errors = new ArrayList<>();
- /**
- * The finite state machine is core to managing state of InMoov2. There is
- * very little benefit gained in having the interactions pub/sub. Therefore,
- * there will be a direct reference to the fsm. If different state graph is
- * needed, then the fsm can provide that service.
- */
- private transient FiniteStateMachine fsm = null;
-
// waiting controable threaded gestures we warn user
protected boolean gestureAlreadyStarted = false;
@@ -229,9 +194,9 @@ public static void main(String[] args) {
*/
protected boolean hasBooted = false;
- protected long heartbeatCount = 0;
+ private transient final Heart heart = new Heart();
- protected transient HtmlFilter htmlFilter;
+ protected long heartbeatCount = 0;
protected transient ImageDisplay imageDisplay;
@@ -239,8 +204,6 @@ public static void main(String[] args) {
protected String lastGestureExecuted;
- protected Long lastPirActivityTime;
-
protected String lastState = null;
/**
@@ -250,8 +213,6 @@ public static void main(String[] args) {
protected int maxInactivityTimeSeconds = 120;
- protected transient SpeechSynthesis mouth;
-
protected boolean mute = false;
protected transient OpenCV opencv;
@@ -263,10 +224,17 @@ public static void main(String[] args) {
*/
protected String state = "boot";
+ protected long stateLastIdleTime = System.currentTimeMillis();
+
+ protected long stateLastRandomTime = System.currentTimeMillis();
+
protected String voiceSelected;
+ protected boolean pirActive = false;
+
public InMoov2(String n, String id) {
super(n, id);
+ locales = Locale.getLocaleMap("en-US", "fr-FR", "es-ES", "de-DE", "nl-NL", "ru-RU", "hi-IN", "it-IT", "fi-FI", "pt-PT", "tr-TR");
}
// should be removed in favor of general listeners
@@ -280,35 +248,12 @@ public InMoov2Config apply(InMoov2Config c) {
super.apply(c);
try {
- locales = Locale.getLocaleMap("en-US", "fr-FR", "es-ES", "de-DE", "nl-NL", "pl-PL", "ru-RU", "hi-IN", "it-IT", "fi-FI", "pt-PT", "tr-TR");
-
if (c.locale != null) {
setLocale(c.locale);
} else {
setLocale(getSupportedLocale(Runtime.getInstance().getLocale().toString()));
}
- if (c.execScript) {
- execScript();
- }
-
- loadAppsScripts();
-
- loadInitScripts();
-
- if (c.loadGestures) {
- loadGestures();
- }
-
- if (c.heartbeat) {
- startHeartbeat();
- } else {
- stopHeartbeat();
- }
-
- // one way sync configuration into predicates
- configToPredicates();
-
} catch (Exception e) {
error(e);
}
@@ -347,6 +292,174 @@ public void beginCheckingOnInactivity(int maxInactivityTimeSeconds) {
addTask("checkInactivity", 5 * 1000, 0, "checkInactivity");
}
+ /**
+ * At boot all services specified through configuration have started, or if no
+ * configuration has started minimally the InMoov2 service has started. During
+ * the processing of config and starting other services data will have
+ * accumulated, and at boot, some of data may now be inspected and processed
+ * in a synchronous single threaded way. With reporting after startup, vs
+ * during, other peer services are not needed (e.g. audioPlayer is no longer
+ * needed to be started "before" InMoov2 because when boot is called
+ * everything that is wanted has been started.
+ *
+ * This method gets called multiple times by the heart beat, it walks through
+ * required processing and effectively waits and tries again if not finished.
+ * While in "boot", nothing else should be allowed to process until this
+ * process is completed.
+ */
+ synchronized public void boot() {
+
+ Runtime runtime = Runtime.getInstance();
+
+ try {
+
+ if (hasBooted) {
+ log.warn("will not boot again");
+ return;
+ }
+
+ if (bootCount == 0) {
+ info("%s BOOTING ....", getName());
+ }
+
+ bootCount++;
+ log.info("BOOT count {}", bootCount);
+
+ if (runtime.isProcessingConfig()) {
+ info("BOOT runtime still processing config set %s, waiting ....", runtime.getConfigName());
+ return;
+ }
+
+ if (!isReady()) {
+ info("BOOT %s is not yet ready, waiting ....", getName());
+ return;
+ }
+
+ info("BOOT starting mandatory services");
+
+ try {
+ // This is required the core of InMoov is
+ // a FSM ProgramAB and some form of Python/Jython
+ startPeer("fsm");
+
+ // Chatbot is a required part of InMoov2
+ ProgramAB chatBot = (ProgramAB) startPeer("chatBot");
+ chatBot = (ProgramAB) startPeer("chatBot");
+ chatBot.startSession();
+ chatBot.setPredicate("robot", getName());
+ } catch (IOException e) {
+ error(e);
+ }
+
+ // InMoov2 is now "ready" for mandatory synchronous processing
+ info("BOOT starting scripts");
+
+ // check all required services are completely started - or
+ // wait/return until they are
+
+ // there is not much point in running InMoov2 without its
+ // core dependencies - those dependencies are ProgramAB,
+ // FiniteStatemachine and Py4j/Python - so boot will not
+ // finish unless these services have loaded
+
+ // Although this exposes type, it does use startPeer
+ // which allows the potential of the user switching types of processors
+ // if the processor
+
+ // TODO - make Py4j without zombies and more robust
+ /**
+ * Py4j is not ready for primetime yet
+ *
+ *
+ *
+ * Py4j py4j = (Py4j) startPeer("py4j");
+ * if (!py4j.isReady()) {
+ * log.warn("{} not ready....", getPeerName("py4j"));
+ * return;
+ * }
+ * String code = FileIO.toString(getResourceDir() + fs + "InMoov2.py");
+ * py4j.exec(code);
+ *
+ *
+ */
+
+ // load the InMoov2.py and publish it for Python/Jython or Py4j to consume
+ if (config.execScript) {
+ execScript();
+ }
+
+ // TODO - MAKE BOOT REPORT !!!! deliver it on a heartbeat
+ runtime.invoke("publishConfigList");
+ // FIXME - reduce the number of these
+ if (config.loadAppsScripts) {
+ loadAppsScripts();
+ }
+
+ if (config.loadInitScripts) {
+ loadInitScripts();
+ }
+
+ if (config.loadGestures) {
+ loadGestures();
+ }
+
+ if (config.startupSound) {
+ String startupsound = FileIO.gluePaths(getResourceDir(), "/system/sounds/startupsound.mp3");
+ playAudioFile(startupsound);
+ }
+
+ List services = Runtime.getServices();
+ for (ServiceInterface si : services) {
+ if ("Servo".equals(si.getSimpleName())) {
+ send(si.getFullName(), "setAutoDisable", true);
+ }
+ }
+ hasBooted = true;
+ } catch (Exception e) {
+ hasBooted = false;
+ error(e);
+ }
+
+ /**
+ * TODO reporting on errors found in boot process TODO make a report on all
+ * peers that have started, of the config processed if there was a config
+ * set
+ */
+ if (config.reportOnBoot) {
+ systemEvent("CONFIG STARTED %s", runtime.getConfigName());
+
+ // TODO spin through all services in the order they were started
+ // send all system events
+ Collection local = Runtime.getLocalServices().values();
+ List ordered = new ArrayList<>(local);
+ ordered.removeIf(Objects::isNull);
+ Collections.sort(ordered);
+
+ Map peers = getPeers();
+ Set peerNames = new HashSet<>();
+ for (String peerKey : peers.keySet()) {
+ Peer peer = peers.get(peerKey);
+ if (peer.name == null) {
+ peerNames.add(String.format("%s.%s", getName(), peerKey));
+ } else {
+ peerNames.add(peer.name);
+ }
+ }
+
+ for (ServiceInterface si : ordered) {
+ if (peerNames.contains(si.getName())) {
+ systemEvent("STARTED %s", getPeerKey(si.getName()).replace(".", " "));
+ }
+ }
+
+ // reporting on all services and config started
+ systemEvent("CONFIG LOADED %s", runtime.getConfigName());
+ }
+
+ // say finished booting
+ fire("wake");
+ }
+
public void cameraOff() {
if (opencv != null) {
opencv.stopCapture();
@@ -465,6 +578,7 @@ public void closeAllImages() {
*/
public void configToPredicates() {
log.info("configToPredicates");
+ ProgramAB chatBot = (ProgramAB) getPeer("chatBot");
if (chatBot != null) {
Class pojoClass = config.getClass();
Field[] fields = pojoClass.getDeclaredFields();
@@ -543,15 +657,6 @@ public void displayFullScreen(String src) {
}
}
- public void enable() {
- sendToPeer("head", "enable");
- sendToPeer("rightHand", "enable");
- sendToPeer("leftHand", "enable");
- sendToPeer("rightArm", "enable");
- sendToPeer("leftArm", "enable");
- sendToPeer("torso", "enable");
- }
-
public void enableRandomHead() {
Random random = (Random) getPeer("random");
if (random != null) {
@@ -562,6 +667,15 @@ public void enableRandomHead() {
}
}
+ public void enable() {
+ sendToPeer("head", "enable");
+ sendToPeer("rightHand", "enable");
+ sendToPeer("leftHand", "enable");
+ sendToPeer("rightArm", "enable");
+ sendToPeer("leftArm", "enable");
+ sendToPeer("torso", "enable");
+ }
+
/**
* Single place for InMoov2 service to execute arbitrary code - needed
* initially to set "global" vars in python
@@ -569,10 +683,16 @@ public void enableRandomHead() {
* @param pythonCode
* @return
*/
+ @Deprecated /* should publishProcessing or publishPython - no direct handle */
public boolean exec(String pythonCode) {
try {
- Python p = (Python) Runtime.start("python", "Python");
- return p.exec(pythonCode, true);
+ Python p = (Python) Runtime.getService("python");
+ if (p != null) {
+ return p.exec(pythonCode, true);
+ } else {
+ warn("python not available");
+ return false;
+ }
} catch (Exception e) {
error("unable to execute script %s", pythonCode);
return false;
@@ -621,15 +741,9 @@ public void execScript() {
* execute a resource script
* @return success or failure
*/
- public boolean execScript(String someScriptName) {
- try {
- Python p = (Python) Runtime.start("python", "Python");
- String script = getResourceAsString(someScriptName);
- return p.exec(script, true);
- } catch (Exception e) {
- error("unable to execute script %s", someScriptName);
- return false;
- }
+ public void execScript(String someScriptName) {
+ String script = getResourceAsString(someScriptName);
+ invoke("publishPython", script);
}
public void finishedGesture() {
@@ -646,9 +760,18 @@ public void finishedGesture(String nameOfGesture) {
}
}
- // FIXME - this isn't the callback for fsm - why is it needed here ?
+ /**
+ * Fire an event to the FSM, potentially this can cause a state change
+ *
+ * @param event
+ */
public void fire(String event) {
- invoke("publishEvent", event);
+ FiniteStateMachine fsm = (FiniteStateMachine) getPeer("fsm");
+ if (fsm != null) {
+ fsm.fire(event);
+ } else {
+ log.warn("cannot fire event %s fsm not ready", event);
+ }
}
public void fullSpeed() {
@@ -695,30 +818,32 @@ public InMoov2Head getHead() {
* @return the timestamp of the last activity time.
*/
public Long getLastActivityTime() {
- try {
-
- Long lastActivityTime = 0L;
-
- Long head = (Long) sendToPeerBlocking("head", "getLastActivityTime", getName());
- Long leftArm = (Long) sendToPeerBlocking("leftArm", "getLastActivityTime", getName());
- Long rightArm = (Long) sendToPeerBlocking("rightArm", "getLastActivityTime", getName());
- Long leftHand = (Long) sendToPeerBlocking("leftHand", "getLastActivityTime", getName());
- Long rightHand = (Long) sendToPeerBlocking("rightHand", "getLastActivityTime", getName());
- Long torso = (Long) sendToPeerBlocking("torso", "getLastActivityTime", getName());
-
- lastActivityTime = Math.max(head, leftArm);
- lastActivityTime = Math.max(lastActivityTime, rightArm);
- lastActivityTime = Math.max(lastActivityTime, leftHand);
- lastActivityTime = Math.max(lastActivityTime, rightHand);
- lastActivityTime = Math.max(lastActivityTime, torso);
-
- return lastActivityTime;
-
- } catch (Exception e) {
- error(e);
- return null;
+ Long head = (InMoov2Head) getPeer("head") != null ? ((InMoov2Head) getPeer("head")).getLastActivityTime() : null;
+ Long leftArm = (InMoov2Arm) getPeer("leftArm") != null ? ((InMoov2Arm) getPeer("leftArm")).getLastActivityTime() : null;
+ Long rightArm = (InMoov2Arm) getPeer("rightArm") != null ? ((InMoov2Arm) getPeer("rightArm")).getLastActivityTime() : null;
+ Long leftHand = (InMoov2Hand) getPeer("leftHand") != null ? ((InMoov2Hand) getPeer("leftHand")).getLastActivityTime() : null;
+ Long rightHand = (InMoov2Hand) getPeer("rightHand") != null ? ((InMoov2Hand) getPeer("rightHand")).getLastActivityTime() : null;
+ Long torso = (InMoov2Torso) getPeer("torso") != null ? ((InMoov2Torso) getPeer("torso")).getLastActivityTime() : null;
+
+ Long lastActivityTime = null;
+
+ if (head != null || leftArm != null || rightArm != null || leftHand != null || rightHand != null || torso != null) {
+ lastActivityTime = 0L;
+ if (head != null)
+ lastActivityTime = Math.max(lastActivityTime, head);
+ if (leftArm != null)
+ lastActivityTime = Math.max(lastActivityTime, leftArm);
+ if (rightArm != null)
+ lastActivityTime = Math.max(lastActivityTime, rightArm);
+ if (leftHand != null)
+ lastActivityTime = Math.max(lastActivityTime, leftHand);
+ if (rightHand != null)
+ lastActivityTime = Math.max(lastActivityTime, rightHand);
+ if (torso != null)
+ lastActivityTime = Math.max(lastActivityTime, torso);
}
+ return lastActivityTime;
}
public InMoov2Arm getLeftArm() {
@@ -738,24 +863,25 @@ public OpenCV getOpenCV() {
return opencv;
}
- public Object getPredicate(String key) {
+ public String getPredicate(String key) {
ProgramAB chatBot = (ProgramAB) getPeer("chatBot");
if (chatBot != null) {
- return chatBot.getPredicate(key);
+ return getPredicate(chatBot.getConfig().currentUserName, key);
} else {
- error("no chatBot available");
+ log.info("chatBot not ready");
+ return null;
}
- return null;
}
public String getPredicate(String user, String key) {
ProgramAB chatBot = (ProgramAB) getPeer("chatBot");
if (chatBot != null) {
+
return chatBot.getPredicate(user, key);
} else {
- error("no chatBot available");
+ log.info("chatBot not ready");
+ return null;
}
- return null;
}
/**
@@ -767,12 +893,13 @@ public String getPredicate(String user, String key) {
public Response getResponse(String text) {
ProgramAB chatBot = (ProgramAB) getPeer("chatBot");
if (chatBot != null) {
+
Response response = chatBot.getResponse(text);
return response;
} else {
- log.info("chatbot not ready");
+ log.info("chatBot not ready");
+ return null;
}
- return null;
}
public InMoov2Arm getRightArm() {
@@ -855,6 +982,11 @@ public boolean isMute() {
public boolean isSpeaking() {
return isSpeaking;
}
+
+ public boolean isPirActive() {
+ return pirActive;
+ }
+
/**
* execute python scripts in the app directory on startup of the service
@@ -950,7 +1082,8 @@ public boolean accept(File dir, String name) {
if (files != null) {
for (File file : files) {
- Python p = (Python) Runtime.start("python", "Python");
+
+ Python p = (Python) Runtime.getService("python");
if (p != null) {
p.execFile(file.getAbsolutePath());
}
@@ -1064,6 +1197,23 @@ public PredicateEvent onChangePredicate(PredicateEvent event) {
// do defaults ?
return event;
}
+
+ /**
+ * Subscription for audioPlayer starting to play a file.
+ * @param data
+ */
+ public void onAudioStart(AudioData data) {
+ processMessage("onAudioStart", data);
+ }
+
+ /**
+ * Subscription for audioPlayer stopping an audio file.
+ * @param data
+ */
+ public void onAudioEnd(AudioData data) {
+ processMessage("onAudioEnd", data);
+ }
+
/**
* comes in from runtime which owns the config list
@@ -1207,15 +1357,8 @@ public void onPirOff() {
*/
public void onPirOn() {
log.info("onPirOn");
- // FIXME flash on config.flashOnBoot
- invoke("publishFlash", "pir");
- ProgramAB chatBot = (ProgramAB) getPeer("chatBot");
- if (chatBot != null) {
- String botState = chatBot.getPredicate("botState");
- if ("sleeping".equals(botState)) {
- invoke("publishEvent", "WAKE");
- }
- }
+ setPredicate(String.format("%s.pir_on", getName()), System.currentTimeMillis());
+ processMessage("onPirOn");
}
// GOOD GOOD GOOD - LOOPBACK - flexible and replacable by python
@@ -1253,6 +1396,12 @@ public boolean onSense(boolean b) {
} else {
invoke("publishEvent", "PIR OFF");
}
+
+ // Better - processed through a potentially configured "processor"
+ // "named" message since sender is this service
+ processMessage("onSense", b);
+ pirActive = b;
+
return b;
}
@@ -1284,60 +1433,10 @@ public void onStartConfig(String configName) {
*/
@Override
public void onStarted(String name) {
-
- log.info("onStarted {}", name);
try {
- Runtime runtime = Runtime.getInstance();
log.info("onStarted {}", name);
-
- // BAD IDEA - better to ask for a system report or an error report
- // if (runtime.isProcessingConfig()) {
- // invoke("publishEvent", "CONFIG STARTED");
- // }
-
- String peerKey = getPeerKey(name);
- if (peerKey == null) {
- // service not a peer
- return;
- }
-
- if (runtime.isProcessingConfig() && !configStarted) {
- invoke("publishEvent", "CONFIG STARTED " + runtime.getConfigName());
- configStarted = true;
- }
-
- invoke("publishEvent", "STARTED " + peerKey.replace(".", " "));
-
- switch (peerKey) {
- case "audioPlayer":
- break;
- case "chatBot":
- ProgramAB chatBot = (ProgramAB) Runtime.getService(name);
- chatBot.attachTextListener(getPeerName("htmlFilter"));
- startPeer("htmlFilter");
- break;
- case "ear":
- AbstractSpeechRecognizer ear = (AbstractSpeechRecognizer) Runtime.getService(name);
- ear.attachTextListener(getPeerName("chatBot"));
- break;
- case "htmlFilter":
- TextPublisher htmlFilter = (TextPublisher) Runtime.getService(name);
- htmlFilter.attachTextListener(getPeerName("mouth"));
- break;
- case "mouth":
- mouth = (AbstractSpeechSynthesis) Runtime.getService(name);
- mouth.attachSpeechListener(getPeerName("ear"));
- break;
- case "opencv":
- subscribeTo(name, "publishOpenCVData");
- break;
- default:
- log.info("unknown peer {} not handled in onStarted", peerKey);
- break;
- }
-
- // type processing for Servo
+ // new servo
ServiceInterface si = Runtime.getService(name);
if ("Servo".equals(si.getSimpleName())) {
log.info("sending setAutoDisable true to {}", name);
@@ -1372,8 +1471,17 @@ public void onText(String text) {
log.info("onText - {}", text);
invoke("publishText", text);
}
+
+ public void playAudioFile(String filename) {
+ log.info("playAudioFile {}", filename);
+ invoke("publishPlayAudioFile", filename);
+ }
// TODO FIX/CHECK this, migrate from python land
+ @Deprecated /*
+ * these are fsm states and should be implemented in python
+ * callbacks
+ */
public void powerDown() {
rest();
@@ -1392,6 +1500,10 @@ public void powerDown() {
// TODO FIX/CHECK this, migrate from python land
// FIXME - defaultPowerUp switchable + override
+ @Deprecated /*
+ * these are fsm states and should be implemented in python
+ * callbacks
+ */
public void powerUp() {
enable();
rest();
@@ -1408,6 +1520,34 @@ public void powerUp() {
public void processMessage(String method) {
processMessage(method, (Object[]) null);
}
+
+ public void playMusic() {
+ AudioFile af = (AudioFile) getPeer("audioPlayer");
+ if (af != null) {
+ af.startPlaylist();
+ }
+ }
+
+ public void nextPlay() {
+ AudioFile af = (AudioFile) getPeer("audioPlayer");
+ if (af != null) {
+ af.skip();
+ }
+ }
+
+ public void searchPlay(String requestedSong) {
+ AudioFile af = (AudioFile) getPeer("audioPlayer");
+ if (af != null) {
+ Map> pls = af.getPlaylists();
+ for(String playlist: pls.keySet()) {
+ for (String song : pls.get(playlist)) {
+ if (song.contains(requestedSong)) {
+ af.play(song);
+ }
+ }
+ }
+ }
+ }
/**
* Will publish processing messages to the processor(s) currently subscribed.
@@ -1486,11 +1626,84 @@ public String publishFlash(String flashName) {
return flashName;
}
- public String publishHeartbeat() {
- if (config.heartbeatFlash) {
- invoke("publishFlash", "heartbeat");
+ /**
+ * FIXME - get rid of all functionality here - should all be controlled by
+ * behaviors
+ *
+ * A heartbeat that continues to check status, and fire events to the FSM.
+ * Checks battery, flashes leds and processes all the configured checks in
+ * onHeartbeat at a regular interval
+ */
+ public Heartbeat publishHeartbeat() {
+ log.debug("publishHeartbeat");
+ heartbeatCount++;
+ Heartbeat heartbeat = new Heartbeat(this);
+ try {
+
+ if ("boot".equals(state)) {
+ // continue booting - we don't put heartbeats in user/python space
+ // until java-land is done booting
+ log.info("boot hasn't completed, will not process heartbeat - trying boot");
+ boot();
+ return heartbeat;
+ }
+
+ Long lastActivityTime = getLastActivityTime();
+
+ // FIXME lastActivityTime != 0 is bogus - the value should be null if
+ // never set
+ if (config.stateIdleInterval != null && lastActivityTime != null && lastActivityTime != 0
+ && lastActivityTime + (config.stateIdleInterval * 1000) < System.currentTimeMillis()) {
+ stateLastIdleTime = lastActivityTime;
+ }
+
+ if (System.currentTimeMillis() > stateLastIdleTime + (config.stateIdleInterval * 1000)) {
+ // idle event to be handled with the processor
+ // processMessage("onIdle");
+ fire("idle");
+ stateLastIdleTime = System.currentTimeMillis();
+ }
+
+ // interval event firing
+ if (config.stateRandomInterval != null && System.currentTimeMillis() > stateLastRandomTime + (config.stateRandomInterval * 1000)) {
+ // fsm.fire("random");
+ stateLastRandomTime = System.currentTimeMillis();
+ }
+
+ } catch (Exception e) {
+ error(e);
}
- return getName();
+
+ // if (config.pirOnFlash && isPeerStarted("pir") && isPirOn) {
+ //// flash("pir");
+ // }
+
+ if (config.batteryInSystem) {
+ double batteryLevel = Runtime.getBatteryLevel();
+ invoke("publishBatteryLevel", batteryLevel);
+ // FIXME - thresholding should always have old value or state
+ // so we don't pump endless errors
+ if (batteryLevel < 5) {
+ error("battery level < 5 percent");
+ // systemEvent(BATTERY ERROR)
+ } else if (batteryLevel < 10) {
+ warn("battery level < 10 percent");
+ // systemEvent(BATTERY WARN)
+ }
+ }
+
+ // flash error until errors are cleared
+ if (config.flashOnErrors) {
+ if (errors.size() > 0) {
+ // invoke("publishFlash", "error");
+ } else {
+ // invoke("publishFlash", "heartbeat");
+ }
+ }
+
+ // FIXME - add errors to heartbeat
+ processMessage("onHeartbeat", heartbeat);
+ return heartbeat;
}
/**
@@ -1709,6 +1922,7 @@ public void releasePeer(String peerKey) {
public void releaseService() {
try {
disable();
+ heart.stop();
super.releaseService();
} catch (Exception e) {
error(e);
@@ -1859,6 +2073,18 @@ public void setLocale(String code) {
// super.setLocale(code);
for (ServiceInterface si : Runtime.getLocalServices().values()) {
if (!si.equals(this)) {
+ // by default, InMoov2 tries to set all Locales on all services
+ // from its configured Locale, or a default Locale set on the OS.
+ // This works ok when ProgramAB is providing translations, however,
+ // in the case of "brain" translation will be provided at a different
+ // layer, therefore resetting chatBot to en-US bot from configured "brain" bot
+ // is prevented
+ if (si instanceof ProgramAB) {
+ ProgramAB chatbot = (ProgramAB)si;
+ if ("brain".equals(chatbot.getCurrentBotName())){
+ continue;
+ }
+ }
si.setLocale(code);
}
}
@@ -1882,14 +2108,10 @@ public boolean setPirPlaySounds(boolean b) {
public Object setPredicate(String key, Object data) {
ProgramAB chatBot = (ProgramAB) getPeer("chatBot");
- if (chatBot != null) {
- if (data == null) {
- chatBot.setPredicate(key, null); // "unknown" "null" other sillyness ?
- } else {
- chatBot.setPredicate(key, data.toString());
- }
+ if (data == null) {
+ chatBot.setPredicate(key, null); // "unknown" "null" other sillyness ?
} else {
- error("no chatBot available");
+ chatBot.setPredicate(key, data.toString());
}
return data;
}
@@ -1925,8 +2147,10 @@ public boolean setSpeechType(String speechType) {
String peerName = getName() + ".mouth";
Plan plan = runtime.getDefault(peerName, speechType);
try {
- SpeechSynthesisConfig mouth = (SpeechSynthesisConfig) plan.get(peerName);
- mouth.speechRecognizers = new String[] { getName() + ".ear" };
+ // this should be handled in config.listeners
+ // SpeechSynthesisConfig mouth = (SpeechSynthesisConfig)
+ // plan.get(peerName);
+ // mouth.speechRecognizers = new String[] { getName() + ".ear" };
savePeerConfig("mouth", plan.get(peerName));
@@ -1948,7 +2172,12 @@ public boolean setSpeechType(String speechType) {
}
public void setTopic(String topic) {
- chatBot.setTopic(topic);
+ ProgramAB chatBot = (ProgramAB) getPeer("chatBot");
+ if (chatBot != null) {
+ chatBot.setTopic(topic);
+ } else {
+ log.info("chatBot not ready");
+ }
}
public void setTorsoSpeed(Double topStom, Double midStom, Double lowStom) {
@@ -1959,24 +2188,6 @@ public void setTorsoSpeed(Integer topStom, Integer midStom, Integer lowStom) {
setTorsoSpeed((double) topStom, (double) midStom, (double) lowStom);
}
- // -----------------------------------------------------------------------------
- // These are methods added that were in InMoov1 that we no longer had in
- // InMoov2.
- // From original InMoov1 so we don't loose the
-
- @Deprecated /* use setTorsoSpeed */
- public void setTorsoVelocity(Double topStom, Double midStom, Double lowStom) {
- setTorsoSpeed(topStom, midStom, lowStom);
- }
-
- public void setVoice(String name) {
- if (mouth != null) {
- mouth.setVoice(name);
- voiceSelected = name;
- speakBlocking(String.format("%s %s", get("SETLANG"), name));
- }
- }
-
public void sleeping() {
log.error("sleeping");
}
@@ -2018,105 +2229,6 @@ public void speakBlocking(String format, Object... args) {
}
}
- @Deprecated /* use startPeers */
- public void startAll() throws Exception {
- startAll(null, null);
- }
-
- @Deprecated /* use startPeers */
- public void startAll(String leftPort, String rightPort) throws Exception {
- startMouth();
- startChatBot();
-
- // startHeadTracking();
- // startEyesTracking();
- // startOpenCV();
- startEar();
-
- startServos();
- // startMouthControl(head.jaw, mouth);
-
- speakBlocking(get("STARTINGSEQUENCE"));
- }
-
- @Deprecated /* i01.startPeer("chatBot") - all details should be in config */
- public void startBrain() {
- startChatBot();
- }
-
- @Deprecated /* i01.startPeer("chatBot") - all details should be in config */
- public ProgramAB startChatBot() {
-
- try {
- chatBot = (ProgramAB) startPeer("chatBot");
-
- if (locale != null) {
- chatBot.setCurrentBotName(locale.getTag());
- }
-
- // FIXME remove get en.properties stuff
- speakBlocking(get("CHATBOTACTIVATED"));
-
- chatBot.attachTextPublisher(ear);
-
- // this.attach(chatBot); FIXME - attach as a TextPublisher - then
- // re-publish
- // FIXME - deal with language
- // speakBlocking(get("CHATBOTACTIVATED"));
- chatBot.repetitionCount(10);
- // chatBot.setPath(getResourceDir() + fs + "chatbot");
- // chatBot.setPath(getDataDir() + "ProgramAB");
- chatBot.startSession("default", locale.getTag());
- // reset some parameters to default...
- chatBot.setPredicate("topic", "default");
- chatBot.setPredicate("questionfirstinit", "");
- chatBot.setPredicate("tmpname", "");
- chatBot.setPredicate("null", "");
- // load last user session
- if (!chatBot.getPredicate("name").isEmpty()) {
- if (chatBot.getPredicate("lastUsername").isEmpty() || chatBot.getPredicate("lastUsername").equals("unknown") || chatBot.getPredicate("lastUsername").equals("default")) {
- chatBot.setPredicate("lastUsername", chatBot.getPredicate("name"));
- }
- }
- chatBot.setPredicate("parameterHowDoYouDo", "");
- chatBot.savePredicates();
- htmlFilter = (HtmlFilter) startPeer("htmlFilter");// Runtime.start("htmlFilter",
- // "HtmlFilter");
- chatBot.attachTextListener(htmlFilter);
- htmlFilter.attachTextListener((TextListener) getPeer("mouth"));
- chatBot.attachTextListener(this);
- // start session based on last recognized person
- // if (!chatBot.getPredicate("default", "lastUsername").isEmpty() &&
- // !chatBot.getPredicate("default", "lastUsername").equals("unknown")) {
- // chatBot.startSession(chatBot.getPredicate("lastUsername"));
- // }
- if (chatBot.getPredicate("default", "firstinit").isEmpty() || chatBot.getPredicate("default", "firstinit").equals("unknown")
- || chatBot.getPredicate("default", "firstinit").equals("started")) {
- chatBot.startSession(chatBot.getPredicate("default", "lastUsername"));
- invoke("publishEvent", "FIRST INIT");
- } else {
- chatBot.startSession(chatBot.getPredicate("default", "lastUsername"));
- invoke("publishEvent", "WAKE UP");
- }
- } catch (Exception e) {
- speak("could not load chatBot");
- error(e.getMessage());
- speak(e.getMessage());
- }
- broadcastState();
- return chatBot;
- }
-
- @Deprecated /* use startPeer */
- public SpeechRecognizer startEar() {
-
- ear = (SpeechRecognizer) startPeer("ear");
- ear.attachSpeechSynthesis((SpeechSynthesis) getPeer("mouth"));
- ear.attachTextListener(chatBot);
- broadcastState();
- return ear;
- }
-
public void startedGesture() {
startedGesture("unknown");
}
@@ -2132,48 +2244,7 @@ public void startedGesture(String nameOfGesture) {
}
public void startHeartbeat() {
- addTask(1000, "publishHeartbeat");
- }
-
- // TODO - general objective "might" be to reduce peers down to something
- // that does not need a reference - where type can be switched before creation
- // and the only thing needed is pubs/subs that are not handled in abstracts
- @Deprecated /* use startPeer */
- public SpeechSynthesis startMouth() {
-
- // FIXME - set type ??? - maybe a good product of InMoov
- // if "new" type cannot necessarily grab yml file
- // setMouthType
-
- // FIXME - bad to have a reference, should only need the "name" of the
- // service !!!
- mouth = (SpeechSynthesis) startPeer("mouth");
-
- // voices = mouth.getVoices();
- // Voice voice = mouth.getVoice();
- // if (voice != null) {
- // voiceSelected = voice.getName();
- // }
-
- if (mute) {
- mouth.setMute(true);
- }
-
- mouth.attachSpeechRecognizer(ear);
- // mouth.attach(htmlFilter); // same as chatBot not needed
-
- // this.attach((Attachable) mouth);
- // if (ear != null) ....
-
- broadcastState();
-
- speakBlocking(get("STARTINGMOUTH"));
- if (isVirtual()) {
- speakBlocking(get("STARTINGVIRTUALHARD"));
- }
- speakBlocking(get("WHATISTHISLANGUAGE"));
-
- return mouth;
+ heart.start();
}
@Deprecated /* use startPeer */
@@ -2194,34 +2265,30 @@ public ServiceInterface startPeer(String peer) {
public void startService() {
super.startService();
+ // just for comparing config with current "default"
+ // debugging only
Runtime runtime = Runtime.getInstance();
+ // if you hardcode subscriptions here - they should
+ // be controlled/branched by config
+
// get service start and release life cycle events
runtime.attachServiceLifeCycleListener(getName());
- List services = Runtime.getServices();
- for (ServiceInterface si : services) {
- if ("Servo".equals(si.getSimpleName())) {
- send(si.getFullName(), "setAutoDisable", true);
- }
- }
-
+ // FIXME all subscriptions should be in InMoov2Config
// get events of new services and shutdown
+ // we can't add listener's in config, perhaps there should be
+ // "subscriptions" in config too ?
subscribe("runtime", "shutdown");
- // power up loopback subscription
- addListener(getName(), "powerUp");
-
subscribe("runtime", "publishConfigList");
- if (runtime.isProcessingConfig()) {
- invoke("publishEvent", "configStarted");
- }
- subscribe("runtime", "publishConfigStarted");
- subscribe("runtime", "publishConfigFinished");
+ runtime.invoke("publishConfigList");
- // chatbot getresponse attached to publishEvent
- addListener("publishEvent", getPeerName("chatBot"), "getResponse");
+ if (config.heartbeat) {
+ startHeartbeat();
+ } else {
+ stopHeartbeat();
+ }
- runtime.invoke("publishConfigList");
}
public void startServos() {
@@ -2249,12 +2316,13 @@ public void stop() {
}
public void stopGesture() {
+ // FIXME cannot be casting to Python
Python p = (Python) Runtime.getService("python");
p.stop();
}
public void stopHeartbeat() {
- purgeTask("publishHeartbeat");
+ heart.stop();
}
public void stopNeopixelAnimation() {
@@ -2262,25 +2330,39 @@ public void stopNeopixelAnimation() {
}
public void systemCheck() {
+ Platform platform = Runtime.getPlatform();
log.info("systemCheck()");
int servoCount = 0;
- int servoAttachedCount = 0;
for (ServiceInterface si : Runtime.getServices()) {
if (si.getClass().getSimpleName().equals("Servo")) {
servoCount++;
- if (((Servo) si).getController() != null) {
- servoAttachedCount++;
- }
}
}
- setPredicate("systemServoCount", servoCount);
- setPredicate("systemAttachedServoCount", servoAttachedCount);
- setPredicate("systemFreeMemory", Runtime.getFreeMemory());
- Platform platform = Runtime.getPlatform();
- setPredicate("system version", platform.getVersion());
- // ERROR buffer !!!
- // invoke("publishEvent", "systemCheckFinished");
+ // TODO check for latest version if not experimental
+ // TODO change to experimental :)
+ String version = ("unknownVersion".equals(platform.getVersion())) ? "experimental" : platform.getVersion();
+
+ setPredicate("system.version", version);
+ setPredicate("system.uptime", Runtime.getUptime());
+ setPredicate("system.servoCount", servoCount);
+ setPredicate("system.serviceCount", Runtime.getServices().size());
+ setPredicate("system.freeMemory", Runtime.getFreeMemory() / 1000000);
+ setPredicate("system.errorsExist", errors.size() > 0);
+ setPredicate("system.errorCount", errors.size());
+ setPredicate("state", getState());
+ setPredicate("system.batteryLevel", Runtime.getBatteryLevel().intValue());
+
+ }
+
+ public String systemEvent(String eventMsg) {
+ invoke("publishSystemEvent", eventMsg);
+ return eventMsg;
+ }
+
+ public String systemEvent(String format, Object... ags) {
+ String eventMsg = String.format(format, ags);
+ return systemEvent(eventMsg);
}
// FIXME - if this is really desired it will drive local references for all
@@ -2295,4 +2377,22 @@ public void waitTargetPos() {
sendToPeer("torso", "waitTargetPos");
}
+ public void foundPerson(String name) {
+ foundPerson(name, 1.0);
+ }
+
+ public void foundPerson(String name, Double confidence) {
+ if (confidence == null) {
+ confidence = 1.0;
+ }
+ Map data = new HashMap<>();
+ data.put("name", name);
+ data.put("confidence", confidence);
+ invoke("publishFoundPerson", data);
+ }
+
+ public Map publishFoundPerson(Map data) {
+ return data;
+ }
+
}
diff --git a/src/main/java/org/myrobotlab/service/Runtime.java b/src/main/java/org/myrobotlab/service/Runtime.java
index 2185727eb5..faf505a2c4 100644
--- a/src/main/java/org/myrobotlab/service/Runtime.java
+++ b/src/main/java/org/myrobotlab/service/Runtime.java
@@ -3684,24 +3684,26 @@ public static Double getBatteryLevel() {
}
} else if (platform.isLinux()) {
- // TODO This is incorrect, will not work when unplugged
- // and acpitool output is different than expected,
- // at least on Ubuntu 22.04 - consider oshi library
- String ret = Runtime.execute("acpi");
- int pos0 = ret.indexOf("%");
-
- if (pos0 != -1) {
- int pos1 = ret.lastIndexOf(" ", pos0);
- // int pos1 = ret.indexOf("%", pos0);
- String dble = ret.substring(pos1, pos0).trim();
- try {
- r = Double.parseDouble(dble);
- } catch (Exception e) {
- log.error("no Battery detected by system");
+ // TODO This is incorrect, will not work when unplugged
+ // and acpitool output is different than expected,
+ // at least on Ubuntu 22.04 - consider oshi library
+ if (FileIO.isExecutableAvailable("acpi")) {
+ String ret = Runtime.execute("acpi");
+ int pos0 = ret.indexOf("%");
+
+ if (pos0 != -1) {
+ int pos1 = ret.lastIndexOf(" ", pos0);
+ // int pos1 = ret.indexOf("%", pos0);
+ String dble = ret.substring(pos1, pos0).trim();
+ try {
+ r = Double.parseDouble(dble);
+ } catch (Exception e) {
+ log.error("no Battery detected by system");
+ }
+ return r;
}
- return r;
+ log.info(ret);
}
- log.info(ret);
} else if (platform.isMac()) {
String ret = Runtime.execute("pmset -g batt");
int pos0 = ret.indexOf("Battery-0");
diff --git a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java
index 8052dea636..4618103310 100644
--- a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java
+++ b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java
@@ -538,8 +538,7 @@ public Plan getDefault(Plan plan, String name) {
listeners.add(new Listener("publishStopAnimation", getPeerName("neoPixel")));
// listeners.add(new Listener("publishProcessMessage",
// getPeerName("python"), "onPythonMessage"));
- listeners.add(new Listener("publishProcessMessage", getPeerName("python"), "onPythonMessage"));
-
+ listeners.add(new Listener("publishProcessMessage", getPeerName("python"), "onPythonMessage"));
listeners.add(new Listener("publishPython", getPeerName("python")));
// InMoov2 --to--> InMoov2
@@ -551,6 +550,10 @@ public Plan getDefault(Plan plan, String name) {
listeners.add(new Listener("publishMoveTorso", getPeerName("torso"), "onMove"));
// service --to--> InMoov2
+ AudioFileConfig audioPlayer = (AudioFileConfig) plan.get(getPeerName("audioPlayer"));
+ audioPlayer.listeners.add(new Listener("publishAudioStart", name));
+ audioPlayer.listeners.add(new Listener("publishAudioEnd", name));
+
htmlFilter.listeners.add(new Listener("publishText", name));
OakDConfig oakd = (OakDConfig) plan.get(getPeerName("oakd"));
diff --git a/src/main/resources/resource/WebGui/app/service/js/PollyGui.js b/src/main/resources/resource/WebGui/app/service/js/PollyGui.js
index f9e42cdb40..fcc6634646 100644
--- a/src/main/resources/resource/WebGui/app/service/js/PollyGui.js
+++ b/src/main/resources/resource/WebGui/app/service/js/PollyGui.js
@@ -33,6 +33,10 @@ angular.module('mrlapp.service.PollyGui', []).controller('PollyGuiCtrl', ['peer'
$scope.spoken = data
$scope.$apply()
break
+ case 'onStatus':
+ $scope.status = data
+ $scope.$apply()
+ break
default:
console.error("ERROR - unhandled method " + $scope.name + " " + inMsg.method)
break
diff --git a/src/main/resources/resource/WebGui/app/views/tabsViewCtrl.js b/src/main/resources/resource/WebGui/app/views/tabsViewCtrl.js
index 6dbdf20fbc..c4e6f5edb7 100644
--- a/src/main/resources/resource/WebGui/app/views/tabsViewCtrl.js
+++ b/src/main/resources/resource/WebGui/app/views/tabsViewCtrl.js
@@ -1,5 +1,13 @@
-angular.module('mrlapp.mrl').controller('tabsViewCtrl', ['$location', '$scope', '$filter', '$timeout', 'mrl', '$state', '$stateParams', function($location, $scope, $filter, $timeout, mrl, $state, $stateParams) {
- console.info('tabsViewCtrl $scope.$id - ' + $scope.$id)
+angular.module("mrlapp.mrl").controller("tabsViewCtrl", [
+ "$location",
+ "$scope",
+ "$filter",
+ "$timeout",
+ "mrl",
+ "$state",
+ "$stateParams",
+ function ($location, $scope, $filter, $timeout, mrl, $state, $stateParams) {
+ console.info("tabsViewCtrl $scope.$id - " + $scope.$id)
_self = this
$scope.history = []
@@ -10,65 +18,71 @@ angular.module('mrlapp.mrl').controller('tabsViewCtrl', ['$location', '$scope',
// setting callback method in service so other controllers
// can set searchText
- $scope.setSearchText = function(text) {
- $scope.searchText.displayName = text
+ $scope.setSearchText = function (text) {
+ $scope.searchText.displayName = text
}
- $scope.noworky = function() {
- noWorkySvc.openNoWorkyModal($scope.panel.name)
+ $scope.noworky = function () {
+ noWorkySvc.openNoWorkyModal($scope.panel.name)
}
- $scope.updateServiceData = function() {
- //get an updated / fresh servicedata & convert it to json
- var servicedata = mrl.getService($scope.view_tab)
- $scope.servicedatajson = JSON.stringify(servicedata, null, 2)
+ $scope.updateServiceData = function () {
+ //get an updated / fresh servicedata & convert it to json
+ var servicedata = mrl.getService($scope.view_tab)
+ $scope.servicedatajson = JSON.stringify(servicedata, null, 2)
}
- $scope.getName = function(panel) {
- return panel.name
+ $scope.getName = function (panel) {
+ return panel.name
}
//service-panels & update-routine
- var panelsUpdated = function(panels) {
- console.debug('tabsViewCtrl.panelsUpdated ' + panels.length)
- $scope.panels = panels
-
- if (!$scope.view_tab && panels.length > 0 && $scope.panels[$scope.panels.length - 1].name.startsWith('intro')) {// $scope.changeTab($scope.panels[0].name)
- }
-
- // if /#/service/{servicename} - change the tab
- if ($scope.servicename) {// $scope.changeTab($scope.servicename)
- }
+ var panelsUpdated = function (panels) {
+ console.debug("tabsViewCtrl.panelsUpdated " + panels.length)
+ $scope.panels = panels
+
+ if (!$scope.view_tab && panels.length > 0 && $scope.panels[$scope.panels.length - 1].name.startsWith("intro")) {
+ // $scope.changeTab($scope.panels[0].name)
+ }
+
+ // if /#/service/{servicename} - change the tab
+ if ($scope.servicename) {
+ // $scope.changeTab($scope.servicename)
+ }
}
/**
* go to a service tab
* direction - reverse or null (forward)
*/
- $scope.changeTab = function(tab) {
- tab = mrl.getFullName(tab)
- $scope.view_tab = tab
- $scope.history.push(tab)
-
- // $location.path('service/' + tab, false)
- // $state.go('tabs2','/service/' + tab)
-
- // $state.transitionTo('tabs2', {id: tab}, {
- // location: true,
- // inherit: true,
- // relative: $state.$current,
- // notify: false
- // })
-
- $state.go('tabs2', {
- servicename: tab
- }, {
- notify: false,
- reload: false
- })
- // $state.go('tabs2', { servicename: tab }, {notify:false, reload:true})
- // $state.go($state.current, {}, {reload: true})
- /*
+ $scope.changeTab = function (tab) {
+ tab = mrl.getFullName(tab)
+ $scope.view_tab = tab
+ $scope.history.push(tab)
+
+ // $location.path('service/' + tab, false)
+ // $state.go('tabs2','/service/' + tab)
+
+ // $state.transitionTo('tabs2', {id: tab}, {
+ // location: true,
+ // inherit: true,
+ // relative: $state.$current,
+ // notify: false
+ // })
+
+ $state.go(
+ "tabs2",
+ {
+ servicename: tab,
+ },
+ {
+ notify: false,
+ reload: false,
+ }
+ )
+ // $state.go('tabs2', { servicename: tab }, {notify:false, reload:true})
+ // $state.go($state.current, {}, {reload: true})
+ /*
$state.transitionTo('tabs2', {
id: newId
}, {
@@ -79,23 +93,27 @@ angular.module('mrlapp.mrl').controller('tabsViewCtrl', ['$location', '$scope',
})*/
}
- $scope.goBack = function(){
- // pop self
- $scope.history.pop()
- // go back one
- tab = $scope.history[$scope.history.length - 1]
- $scope.view_tab = tab
-
- $state.go('tabs2', {
- servicename: tab
- }, {
- notify: false,
- reload: false
- })
-
+ $scope.goBack = function () {
+ // pop self
+ $scope.history.pop()
+ // go back one
+ tab = $scope.history[$scope.history.length - 1]
+ $scope.view_tab = tab
+
+ $state.go(
+ "tabs2",
+ {
+ servicename: tab,
+ },
+ {
+ notify: false,
+ reload: false,
+ }
+ )
}
- $scope.searchText = {// displayName: ""
+ $scope.searchText = {
+ // displayName: ""
}
$scope.hasNewStatus = true
@@ -105,5 +123,5 @@ angular.module('mrlapp.mrl').controller('tabsViewCtrl', ['$location', '$scope',
mrl.setSearchFunction($scope.setSearchText)
mrl.setTabsViewCtrl(this)
mrl.subscribeToUpdates(panelsUpdated)
-}
+ },
])
diff --git a/src/test/java/org/myrobotlab/service/HarryTest.java b/src/test/java/org/myrobotlab/service/HarryTest.java
index 29527a0845..1d1995fc5f 100755
--- a/src/test/java/org/myrobotlab/service/HarryTest.java
+++ b/src/test/java/org/myrobotlab/service/HarryTest.java
@@ -228,7 +228,7 @@ public void testHarry() throws Exception {
// if startInMoov:
// i01.startAll(leftPort, rightPort)
// else:
- i01.mouth = mouth;
+ i01.startPeer("mouth");
solr.attachAllInboxes();
solr.attachAllOutboxes();
diff --git a/src/test/java/org/myrobotlab/service/RandomTest.java b/src/test/java/org/myrobotlab/service/RandomTest.java
index f089f2e453..1950a4476e 100644
--- a/src/test/java/org/myrobotlab/service/RandomTest.java
+++ b/src/test/java/org/myrobotlab/service/RandomTest.java
@@ -40,8 +40,10 @@ public void testService() throws Exception {
assertTrue("should have method", random.getKeySet().contains("clock.setInterval"));
- assertTrue(String.format("random method 1 should be %d => 5000 values", clock.getInterval()), 5000 <= clock.getInterval());
- assertTrue(String.format("random method 1 should be %d <= 10000 values", clock.getInterval()), clock.getInterval() <= 10000);
+ assertTrue(String.format("random method 1 should be %d => 5000 values", clock.getInterval()),
+ 5000 <= clock.getInterval());
+ assertTrue(String.format("random method 1 should be %d <= 10000 values", clock.getInterval()),
+ clock.getInterval() <= 10000);
random.remove("clock.setInterval");
@@ -70,8 +72,10 @@ public void testService() throws Exception {
sleep(200);
clock.setInterval(9999);
assertTrue("clock should not be started 3", !clock.isClockRunning());
- assertTrue(String.format("random method 2 should be %d => 5000 values", clock.getInterval()), 5000 <= clock.getInterval());
- assertTrue(String.format("random method 2 should be %d <= 10000 values", clock.getInterval()), clock.getInterval() <= 10000);
+ assertTrue(String.format("random method 2 should be %d => 5000 values", clock.getInterval()),
+ 5000 <= clock.getInterval());
+ assertTrue(String.format("random method 2 should be %d <= 10000 values", clock.getInterval()),
+ clock.getInterval() <= 10000);
// disable all
random.disable();
@@ -85,8 +89,10 @@ public void testService() throws Exception {
random.enable();
sleep(1000);
assertTrue("clock should not be started 5", !clock.isClockRunning());
- assertTrue(String.format("random method 3 should be %d => 5000 values", clock.getInterval()), 5000 <= clock.getInterval());
- assertTrue(String.format("random method 3 should be %d <= 10000 values", clock.getInterval()), clock.getInterval() <= 10000);
+ assertTrue(String.format("random method 3 should be %d => 5000 values", clock.getInterval()),
+ 5000 <= clock.getInterval());
+ assertTrue(String.format("random method 3 should be %d <= 10000 values", clock.getInterval()),
+ clock.getInterval() <= 10000);
clock.stopClock();
random.purge();
diff --git a/src/test/java/org/myrobotlab/service/ServiceInterfaceTest.java b/src/test/java/org/myrobotlab/service/ServiceInterfaceTest.java
index c2ec409817..6f5c117b03 100644
--- a/src/test/java/org/myrobotlab/service/ServiceInterfaceTest.java
+++ b/src/test/java/org/myrobotlab/service/ServiceInterfaceTest.java
@@ -56,7 +56,7 @@ private boolean serviceHasWebPage(String service) {
private boolean serviceInterfaceTest(String service) throws IOException {
// see if we can start/stop and release the service.
-
+
// set a configuration path
Runtime.setConfig("serviceInterfaceTest");
@@ -65,9 +65,9 @@ private boolean serviceInterfaceTest(String service) throws IOException {
log.warn("Runtime Create returned a null service for {}", service);
return false;
}
- System.out.println("Service Test:" + service);
+ System.out.println("ServiceInterface Test:" + service);
- if (service.equals("As5048AEncoder")){
+ if (service.equals("As5048AEncoder")) {
log.info("here");
}
@@ -85,7 +85,7 @@ private boolean serviceInterfaceTest(String service) throws IOException {
foo.startService();
foo.save();
// foo.load(); SHOULD NOT BE USED !
- // foo.apply(); <- THIS SHOULD BE IMPLEMENTED
+ // foo.apply(); <- THIS SHOULD BE IMPLEMENTED
foo.stopService();
foo.releaseService();
@@ -103,9 +103,9 @@ public final void testAllServices() throws ClassNotFoundException, IOException {
ArrayList servicesNotInServiceDataJson = new ArrayList();
HashSet blacklist = new HashSet();
- blacklist.add("OpenNi");
- blacklist.add("As5048AEncoder");
- blacklist.add("IntegratedMovement");
+ blacklist.add("OpenNi");
+ blacklist.add("As5048AEncoder");
+ blacklist.add("IntegratedMovement");
blacklist.add("VirtualDevice");
blacklist.add("Joystick");
blacklist.add("GoogleAssistant");
@@ -145,8 +145,9 @@ public final void testAllServices() throws ClassNotFoundException, IOException {
// FIXME - must have different thread (prefix script) which runs a timer -
// script REQUIRED to complete in 4 minutes ... or BOOM it fails
- // sts.clear();
- // sts.add(sd.getServiceType("org.myrobotlab.service.InMoov"));
+ // USEFUL FOR DEBUGGING SINGLE SERVICE
+// sts.clear();
+// sts.add(ServiceData.getMetaData("org.myrobotlab.service.NeoPixel"));
for (MetaData serviceType : sts) {
// test single service
@@ -164,7 +165,7 @@ public final void testAllServices() throws ClassNotFoundException, IOException {
continue;
}
// log.info("Testing Service: {}", service);
-
+
System.out.println("testing " + service);
MetaData st = ServiceData.getMetaData("org.myrobotlab.service." + service);