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@supertick
supertick committed Sep 20, 2023
1 parent 3a6fe4e commit cc329ac
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Showing 18 changed files with 2,099 additions and 865 deletions.
971 changes: 497 additions & 474 deletions pom.xml
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5 changes: 4 additions & 1 deletion src/main/java/org/myrobotlab/kinematics/DHRobotArm.java
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Original file line number Diff line number Diff line change
Expand Up @@ -235,7 +235,10 @@ public boolean moveToGoal(Point goal) {
int numSteps = 0;
double iterStep = 0.05;
// we're in millimeters..
double errorThreshold = 2.0;
double errorThreshold = 20.0;

maxIterations = 1000;

// what's the current point
while (true) {
numSteps++;
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15 changes: 15 additions & 0 deletions src/main/java/org/myrobotlab/service/FiniteStateMachine.java
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Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,21 @@ public class Tuple {
public Transition transition;
public StateTransition stateTransition;
}

public class StateChange {
public String last;
public String current;
public String event;
public StateChange(String last, String current, String event) {
this.last = last;
this.current = current;
this.event = event;
}

public String toString() {
return String.format("%s --%s--> %s", last, event, current);
}
}

private static Transition toFsmTransition(StateTransition state) {
Transition transition = new Transition();
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203 changes: 115 additions & 88 deletions src/main/java/org/myrobotlab/service/Git.java
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,6 @@
import java.io.File;
import java.io.IOException;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
import java.util.Map;
import java.util.Properties;
Expand Down Expand Up @@ -31,6 +30,7 @@
import org.eclipse.jgit.lib.TextProgressMonitor;
import org.eclipse.jgit.revwalk.RevCommit;
import org.eclipse.jgit.storage.file.FileRepositoryBuilder;
import org.eclipse.jgit.submodule.SubmoduleWalk;
import org.myrobotlab.framework.Platform;
import org.myrobotlab.framework.Service;
import org.myrobotlab.logging.Level;
Expand All @@ -45,7 +45,7 @@ public class Git extends Service<ServiceConfig> {

public final static Logger log = LoggerFactory.getLogger(Git.class);

transient static TextProgressMonitor monitor = new TextProgressMonitor();
transient ProgressMonitor monitor = new ProgressMonitor();

Map<String, RepoData> repos = new TreeMap<>();

Expand All @@ -56,76 +56,43 @@ public static class RepoData {
String branch;
String location;
String url;
List<String> branches;
String checkout;
transient org.eclipse.jgit.api.Git git;

public RepoData(String location, String url, List<String> branches, String checkout, org.eclipse.jgit.api.Git git) {
public RepoData(String location, String url, String checkout, org.eclipse.jgit.api.Git git) {
this.location = location;
this.url = url;
this.branches = branches;
this.checkout = checkout;
this.git = git;
}

}

// TODO - overload updates to publish
public class ProgressMonitor extends TextProgressMonitor {

}

public Git(String n, String id) {
super(n, id);
}

// max complexity clone
public void clone(String location, String url, List<String> inbranches, String incheckout) throws InvalidRemoteException, TransportException, GitAPIException, IOException {

File repoLocation = new File(location);
org.eclipse.jgit.api.Git git = null;
Repository repo = null;

List<String> branches = new ArrayList<>();
for (String b : inbranches) {
if (!b.contains("refs")) {
branches.add("refs/heads/" + b);
}
}

String checkout = (incheckout.contains("refs")) ? incheckout : "refs/heads/" + incheckout;

if (!repoLocation.exists()) {
// clone
log.info("cloning {} {} into {}", url, incheckout, location);
git = org.eclipse.jgit.api.Git.cloneRepository().setProgressMonitor(monitor).setURI(url).setDirectory(repoLocation).setBranchesToClone(branches).setBranch(checkout).call();

} else {
// Open an existing repository
String gitDir = repoLocation.getAbsolutePath() + File.separator + ".git";
log.info("opening repo {} from {}", gitDir, url);
repo = new FileRepositoryBuilder().setGitDir(new File(gitDir)).build();
git = new org.eclipse.jgit.api.Git(repo);
}

repo = git.getRepository();

// checkout
log.info("checking out {}", incheckout);
// git.branchCreate().setForce(true).setName(incheckout).setStartPoint("origin/"
// + incheckout).call();
git.branchCreate().setForce(true).setName(incheckout).setStartPoint(incheckout).call();
git.checkout().setName(incheckout).call();

repos.put(location, new RepoData(location, url, inbranches, incheckout, git));


public void clone(String location, String url, String branch, String checkout) throws InvalidRemoteException, TransportException, GitAPIException, IOException {
clone(location, url, branch, checkout, false);
}



// max complexity sync
public void sync(String location, String url, List<String> branches, String checkout) throws InvalidRemoteException, TransportException, GitAPIException, IOException {
public void sync(String location, String url, String branch, String checkout) throws InvalidRemoteException, TransportException, GitAPIException, IOException {
// initial clone
clone(location, url, branches, checkout);
clone(location, url, branch, checkout);

addTask(checkStatusIntervalMs, "checkStatus");
}

public void sync(String location, String url, String checkout) throws InvalidRemoteException, TransportException, GitAPIException, IOException {
sync(location, url, Arrays.asList(checkout), checkout);
sync(location, url, checkout, checkout);
}

public RevCommit checkStatus() throws WrongRepositoryStateException, InvalidConfigurationException, InvalidRemoteException, CanceledException, RefNotFoundException,
Expand Down Expand Up @@ -167,7 +134,7 @@ public RevCommit publishPull(RevCommit commit) {
return commit;
}

private static List<RevCommit> getLogs(org.eclipse.jgit.api.Git git, String ref, int maxCount)
private List<RevCommit> getLogs(org.eclipse.jgit.api.Git git, String ref, int maxCount)
throws RevisionSyntaxException, NoHeadException, MissingObjectException, IncorrectObjectTypeException, AmbiguousObjectException, GitAPIException, IOException {
List<RevCommit> ret = new ArrayList<>();
Repository repository = git.getRepository();
Expand All @@ -193,17 +160,17 @@ public void stopSync() {
purgeTasks();
}

static public int pull() throws WrongRepositoryStateException, InvalidConfigurationException, DetachedHeadException, InvalidRemoteException, CanceledException,
RefNotFoundException, NoHeadException, TransportException, IOException, GitAPIException {
public int pull() throws WrongRepositoryStateException, InvalidConfigurationException, DetachedHeadException, InvalidRemoteException, CanceledException, RefNotFoundException,
NoHeadException, TransportException, IOException, GitAPIException {
return pull(null, null);
}

static public int pull(String branch) throws WrongRepositoryStateException, InvalidConfigurationException, DetachedHeadException, InvalidRemoteException, CanceledException,
public int pull(String branch) throws WrongRepositoryStateException, InvalidConfigurationException, DetachedHeadException, InvalidRemoteException, CanceledException,
RefNotFoundException, NoHeadException, TransportException, IOException, GitAPIException {
return pull(null, branch);
}

static org.eclipse.jgit.api.Git getGit(String rootFolder) throws IOException {
org.eclipse.jgit.api.Git getGit(String rootFolder) throws IOException {
if (rootFolder == null) {
rootFolder = System.getProperty("user.dir");
}
Expand All @@ -224,7 +191,7 @@ static org.eclipse.jgit.api.Git getGit(String rootFolder) throws IOException {
return git;
}

static public int pull(String src, String branch) throws IOException, WrongRepositoryStateException, InvalidConfigurationException, DetachedHeadException, InvalidRemoteException,
public int pull(String src, String branch) throws IOException, WrongRepositoryStateException, InvalidConfigurationException, DetachedHeadException, InvalidRemoteException,
CanceledException, RefNotFoundException, NoHeadException, TransportException, GitAPIException {

if (src == null) {
Expand Down Expand Up @@ -278,11 +245,11 @@ static public int pull(String src, String branch) throws IOException, WrongRepos
return 0;
}

static public void init() throws IllegalStateException, GitAPIException {
public void init() throws IllegalStateException, GitAPIException {
init(null);
}

static public void init(String directory) throws IllegalStateException, GitAPIException {
public void init(String directory) throws IllegalStateException, GitAPIException {
if (directory == null) {
directory = System.getProperty("user.dir");
}
Expand All @@ -291,55 +258,30 @@ static public void init(String directory) throws IllegalStateException, GitAPIEx
org.eclipse.jgit.api.Git git = org.eclipse.jgit.api.Git.init().setDirectory(dir).call();
}

public static void main(String[] args) {
try {

LoggingFactory.init(Level.INFO);

Properties properties = Platform.gitProperties();
Git.removeProps();
log.info("{}", properties);

/*
* // start the service Git git = (Git) Runtime.start("git", "Git");
*
* // check out and sync every minute // git.sync("test",
* "https://github.com/MyRobotLab/WorkE.git", "master"); //
* git.sync("/lhome/grperry/github/mrl/myrobotlab", //
* "https://github.com/MyRobotLab/myrobotlab.git", "agent-removal");
* git.gitPull("agent-removal"); //
* git.sync(System.getProperty("user.dir"), //
* "https://github.com/MyRobotLab/myrobotlab.git", "agent-removal");
*/
} catch (Exception e) {
log.error("main threw", e);
}
}

public static String getBranch() throws IOException {
public String getBranch() throws IOException {
return getBranch(null);
}

public static String getBranch(String src) throws IOException {
public String getBranch(String src) throws IOException {
org.eclipse.jgit.api.Git git = getGit(src);
return git.getRepository().getBranch();
}

public static Status status() throws NoWorkTreeException, IOException, GitAPIException {
public Status status() throws NoWorkTreeException, IOException, GitAPIException {
return status(null);
}

public static Status status(String src) throws IOException, NoWorkTreeException, GitAPIException {
public Status status(String src) throws IOException, NoWorkTreeException, GitAPIException {
org.eclipse.jgit.api.Git git = getGit(src);
Status status = git.status().call();
return status;
}

public static void removeProps() {
public void removeProps() {
removeProps(null);
}

public static void removeProps(String rootFolder) {
public void removeProps(String rootFolder) {
if (rootFolder == null) {
rootFolder = System.getProperty("user.dir");
}
Expand All @@ -349,4 +291,89 @@ public static void removeProps(String rootFolder) {

}

public static void main(String[] args) {
try {

LoggingFactory.init(Level.INFO);

Properties properties = Platform.gitProperties();
// Git.removeProps();
log.info("{}", properties);
Git git = (Git) Runtime.start("git", "Git");
git.clone("./depthai", "https://github.com/luxonis/depthai.git", "main", "refs/tags/v1.13.1-sdk", true);
log.info("here");


} catch (Exception e) {
log.error("main threw", e);
}
}

// max complexity clone and checkout
public void clone(String location, String url, String branch, String checkout, boolean recursive) throws InvalidRemoteException, TransportException, GitAPIException, IOException {

File repoLocation = new File(location);
org.eclipse.jgit.api.Git git = null;
Repository repo = null;

// git clone

if (!repoLocation.exists()) {
// clone
log.info("cloning {} {} checking out {} into {}", url, branch, checkout, location);
git = org.eclipse.jgit.api.Git.cloneRepository().setProgressMonitor(monitor).setURI(url).setDirectory(repoLocation).setBranch(branch).call();

} else {
// Open an existing repository
String gitDir = repoLocation.getAbsolutePath() + File.separator + ".git";
log.info("opening repo {} from {}", gitDir, url);
repo = new FileRepositoryBuilder().setGitDir(new File(gitDir)).build();
git = new org.eclipse.jgit.api.Git(repo);
}

repo = git.getRepository();

// git pull

PullCommand pullCmd = git.pull()
// .setRemote(remoteName)
// .setCredentialsProvider(new
// UsernamePasswordCredentialsProvider(username, password))
.setRemoteBranchName(branch);

// Perform the pull operation
pullCmd.call();


// recursive
if (recursive) {

// Recursively fetch and checkout submodules if they exist
SubmoduleWalk submoduleWalk = SubmoduleWalk.forIndex(repo);
while (submoduleWalk.next()) {
String submodulePath = submoduleWalk.getPath();
org.eclipse.jgit.api.Git submoduleGit = org.eclipse.jgit.api.Git.open(new File(location, submodulePath));
submoduleGit.fetch()
.setRemote("origin")
.call();
submoduleGit.checkout()
.setName(branch) // Replace with the desired branch name
.call();
}

}

if (checkout != null) {
// checkout
log.info("checking out {}", checkout);
// git.branchCreate().setForce(true).setName(incheckout).setStartPoint("origin/"
// + incheckout).call();
git.branchCreate().setForce(true).setName(branch).setStartPoint(checkout).call();
git.checkout().setName(checkout).call();
}

repos.put(location, new RepoData(location, url, checkout, git));

}

}
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