lots of random service fixes

MyRobotLab · Nov 17, 2023 · c157e25 · c157e25
1 parent a736fde
commit c157e25
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Showing 4 changed files with 39 additions and 24 deletions.
diff --git a/src/main/java/org/myrobotlab/service/Random.java b/src/main/java/org/myrobotlab/service/Random.java
@@ -299,10 +299,16 @@ public RandomConfig getConfig() {
     super.getConfig();
 
     config.enabled = enabled;
+
+    if (config.randomMessages == null) {
+      config.randomMessages = new HashMap<>();
+    }
 
     for (String key : randomData.keySet()) {
       RandomMessage msg = randomData.get(key);
       RandomMessageConfig m = new RandomMessageConfig();
+      m.service = msg.name;
+      m.method = msg.method;
       m.maxIntervalMs = msg.maxIntervalMs;
       m.minIntervalMs = msg.minIntervalMs;
       m.data = msg.data;
@@ -316,12 +322,16 @@ public RandomConfig getConfig() {
   @Override
   public RandomConfig apply(RandomConfig c) {
     super.apply(c);
-    enabled = c.enabled;
+    if (c.enabled) {
+      enable();
+    } else {
+      disable();
+    }
 
     try {
       for (String key : c.randomMessages.keySet()) {
         RandomMessageConfig msgc = c.randomMessages.get(key);
-        addRandom(msgc.minIntervalMs, msgc.maxIntervalMs, key.substring(0, key.lastIndexOf(".")), key.substring(key.lastIndexOf(".") + 1), msgc.data);
+        addRandom(key, msgc.minIntervalMs, msgc.maxIntervalMs, msgc.service, msgc.method, msgc.data);
         if (!msgc.enabled) {
           disable(key);
         }

diff --git a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java
@@ -282,40 +282,40 @@ public Plan getDefault(Plan plan, String name) {
     random.enabled = false;
 
     // setup name references to different services
-    RandomMessageConfig rm = new RandomMessageConfig(3000, 8000, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0);
+    RandomMessageConfig rm = new RandomMessageConfig(name, "setLeftArmSpeed", 3000, 8000, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0);
     random.randomMessages.put(name + ".setLeftArmSpeed", rm);
 
-    rm = new RandomMessageConfig(3000, 8000, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0);
+    rm = new RandomMessageConfig(name, "setRightArmSpeed", 3000, 8000, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0);
     random.randomMessages.put(name + ".setRightArmSpeed", rm);
 
-    rm = new RandomMessageConfig(3000, 8000, 0.0, 5.0, 85.0, 95.0, 25.0, 30.0, 10.0, 15.0);
+    rm = new RandomMessageConfig(name, "moveLeftArm", 000, 8000, 0.0, 5.0, 85.0, 95.0, 25.0, 30.0, 10.0, 15.0);
     random.randomMessages.put(name + ".moveLeftArm", rm);
 
-    rm = new RandomMessageConfig(3000, 8000, 0.0, 5.0, 85.0, 95.0, 25.0, 30.0, 10.0, 15.0);
+    rm = new RandomMessageConfig(name, "moveRightArm", 3000, 8000, 0.0, 5.0, 85.0, 95.0, 25.0, 30.0, 10.0, 15.0);
     random.randomMessages.put(name + ".moveRightArm", rm);
 
-    rm = new RandomMessageConfig(3000, 8000, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0);
+    rm = new RandomMessageConfig(name, "setLeftHandSpeed", 3000, 8000, 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.randomMessages.put(name + ".setLeftHandSpeed", rm);
 
-    rm = new RandomMessageConfig(3000, 8000, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0, 8.0, 25.0);
+    rm = new RandomMessageConfig(name, "setRightHandSpeed", 3000, 8000, 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.randomMessages.put(name + ".setRightHandSpeed", rm);
 
-    rm = new RandomMessageConfig(3000, 8000, 10.0, 160.0, 10.0, 60.0, 10.0, 60.0, 10.0, 60.0, 10.0, 60.0, 130.0, 175.0);
+    rm = new RandomMessageConfig(name, "moveLeftHand", 3000, 8000, 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.randomMessages.put(name + ".moveLeftHand", rm);
 
-    rm = new RandomMessageConfig(3000, 8000, 10.0, 160.0, 10.0, 60.0, 10.0, 60.0, 10.0, 60.0, 10.0, 60.0, 130.0, 175.0);
+    rm = new RandomMessageConfig(name, "moveRightHand", 3000, 8000, 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.randomMessages.put(name + ".moveRightHand", rm);
 
-    rm = new RandomMessageConfig(3000, 8000, 8.0, 20.0, 8.0, 20.0, 8.0, 20.0);
+    rm = new RandomMessageConfig(name, "setHeadSpeed",3000, 8000, 8.0, 20.0, 8.0, 20.0, 8.0, 20.0);
     random.randomMessages.put(name + ".setHeadSpeed", rm);
 
-    rm = new RandomMessageConfig(3000, 8000, 70.0, 110.0, 65.0, 115.0, 70.0, 110.0);
+    rm = new RandomMessageConfig(name, "moveHead", 3000, 8000, 70.0, 110.0, 65.0, 115.0, 70.0, 110.0);
     random.randomMessages.put(name + ".moveHead", rm);
 
-    rm = new RandomMessageConfig(3000, 8000, 2.0, 5.0, 2.0, 5.0, 2.0, 5.0);
+    rm = new RandomMessageConfig(name , "setTorsoSpeed", 3000, 8000, 2.0, 5.0, 2.0, 5.0, 2.0, 5.0);
     random.randomMessages.put(name + ".setTorsoSpeed", rm);
 
-    rm = new RandomMessageConfig(3000, 8000, 85.0, 95.0, 88.0, 93.0, 70.0, 110.0);
+    rm = new RandomMessageConfig(name, "moveTorso", 3000, 8000, 85.0, 95.0, 88.0, 93.0, 70.0, 110.0);
     random.randomMessages.put(name + ".moveTorso", rm);
 
     // == Peer - headTracking =============================

diff --git a/src/main/java/org/myrobotlab/service/config/RandomConfig.java b/src/main/java/org/myrobotlab/service/config/RandomConfig.java
@@ -12,11 +12,15 @@ public static class RandomMessageConfig {
     public long minIntervalMs;
     public long maxIntervalMs;
     public boolean enabled = true;
+    public String service;
+    public String method;
 
     public RandomMessageConfig() {
     }
 
-    public RandomMessageConfig(long minIntervalMs, long maxIntervalMs, double... ranges) {
+    public RandomMessageConfig(String service, String method, long minIntervalMs, long maxIntervalMs, double... ranges) {
+      this.service = service;
+      this.method = method;
       this.minIntervalMs = minIntervalMs;
       this.maxIntervalMs = maxIntervalMs;
       this.data = new Range[ranges.length / 2];
@@ -29,7 +33,9 @@ public RandomMessageConfig(long minIntervalMs, long maxIntervalMs, double... ran
       }
     }
 
-    public RandomMessageConfig(long minIntervalMs, long maxIntervalMs, int... ranges) {
+    public RandomMessageConfig(String service, String method, long minIntervalMs, long maxIntervalMs, int... ranges) {
+      this.service = service;
+      this.method = method;
       this.minIntervalMs = minIntervalMs;
       this.maxIntervalMs = maxIntervalMs;
       this.data = new Range[ranges.length / 2];
@@ -42,7 +48,9 @@ public RandomMessageConfig(long minIntervalMs, long maxIntervalMs, int... ranges
       }
     }
 
-    public RandomMessageConfig(long minIntervalMs, long maxIntervalMs, float... ranges) {
+    public RandomMessageConfig(String service, String method, long minIntervalMs, long maxIntervalMs, float... ranges) {
+      this.service = service;
+      this.method = method;
       this.minIntervalMs = minIntervalMs;
       this.maxIntervalMs = maxIntervalMs;
       for (int i = 0; i < (ranges.length / 2); i += 2) {

diff --git a/src/main/resources/resource/WebGui/app/service/views/RandomGui.html b/src/main/resources/resource/WebGui/app/service/views/RandomGui.html
@@ -12,14 +12,11 @@ <h3>
         (        
 
 
-        <span ng-repeat="param in value.data">[
+        <span ng-repeat="param in value.data">
           <span ng-if="param.min !== null">
-            {{param.min}} - {{param.max}}
+            [ {{param.min}} - {{param.max}} ]
           </span>
-          <span ng-repeat="item in param.set">
-            {{item}}
-            <span ng-if="!$last || param.min !== null">, </span>
-          </span>]
+            {{param.set}}
           <span ng-if="!$last">, </span>
 
         </span>
@@ -91,4 +88,4 @@ <h3>
         </div>
     </div>
 </div>
-<!-- {{parameters}} -->
+