From d6b17bd2416bebe2a10429a60ac6a1b36ea7295a Mon Sep 17 00:00:00 2001
From: Langevin Gael <hairygael@gmail.com>
Date: Thu, 12 Oct 2023 02:27:22 +0200
Subject: [PATCH] mouth listen servoMixer.java (#1345)

* mouth listen servoMixer.java

* Update InMoov2Config.java

* Update InMoov2Config.java

* add chatBot listener to servoMixer

* Update InMoov2Config.java

* Update InMoov2Config.java

* Update InMoov2Config.java

* Update InMoov2Config.java

* Update InMoov2.java

* Update InMoov2.java

* Update InMoov2.java

* Update InMoov2.java

* Update InMoov2.java
---
 .../java/org/myrobotlab/service/InMoov2.java  | 12 +++++++++++
 .../service/config/InMoov2Config.java         | 21 +++++++++++++------
 2 files changed, 27 insertions(+), 6 deletions(-)

diff --git a/src/main/java/org/myrobotlab/service/InMoov2.java b/src/main/java/org/myrobotlab/service/InMoov2.java
index 83af38c94d..03035b6d2f 100644
--- a/src/main/java/org/myrobotlab/service/InMoov2.java
+++ b/src/main/java/org/myrobotlab/service/InMoov2.java
@@ -163,6 +163,8 @@ public InMoov2Config apply(InMoov2Config c) {
         setLocale(getSupportedLocale(Runtime.getInstance().getLocale().toString()));
       }
 
+      loadAppsScripts();
+      
       loadInitScripts();
 
       if (c.loadGestures) {
@@ -637,6 +639,16 @@ 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");
   }
diff --git a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java
index ecb2d59c4e..af16e23a04 100644
--- a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java
+++ b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java
@@ -178,6 +178,13 @@ 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"));
@@ -337,23 +344,25 @@ 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"));