -->
 
@@ -1358,7 +1358,7 @@
   <dependency>
     <groupId>org.apache.ivy</groupId>
     <artifactId>ivy</artifactId>
-    <version>2.5.1</version>
+    <version>2.5.2</version>
   </dependency>
   <dependency>
     <groupId>org.apache.httpcomponents</groupId>

src/main/java/org/myrobotlab/framework/repo/IvyWrapper.java

@@ -34,7 +34,7 @@ public class IvyWrapper extends Repo implements Serializable {
 
   private static final long serialVersionUID = 1L;
 
-  public static final String IVY_VERSION = "2.5.1";
+  public static final String IVY_VERSION = "2.5.2";
 
   class IvyWrapperLogger extends AbstractMessageLogger {
 

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

@@ -249,7 +249,8 @@ public InMoov2Config apply(InMoov2Config c) {
       if (c.loadInitScripts) {
         loadInitScripts();
       }
-
+      loadAppsScripts();
+
       if (c.loadGestures) {
         loadGestures();
       }
@@ -728,6 +729,16 @@ public boolean isMute() {
     return mute;
   }
 
+  /**
+   * execute python scripts in the app directory on startup of the service
+   * 
+   * @throws IOException
+   */
+  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");
   }

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

@@ -827,7 +827,6 @@ public void releaseService() {
 
     inputQueueThread.stop();
     thread.interruptAllThreads();
-    Py.getSystemState()._systemRestart = true;
   }
 
   /**

src/main/java/org/myrobotlab/service/config/InMoov2Config.java

@@ -255,6 +255,13 @@ 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"));
@@ -422,23 +429,25 @@ public Plan getDefault(Plan plan, String name) {
     PidConfig pid = (PidConfig) plan.get(getPeerName("pid"));
 
     PidData tiltPid = new PidData();
-    tiltPid.ki = 0.001;
-    tiltPid.kp = 30.0;
+    tiltPid.ki = -0.001;
+    tiltPid.kp = -40.0;
+    tiltPid.inverted = true;
     pid.data.put(headTracking.getPeer("tilt").name, tiltPid);
 
     PidData panPid = new PidData();
     panPid.ki = 0.001;
-    panPid.kp = 15.0;
+    panPid.kp = 40.0;
     pid.data.put(headTracking.getPeer("pan").name, panPid);
 
     PidData eyeTiltPid = new PidData();
-    eyeTiltPid.ki = 0.001;
-    eyeTiltPid.kp = 10.0;
+    eyeTiltPid.ki = -0.001;
+    eyeTiltPid.kp = -30.0;
+    eyeTiltPid.inverted = true;
     pid.data.put(eyeTracking.getPeer("tilt").name, eyeTiltPid);
 
     PidData eyePanPid = new PidData();
     eyePanPid.ki = 0.001;
-    eyePanPid.kp = 10.0;
+    eyePanPid.kp = 30.0;
     pid.data.put(eyeTracking.getPeer("pan").name, eyePanPid);
 
     NeoPixelConfig neoPixel = (NeoPixelConfig) plan.get(getPeerName("neoPixel"));

src/main/java/org/myrobotlab/service/meta/GitMeta.java

@@ -17,7 +17,7 @@ public GitMeta() {
     addCategory("programming");
 
     // EDL (new-style BSD) licensed
-    addDependency("org.eclipse.jgit", "org.eclipse.jgit", "5.4.0.201906121030-r");
+    addDependency("org.eclipse.jgit", "org.eclipse.jgit", "6.6.1.202309021850-r");
   }
 
 }

src/main/java/org/myrobotlab/service/meta/OpenWeatherMapMeta.java

@@ -17,7 +17,7 @@ public OpenWeatherMapMeta() {
     addDescription("This service will query OpenWeatherMap for the current weather.  Get an API key at http://openweathermap.org/");
     addCategory("weather");
     setCloudService(true);
-    addDependency("org.json", "json", "20090211");
+    addDependency("org.json", "json", "20230227");
 
   }
 

src/main/java/org/myrobotlab/service/meta/ProgramABMeta.java

@@ -26,7 +26,7 @@ public ProgramABMeta() {
 
     addDependency("com.fasterxml.jackson.dataformat", "jackson-dataformat-xml", "2.14.0");
 
-    addDependency("org.json", "json", "20090211");
+    addDependency("org.json", "json", "20230227");
     // used by FileIO
     addDependency("commons-io", "commons-io", "2.7");
     // TODO: This is for CJK support in ProgramAB move this into the published

src/main/java/org/myrobotlab/service/meta/PythonMeta.java

@@ -18,7 +18,7 @@ public PythonMeta() {
     addCategory("programming", "control");
 
     includeServiceInOneJar(true);
-    addDependency("org.python", "jython-standalone", "2.7.1");
+    addDependency("org.python", "jython-standalone", "2.7.2");
 
   }