From e07d8b07ec8f2f885dcee5cb3b2197e21bf4c5ef Mon Sep 17 00:00:00 2001 From: supertick Date: Sat, 18 Mar 2023 20:31:28 -0700 Subject: [PATCH 01/18] wip webxr vertx --- .../java/org/myrobotlab/service/WebXr.java | 52 ++++++++++++++++++- .../service/config/WebXrConfig.java | 30 ++++++++++- .../myrobotlab/service/data/Orientation.java | 1 + .../org/myrobotlab/service/data/Pose.java | 22 ++++++++ .../org/myrobotlab/service/data/Position.java | 43 +++++++++++++++ .../org/myrobotlab/vertx/ApiVerticle.java | 3 +- 6 files changed, 148 insertions(+), 3 deletions(-) create mode 100644 src/main/java/org/myrobotlab/service/data/Pose.java create mode 100644 src/main/java/org/myrobotlab/service/data/Position.java diff --git a/src/main/java/org/myrobotlab/service/WebXr.java b/src/main/java/org/myrobotlab/service/WebXr.java index 80be870ff7..87df997800 100644 --- a/src/main/java/org/myrobotlab/service/WebXr.java +++ b/src/main/java/org/myrobotlab/service/WebXr.java @@ -1,11 +1,15 @@ package org.myrobotlab.service; +import java.util.HashMap; +import java.util.Map; + import org.myrobotlab.framework.Service; import org.myrobotlab.logging.Level; import org.myrobotlab.logging.LoggerFactory; import org.myrobotlab.logging.LoggingFactory; -import org.myrobotlab.service.config.ServiceConfig; +import org.myrobotlab.math.MapperSimple; import org.myrobotlab.service.config.WebXrConfig; +import org.myrobotlab.service.data.Pose; import org.slf4j.Logger; public class WebXr extends Service { @@ -17,7 +21,50 @@ public class WebXr extends Service { public WebXr(String n, String id) { super(n, id); } + + public Pose publishPose(Pose pose) { + log.warn("publishPose {}", pose); + System.out.println(pose.toString()); + + // process mappings config into joint angles + Map map = new HashMap<>(); + + WebXrConfig c = (WebXrConfig)config; + String path = String.format("%s.orientation.roll", pose.name); + if (c.mappings.containsKey(path)) { + Map mapper = c.mappings.get(path); + for (String name: mapper.keySet()) { + map.put(name, mapper.get(name).calcOutput(pose.orientation.roll)); + } + } + + path = String.format("%s.orientation.pitch", pose.name); + if (c.mappings.containsKey(path)) { + Map mapper = c.mappings.get(path); + for (String name: mapper.keySet()) { + map.put(name, mapper.get(name).calcOutput(pose.orientation.pitch)); + } + } + + path = String.format("%s.orientation.yaw", pose.name); + if (c.mappings.containsKey(path)) { + Map mapper = c.mappings.get(path); + for (String name: mapper.keySet()) { + map.put(name, mapper.get(name).calcOutput(pose.orientation.yaw)); + } + } + + invoke("publishJointAngles", map); + + return pose; + } + + // TODO publishQuaternion + public Map publishJointAngles(Map map){ + return map; + } + public static void main(String[] args) { try { @@ -28,6 +75,9 @@ public static void main(String[] args) { // webgui.setSsl(true); webgui.autoStartBrowser(false); webgui.startService(); + Runtime.start("vertx", "Vertx"); + InMoov2 i01 = (InMoov2)Runtime.start("i01", "InMoov2"); + i01.startPeer("simulator"); } catch (Exception e) { diff --git a/src/main/java/org/myrobotlab/service/config/WebXrConfig.java b/src/main/java/org/myrobotlab/service/config/WebXrConfig.java index ebe4ae4c9e..c97615440b 100644 --- a/src/main/java/org/myrobotlab/service/config/WebXrConfig.java +++ b/src/main/java/org/myrobotlab/service/config/WebXrConfig.java @@ -1,9 +1,37 @@ package org.myrobotlab.service.config; +import java.util.HashMap; +import java.util.Map; + +import org.myrobotlab.math.MapperSimple; + public class WebXrConfig extends ServiceConfig { public Integer port = 8888; public boolean autoStartBrowser = true; - public boolean enableMdns = false; + /** + * range and name mappings for orientation and position + * controller name | servo name | mapping + */ + public Map> mappings = new HashMap<>(); + + public WebXrConfig() { + + Map map = new HashMap<>(); + map.put("i01.head.rollNeck", new MapperSimple(-3.14, 3.14, -90, 270)); + mappings.put("head.orientation.roll", map); + + map = new HashMap<>(); + map.put("i01.head.rothead", new MapperSimple(-3.14, 3.14, -90, 270)); + mappings.put("head.orientation.yaw", map); + + map = new HashMap<>(); + map.put("i01.head.neck", new MapperSimple(-3.14, 3.14, -90, 270)); + mappings.put("head.orientation.pitch", map); + + } + } + + diff --git a/src/main/java/org/myrobotlab/service/data/Orientation.java b/src/main/java/org/myrobotlab/service/data/Orientation.java index b2d5d5658e..b7df4102dc 100644 --- a/src/main/java/org/myrobotlab/service/data/Orientation.java +++ b/src/main/java/org/myrobotlab/service/data/Orientation.java @@ -11,6 +11,7 @@ public class Orientation { public Double roll = null; public Double pitch = null; public Double yaw = null; + public String src = null; // default constructor (values will be null until set) public Orientation() { diff --git a/src/main/java/org/myrobotlab/service/data/Pose.java b/src/main/java/org/myrobotlab/service/data/Pose.java new file mode 100644 index 0000000000..767d9be81d --- /dev/null +++ b/src/main/java/org/myrobotlab/service/data/Pose.java @@ -0,0 +1,22 @@ +package org.myrobotlab.service.data; + +public class Pose { + public String name = null; + public Long ts = null; + public Position position = null; + public Orientation orientation = null; + + public String toString() { + StringBuilder sb = new StringBuilder(); + sb.append(String.format("name:%s", name)); + if (position != null) { + sb.append(String.format(" x:%.2f y:%.2f z:%.2f", position.x, position.y, position.z)); + } + if (orientation != null) { + sb.append(String.format(" roll:%.2f pitch:%.2f yaw:%.2f", orientation.roll, orientation.pitch, orientation.yaw)); + } + return sb.toString(); + } + + +} diff --git a/src/main/java/org/myrobotlab/service/data/Position.java b/src/main/java/org/myrobotlab/service/data/Position.java new file mode 100644 index 0000000000..83fe574a44 --- /dev/null +++ b/src/main/java/org/myrobotlab/service/data/Position.java @@ -0,0 +1,43 @@ +package org.myrobotlab.service.data; + +public class Position { + + public Double x; + public Double y; + public Double z; + public String src; + + public Position(double x, double y, double z) { + this.x = x; + this.y = y; + this.z = z; + } + + public Position(double x, double y) { + this.x = x; + this.y = y; + } + + public Position(int x, int y, int z) { + this.x = (double) x; + this.y = (double) y; + this.z = (double) z; + } + + public Position(int x, int y) { + this.x = (double) x; + this.y = (double) y; + } + + public Position(float x, float y, float z) { + this.x = (double) x; + this.y = (double) y; + this.z = (double) z; + } + + public Position(float x, float y) { + this.x = (double) x; + this.y = (double) y; + } + +} diff --git a/src/main/java/org/myrobotlab/vertx/ApiVerticle.java b/src/main/java/org/myrobotlab/vertx/ApiVerticle.java index 3f101095d0..6b3ca595c7 100644 --- a/src/main/java/org/myrobotlab/vertx/ApiVerticle.java +++ b/src/main/java/org/myrobotlab/vertx/ApiVerticle.java @@ -55,7 +55,8 @@ public void start() throws Exception { // static file routing //StaticHandler root = StaticHandler.create("src/main/resources/resource/Vertx/app"); - StaticHandler root = StaticHandler.create("src/main/resources/resource/Vertx/app"); + // StaticHandler root = StaticHandler.create("src/main/resources/resource/Vertx/app"); + StaticHandler root = StaticHandler.create("../robotlab-x-app/build/"); root.setCachingEnabled(false); root.setDirectoryListing(true); root.setIndexPage("index.html"); From 2332822209530a77b0a22ee7981de792d12fa766 Mon Sep 17 00:00:00 2001 From: grog Date: Sun, 16 Jul 2023 18:51:59 -0700 Subject: [PATCH 02/18] cron update --- .../java/org/myrobotlab/service/Clock.java | 2 +- .../java/org/myrobotlab/service/Cron.java | 290 ++++++++++++------ .../myrobotlab/service/config/CronConfig.java | 11 + src/main/resources/resource/RasPi/diagram.png | Bin 0 -> 75037 bytes .../WebGui/app/service/js/ClockGui.js | 3 +- .../resource/WebGui/app/service/js/CronGui.js | 53 ++++ .../WebGui/app/service/views/ClockGui.html | 9 - .../WebGui/app/service/views/CronGui.html | 57 ++++ 8 files changed, 313 insertions(+), 112 deletions(-) create mode 100644 src/main/java/org/myrobotlab/service/config/CronConfig.java create mode 100644 src/main/resources/resource/RasPi/diagram.png create mode 100644 src/main/resources/resource/WebGui/app/service/js/CronGui.js create mode 100644 src/main/resources/resource/WebGui/app/service/views/CronGui.html diff --git a/src/main/java/org/myrobotlab/service/Clock.java b/src/main/java/org/myrobotlab/service/Clock.java index aefe9fdf03..df43ed6745 100644 --- a/src/main/java/org/myrobotlab/service/Clock.java +++ b/src/main/java/org/myrobotlab/service/Clock.java @@ -74,7 +74,7 @@ synchronized public void stop() { thread.interrupt(); broadcastState(); } else { - log.info("{} already stopped"); + log.info("{} already stopped", getName()); } c.running = false; Service.sleep(20); diff --git a/src/main/java/org/myrobotlab/service/Cron.java b/src/main/java/org/myrobotlab/service/Cron.java index fd2ca9d064..b25f44bdcc 100644 --- a/src/main/java/org/myrobotlab/service/Cron.java +++ b/src/main/java/org/myrobotlab/service/Cron.java @@ -1,44 +1,70 @@ package org.myrobotlab.service; import java.io.Serializable; -import java.util.ArrayList; +import java.util.Map; +import java.util.UUID; -import org.myrobotlab.codec.CodecUtils; import org.myrobotlab.framework.Service; import org.myrobotlab.logging.Level; import org.myrobotlab.logging.LoggerFactory; import org.myrobotlab.logging.Logging; import org.myrobotlab.logging.LoggingFactory; +import org.myrobotlab.service.config.CronConfig; import org.slf4j.Logger; import it.sauronsoftware.cron4j.Scheduler; /** - * Cron - This is a cron based service that can execute a "task" at some point - * in the future such as "invoke this method on that service" + * Cron - This is a cron based service that can execute a "task". * - * FIXME - the common cron notation is kind of nice - but this thing doesn't do - * more than Service.addTask - * - * FIXME - make a purge & delete DUH ! - * */ public class Cron extends Service { public static class Task implements Serializable, Runnable { + private static final long serialVersionUID = 1L; - transient Cron myService; + /** + * cron pattern for this task + */ public String cronPattern; - public String name; - public String method; + + /** + * data parameters to invoke + */ public Object[] data; - public Task(Cron myService, String cronPattern, String name, String method) { - this(myService, cronPattern, name, method, (Object[]) null); + /** + * unique hash the scheduler uses (only) + */ + transient public String hash; + + /** + * unique id for the user to use + */ + public String id; + + /** + * method to invoke + */ + public String method; + + transient Cron cron; + + /** + * name of the target service + */ + public String name; + + public Task() { } - public Task(Cron myService, String cronPattern, String name, String method, Object... data) { - this.myService = myService; + public Task(Cron cron, String id, String cronPattern, String name, String method) { + this(cron, id, cronPattern, name, method, (Object[]) null); + } + + public Task(Cron cron, String id, String cronPattern, String name, String method, Object... data) { + this.cron = cron; + this.id = id; this.cronPattern = cronPattern; this.name = name; this.method = method; @@ -47,128 +73,190 @@ public Task(Cron myService, String cronPattern, String name, String method, Obje @Override public void run() { - log.info("{} Cron firing message {}->{}.{}", myService.getName(), name, method, data); - myService.send(name, method, data); + log.info("{} Cron firing message {}->{}.{}", cron.getName(), name, method, data); + cron.send(name, method, data); + } + + @Override + public String toString() { + return String.format("%s, %s, %s, %s", id, cronPattern, name, method); } } - private static final long serialVersionUID = 1L; + public final static Logger log = LoggerFactory.getLogger(Cron.class); - public final static Logger log = LoggerFactory.getLogger(Cron.class.getCanonicalName()); + private static final long serialVersionUID = 1L; + /** + * the thing that translates all the cron pattern values and implements actual tasks + */ transient private Scheduler scheduler = new Scheduler(); - // Schedule a once-a-week task at 8am on Sunday. - // 0 8 * * 7 - // Schedule a twice a day task at 7am and 6pm on weekdays - // 0 7 * * 1-5 |0 18 * * 1-5 - - public final static String EVERY_MINUTE = "* * * * *"; - - public ArrayList tasks = new ArrayList(); - - public static void main(String[] args) { - LoggingFactory.init(Level.INFO); - - try { - Cron cron = (Cron) Runtime.start("cron", "Cron");// new - // Cron("cron"); - cron.startService(); - - /* - * cron.addScheduledEvent("0 6 * * 1,3,5","arduino","digitalWrite", 13, - * 1); cron.addScheduledEvent("0 7 * * 1,3,5","arduino","digitalWrite", - * 12, 1); cron.addScheduledEvent("0 8 * * 1,3,5" - * ,"arduino","digitalWrite", 11, 1); - * - * cron.addScheduledEvent("59 * * * *","arduino","digitalWrite", 13, 0); - * cron.addScheduledEvent("59 * * * *","arduino","digitalWrite", 12, 0); - * cron.addScheduledEvent("59 * * * *","arduino","digitalWrite", 11, 0); - */ - cron.addTask("* * * * *", "cron", "test", 7); - - // cron.addScheduledEvent(EVERY_MINUTE, "log", "log"); - // west wall | back | east wall - - String json = CodecUtils.toJson(cron.getTasks()); - - log.info("here {}", json); - - // Runtime.createAndStart("webgui", "WebGui"); - - // 1. doug - find location where checked in ---- - // 2. take out security token from DL broker's response - // 3. Tony - status ? and generated xml responses - "update" looks - // ok - - // Runtime.createAndStart("gui", "SwingGui"); - /* - * SwingGui gui = new SwingGui("gui"); gui.startService(); - */ - } catch (Exception e) { - Logging.logError(e); - } - } - public Cron(String n, String id) { super(n, id); } - /* - * addTask - Add a task to the cron service to invoke a method on a service on - * some schedule. - * - * @param cron - The cron string to define the schedule - * - * @param serviceName - The name of the service to invoke + /** + * Add a named task with out parameters * - * @param method - the method on the service to invoke when the task starts. + * @param id + * @param cron + * @param serviceName + * @param method + * @return */ - public String addTask(String cron, String serviceName, String method) { - return addTask(cron, serviceName, method, (Object[]) null); + public String addNamedTask(String id, String cron, String serviceName, String method) { + return addNamedTask(id, cron, serviceName, method, (Object[]) null); } - /* - * addTask - Add a task to the cron service to invoke a method on a service on - * some schedule. + /** + * Add a named task with parameters * - * @param cron - The cron string to define the schedule + * @param id + * @param cron + * @param serviceName + * @param method + * @param data + * @return + */ + public String addNamedTask(String id, String cron, String serviceName, String method, Object... data) { + CronConfig c = (CronConfig) config; + Task task = new Task(this, id, cron, serviceName, method, data); + task.id = id; + task.hash = scheduler.schedule(cron, task); + c.tasks.put(id, task); + broadcastState(); + return id; + } + + /** * - * @param serviceName - The name of the service to invoke + * @param task + * @return + */ + public String addNamedTask(Task task) { + CronConfig c = (CronConfig) config; + task.hash = scheduler.schedule(task.cronPattern, task); + c.tasks.put(task.id, task); + broadcastState(); + return task.id; + } + + /** + * Add a task with out parameters, the name will be generated guid * - * @param method - the method on the service to invoke when the task starts. + * @param cron + * @param serviceName + * @param method + * @return + */ + public String addTask(String cron, String serviceName, String method) { + String id = UUID.randomUUID().toString(); + return addNamedTask(id, cron, serviceName, method, (Object[]) null); + } + + /** + * Add a task with parameters, the name will be generated guid * - * @param data - additional objects/varags to pass to the method + * @param cron + * @param serviceName + * @param method + * @param data + * @return */ public String addTask(String cron, String serviceName, String method, Object... data) { - Task task = new Task(this, cron, serviceName, method, data); - tasks.add(task); - return scheduler.schedule(cron, task); + String id = UUID.randomUUID().toString(); + return addNamedTask(id, cron, serviceName, method, data); } - public ArrayList getCronTasks() { - return tasks; + public Map getCronTasks() { + CronConfig c = (CronConfig) config; + return c.tasks; + } + + /** + * removes task by id + * @param id - id of the task to remove + * @return the removed task if it exists + */ + public Task removeTask(String id) { + CronConfig c = (CronConfig) config; + Task t = c.tasks.remove(id); + if (t != null) { + scheduler.deschedule(t.hash); + } else { + log.error("%s could not find task %s to remove", getName(), id); + } + broadcastState(); + return t; + } + + /** + * removes all the tasks without stopping the scheduler + */ + public void removeAllTasks() { + CronConfig c = (CronConfig) config; + for (Task t : c.tasks.values()) { + scheduler.deschedule(t.hash); + } + c.tasks.clear(); } @Override public void startService() { super.startService(); - if (!scheduler.isStarted()) { - scheduler.start(); - } + start(); } @Override public void stopService() { super.stopService(); + stop(); + } + + /** + * start the schedular and all associated tasks + */ + public void start() { + if (!scheduler.isStarted()) { + scheduler.start(); + } + } + + /** + * stop the schedular ad all associated tasks + */ + public void stop() { if (scheduler.isStarted()) { scheduler.stop(); } } - public int test(Integer data) { - log.info("data {}", data); - return data; - } + public static void main(String[] args) { + LoggingFactory.init(Level.INFO); + + try { + Cron cron = (Cron) Runtime.start("cron", "Cron"); + Arduino mega = (Arduino) Runtime.start("mega", "Arduino"); + mega.connect("/dev/ttyACM2"); + + Runtime.start("webgui", "WebGui"); + /* + * + * cron.addScheduledEvent("59 * * * *","arduino","digitalWrite", 13, 0); + * cron.addScheduledEvent("59 * * * *","arduino","digitalWrite", 12, 0); + * cron.addScheduledEvent("59 * * * *","arduino","digitalWrite", 11, 0); + */ + // every odd minute + String id = cron.addNamedTask("led on", "1-59/2 * * * *", "mega", "digitalWrite", 13, 1); + // every event minute + String id2 = cron.addNamedTask("led off", "*/2 * * * *", "mega", "digitalWrite", 13, 0); + + // Runtime.createAndStart("webgui", "WebGui"); + + } catch (Exception e) { + Logging.logError(e); + } + } } diff --git a/src/main/java/org/myrobotlab/service/config/CronConfig.java b/src/main/java/org/myrobotlab/service/config/CronConfig.java new file mode 100644 index 0000000000..5bb0c50ff5 --- /dev/null +++ b/src/main/java/org/myrobotlab/service/config/CronConfig.java @@ -0,0 +1,11 @@ +package org.myrobotlab.service.config; + +import java.util.LinkedHashMap; + +import org.myrobotlab.service.Cron.Task; + +public class CronConfig extends ServiceConfig { + + public LinkedHashMap tasks = new LinkedHashMap<>(); + +} diff --git a/src/main/resources/resource/RasPi/diagram.png b/src/main/resources/resource/RasPi/diagram.png new file mode 100644 index 0000000000000000000000000000000000000000..c37c17c7766dce9e56dcfa98ae87bda897daa0bc GIT binary patch literal 75037 zcma&N1ytSqy6qj@i$igDcQ5Yl?(XhRi@UoO_ZD|(afjj##ogU5efPV+v-i3Cp7V{d 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+ $scope.onTime = date.toLocaleString(); $scope.$apply() break case 'onEpoch': diff --git a/src/main/resources/resource/WebGui/app/service/js/CronGui.js b/src/main/resources/resource/WebGui/app/service/js/CronGui.js new file mode 100644 index 0000000000..80ce7a109b --- /dev/null +++ b/src/main/resources/resource/WebGui/app/service/js/CronGui.js @@ -0,0 +1,53 @@ +angular.module('mrlapp.service.CronGui', []).controller('CronGuiCtrl', ['$scope', 'mrl', function($scope, mrl) { + console.info('CronGuiCtrl') + var _self = this + var msg = this.msg + + // str verson of parameters from the input + // text form field + $scope.parameters = null + + $scope.newTask = { + id: null, + cronPattern: null, + name: null, + method: null, + data: null + } + + // GOOD TEMPLATE TO FOLLOW + this.updateState = function(service) { + $scope.service = service + } + + this.onMsg = function(inMsg) { + let data = inMsg.data[0] + switch (inMsg.method) { + case 'onState': + _self.updateState(data) + $scope.$apply() + break + default: + console.error("ERROR - unhandled method " + $scope.name + " " + inMsg.method) + break + } + } + + $scope.addNamedTask = function() { + if ($scope.parameters && $scope.parameters.length > 0){ + $scope.newTask.data = JSON.parse($scope.parameters) + } else { + $scope.newTask.data = null + } + + msg.send('addNamedTask', $scope.newTask) + } + + $scope.removeTask = function(id) { + msg.send('removeTask', id) + } + + + msg.subscribe(this) +} +]) diff --git a/src/main/resources/resource/WebGui/app/service/views/ClockGui.html b/src/main/resources/resource/WebGui/app/service/views/ClockGui.html index 3a518ac09f..4107890158 100644 --- a/src/main/resources/resource/WebGui/app/service/views/ClockGui.html +++ b/src/main/resources/resource/WebGui/app/service/views/ClockGui.html @@ -1,9 +1,7 @@

- time

{{onTime}}

- epoch in ms

{{onEpoch}}

@@ -14,10 +12,3 @@

{{onEpoch}}

- - - - - diff --git a/src/main/resources/resource/WebGui/app/service/views/CronGui.html b/src/main/resources/resource/WebGui/app/service/views/CronGui.html new file mode 100644 index 0000000000..78f17783cb --- /dev/null +++ b/src/main/resources/resource/WebGui/app/service/views/CronGui.html @@ -0,0 +1,57 @@ +
+

Cron Tab

+ + cron help + +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
namecronservicemethodparameters
+ + {{ value.id }}{{ value.cronPattern }}{{ value.name }}{{ value.method }}{{ value.data }}
+ + + + + + + + + +
+ +
+
+
From 06783cb70fc1747d4540e1e71fe94a2b14774842 Mon Sep 17 00:00:00 2001 From: grog Date: Sun, 16 Jul 2023 19:42:34 -0700 Subject: [PATCH 03/18] raspi updates --- .../java/org/myrobotlab/service/RasPi.java | 656 ++++++++++++------ .../service/config/RasPiConfig.java | 7 +- .../WebGui/app/service/js/RasPiGui.js | 29 +- .../WebGui/app/service/views/RasPiGui.html | 48 +- 4 files changed, 497 insertions(+), 243 deletions(-) diff --git a/src/main/java/org/myrobotlab/service/RasPi.java b/src/main/java/org/myrobotlab/service/RasPi.java index ef1475a7fc..fd57408e16 100644 --- a/src/main/java/org/myrobotlab/service/RasPi.java +++ b/src/main/java/org/myrobotlab/service/RasPi.java @@ -17,9 +17,9 @@ import org.myrobotlab.framework.interfaces.Attachable; import org.myrobotlab.i2c.I2CFactory; import org.myrobotlab.logging.LoggerFactory; -import org.myrobotlab.logging.Logging; import org.myrobotlab.logging.LoggingFactory; import org.myrobotlab.service.abstracts.AbstractMicrocontroller; +import org.myrobotlab.service.config.RasPiConfig; import org.myrobotlab.service.data.PinData; import org.myrobotlab.service.interfaces.I2CControl; import org.myrobotlab.service.interfaces.I2CController; @@ -31,7 +31,7 @@ import com.pi4j.io.gpio.GpioPinDigitalMultipurpose; import com.pi4j.io.gpio.Pin; import com.pi4j.io.gpio.PinMode; -import com.pi4j.io.gpio.PinPullResistance; +import com.pi4j.io.gpio.PinState; import com.pi4j.io.gpio.RaspiPin; import com.pi4j.io.gpio.event.GpioPinDigitalStateChangeEvent; import com.pi4j.io.gpio.event.GpioPinListenerDigital; @@ -51,12 +51,6 @@ */ public class RasPi extends AbstractMicrocontroller implements I2CController, GpioPinListenerDigital { - @Override - public void handleGpioPinDigitalStateChangeEvent(GpioPinDigitalStateChangeEvent event) { - // display pin state on console - log.info(" --> GPIO PIN STATE CHANGE: {} = {}", event.getPin(), event.getState()); - } - public static class I2CDeviceMap { transient public I2CBus bus; transient public I2CDevice device; @@ -68,10 +62,7 @@ public String toString() { } } - /** - * default bus current bus of raspi service - */ - protected String bus = "1"; + public final static Map bcmToWiring = new HashMap<>(); public static final int INPUT = 0x0; @@ -81,48 +72,94 @@ public String toString() { private static final long serialVersionUID = 1L; - protected transient GpioController gpio; + public final static Map wiringToBcm = new HashMap<>(); + + static { + + bcmToWiring.put("GPIO 0", "GPIO 27"); + bcmToWiring.put("GPIO 1", "GPIO 31"); + bcmToWiring.put("GPIO 2", "GPIO 8"); + bcmToWiring.put("GPIO 3", "GPIO 9"); + bcmToWiring.put("GPIO 4", "GPIO 7"); + bcmToWiring.put("GPIO 5", "GPIO 21"); + bcmToWiring.put("GPIO 6", "GPIO 22"); + bcmToWiring.put("GPIO 7", "GPIO 11"); + bcmToWiring.put("GPIO 8", "GPIO 10"); + bcmToWiring.put("GPIO 9", "GPIO 13"); + bcmToWiring.put("GPIO 10", "GPIO 12"); + bcmToWiring.put("GPIO 11", "GPIO 14"); + bcmToWiring.put("GPIO 12", "GPIO 27"); + bcmToWiring.put("GPIO 13", "GPIO 26"); + bcmToWiring.put("GPIO 14", "GPIO 15"); + bcmToWiring.put("GPIO 15", "GPIO 16"); + bcmToWiring.put("GPIO 16", "GPIO 25"); + bcmToWiring.put("GPIO 17", "GPIO 0"); + bcmToWiring.put("GPIO 18", "GPIO 1"); + bcmToWiring.put("GPIO 19", "GPIO 23"); + bcmToWiring.put("GPIO 20", "GPIO 28"); + bcmToWiring.put("GPIO 21", "GPIO 29"); + bcmToWiring.put("GPIO 22", "GPIO 3"); + bcmToWiring.put("GPIO 23", "GPIO 4"); + bcmToWiring.put("GPIO 24", "GPIO 5"); + bcmToWiring.put("GPIO 25", "GPIO 6"); + bcmToWiring.put("GPIO 26", "GPIO 24"); + bcmToWiring.put("GPIO 27", "GPIO 2"); + + for (String pin : bcmToWiring.keySet()) { + String wiring = bcmToWiring.get(pin); + wiringToBcm.put(wiring, pin); + } + } + + public static void main(String[] args) { + LoggingFactory.init("info"); + + /* + * RasPi.displayString(1, 70, "1"); + * + * RasPi.displayString(1, 70, "abcd"); + * + * RasPi.displayString(1, 70, "1234"); + * + * + * //RasPi raspi = new RasPi("raspi"); + */ + + // raspi.writeDisplay(busAddress, deviceAddress, data) + + int i = 0; + + Runtime.start("servo01", "Servo"); + Runtime.start("ada16", "Adafruit16CServoDriver"); + Runtime.start(String.format("rasPi%d", i), "RasPi"); + WebGui webgui = (WebGui) Runtime.create("webgui", "WebGui"); + webgui.autoStartBrowser(false); + webgui.startService(); + + } + + protected String boardType = null; - protected Map> validAddresses = new HashMap<>(); + /** + * default bus current bus of raspi service + */ + protected String bus = "1"; + + protected transient GpioController gpio; /** * for attached devices */ protected Map i2cDevices = new HashMap(); - protected String boardType = null; + protected Map> validI2CAddresses = new HashMap<>(); + + protected String wrongPlatformError = null; public RasPi(String n, String id) { super(n, id); - - Platform platform = Platform.getLocalInstance(); - log.info("platform is {}", platform); - log.info("architecture is {}", platform.getArch()); - - try { - boardType = SystemInfo.getBoardType().toString(); - gpio = GpioFactory.getInstance(); - log.info("Executing on Raspberry PI"); - getPinList(); - } catch (Exception e) { - // an error in the constructor won't get broadcast - so we need Runtime to - // do it - Runtime.getInstance().error("raspi service requires arm %s is not arm - %s", getName(), e.getMessage()); - } } - /* - * @Override public void attach(String name) { ServiceInterface si = - * Runtime.getService(name); if - * (I2CControl.class.isAssignableFrom(si.getClass())) { - * attachI2CControl((I2CControl) si); return; } } - * - * @Override public void detach(String name) { ServiceInterface si = - * Runtime.getService(name); if - * (I2CControl.class.isAssignableFrom(si.getClass())) { - * detachI2CControl((I2CControl) si); return; } } - */ - @Override public void attach(Attachable service) throws Exception { if (I2CControl.class.isAssignableFrom(service.getClass())) { @@ -131,14 +168,6 @@ public void attach(Attachable service) throws Exception { } } - @Override - public void detach(Attachable service) { - if (I2CControl.class.isAssignableFrom(service.getClass())) { - detachI2CControl((I2CControl) service); - return; - } - } - @Override public void attachI2CControl(I2CControl control) { @@ -176,6 +205,14 @@ void createI2cDevice(int bus, int address, String serviceName) { } } + @Override + public void detach(Attachable service) { + if (I2CControl.class.isAssignableFrom(service.getClass())) { + detachI2CControl((I2CControl) service); + return; + } + } + @Override public void detachI2CControl(I2CControl control) { // This method should delete the i2c device entry from the list of @@ -190,42 +227,66 @@ public void detachI2CControl(I2CControl control) { } } - public void digitalWrite(int pin, int value) { - log.info("digitalWrite {} {}", pin, value); - // msg.digitalWrite(pin, value); - PinDefinition pinDef = addressIndex.get(pin); - GpioPinDigitalMultipurpose gpio = ((GpioPinDigitalMultipurpose) pinDef.getPinImpl()); - if (value == 0) { - gpio.low(); - } else { - gpio.high(); - } - invoke("publishPinDefinition", pinDef); + @Override + @Deprecated /* use disablePin(String) */ + public void disablePin(int address) { + error("disablePin(int) not supported use disablePin(String)"); } @Override - public void disablePin(int address) { - PinDefinition pin = addressIndex.get(address); - pin.setEnabled(false); - ((GpioPinDigitalMultipurpose) pin.getPinImpl()).removeListener(); - PinDefinition pinDef = addressIndex.get(address); + public void disablePin(String pin) { + if (!pinIndex.containsKey(pin)) { + error("Pin %s not found", pin); + return; + } + PinDefinition pinDef = pinIndex.get(pin); + pinDef.setEnabled(false); + getGPIO(pin).removeListener(this); invoke("publishPinDefinition", pinDef); } @Override + @Deprecated /* use enablePin(String pin) */ public void enablePin(int address) { - enablePin(address, 0); + error("enablePin(int address) not supoprted use enablePin(String pin)"); } @Override + @Deprecated /* use enablePin(String, int) */ public void enablePin(int address, int rate) { - PinDefinition pinDef = addressIndex.get(address); - GpioPinDigitalMultipurpose gpio = ((GpioPinDigitalMultipurpose) pinDef.getPinImpl()); - gpio.addListener(this); + error("use enablePin(String, int)"); + } + + @Override + public void enablePin(String pin) { + if (!pinIndex.containsKey(pin)) { + error("Pin %s not found", pin); + return; + } + RasPiConfig c = (RasPiConfig) config; + enablePin(pin, c.pollRateHz); + } + + @Override + public void enablePin(String pin, int rate) { + if (!pinIndex.containsKey(pin)) { + error("Pin %s not found", pin); + return; + } + + PinDefinition pinDef = pinIndex.get(pin); + pinMode(pin, "INPUT"); + getGPIO(pin).addListener(this); pinDef.setEnabled(true); invoke("publishPinDefinition", pinDef); // broadcast pin change } + // - add more pin mappings if desired ... + @Override + public Integer getAddress(String pin) { + return Integer.parseInt(pin); + } + @Override /* services attached - not i2c devices */ public Set getAttached() { Set ret = new TreeSet<>(); @@ -235,40 +296,115 @@ public Set getAttached() { return ret; } + @Override + public BoardInfo getBoardInfo() { + + RaspiPin.allPins(); + // FIXME - this needs more work .. BoardInfo needs to be an interface where + // RasPiInfo is derived + return null; + } + + @Override + public List getBoardTypes() { + // TODO Auto-generated method stub + // FIXME - this need work + return null; + } + + /** + * Gets the multipurpose implementation of a pin, if it doesn't currently + * exists, it will provision it. + * + * @param pin + * @return + */ + private GpioPinDigitalMultipurpose getGPIO(String pin) { + log.info("getGPIO {}", pin); + if (!pinIndex.containsKey(pin)) { + error("Pin %s not found", pin); + return null; + } + + PinDefinition pindef = getPin(pin); + if (pindef == null) { + error("No pin definition exists for %s", pin); + return null; + } + + GpioPinDigitalMultipurpose gpioPin = (GpioPinDigitalMultipurpose) pindef.getPinImpl(); + if (gpioPin == null) { + log.info("provisioning gpio {}", pin); + gpioPin = gpio.provisionDigitalMultipurposePin(RaspiPin.getPinByName(bcmToWiring.get(pin)), PinMode.DIGITAL_OUTPUT); + pindef.setPinImpl(gpioPin); + } + + return gpioPin; + } + @Override public List getPinList() { + List pinList = new ArrayList<>(); - for (Pin pin : RaspiPin.allPins()) { - - // pin.getSupportedPinModes() - PinDefinition pindef = new PinDefinition(getName(), pin.getAddress()); - pindef.setPinName(pin.getName()); - EnumSet modes = pin.getSupportedPinModes(); - // FIXME - the raspi definitions are "better" they have input & ouput - // FIXME - reconcile rxtx - // FIXME - get pull up resistance - if (modes.contains(PinMode.DIGITAL_OUTPUT)) { - pindef.setDigital(true); - } - if (modes.contains(PinMode.ANALOG_OUTPUT)) { - pindef.setAnalog(true); - } - if (modes.contains(PinMode.PWM_OUTPUT)) { - pindef.setAnalog(true); + if (!pinIndex.isEmpty()) { + pinList.addAll(pinIndex.values()); + return pinList; + } + + for (Pin wiringPin : RaspiPin.allPins()) { + + // RaspiPin.allPins() RETURNS WIRING NUMBERS !!!! + + // if (wiringPin.getName().equals("GPIO 2") || + // wiringPin.getName().equals("GPIO 3") || + // wiringPin.getName().equals("GPIO 8") || + // wiringPin.getName().equals("GPIO 9")) { + // log.info("filtering out pin {} from gpio provisioning", wiringPin); + // continue; + // } + + String wPinName = wiringPin.getName(); + + if (!wiringToBcm.containsKey(wPinName)) { + log.info("skipping wiring pin {} - no gpio definition", wPinName); + continue; } - addressIndex.put(pin.getAddress(), pindef); - pinIndex.put(pin.getName(), pindef); + String bcmPinName = wiringToBcm.get(wPinName); - // GpioPinDigitalInput provisionedPin = gpio.provisionDigitalInputPin(pin, - // pull); - // provisionedPin.setShutdownOptions(true); // unexport pin on program - // shutdown - // provisionedPins.add(provisionedPin); // add provisioned pin to - // collection + PinDefinition pindef = new PinDefinition(); + // set to output for starting + pindef.setMode("OUTPUT"); + pindef.setPinName(bcmPinName); + EnumSet modes = wiringPin.getSupportedPinModes(); + + pindef.setDigital(modes.contains(PinMode.DIGITAL_OUTPUT)); + pindef.setAnalog(modes.contains(PinMode.ANALOG_OUTPUT)); + pindef.setPwm(modes.contains(PinMode.PWM_OUTPUT)); + + // FIXME - remove this, do not support address only pin + String lastPart = bcmPinName.trim().split(" ")[1]; + pindef.setAddress(Integer.parseInt(lastPart)); + + pinIndex.put(bcmPinName, pindef); + pinList.add(pindef); + } + + return pinList; + } + + @Override + public void handleGpioPinDigitalStateChangeEvent(GpioPinDigitalStateChangeEvent event) { + // display pin state on console + log.info(" --> GPIO PIN STATE CHANGE: {} = {}", event.getPin(), event.getState()); + PinDefinition pindef = pinIndex.get(wiringToBcm.get(event.getPin().getName())); + if (pindef == null){ + log.error("pindef is null for pin {}", event.getPin().getName()); + } else { + pindef.setValue(event.getState().getValue()); + invoke("publishPinDefinition", pindef); } - return new ArrayList(addressIndex.values()); } @Override // FIXME - I2CControl has bus why is it supplied here as a @@ -331,7 +467,7 @@ public int i2cWriteRead(I2CControl control, int busAddress, int deviceAddress, b try { devicedata.device.read(writeBuffer, 0, writeBuffer.length, readBuffer, 0, readBuffer.length); } catch (IOException e) { - Logging.logError(e); + error(e); } return readBuffer.length; } @@ -345,27 +481,37 @@ public int i2cWriteRead(I2CControl control, int busAddress, int deviceAddress, b * @param mode * INPUT = 0x0. Output = 0x1. */ - public void pinMode(int pin, int mode) { - - PinDefinition pinDef = addressIndex.get(pin); - if (mode == INPUT) { - pinDef.setPinImpl(gpio.provisionDigitalMultipurposePin(RaspiPin.getPinByAddress(pin), PinMode.DIGITAL_INPUT)); - } else { - pinDef.setPinImpl(gpio.provisionDigitalMultipurposePin(RaspiPin.getPinByAddress(pin), PinMode.DIGITAL_OUTPUT)); + public void pinMode(String pin, String mode) { + log.info("pinMode {}, mode {}", pin, mode); + + if (mode == null) { + error("Pin mode cannot be null"); + return; } - invoke("publishPinDefinition", pinDef); - } - @Override - public void pinMode(int address, String mode) { + mode = mode.trim().toUpperCase(); + + if (!pinIndex.containsKey(pin)) { + error("Pin %s not found", pin); + return; + } - if (mode != null && mode.equalsIgnoreCase("INPUT")) { - pinMode(address, INPUT); + PinDefinition pinDef = pinIndex.get(pin); + // this will provision the pin if it is not already provisioned + GpioPinDigitalMultipurpose gpio = getGPIO(pin); + if (mode.equals("INPUT")) { + pinDef.setMode("INPUT"); + gpio.setMode(PinMode.DIGITAL_INPUT); + } else if (mode.equals("OUTPUT")) { + pinDef.setMode("OUTPUT"); + gpio.setMode(PinMode.DIGITAL_OUTPUT); } else { - pinMode(address, OUTPUT); + error("mode %s is not valid", mode); } + log.info("pinDef {}",pinDef); + invoke("publishPinDefinition", pinDef); } - + @Override public PinData publishPin(PinData pinData) { // TODO Make sure this method is invoked when a pin value interrupt is @@ -376,6 +522,106 @@ public PinData publishPin(PinData pinData) { return pinData; } + public void read() { + log.debug("read task invoked"); + List pinArray = new ArrayList<>(); + // load pin array + for (String pin : pinIndex.keySet()) { + PinDefinition pindef = pinIndex.get(pin); + if (pindef.isEnabled()) { + log.info("pin {} enabled {}", pin, pindef.isEnabled()); + int value = read(pin); + pindef.setValue(value); + PinData pd = new PinData(pin, value); + log.info("pin data {}", pd); + pinArray.add(pd); + } + } + + if (pinArray.size() > 0) { + PinData[] array = pinArray.toArray(new PinData[0]); + invoke("publishPinArray", new Object[]{array}); + } + } + + @Override + public int read(String pin) { + + if (!pinIndex.containsKey(pin)) { + error("Pin %s not found", pin); + return -1; + } + PinDefinition pindef = pinIndex.get(pin); + GpioPinDigitalMultipurpose gpioPin = getGPIO(pin); + if (!gpioPin.isMode(PinMode.DIGITAL_INPUT)){ + pinMode(pin, "INPUT"); + } + if (gpioPin.isLow()) { + pindef.setValue(0); + return 0; + } else { + pindef.setValue(1); + return 1; + } + } + + @Override + public void reset() { + // TODO Auto-generated method stub + // reset pins/i2c devices/gpio pins + } + + public void scan() { + scan(null); + } + + public void scan(Integer busNumber) { + + if (busNumber == null) { + busNumber = Integer.parseInt(bus); + } + + try { + + I2CBus bus = I2CFactory.getInstance(busNumber); + + if (!validI2CAddresses.containsKey(busNumber)) { + validI2CAddresses.put(busNumber, new HashSet<>()); + } + + Set addresses = validI2CAddresses.get(busNumber); + + for (int i = 1; i < 128; i++) { + String hex = Integer.toHexString(i); + try { + I2CDevice device = bus.getDevice(i); + device.read(); + if (!addresses.contains(hex)) { + addresses.add(hex); + info("found new i2c device %s", hex); + } + } catch (Exception ignore) { + if (addresses.contains(hex)) { + info("removing i2c device %s", hex); + addresses.remove(hex); + } + } + } + + log.debug("scanning bus {} found: ---", busNumber); + for (String a : addresses) { + log.debug("address: " + a); + } + log.debug("----------"); + + } catch (Exception e) { + error("cannot access i2c bus %d", busNumber); + log.error("scan threw", e); + } + + broadcastState(); + } + // FIXME - return array /** * Starts a scan of the I2C specified and returns a list of addresses that @@ -417,7 +663,7 @@ public Integer[] scanI2CDevices(int busAddress) { } } } catch (Exception e) { - Logging.logError(e); + error(e); } Integer[] ret = list.toArray(new Integer[list.size()]); @@ -428,18 +674,74 @@ public Integer[] scanI2CDevices(int busAddress) { public void startService() { super.startService(); try { - log.info("Initiating i2c"); - I2CFactory.getInstance(Integer.parseInt(bus)); - log.info("i2c initiated on bus {}", bus); - // scan(); takes too long + + Platform platform = Platform.getLocalInstance(); + log.info("platform is {}", platform); + log.info("architecture is {}", platform.getArch()); + + boardType = SystemInfo.getBoardType().toString(); + gpio = GpioFactory.getInstance(); + log.info("Executing on Raspberry PI"); + getPinList(); +// FIXME - uncomment this +// log.info("Initiating i2c"); +// I2CFactory.getInstance(Integer.parseInt(bus)); +// log.info("i2c initiated on bus {}", bus); +// addTask(1000, "scan"); +// +// log.info("read task initialized"); +// addTask(1000, "read"); + + // TODO - config which starts all pins in input or output mode + } catch (IOException e) { log.error("i2c initiation failed", e); + } catch (Exception e) { + // an error in the constructor won't get broadcast - so we need Runtime to + // do it + Runtime.getInstance().error("raspi service requires arm %s is not arm - %s", getName(), e.getMessage()); + log.error("RasPi init failed", e); + wrongPlatformError = "The RasPi service requires raspberry pi hardware"; + broadcastState(); } + } - public void testGPIOOutput() { - GpioPinDigitalMultipurpose pin = gpio.provisionDigitalMultipurposePin(RaspiPin.GPIO_02, PinMode.DIGITAL_INPUT, PinPullResistance.PULL_DOWN); - log.info("Pin: {}", pin); + public void test() { + // Create GPIO controller instance + GpioController gpio = GpioFactory.getInstance(); + + // Provision GPIO pin 0 as a digital input/output pin +// GpioPinDigitalMultipurpose pin = gpio.provisionDigitalMultipurposePin( +// RaspiPin.GPIO_00, PinMode.DIGITAL_OUTPUT, PullUpResistance); + GpioPinDigitalMultipurpose pin = gpio.provisionDigitalMultipurposePin( + RaspiPin.GPIO_00, PinMode.DIGITAL_OUTPUT); + + // Set the pin mode to output + pin.setMode(PinMode.DIGITAL_OUTPUT); + + // Write a value of 1 (HIGH) to GPIO pin 0 + pin.high(); + + // Delay for 2 seconds + sleep(2000); + + // Write a value of 0 (LOW) to GPIO pin 0 + pin.low(); + + // Delay for 2 seconds + sleep(2000); + + // Set the pin mode to input + pin.setMode(PinMode.DIGITAL_INPUT); + + // Add a listener to monitor pin state changes + pin.addListener((GpioPinListenerDigital) (GpioPinDigitalStateChangeEvent event) -> { + System.out.println("Pin state changed to: " + event.getState()); + }); + + // Shutdown GPIO controller and release resources + // gpio.shutdown(); } public void testPWM() { @@ -466,116 +768,26 @@ public void testPWM() { } } } catch (Exception e) { - + error(e); } } @Override - public void write(int address, int value) { - - PinDefinition pinDef = addressIndex.get(address); - pinMode(address, Arduino.OUTPUT); - digitalWrite(address, value); - // cache value - pinDef.setValue(value); - } - - public static void main(String[] args) { - LoggingFactory.init("info"); - - /* - * RasPi.displayString(1, 70, "1"); - * - * RasPi.displayString(1, 70, "abcd"); - * - * RasPi.displayString(1, 70, "1234"); - * - * - * //RasPi raspi = new RasPi("raspi"); - */ - - // raspi.writeDisplay(busAddress, deviceAddress, data) - - int i = 0; - - Runtime.start("servo01", "Servo"); - Runtime.start("ada16", "Adafruit16CServoDriver"); - Runtime.start(String.format("rasPi%d", i), "RasPi"); - WebGui webgui = (WebGui) Runtime.create("webgui", "WebGui"); - webgui.autoStartBrowser(false); - webgui.startService(); - - } - - @Override - public void reset() { - // TODO Auto-generated method stub - // reset pins/i2c devices/gpio pins - } - - @Override - public BoardInfo getBoardInfo() { - RaspiPin.allPins(); - // FIXME - this needs more work .. BoardInfo needs to be an interface where - // RasPiInfo is derived - return null; - } - - @Override - public List getBoardTypes() { - // TODO Auto-generated method stub - // FIXME - this need work - return null; - } - - // - add more pin mappings if desired ... - @Override - public Integer getAddress(String pin) { - return Integer.parseInt(pin); - } - - public void scan() { - scan(null); - } - - public void scan(Integer busNumber) { - - if (busNumber == null) { - busNumber = Integer.parseInt(bus); + public void write(String pin, int value) { + log.info("write {} {}", pin, value); + if (!pinIndex.containsKey(pin)) { + error("Pin %s not found", pin); + return; } - try { - - I2CBus bus = I2CFactory.getInstance(busNumber); + PinDefinition pinDef = pinIndex.get(pin); + pinMode(pin, "OUTPUT"); - validAddresses = new HashMap<>(); - - if (!validAddresses.containsKey(busNumber)) { - validAddresses.put(busNumber, new HashSet<>()); - } - - Set addresses = validAddresses.get(busNumber); - - for (int i = 1; i < 128; i++) { - try { - I2CDevice device = bus.getDevice(i); - device.write((byte) 0); - addresses.add(Integer.toHexString(i)); - } catch (Exception ignore) { - } - } - - log.info("scanning bus {} found: ---", busNumber); - for (String a : addresses) { - log.info("address: " + a); - } - log.info("----------"); - } catch (Exception e) { - error("cannot access i2c bus %d", busNumber); - log.error("scan threw", e); - } + GpioPinDigitalMultipurpose gpio = getGPIO(pin); + gpio.setState(value == 0 ? PinState.LOW : PinState.HIGH); + pinDef.setValue(value); - broadcastState(); + invoke("publishPinDefinition", pinDef); } } diff --git a/src/main/java/org/myrobotlab/service/config/RasPiConfig.java b/src/main/java/org/myrobotlab/service/config/RasPiConfig.java index ef0c4769db..6e50cb496d 100644 --- a/src/main/java/org/myrobotlab/service/config/RasPiConfig.java +++ b/src/main/java/org/myrobotlab/service/config/RasPiConfig.java @@ -1,5 +1,10 @@ package org.myrobotlab.service.config; public class RasPiConfig extends ServiceConfig { - + /** + * reading poll rate for all enabled GPIO pins + * this "should" not be an int but a float, but at this time + * its better to follow the PinDefinition pollRateHz type + */ + public int pollRateHz = 1; } diff --git a/src/main/resources/resource/WebGui/app/service/js/RasPiGui.js b/src/main/resources/resource/WebGui/app/service/js/RasPiGui.js index ea81d00671..a25240dbae 100644 --- a/src/main/resources/resource/WebGui/app/service/js/RasPiGui.js +++ b/src/main/resources/resource/WebGui/app/service/js/RasPiGui.js @@ -15,13 +15,18 @@ angular.module('mrlapp.service.RasPiGui', []).controller('RasPiGuiCtrl', ['$scop _self.updateState(data) $scope.$apply() break - case 'XXXonPinDefinition': + case 'onPinDefinition': $scope.service.pinIndex[data.pin] = data - $scope.service.addressIndex[data.address] = data + $scope.$apply() + break + case 'onPinArray': + for (const pd of data){ + $scope.service.pinIndex[pd.pin].value = pd.value + } $scope.$apply() break default: - $log.error("ERROR - unhandled method " + $scope.name + " " + inMsg.method) + console.error("ERROR - unhandled method " + $scope.name + " " + inMsg.method) break } } @@ -31,16 +36,28 @@ angular.module('mrlapp.service.RasPiGui', []).controller('RasPiGuiCtrl', ['$scop } $scope.write = function(pinDef){ - msg.send('write', pinDef.address, pinDef.valueDisplay?1:0) + msg.send('write', pinDef.pin, pinDef.valueDisplay?1:0) } - $scope.readWrite = function(pinDef) { + $scope.pinMode = function(pinDef) { console.info(pinDef) // FIXME - standardize interface with Arduino :( - msg.send('pinMode', pinDef.pin, pinDef.readWrite?1:0) + msg.send('pinMode', pinDef.pin, pinDef.mode) } msg.subscribe('publishPinDefinition') + msg.subscribe('publishPinArray') msg.subscribe(this) } ]) +.filter('toArray', function() { + return function(obj) { + if (obj instanceof Object) { + return Object.keys(obj).map(function(key) { + return obj[key]; + }); + } else { + return obj; + } + }; + }); \ No newline at end of file diff --git a/src/main/resources/resource/WebGui/app/service/views/RasPiGui.html b/src/main/resources/resource/WebGui/app/service/views/RasPiGui.html index 9e4b0bb92f..d8ecb4b467 100644 --- a/src/main/resources/resource/WebGui/app/service/views/RasPiGui.html +++ b/src/main/resources/resource/WebGui/app/service/views/RasPiGui.html @@ -1,4 +1,8 @@
+
+

+ {{service.wrongPlatformError}} +

@@ -24,6 +35,7 @@
@@ -8,12 +12,19 @@
If you will be using I2C GPIO pins make sure you have enabled i2c with - 
sudo raspiconfig

-

-

- 
sudo apt-get install -y i2c-tools
+ 
sudo raspi-config
+
+ +
+
+ +
+
+ 
sudo apt-get install -y i2c-tools
More recent rasbian distributions require building and installing this library https://github.com/WiringPi/WiringPi +
+ For information regarding Wiring pin numbering vs BCM visit : https://pinout.xyz/pinout/wiringpi
+ + bus {{index}} + {{index}} {{pin}}
@@ -50,17 +63,22 @@

-
- {{ pinDef.pin }} - +
+ {{ pinDef.pin }} + + + + + + {{pinDef.value}} + + Rx Tx - Pwm + Pwm Sda Scl - - - {{pinDef.value}} +
@@ -73,7 +91,9 @@ - + +
+ courtesy https://pinout.xyz
From dad01bc58d05ddf89c560b3577f9c4afb2dc9ddd Mon Sep 17 00:00:00 2001 From: grog Date: Mon, 17 Jul 2023 06:30:19 -0700 Subject: [PATCH 04/18] forgot pindefinition --- .../org/myrobotlab/service/interfaces/PinDefinition.java | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/src/main/java/org/myrobotlab/service/interfaces/PinDefinition.java b/src/main/java/org/myrobotlab/service/interfaces/PinDefinition.java index 41658ef114..bdbeb9383c 100644 --- a/src/main/java/org/myrobotlab/service/interfaces/PinDefinition.java +++ b/src/main/java/org/myrobotlab/service/interfaces/PinDefinition.java @@ -7,7 +7,7 @@ public class PinDefinition implements Serializable { private static final long serialVersionUID = 1L; /** - * label or name of the pin e.g. P0 D1 D2 etc... + * label or name of the pin e.g. P0, A5, D1, D2, GPIO 2, etc... */ String pin; @@ -25,6 +25,8 @@ public class PinDefinition implements Serializable { * pin mode INPUT or OUTPUT, other... */ String mode; + + public String serviceName; /** * statistics @@ -90,8 +92,13 @@ public void setScl(boolean isScl) { * rate in Hz for which the pin will be polled 0 == no rate imposed */ int pollRateHz = 0; + + public PinDefinition() { + } + public PinDefinition(String serviceName, int address, String pin) { + this.serviceName = serviceName; this.address = address; this.pin = pin; } From 4658b205798e11c3f2199466049fe8d42c1c5470 Mon Sep 17 00:00:00 2001 From: grog Date: Mon, 17 Jul 2023 06:50:34 -0700 Subject: [PATCH 05/18] fixed legacy write and pinmode --- src/main/java/org/myrobotlab/service/RasPi.java | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/src/main/java/org/myrobotlab/service/RasPi.java b/src/main/java/org/myrobotlab/service/RasPi.java index fd57408e16..367ce104e1 100644 --- a/src/main/java/org/myrobotlab/service/RasPi.java +++ b/src/main/java/org/myrobotlab/service/RasPi.java @@ -790,4 +790,14 @@ public void write(String pin, int value) { invoke("publishPinDefinition", pinDef); } + @Override + public void pinMode(int address, String mode) { + pinMode(String.format("%d", address), mode); + } + + @Override + public void write(int address, int value) { + write(String.format("%d", address), value); + } + } From 44401679e1f7481a4b779e6a9134ea43d7b5bf5d Mon Sep 17 00:00:00 2001 From: grog Date: Mon, 17 Jul 2023 19:17:14 -0700 Subject: [PATCH 06/18] in progress --- .../org/myrobotlab/arduino/BoardInfo.java | 39 ++++++--- .../java/org/myrobotlab/service/Cron.java | 12 ++- .../java/org/myrobotlab/service/RasPi.java | 80 +++++++++++-------- 3 files changed, 88 insertions(+), 43 deletions(-) diff --git a/src/main/java/org/myrobotlab/arduino/BoardInfo.java b/src/main/java/org/myrobotlab/arduino/BoardInfo.java index ebf9af74fe..517165b5cd 100644 --- a/src/main/java/org/myrobotlab/arduino/BoardInfo.java +++ b/src/main/java/org/myrobotlab/arduino/BoardInfo.java @@ -16,17 +16,38 @@ public class BoardInfo implements Serializable { private static final long serialVersionUID = 1L; transient public final static Logger log = LoggerFactory.getLogger(BoardInfo.class); - Integer version; - Integer boardTypeId; - Integer microsPerLoop; - Integer sram; - Integer activePins; - DeviceSummary[] deviceSummary; // deviceList with types + /** + * version of firmware + */ + public Integer version; + + /** + * id of board type - FIXME change to string + */ + public Integer boardTypeId; + + /** + * Number of microseconds arduino uses to pass through a + * control loop in MrlComm - very Arduino/MrlComm specific + * FIXME - make generalized BoardType that can report useful information + * from any type of board with pins + */ + public Integer microsPerLoop; + + /** + * + */ + public Integer sram; + public Integer activePins; + public DeviceSummary[] deviceSummary; // deviceList with types - String boardTypeName; + public String boardTypeName; - long heartbeatMs; - long receiveTs; + public long heartbeatMs; + public long receiveTs; + + public BoardInfo() { + } public BoardInfo(Integer version, Integer boardTypeId, String boardTypeName, Integer microsPerLoop, Integer sram, Integer activePins, DeviceSummary[] deviceSummary, long boardInfoRequestTs) { diff --git a/src/main/java/org/myrobotlab/service/Cron.java b/src/main/java/org/myrobotlab/service/Cron.java index b25f44bdcc..45346cd091 100644 --- a/src/main/java/org/myrobotlab/service/Cron.java +++ b/src/main/java/org/myrobotlab/service/Cron.java @@ -48,6 +48,9 @@ public static class Task implements Serializable, Runnable { */ public String method; + /** + * reference to service + */ transient Cron cron; /** @@ -73,8 +76,12 @@ public Task(Cron cron, String id, String cronPattern, String name, String method @Override public void run() { - log.info("{} Cron firing message {}->{}.{}", cron.getName(), name, method, data); - cron.send(name, method, data); + if (cron != null) { + log.info("{} Cron firing message {}->{}.{}", cron.getName(), name, method, data); + cron.send(name, method, data); + } else { + log.error("cron service is null"); + } } @Override @@ -227,6 +234,7 @@ public void start() { * stop the schedular ad all associated tasks */ public void stop() { + removeAllTasks(); if (scheduler.isStarted()) { scheduler.stop(); } diff --git a/src/main/java/org/myrobotlab/service/RasPi.java b/src/main/java/org/myrobotlab/service/RasPi.java index 367ce104e1..7d46d774cc 100644 --- a/src/main/java/org/myrobotlab/service/RasPi.java +++ b/src/main/java/org/myrobotlab/service/RasPi.java @@ -56,7 +56,7 @@ public static class I2CDeviceMap { transient public I2CDevice device; public int deviceHandle; public String serviceName; - + public String toString() { return String.format("bus: %d deviceHandle: %d service: %s", bus.getBusNumber(), deviceHandle, serviceName); } @@ -299,10 +299,29 @@ public Set getAttached() { @Override public BoardInfo getBoardInfo() { - RaspiPin.allPins(); - // FIXME - this needs more work .. BoardInfo needs to be an interface where - // RasPiInfo is derived - return null; + BoardInfo boardInfo = new BoardInfo(); + + try { + + // Get the board revision + String revision = SystemInfo.getRevision(); + log.info("Board Revision: " + revision); + + // Get the board type + boardInfo.boardTypeName = SystemInfo.getModelName(); + log.info("Board Model: " + boardInfo.boardTypeName); + + // Get the board's memory information + log.info("Memory Info: " + SystemInfo.getMemoryTotal()); + + // Get the board's operating system info + log.info("OS Name: " + SystemInfo.getOsName()); + + } catch (Exception e) { + error(e); + } + + return boardInfo; } @Override @@ -398,7 +417,7 @@ public void handleGpioPinDigitalStateChangeEvent(GpioPinDigitalStateChangeEvent // display pin state on console log.info(" --> GPIO PIN STATE CHANGE: {} = {}", event.getPin(), event.getState()); PinDefinition pindef = pinIndex.get(wiringToBcm.get(event.getPin().getName())); - if (pindef == null){ + if (pindef == null) { log.error("pindef is null for pin {}", event.getPin().getName()); } else { pindef.setValue(event.getState().getValue()); @@ -481,16 +500,16 @@ public int i2cWriteRead(I2CControl control, int busAddress, int deviceAddress, b * @param mode * INPUT = 0x0. Output = 0x1. */ - public void pinMode(String pin, String mode) { + public void pinMode(String pin, String mode) { log.info("pinMode {}, mode {}", pin, mode); - + if (mode == null) { error("Pin mode cannot be null"); return; } mode = mode.trim().toUpperCase(); - + if (!pinIndex.containsKey(pin)) { error("Pin %s not found", pin); return; @@ -508,10 +527,10 @@ public void pinMode(String pin, String mode) { } else { error("mode %s is not valid", mode); } - log.info("pinDef {}",pinDef); + log.info("pinDef {}", pinDef); invoke("publishPinDefinition", pinDef); } - + @Override public PinData publishPin(PinData pinData) { // TODO Make sure this method is invoked when a pin value interrupt is @@ -537,23 +556,23 @@ public void read() { pinArray.add(pd); } } - + if (pinArray.size() > 0) { PinData[] array = pinArray.toArray(new PinData[0]); - invoke("publishPinArray", new Object[]{array}); + invoke("publishPinArray", new Object[] { array }); } } - + @Override public int read(String pin) { - + if (!pinIndex.containsKey(pin)) { error("Pin %s not found", pin); return -1; } PinDefinition pindef = pinIndex.get(pin); GpioPinDigitalMultipurpose gpioPin = getGPIO(pin); - if (!gpioPin.isMode(PinMode.DIGITAL_INPUT)){ + if (!gpioPin.isMode(PinMode.DIGITAL_INPUT)) { pinMode(pin, "INPUT"); } if (gpioPin.isLow()) { @@ -564,7 +583,7 @@ public int read(String pin) { return 1; } } - + @Override public void reset() { // TODO Auto-generated method stub @@ -683,14 +702,14 @@ public void startService() { gpio = GpioFactory.getInstance(); log.info("Executing on Raspberry PI"); getPinList(); -// FIXME - uncomment this -// log.info("Initiating i2c"); -// I2CFactory.getInstance(Integer.parseInt(bus)); -// log.info("i2c initiated on bus {}", bus); -// addTask(1000, "scan"); -// -// log.info("read task initialized"); -// addTask(1000, "read"); + // FIXME - uncomment this + // log.info("Initiating i2c"); + // I2CFactory.getInstance(Integer.parseInt(bus)); + // log.info("i2c initiated on bus {}", bus); + // addTask(1000, "scan"); + // + // log.info("read task initialized"); + // addTask(1000, "read"); // TODO - config which starts all pins in input or output mode @@ -707,15 +726,12 @@ public void startService() { } + // FIXME - remove public void test() { // Create GPIO controller instance GpioController gpio = GpioFactory.getInstance(); - // Provision GPIO pin 0 as a digital input/output pin -// GpioPinDigitalMultipurpose pin = gpio.provisionDigitalMultipurposePin( -// RaspiPin.GPIO_00, PinMode.DIGITAL_OUTPUT, PullUpResistance); - GpioPinDigitalMultipurpose pin = gpio.provisionDigitalMultipurposePin( - RaspiPin.GPIO_00, PinMode.DIGITAL_OUTPUT); + GpioPinDigitalMultipurpose pin = gpio.provisionDigitalMultipurposePin(RaspiPin.GPIO_00, PinMode.DIGITAL_OUTPUT); // Set the pin mode to output pin.setMode(PinMode.DIGITAL_OUTPUT); @@ -737,7 +753,7 @@ public void test() { // Add a listener to monitor pin state changes pin.addListener((GpioPinListenerDigital) (GpioPinDigitalStateChangeEvent event) -> { - System.out.println("Pin state changed to: " + event.getState()); + log.info("Pin state changed to: " + event.getState()); }); // Shutdown GPIO controller and release resources @@ -797,7 +813,7 @@ public void pinMode(int address, String mode) { @Override public void write(int address, int value) { - write(String.format("%d", address), value); + write(String.format("%d", address), value); } } From 4443dc0de1038597f86f1fd181238f36798c0e67 Mon Sep 17 00:00:00 2001 From: grog Date: Mon, 17 Jul 2023 19:19:25 -0700 Subject: [PATCH 07/18] oscope fixes --- .../resource/WebGui/app/widget/oscope.html | 17 +- .../resource/WebGui/app/widget/oscope.js | 323 +++++++++--------- 2 files changed, 179 insertions(+), 161 deletions(-) diff --git a/src/main/resources/resource/WebGui/app/widget/oscope.html b/src/main/resources/resource/WebGui/app/widget/oscope.html index c25c00c834..7047c2654a 100644 --- a/src/main/resources/resource/WebGui/app/widget/oscope.html +++ b/src/main/resources/resource/WebGui/app/widget/oscope.html @@ -1,25 +1,30 @@
-
+
- - - +
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+
+
+
-
- +
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diff --git a/src/main/resources/resource/WebGui/app/widget/oscope.js b/src/main/resources/resource/WebGui/app/widget/oscope.js index 66b8271af3..d95b9f9098 100644 --- a/src/main/resources/resource/WebGui/app/widget/oscope.js +++ b/src/main/resources/resource/WebGui/app/widget/oscope.js @@ -28,25 +28,25 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) { }, // scope: true, link: function(scope, element) { - var _self = this; - var name = scope.serviceName; - var service = mrl.getService(name); - var mode = 'read'; + var _self = this + var name = scope.serviceName + var service = mrl.getService(name) + var mode = 'read' // 'read' || 'write' - var width = 800; - var height = 100; - var margin = 10; - var minY = margin; - var maxY = height - margin; - var scaleX = 1; - var scaleY = 1; - scope.readWrite = 'read'; + var width = 800 + var height = 100 + var margin = 10 + var minY = margin + var maxY = height - margin + var scaleX = 1 + var scaleY = 1 + scope.readWrite = 'read' // button toggle read/write - // scope.blah = {}; - // scope.blah.display = false; + // scope.blah = {} + // scope.blah.display = false + scope.pinIndex = service.pinIndex; - // scope.addressIndex = service.addressIndex; - var x = 0; + var x = 0 var gradient = tinygradient([{ h: 0, s: 0.4, @@ -57,44 +57,47 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) { s: 0.4, v: 1, a: 1 - }]); - scope.oscope = {}; - scope.oscope.traces = {}; - scope.oscope.writeStates = {}; + }]) + scope.oscope = {} + scope.oscope.traces = {} + scope.oscope.writeStates = {} // display update interfaces // defintion stage var setTraceButtons = function(pinIndex) { if (pinIndex == null) { - return; + return } + + scope.addressIndex = mrl.getService(name).addressIndex + var size = Object.keys(pinIndex).length if (size && size > 0) { - scope.pinIndex = pinIndex; - var colorsHsv = gradient.hsv(size); + scope.pinIndex = pinIndex + var colorsHsv = gradient.hsv(size) // pass over pinIndex add display data - for (var key in pinIndex) { - if (!pinIndex.hasOwnProperty(key)) { - continue; + for (var pin in pinIndex) { + if (!pinIndex.hasOwnProperty(pin)) { + continue } - scope.oscope.traces[key] = {}; - var trace = scope.oscope.traces[key]; - var pinDef = pinIndex[key]; + scope.oscope.traces[pin] = {} + var trace = scope.oscope.traces[pin] + var pinDef = pinIndex[pin] // adding style - var color = colorsHsv[pinDef.address]; + var color = colorsHsv[pinDef.address] trace.readStyle = { 'background-color': color.toHexString() - }; + } trace.writeStyle = { 'background-color': '#eee' - }; - trace.color = color; - trace.state = false; + } + trace.color = color + trace.state = false // off - trace.posX = 0; - trace.posY = 0; - trace.count = 0; - trace.colorHexString = color.toHexString(); + trace.posX = 0 + trace.posY = 0 + trace.count = 0 + trace.colorHexString = color.toHexString() trace.stats = { min: 0, max: 1, @@ -106,213 +109,223 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) { } // FIXME this should be _self.onMsg = function(inMsg) this.onMsg = function(inMsg) { - //console.log('CALLBACK - ' + msg.method); + //console.log('CALLBACK - ' + msg.method) switch (inMsg.method) { case 'onState': // backend update - setTraceButtons(inMsg.data[0].pinIndex); - scope.$apply(); - break; + setTraceButtons(inMsg.data[0].pinIndex) + scope.$apply() + break case 'onPinArray': - x++; - pinArray = inMsg.data[0]; + x++ + pinArray = inMsg.data[0] for (i = 0; i < pinArray.length; ++i) { // get pin data & definition - pinData = pinArray[i]; - pinDef = scope.pinIndex[pinData.pin]; + pinData = pinArray[i] + pinDef = scope.pinIndex[pinData.pin] // get correct screen and references - var screen = document.getElementById('oscope-pin-' + pinData.pin); + var screen = document.getElementById(scope.serviceName + '-oscope-pin-' + pinData.pin) var ctx = screen.getContext('2d'); - var trace = scope.oscope.traces[pinData.pin]; - var stats = trace.stats; + var trace = scope.oscope.traces[pinData.pin] + var stats = trace.stats // TODO - sample rate Hz - trace.stats.totalSample++; - trace.stats.totalValue += pinData.value; + trace.stats.totalSample++ + trace.stats.totalValue += pinData.value if (pinData.value < trace.stats.min) { - trace.stats.min = pinData.value; + trace.stats.min = pinData.value } if (pinData.value > trace.stats.max) { - trace.stats.max = pinData.value; + trace.stats.max = pinData.value } - var maxX = trace.stats.max; - var minX = trace.stats.min; - var c = minY + ((pinData.value - minX) * (maxY - minY)) / (maxX - minX); - var y = height - c; - ctx.beginPath(); + var maxX = trace.stats.max + var minX = trace.stats.min + var c = minY + ((pinData.value - minX) * (maxY - minY)) / (maxX - minX) + var y = height - c + ctx.beginPath() // from - ctx.moveTo(trace.posX, trace.posY); + ctx.moveTo(trace.posX, trace.posY) // to - ctx.lineTo(x, y); + ctx.lineTo(x, y) // save current values - trace.posX = x; - trace.posY = y; + trace.posX = x + trace.posY = y // color - ctx.strokeStyle = trace.colorHexString; + ctx.strokeStyle = trace.colorHexString // blank screen // TODO - continuous pan would be better - ctx.stroke(); + ctx.stroke() // blank screen if trace reaches end if (x > width) { - trace.state = true; - scope.highlight(trace, true); - //scope.toggleReadButton(pinDef); - ctx.font = "10px Aria"; - ctx.rect(0, 0, width, height); - ctx.fillStyle = "black"; - ctx.fill(); - var highlight = trace.color.getOriginalInput(); - highlight.s = "90%"; - var newColor = tinycolor(highlight); - ctx.fillStyle = trace.colorHexString; + trace.state = true + scope.highlight(trace, true) + //scope.toggleReadButton(pinDef) + ctx.font = "10px Aria" + ctx.rect(0, 0, width, height) + ctx.fillStyle = "black" + ctx.fill() + var highlight = trace.color.getOriginalInput() + highlight.s = "90%" + var newColor = tinycolor(highlight) + ctx.fillStyle = trace.colorHexString // TODO - highlight saturtion of text - ctx.fillText('MAX ' + stats.max + ' ' + pinDef.pin + ' ' + pinDef.address, 10, minY); - ctx.fillText(('AVG ' + (stats.totalValue / stats.totalSample)).substring(0, 11), 10, height / 2); - ctx.fillText('MIN ' + stats.min, 10, maxY); - trace.posX = 0; + ctx.fillText('MAX ' + stats.max + ' ' + pinDef.pin + ' ' + pinDef.address, 10, minY) + ctx.fillText(('AVG ' + (stats.totalValue / stats.totalSample)).substring(0, 11), 10, height / 2) + ctx.fillText('MIN ' + stats.min, 10, maxY) + trace.posX = 0 } // draw it - ctx.closePath(); + ctx.closePath() } // for each pin if (x > width) { - x = 0; + x = 0 } - break; + break default: // since we subscribed to "All" of Arduino's methods - most will escape here // no reason to put an error .. however, it would be better to "Only" susbscribe to the ones // we want - // console.log("ERROR - unhandled method " + inMsg.method); - break; + // console.log("ERROR - unhandled method " + inMsg.method) + break } } - ; + scope.toggleReadWrite = function() { - scope.readWrite = (scope.readWrite == 'write') ? 'read' : 'write'; + scope.readWrite = (scope.readWrite == 'write') ? 'read' : 'write' } - ; + scope.clearScreen = function(pinArray) { for (i = 0; i < pinArray.length; ++i) { - pinData = pinArray[i]; - pinDef = scope.pinIndex[pinData.pin]; - _self.ctx = screen.getContext('2d'); - // ctx.scale(1, -1); // flip y around for cartesian - bad idea :P - // width = screen.width; - //height = screen.height; - _self.ctx.rect(0, 0, width, height); - _self.ctx.fillStyle = "black"; - _self.ctx.fill(); - _self.ctx.fillStyle = "white"; - stats = pinDef.stats; - _self.ctx.fillText(pinDef.name + (' AVG ' + (stats.totalValue / stats.totalSample)).substring(0, 11) + ' MIN ' + stats.min + ' MAX ' + stats.max, 10, 18); + pinData = pinArray[i] + pinDef = scope.pinIndex[pinData.pin] + _self.ctx = screen.getContext('2d') + // ctx.scale(1, -1) // flip y around for cartesian - bad idea :P + // width = screen.width + //height = screen.height + _self.ctx.rect(0, 0, width, height) + _self.ctx.fillStyle = "black" + _self.ctx.fill() + _self.ctx.fillStyle = "white" + stats = pinDef.stats + _self.ctx.fillText(pinDef.name + (' AVG ' + (stats.totalValue / stats.totalSample)).substring(0, 11) + ' MIN ' + stats.min + ' MAX ' + stats.max, 10, 18) } } scope.zoomIn = function() { - scaleX += 1; - scaleY += 1; - _self.ctx.scale(scaleX, scaleY); + scaleX += 1 + scaleY += 1 + _self.ctx.scale(scaleX, scaleY) } - ; + // RENAME eanbleTrace - FIXME read values vs write values | ALL values from service not from ui !! - ui only sends commands scope.activateTrace = function(pinDef) { - var trace = scope.oscope.traces[pinDef.pin]; + var trace = scope.oscope.traces[pinDef.pin] if (trace.state) { - toggleReadButton(trace); - mrl.sendTo(name, 'disablePin', pinDef.pin); - trace.state = false; + toggleReadButton(trace) + mrl.sendTo(name, 'disablePin', pinDef.pin) + trace.state = false } else { - toggleReadButton(trace); - mrl.sendTo(name, 'enablePin', pinDef.pin); - trace.state = true; + toggleReadButton(trace) + // mrl.sendTo(name, 'enablePin', pinDef.pin) + mrl.sendTo(name, 'enablePin', pinDef.pin, 1) + trace.state = true } } - ; + scope.reset = function() { - mrl.sendTo(name, 'disablePins'); + mrl.sendTo(name, 'disablePins') } - ; + scope.write = function(pinDef) { - scope.toggleWriteButton(trace); - mrl.sendTo(name, 'digitalWrite', pinDef.pin, 1); - // trace.state = true; + scope.toggleWriteButton(trace) + mrl.sendTo(name, 'digitalWrite', pinDef.pin, 1) + // trace.state = true /* 3 states READ/ENABLE | DIGITALWRITE | ANALOGWRITE if (pinDef.pinName.charAt(0) == 'A') { - _self.toggleWriteButton(trace); - mrl.sendTo(name, 'analogWrite', 1); - trace.state = false; + _self.toggleWriteButton(trace) + mrl.sendTo(name, 'analogWrite', 1) + trace.state = false } else { - _self.toggleWriteButton(trace); - mrl.sendTo(name, 'digitalWrite', pinDef.address); - trace.state = true; + _self.toggleWriteButton(trace) + mrl.sendTo(name, 'digitalWrite', pinDef.address) + trace.state = true } */ } - ; + scope.reset = function() { - mrl.sendTo(name, 'disablePins'); + mrl.sendTo(name, 'disablePins') } - ; + var toggleReadButton = function(trace) { - var highlight = trace.color.getOriginalInput(); + var highlight = trace.color.getOriginalInput() if (trace.state) { - scope.highlight(trace, false); + scope.highlight(trace, false) } else { - scope.highlight(trace, true); + scope.highlight(trace, true) } - }; + } scope.highlight = function(trace, on) { - var highlight = trace.color.getOriginalInput(); + var highlight = trace.color.getOriginalInput() if (!on) { - // scope.blah.display = false; + // scope.blah.display = false // on to off - highlight.s = "40%"; - var newColor = color = tinycolor(highlight); + highlight.s = "40%" + var newColor = color = tinycolor(highlight) trace.readStyle = { 'background-color': newColor.toHexString() - }; + } } else { - // scope.blah.display = true; + // scope.blah.display = true // off to on - highlight.s = "90%"; - var newColor = color = tinycolor(highlight); + highlight.s = "90%" + var newColor = color = tinycolor(highlight) trace.readStyle = { 'background-color': newColor.toHexString() - }; + } } } - ; + scope.toggleWriteButton = function(pinDef) { - var highlight = trace.color.getOriginalInput(); + var highlight = trace.color.getOriginalInput() if (trace.state) { - // scope.blah.display = false; + // scope.blah.display = false // on to off - highlight.s = "40%"; - var newColor = color = tinycolor(highlight); + highlight.s = "40%" + var newColor = color = tinycolor(highlight) trace.readStyle = { 'background-color': newColor.toHexString() - }; + } } else { - // scope.blah.display = true; + // scope.blah.display = true // off to on - highlight.s = "90%"; - var newColor = color = tinycolor(highlight); + highlight.s = "90%" + var newColor = color = tinycolor(highlight) trace.readStyle = { 'background-color': newColor.toHexString() - }; + } } } - ; + // FIXME FIXME FIXME ->> THIS SHOULD WORK subscribeToServiceMethod <- but doesnt - mrl.subscribeToService(_self.onMsg, name); + mrl.subscribeToService(_self.onMsg, name) // this siphons off a single subscribe to the webgui // so it will be broadcasted back to angular - mrl.subscribe(name, 'publishPinArray'); - mrl.subscribeToServiceMethod(_self.onMsg, name, 'publishPinArray'); + mrl.subscribe(name, 'publishPinArray') + mrl.subscribeToServiceMethod(_self.onMsg, name, 'publishPinArray') // initializing display data - setTraceButtons(service.pinIndex); + setTraceButtons(service.pinIndex) } - }; + } } -]); +]).filter('toArray', function() { + return function(obj) { + if (!angular.isObject(obj)) { + return obj; + } + return Object.keys(obj).map(function(key) { + return obj[key]; + }); + }; +}); From 370e128a78fe10cbfba7f5415c3c06307d1bc692 Mon Sep 17 00:00:00 2001 From: grog Date: Mon, 17 Jul 2023 19:22:34 -0700 Subject: [PATCH 08/18] from grog branch --- .../java/org/myrobotlab/service/RasPi.java | 19 ++++++++++--------- .../service/config/RasPiConfig.java | 3 +++ 2 files changed, 13 insertions(+), 9 deletions(-) diff --git a/src/main/java/org/myrobotlab/service/RasPi.java b/src/main/java/org/myrobotlab/service/RasPi.java index 7d46d774cc..481d6b2777 100644 --- a/src/main/java/org/myrobotlab/service/RasPi.java +++ b/src/main/java/org/myrobotlab/service/RasPi.java @@ -702,16 +702,14 @@ public void startService() { gpio = GpioFactory.getInstance(); log.info("Executing on Raspberry PI"); getPinList(); - // FIXME - uncomment this - // log.info("Initiating i2c"); - // I2CFactory.getInstance(Integer.parseInt(bus)); - // log.info("i2c initiated on bus {}", bus); - // addTask(1000, "scan"); - // - // log.info("read task initialized"); - // addTask(1000, "read"); - // TODO - config which starts all pins in input or output mode + log.info("Initiating i2c"); + I2CFactory.getInstance(Integer.parseInt(bus)); + log.info("i2c initiated on bus {}", bus); + addTask(1000, "scan"); + + log.info("read task initialized"); + addTask(1000, "read"); } catch (IOException e) { log.error("i2c initiation failed", e); @@ -731,6 +729,9 @@ public void test() { // Create GPIO controller instance GpioController gpio = GpioFactory.getInstance(); + // Provision GPIO pin 0 as a digital input/output pin + // GpioPinDigitalMultipurpose pin = gpio.provisionDigitalMultipurposePin( + // RaspiPin.GPIO_00, PinMode.DIGITAL_OUTPUT, PullUpResistance); GpioPinDigitalMultipurpose pin = gpio.provisionDigitalMultipurposePin(RaspiPin.GPIO_00, PinMode.DIGITAL_OUTPUT); // Set the pin mode to output diff --git a/src/main/java/org/myrobotlab/service/config/RasPiConfig.java b/src/main/java/org/myrobotlab/service/config/RasPiConfig.java index 6e50cb496d..f10c2a1fc3 100644 --- a/src/main/java/org/myrobotlab/service/config/RasPiConfig.java +++ b/src/main/java/org/myrobotlab/service/config/RasPiConfig.java @@ -7,4 +7,7 @@ public class RasPiConfig extends ServiceConfig { * its better to follow the PinDefinition pollRateHz type */ public int pollRateHz = 1; + + // TODO - config which starts pins in a mode (read/write) and if write a value 0/1 + } From 22faefb0a68c93ded5fc01f114d00fa4ed106c4d Mon Sep 17 00:00:00 2001 From: grog Date: Tue, 18 Jul 2023 14:36:21 -0700 Subject: [PATCH 09/18] oscope cron and raspi improvements --- README.md | 17 ++ .../java/org/myrobotlab/service/Arduino.java | 2 + .../java/org/myrobotlab/service/RasPi.java | 6 +- .../resource/WebGui/app/widget/oscope.html | 6 +- .../resource/WebGui/app/widget/oscope.js | 205 ++++++++---------- 5 files changed, 115 insertions(+), 121 deletions(-) diff --git a/README.md b/README.md index d5dc735b56..e48b5cb111 100644 --- a/README.md +++ b/README.md @@ -121,4 +121,21 @@ resources: - ./src/main/resources/resource - ./src/main/resources type: WebGui +``` +```yml +!!org.myrobotlab.service.config.RuntimeConfig +enableCli: true +id: null +listeners: +locale: null +logLevel: info +peers: null +registry: +- runtime +- security +- webgui +- raspi +resource: src/main/resources/resource +type: Runtime +virtual: false ``` \ No newline at end of file diff --git a/src/main/java/org/myrobotlab/service/Arduino.java b/src/main/java/org/myrobotlab/service/Arduino.java index 5fba97260d..3568fcb598 100644 --- a/src/main/java/org/myrobotlab/service/Arduino.java +++ b/src/main/java/org/myrobotlab/service/Arduino.java @@ -1495,6 +1495,8 @@ public synchronized void onConnect(String portName) { info("%s connected to %s", getName(), portName); // chained... invoke("publishConnect", portName); + + broadcastState(); } public void onCustomMsg(Integer ax, Integer ay, Integer az) { diff --git a/src/main/java/org/myrobotlab/service/RasPi.java b/src/main/java/org/myrobotlab/service/RasPi.java index 481d6b2777..866631de15 100644 --- a/src/main/java/org/myrobotlab/service/RasPi.java +++ b/src/main/java/org/myrobotlab/service/RasPi.java @@ -541,6 +541,10 @@ public PinData publishPin(PinData pinData) { return pinData; } + public Map> publishScan() { + return validI2CAddresses; + } + public void read() { log.debug("read task invoked"); List pinArray = new ArrayList<>(); @@ -638,7 +642,7 @@ public void scan(Integer busNumber) { log.error("scan threw", e); } - broadcastState(); + invoke("publishScan"); } // FIXME - return array diff --git a/src/main/resources/resource/WebGui/app/widget/oscope.html b/src/main/resources/resource/WebGui/app/widget/oscope.html index 7047c2654a..90b4981eb6 100644 --- a/src/main/resources/resource/WebGui/app/widget/oscope.html +++ b/src/main/resources/resource/WebGui/app/widget/oscope.html @@ -23,13 +23,15 @@
-
+
-
+
diff --git a/src/main/resources/resource/WebGui/app/widget/oscope.js b/src/main/resources/resource/WebGui/app/widget/oscope.js index d95b9f9098..f779cafa2d 100644 --- a/src/main/resources/resource/WebGui/app/widget/oscope.js +++ b/src/main/resources/resource/WebGui/app/widget/oscope.js @@ -31,8 +31,6 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) { var _self = this var name = scope.serviceName var service = mrl.getService(name) - var mode = 'read' - // 'read' || 'write' var width = 800 var height = 100 var margin = 10 @@ -41,12 +39,8 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) { var scaleX = 1 var scaleY = 1 scope.readWrite = 'read' - // button toggle read/write - // scope.blah = {} - // scope.blah.display = false - scope.pinIndex = service.pinIndex; - var x = 0 + // var x = 0 var gradient = tinygradient([{ h: 0, s: 0.4, @@ -61,50 +55,49 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) { scope.oscope = {} scope.oscope.traces = {} scope.oscope.writeStates = {} - // display update interfaces - // defintion stage + var setTraceButtons = function(pinIndex) { - if (pinIndex == null) { + + if (Object.keys(scope.oscope.traces).length > 0) { return } - scope.addressIndex = mrl.getService(name).addressIndex - + // let pinIndex = service.pinIndex var size = Object.keys(pinIndex).length - if (size && size > 0) { - scope.pinIndex = pinIndex + if (size > 0) { var colorsHsv = gradient.hsv(size) - // pass over pinIndex add display data - for (var pin in pinIndex) { + + Object.keys(pinIndex).forEach(function(pin) { if (!pinIndex.hasOwnProperty(pin)) { - continue + return + } + var trace = { + readStyle: {}, + state: false, + posX: 0, + posY: 0, + x0: 0, + y0: 0, + x1: 0, + y1: 0, + count: 0, + stats: { + min: 0, + max: 1, + totalValue: 0, + totalSample: 1 + } } - scope.oscope.traces[pin] = {} - var trace = scope.oscope.traces[pin] var pinDef = pinIndex[pin] - - // adding style var color = colorsHsv[pinDef.address] - trace.readStyle = { - 'background-color': color.toHexString() - } - trace.writeStyle = { - 'background-color': '#eee' + if (!color) { + return } + trace.readStyle['background-color'] = color.toHexString() trace.color = color - trace.state = false - // off - trace.posX = 0 - trace.posY = 0 - trace.count = 0 trace.colorHexString = color.toHexString() - trace.stats = { - min: 0, - max: 1, - totalValue: 0, - totalSample: 1 - } - } + scope.oscope.traces[pin] = trace + }) } } // FIXME this should be _self.onMsg = function(inMsg) @@ -112,22 +105,49 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) { //console.log('CALLBACK - ' + msg.method) switch (inMsg.method) { case 'onState': - // backend update + // backend update + scope.pinIndex = inMsg.data[0].pinIndex setTraceButtons(inMsg.data[0].pinIndex) scope.$apply() break case 'onPinArray': - x++ + // all pin traces are going to be traced at the same x position + // x++ pinArray = inMsg.data[0] for (i = 0; i < pinArray.length; ++i) { // get pin data & definition pinData = pinArray[i] pinDef = scope.pinIndex[pinData.pin] // get correct screen and references - var screen = document.getElementById(scope.serviceName + '-oscope-pin-' + pinData.pin) - var ctx = screen.getContext('2d'); - var trace = scope.oscope.traces[pinData.pin] - var stats = trace.stats + // change to LET !! + let screen = document.getElementById(scope.serviceName + '-oscope-pin-' + pinData.pin) + let ctx = screen.getContext('2d'); + let trace = scope.oscope.traces[pinData.pin] + let stats = trace.stats + + // blank screen if trace reaches end + if (trace.x1 > width || trace.x0 == 0) { + trace.state = true + scope.highlight(trace, true) + ctx.font = "10px Aria" + ctx.rect(0, 0, width, height) + ctx.fillStyle = "black" + ctx.fill() + var highlight = trace.color.getOriginalInput() + highlight.s = "90%" + var newColor = tinycolor(highlight) + ctx.fillStyle = trace.colorHexString + // TODO - highlight saturtion of text + ctx.fillText('MAX ' + stats.max + ' ' + pinDef.pin + ' ' + pinDef.address, 10, minY) + ctx.fillText(('AVG ' + (stats.totalValue / stats.totalSample)).substring(0, 11), 10, height / 2) + ctx.fillText('MIN ' + stats.min, 10, maxY) + trace.x0 = 0 + trace.x1 = 0 + } + // draw it + + + // TODO - sample rate Hz trace.stats.totalSample++ trace.stats.totalValue += pinData.value @@ -142,44 +162,22 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) { var c = minY + ((pinData.value - minX) * (maxY - minY)) / (maxX - minX) var y = height - c ctx.beginPath() - // from - ctx.moveTo(trace.posX, trace.posY) - // to - ctx.lineTo(x, y) + // move to last position... + ctx.moveTo(trace.x0, trace.y0) + trace.x1++ + trace.y1 = c + // draw line to x1,y1 + ctx.lineTo(trace.x1, trace.y1) // save current values - trace.posX = x - trace.posY = y + trace.x0 = trace.x1 + trace.y0 = trace.y1 // color ctx.strokeStyle = trace.colorHexString // blank screen // TODO - continuous pan would be better ctx.stroke() - // blank screen if trace reaches end - if (x > width) { - trace.state = true - scope.highlight(trace, true) - //scope.toggleReadButton(pinDef) - ctx.font = "10px Aria" - ctx.rect(0, 0, width, height) - ctx.fillStyle = "black" - ctx.fill() - var highlight = trace.color.getOriginalInput() - highlight.s = "90%" - var newColor = tinycolor(highlight) - ctx.fillStyle = trace.colorHexString - // TODO - highlight saturtion of text - ctx.fillText('MAX ' + stats.max + ' ' + pinDef.pin + ' ' + pinDef.address, 10, minY) - ctx.fillText(('AVG ' + (stats.totalValue / stats.totalSample)).substring(0, 11), 10, height / 2) - ctx.fillText('MIN ' + stats.min, 10, maxY) - trace.posX = 0 - } - // draw it ctx.closePath() } - // for each pin - if (x > width) { - x = 0 - } break default: // since we subscribed to "All" of Arduino's methods - most will escape here @@ -189,19 +187,12 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) { break } } - - scope.toggleReadWrite = function() { - scope.readWrite = (scope.readWrite == 'write') ? 'read' : 'write' - } - + scope.clearScreen = function(pinArray) { - for (i = 0; i < pinArray.length; ++i) { + for (i = 0; i < scope.pinArray.length; ++i) { pinData = pinArray[i] pinDef = scope.pinIndex[pinData.pin] _self.ctx = screen.getContext('2d') - // ctx.scale(1, -1) // flip y around for cartesian - bad idea :P - // width = screen.width - //height = screen.height _self.ctx.rect(0, 0, width, height) _self.ctx.fillStyle = "black" _self.ctx.fill() @@ -210,12 +201,7 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) { _self.ctx.fillText(pinDef.name + (' AVG ' + (stats.totalValue / stats.totalSample)).substring(0, 11) + ' MIN ' + stats.min + ' MAX ' + stats.max, 10, 18) } } - scope.zoomIn = function() { - scaleX += 1 - scaleY += 1 - _self.ctx.scale(scaleX, scaleY) - } - + // RENAME eanbleTrace - FIXME read values vs write values | ALL values from service not from ui !! - ui only sends commands scope.activateTrace = function(pinDef) { var trace = scope.oscope.traces[pinDef.pin] @@ -230,33 +216,15 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) { trace.state = true } } - + scope.reset = function() { mrl.sendTo(name, 'disablePins') } - - scope.write = function(pinDef) { - scope.toggleWriteButton(trace) - mrl.sendTo(name, 'digitalWrite', pinDef.pin, 1) - // trace.state = true - /* 3 states READ/ENABLE | DIGITALWRITE | ANALOGWRITE - if (pinDef.pinName.charAt(0) == 'A') { - _self.toggleWriteButton(trace) - mrl.sendTo(name, 'analogWrite', 1) - trace.state = false - } else { - _self.toggleWriteButton(trace) - mrl.sendTo(name, 'digitalWrite', pinDef.address) - trace.state = true - } - */ - } - scope.reset = function() { mrl.sendTo(name, 'disablePins') } - + var toggleReadButton = function(trace) { var highlight = trace.color.getOriginalInput() if (trace.state) { @@ -285,7 +253,7 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) { } } } - + scope.toggleWriteButton = function(pinDef) { var highlight = trace.color.getOriginalInput() if (trace.state) { @@ -306,7 +274,7 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) { } } } - + // FIXME FIXME FIXME ->> THIS SHOULD WORK subscribeToServiceMethod <- but doesnt mrl.subscribeToService(_self.onMsg, name) // this siphons off a single subscribe to the webgui @@ -320,12 +288,13 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) { } } ]).filter('toArray', function() { - return function(obj) { - if (!angular.isObject(obj)) { - return obj; + return function(obj) { + if (!angular.isObject(obj)) { + return obj; + } + return Object.keys(obj).map(function(key) { + return obj[key]; + }); } - return Object.keys(obj).map(function(key) { - return obj[key]; - }); - }; + ; }); From bac8ca92a69d096a70672c46c1131eea71cd170c Mon Sep 17 00:00:00 2001 From: grog Date: Tue, 18 Jul 2023 19:34:34 -0700 Subject: [PATCH 10/18] ipscan image and info down to debug --- src/main/java/org/myrobotlab/service/RasPi.java | 6 +++--- src/main/resources/resource/RasPi/i2c-scan.png | Bin 0 -> 6920 bytes .../WebGui/app/service/views/RasPiGui.html | 4 +++- 3 files changed, 6 insertions(+), 4 deletions(-) create mode 100644 src/main/resources/resource/RasPi/i2c-scan.png diff --git a/src/main/java/org/myrobotlab/service/RasPi.java b/src/main/java/org/myrobotlab/service/RasPi.java index 866631de15..5cdc18f0d8 100644 --- a/src/main/java/org/myrobotlab/service/RasPi.java +++ b/src/main/java/org/myrobotlab/service/RasPi.java @@ -339,7 +339,7 @@ public List getBoardTypes() { * @return */ private GpioPinDigitalMultipurpose getGPIO(String pin) { - log.info("getGPIO {}", pin); + log.debug("getGPIO {}", pin); if (!pinIndex.containsKey(pin)) { error("Pin %s not found", pin); return null; @@ -552,11 +552,11 @@ public void read() { for (String pin : pinIndex.keySet()) { PinDefinition pindef = pinIndex.get(pin); if (pindef.isEnabled()) { - log.info("pin {} enabled {}", pin, pindef.isEnabled()); + log.debug("pin {} enabled {}", pin, pindef.isEnabled()); int value = read(pin); pindef.setValue(value); PinData pd = new PinData(pin, value); - log.info("pin data {}", pd); + log.debug("pin data {}", pd); pinArray.add(pd); } } diff --git a/src/main/resources/resource/RasPi/i2c-scan.png b/src/main/resources/resource/RasPi/i2c-scan.png new file mode 100644 index 0000000000000000000000000000000000000000..4648fe46dc500f4247ecd6ee23adadd463ffc13c GIT binary patch literal 6920 zcmZvB2RIzx+xChdRxcqEy+#m3L|rXngAfv|UZeN2dXEx8EFpSXA&9biiB6Q&yA^`P z>NVQxeB}52zw7$m_dnP5oS8Xu=FD@RcHc7-@kUjFl!%T90059GDaxw@064xk$4S6D zH?1$ip7Lgg3zbvS1OkD-7u4o&PAS~LI&Kk@Bd-8nlM>r&?DTodDoHqfc+uKjLk>}705Qc}_=j1Kd@1=MAmh$^|l zk~I#1euG$-$d<%B7aE*S?p_66uQfB<9Ph>|kWIMf*W{PmROLG=4{0f^&Yz6;kDr)W znH5M>n|&|xdCBcj^HfEuQ+`$(DxGMaFQrP`aEty`eY1`j6;n@R+Yh>*s65Baw?9JYa> z5Ka+=%65s#r?eb zqhmtAFR#`8T_YNRtb6i#QO*>+Ss;Vf9Q(FrA#6tN8oAL>U4Hw0rgG-e;*#xT8bFY6rnN{ZiKwO) zJasvWXi=juwX%jS(9_+*;>B)U!D&?lfgdh*dRp5uM0pT3Jw2Va$JUlf2zoUt3I2>X zDH%zB1PJnrs&gLkPiRh-eM;f7M2=3HyHKRNG{+6EfJ*>nul``F;Q|g)wUsfFWmkzZ zo0{IR!@Z5ux@bkR9|LYSmxu>8YdO`Tt87mGWGthHGTO%HCfj^YONgPM7rOOc<0jr8 z?oI|s(hpdu?=oJPVwZC0b9NB~lTQA}&CSy})&9+1v@uufIoI1E?J#m8BR2-k%{t`u zVOu__(g!&`W88L`FA0_P&Ckj&Vwm%qzK!^Of|82ml&UQ2T`vW3QR9?}t>Of+#p4`| zl~4dC4<}3>+ZBqgdLuvh0}`A3OUl~5sU;e7&IvtN@TJ}x7|8jdLeA3iOY_H?hk7e( ziVpH~sUbm784wWe`hF8cwSzX(%x?TL&=^~}H+XTTFexg1;Zd`(B2(G}cdX0lkVzlg zm-Lm-py>ml?(@@sHhy_VTR|83BT=pdY|!Gj+%;@ffF*k}bZ>RZ&{*J!E9u7LAn$Ck z)$ZzQ^1E9p2gw1K@Ol|yDYrk0VJjWv6@NC-s;@biB93ZHFP94J4-Ss~F<;N^WzM^< z8(10-Y8DszMMW|YaUb*vE=CTKSu5-du|FLCoJdMDdOWFI7@a#N@=eqm+ee4-(UueEjP*7(!B&$Wc*{!YxJ(>o9LZBI4}7U7=1z<_3k#i zV`giUv)hX=ADzD={E+wMFmu2;+!fZ96iv)z71IcRvM7J0W(EW}`!AHXZ?JEEoqd{g z)CmhTyqNl0FLbiSI#D~g6nKK&7q-aJokSHM8Cbi7Ia(U9eir`jZ6b6}zJuoTDrP~a zvl2i-7~bACCA0^QpM4tB;rnn+(ex$8J9mE#Hf07^pnELDXY2NUioe%c(b5vqFN6jS zpBXr|V@OI60tN)v&RAl#6~EdboaA66)X3}Uc|+P8?4H|;LcV^^)JyHU? zC-!E9x?u7SQORB-ulJWjYL+(Ht8?|ib8v}AEvGFVt41_%Ur4c^FJFE3%=PI?_Kt~_ zVK#Tq&I0}vDm-BLIIE8Bxb<@8>p4z0QTV89z&OX@T!s0z3-MW@Pkbs~mT(Hdqz!{1 ziT1e{G-p5FF}RIWs_8mM=Zij5kC$fp@-zGU=thnF``Z;hGKGfC7!`bLe#PwEpiV6I zSVyAZV+Dg1<}xh0U2SD4!Y&CN{TKjNbHy&|nEPal9TRr%ws>Qh<*{L0BTI&trE>xi z!htee36euiI#6`w*Q3CCGWn1}E7v6o{c|rZBbXl_^|~kT#^sp;{NZ*CMwsq3OLPL} zsB=PqN!@?*0alj(VEFbx#nO%fN#>=+_TChl$ z1VexNULBsCL?~L*9 z$NHNp)nNz%-c@Va6HViO@s!8k5q+Rbyo`iZWwD2E1UNf< zi;#Y>m%wf38@RVs0OkMO6>RB{>mQn^GgCaMtf{Hah8TWG9G zZ#FAS=$j7K(3ud|9i5?#(Y%^5OFjXjok;<=p|CI2C_M&|qUXk0R1fL4*n>w05wJm` z9MyKEwjkdhIche$knJR%Lp&Zw&L8s+Hh0_!KR?3{5*0uDt@1t!IW)j+XB23Ym(7Aj zE8mro6sq`MX4W)e39=mB0}^XXY_Y%EG25gkFurWIJa9KT`R1?Qv$jmXX;R7ZnGWG&tY| z{Ng<~=!1uPJo$Kt>ZZ!m&|ULd(W9{s0+qrv;Xd?wD~Zw3QZUOtgQEC~55M!v=CTjm z$9YbTJ!<9C{i1Z4UERHLytp#t0wXvB^+rO1eR*PH8!O}sS2IMhor`bYgzDP;)A;Hd zJuy!6gG!aM@p{A>%atE9I)ylIYY#SIzmL-R5+iuz$A zBO`5@mF``BVXvzts_&yT-N|4vG2}IqypAp21CJ(&9czE;Mz7T`J}k z+T*-#4qk7V88ljxdxT1e5QP6oo@?-kackUnwc89ch4(IcDVe4s54=;~;dZG)w0|SD z`pNXU;e)HvMd2JJNUxb z3fev-VhifjJ0Spw0$d3FBqI8#q+EzVa| zX-L9&?1oa=LjqoeyyH3BFGK<-H8G*|s*dTZoyhYZIwm{o;P6*Ez>M* zE58ZNE)Y%eLPQ(~o+YvoAm_MxL8xC&2JMBvulQm|TWau{UC7phI=o)Brax>v7lsv4 zC|jVx(^hsVDQZ~DJ6`5VKH2;DBNY0#*bPI$rf1w0OJrT%Ql4duPXNe_tYuWhjlRJDQfU5)pDSBCXbVl-^c81ArCbg zFx5Trx5JXlu8&eY!Yv_vs{|Ndg#u zs4UpA-#_Yh0a$65HY2=kBWdwG zckw!9e9Q9pfzurcoa$Zcy{eiMcKc%749U#RPv)BtJq2Bw8fLt2Tt;6F?{2KUk#rl} z!O3VB6z)_uZ7Dj>UgVTTS#vKmHQCUJkiI_lSWi_wR1t=%i_NcZXKE(Dv+X}3i&719 zZWZz<{9SZdOn-3n>r5cRRFDBk_=fu$H}RhQ!Tb+CpVC+Bq~Yc?VD&zADq3+R!wT0& zwGX7U!N9szD@Z6sq*y409A)^w@@SDlu33Uo!Ekz9NJ3axczR5;aL%2bHFQgGQ76^m zOjg^%!eTOb4rM=UaofwcC?BQxsWVD(P5JSulE_QWYjFuV;AzFj__B{3{0W?5MmZyY z7)aS!Iimm5<>z0mus%sk$hr<@cpIk!yZdl^0;}{MlMUvea=bV*d2N+%dAsEeCRQ{! zep?w&PYq1j9)c|EPlrD~AjS4jWYu_JlYXeyNPM=&JjJt<>t=$chk`jg3LZb_MTSyv zIwG__mwl8U?WJNU9kISs<*EWyveE(rS!qMcpBKb{3^!xfB!1k zx-6z6aQelK0X(LQm%(k9XJI>a6w&mo=Ekn+WkXVq z^T0RNL~`ARPj1-3jrR(c91dF&VjDC)jEv@_4v-9f6l$71b>#C=#&5@2mmI%9oh}}b z%W%^+0k=Ju?5;`B=n>7gN{MOF>F4GE@j8`z1c0sQPjsIK&73~~bjMAF0AdGNLCr6; 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+ 
sudo apt-get install -y i2c-tools

+ +

- 
sudo apt-get install -y i2c-tools
More recent rasbian distributions require building and installing this library https://github.com/WiringPi/WiringPi
From ea0ab741862a87e3bd65bdf653a9b24c624188ab Mon Sep 17 00:00:00 2001 From: grog Date: Tue, 18 Jul 2023 19:42:12 -0700 Subject: [PATCH 11/18] adding .gitignore entries --- .gitignore | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.gitignore b/.gitignore index 803d7438d8..f8af3ea9dd 100644 --- a/.gitignore +++ b/.gitignore @@ -82,3 +82,6 @@ /lastRestart.py /.factorypath start.yml +config +src/main/resources/resource/InMoov2 +src/main/resources/resource/ProgramAB \ No newline at end of file From f1c691c2ca3bd6b6ea1e03530063c3a70f2699b7 Mon Sep 17 00:00:00 2001 From: grog Date: Thu, 20 Jul 2023 06:10:03 -0700 Subject: [PATCH 12/18] generated pom --- pom.xml | 36 ++++++++++++++++++++++++++++++------ 1 file changed, 30 insertions(+), 6 deletions(-) diff --git a/pom.xml b/pom.xml index 044205c9e9..c179fc989c 100644 --- a/pom.xml +++ b/pom.xml @@ -163,10 +163,6 @@ - - - - org.boofcv @@ -1237,13 +1233,13 @@ org.bytedeco cpython-platform - 3.11.3-1.5.9 + 3.10.8-1.5.8 provided org.bytedeco cpython - 3.11.3-1.5.9 + 3.10.8-1.5.8 provided @@ -1574,6 +1570,34 @@ + + + io.vertx + vertx-core + 4.3.3 + provided + + + io.netty + * + + + + + io.vertx + vertx-web + 4.3.3 + provided + + + io.netty + * + + + + + + From 993669c30136f82d16f9df8daca30363f6aa415f Mon Sep 17 00:00:00 2001 From: grog Date: Sat, 22 Jul 2023 15:36:14 -0700 Subject: [PATCH 13/18] rename --- .../java/org/myrobotlab/service/WebXr.java | 87 ------------------- .../service/config/WebXrConfig.java | 37 -------- .../myrobotlab/service/meta/WebXrMeta.java | 38 -------- 3 files changed, 162 deletions(-) delete mode 100644 src/main/java/org/myrobotlab/service/WebXr.java delete mode 100644 src/main/java/org/myrobotlab/service/config/WebXrConfig.java delete mode 100644 src/main/java/org/myrobotlab/service/meta/WebXrMeta.java diff --git a/src/main/java/org/myrobotlab/service/WebXr.java b/src/main/java/org/myrobotlab/service/WebXr.java deleted file mode 100644 index 87df997800..0000000000 --- a/src/main/java/org/myrobotlab/service/WebXr.java +++ /dev/null @@ -1,87 +0,0 @@ -package org.myrobotlab.service; - -import java.util.HashMap; -import java.util.Map; - -import org.myrobotlab.framework.Service; -import org.myrobotlab.logging.Level; -import org.myrobotlab.logging.LoggerFactory; -import org.myrobotlab.logging.LoggingFactory; -import org.myrobotlab.math.MapperSimple; -import org.myrobotlab.service.config.WebXrConfig; -import org.myrobotlab.service.data.Pose; -import org.slf4j.Logger; - -public class WebXr extends Service { - - private static final long serialVersionUID = 1L; - - public final static Logger log = LoggerFactory.getLogger(WebXr.class); - - public WebXr(String n, String id) { - super(n, id); - } - - public Pose publishPose(Pose pose) { - log.warn("publishPose {}", pose); - System.out.println(pose.toString()); - - // process mappings config into joint angles - Map map = new HashMap<>(); - - WebXrConfig c = (WebXrConfig)config; - String path = String.format("%s.orientation.roll", pose.name); - if (c.mappings.containsKey(path)) { - Map mapper = c.mappings.get(path); - for (String name: mapper.keySet()) { - map.put(name, mapper.get(name).calcOutput(pose.orientation.roll)); - } - } - - path = String.format("%s.orientation.pitch", pose.name); - if (c.mappings.containsKey(path)) { - Map mapper = c.mappings.get(path); - for (String name: mapper.keySet()) { - map.put(name, mapper.get(name).calcOutput(pose.orientation.pitch)); - } - } - - path = String.format("%s.orientation.yaw", pose.name); - if (c.mappings.containsKey(path)) { - Map mapper = c.mappings.get(path); - for (String name: mapper.keySet()) { - map.put(name, mapper.get(name).calcOutput(pose.orientation.yaw)); - } - } - - invoke("publishJointAngles", map); - - return pose; - } - - // TODO publishQuaternion - - public Map publishJointAngles(Map map){ - return map; - } - - public static void main(String[] args) { - try { - - LoggingFactory.init(Level.INFO); - - Runtime.start("webxr", "WebXr"); - WebGui webgui = (WebGui) Runtime.create("webgui", "WebGui"); - // webgui.setSsl(true); - webgui.autoStartBrowser(false); - webgui.startService(); - Runtime.start("vertx", "Vertx"); - InMoov2 i01 = (InMoov2)Runtime.start("i01", "InMoov2"); - i01.startPeer("simulator"); - - - } catch (Exception e) { - log.error("main threw", e); - } - } -} diff --git a/src/main/java/org/myrobotlab/service/config/WebXrConfig.java b/src/main/java/org/myrobotlab/service/config/WebXrConfig.java deleted file mode 100644 index c97615440b..0000000000 --- a/src/main/java/org/myrobotlab/service/config/WebXrConfig.java +++ /dev/null @@ -1,37 +0,0 @@ -package org.myrobotlab.service.config; - -import java.util.HashMap; -import java.util.Map; - -import org.myrobotlab.math.MapperSimple; - -public class WebXrConfig extends ServiceConfig { - - public Integer port = 8888; - public boolean autoStartBrowser = true; - - /** - * range and name mappings for orientation and position - * controller name | servo name | mapping - */ - public Map> mappings = new HashMap<>(); - - public WebXrConfig() { - - Map map = new HashMap<>(); - map.put("i01.head.rollNeck", new MapperSimple(-3.14, 3.14, -90, 270)); - mappings.put("head.orientation.roll", map); - - map = new HashMap<>(); - map.put("i01.head.rothead", new MapperSimple(-3.14, 3.14, -90, 270)); - mappings.put("head.orientation.yaw", map); - - map = new HashMap<>(); - map.put("i01.head.neck", new MapperSimple(-3.14, 3.14, -90, 270)); - mappings.put("head.orientation.pitch", map); - - } - -} - - diff --git a/src/main/java/org/myrobotlab/service/meta/WebXrMeta.java b/src/main/java/org/myrobotlab/service/meta/WebXrMeta.java deleted file mode 100644 index 46b0921214..0000000000 --- a/src/main/java/org/myrobotlab/service/meta/WebXrMeta.java +++ /dev/null @@ -1,38 +0,0 @@ -package org.myrobotlab.service.meta; - -import org.myrobotlab.logging.LoggerFactory; -import org.myrobotlab.service.meta.abstracts.MetaData; -import org.slf4j.Logger; - -public class WebXrMeta extends MetaData { - private static final long serialVersionUID = 1L; - public final static Logger log = LoggerFactory.getLogger(WebXrMeta.class); - - /** - * This class is contains all the meta data details of a service. It's peers, - * dependencies, and all other meta data related to the service. - * - */ - public WebXrMeta() { - - // add a cool description - addDescription("WebXr allows hmi devices to add input and get data back from mrl"); - - // false will prevent it being seen in the ui - setAvailable(true); - - // add dependencies if necessary - // addDependency("com.twelvemonkeys.common", "common-lang", "3.1.1"); - - setAvailable(false); - - // add it to one or many categories - addCategory("remote","control"); - - // add a sponsor to this service - // the person who will do maintenance - // setSponsor("GroG"); - - } - -} From b7ddb43c364fa39da7b0e14583e620d7c2d7948c Mon Sep 17 00:00:00 2001 From: grog Date: Sat, 22 Jul 2023 15:37:20 -0700 Subject: [PATCH 14/18] incremental --- .../java/org/myrobotlab/service/Cron.java | 188 +++++++++++------- .../java/org/myrobotlab/service/Hd44780.java | 20 +- .../org/myrobotlab/service/ProgramAB.java | 2 +- .../java/org/myrobotlab/service/Vertx.java | 19 ++ .../java/org/myrobotlab/service/WebXR.java | 87 ++++++++ .../myrobotlab/service/config/CronConfig.java | 5 +- .../myrobotlab/service/meta/WebXRMeta.java | 33 +++ .../resource/WebGui/app/service/js/CronGui.js | 18 +- .../WebGui/app/service/views/CronGui.html | 17 +- 9 files changed, 300 insertions(+), 89 deletions(-) create mode 100644 src/main/java/org/myrobotlab/service/WebXR.java create mode 100644 src/main/java/org/myrobotlab/service/meta/WebXRMeta.java diff --git a/src/main/java/org/myrobotlab/service/Cron.java b/src/main/java/org/myrobotlab/service/Cron.java index a6826c9b25..e52e9fe2b5 100644 --- a/src/main/java/org/myrobotlab/service/Cron.java +++ b/src/main/java/org/myrobotlab/service/Cron.java @@ -1,8 +1,11 @@ package org.myrobotlab.service; import java.io.Serializable; +import java.util.ArrayList; +import java.util.Date; +import java.util.LinkedHashMap; +import java.util.List; import java.util.Map; -import java.util.UUID; import org.myrobotlab.framework.Service; import org.myrobotlab.logging.Level; @@ -10,6 +13,7 @@ import org.myrobotlab.logging.Logging; import org.myrobotlab.logging.LoggingFactory; import org.myrobotlab.service.config.CronConfig; +import org.myrobotlab.service.config.ServiceConfig; import org.slf4j.Logger; import it.sauronsoftware.cron4j.Scheduler; @@ -24,10 +28,15 @@ * */ public class Cron extends Service { - + public static class Task implements Serializable, Runnable { private static final long serialVersionUID = 1L; + /** + * reference to service + */ + transient Cron cron; + /** * cron pattern for this task */ @@ -44,7 +53,7 @@ public static class Task implements Serializable, Runnable { transient public String hash; /** - * unique id for the user to use + * id for the user to use */ public String id; @@ -53,11 +62,6 @@ public static class Task implements Serializable, Runnable { */ public String method; - /** - * reference to service - */ - transient Cron cron; - /** * name of the target service */ @@ -81,12 +85,13 @@ public Task(Cron cron, String id, String cronPattern, String name, String method @Override public void run() { - if (cron != null) { log.info("{} Cron firing message {}->{}.{}", cron.getName(), name, method, data); cron.send(name, method, data); - } else { - log.error("cron service is null"); - } + cron.history.add(new TaskHistory(id, new Date())); + if (cron.history.size() > cron.HISTORY_SIZE) { + cron.history.remove(0); + } + cron.broadcastState(); } @Override @@ -94,16 +99,41 @@ public String toString() { return String.format("%s, %s, %s, %s", id, cronPattern, name, method); } } + + public static class TaskHistory { + public String id; + public Date processedTime; + + public TaskHistory(String id, Date now) { + this.id = id; + this.processedTime = now; + } + } public final static Logger log = LoggerFactory.getLogger(Cron.class); private static final long serialVersionUID = 1L; + /** + * history buffer of tasks that have been executed + */ + final protected List history = new ArrayList<>(); + + /** + * max size of history buffer + */ + final int HISTORY_SIZE = 30; + /** * the thing that translates all the cron pattern values and implements actual tasks */ transient private Scheduler scheduler = new Scheduler(); + /** + * map of tasks organized by id + */ + public Map tasks = new LinkedHashMap<>(); + public Cron(String n, String id) { super(n, id); } @@ -117,73 +147,89 @@ public Cron(String n, String id) { * @param method * @return */ - public String addNamedTask(String id, String cron, String serviceName, String method) { - return addNamedTask(id, cron, serviceName, method, (Object[]) null); + public String addTask(String id, String cron, String serviceName, String method) { + return addTask(id, cron, serviceName, method, (Object[]) null); } /** * Add a named task with parameters * * @param id - * @param cron + * @param cronPattern * @param serviceName * @param method * @param data * @return */ - public String addNamedTask(String id, String cron, String serviceName, String method, Object... data) { - CronConfig c = (CronConfig) config; - Task task = new Task(this, id, cron, serviceName, method, data); - task.id = id; - task.hash = scheduler.schedule(cron, task); - c.tasks.put(id, task); - broadcastState(); + public String addTask(String id, String cronPattern, String serviceName, String method, Object... data) { + Task task = new Task(this, id, cronPattern, serviceName, method, data); + addTask(task); return id; } + /** * * @param task * @return */ - public String addNamedTask(Task task) { - CronConfig c = (CronConfig) config; + public String addTask(Task task) { + if (tasks.containsKey(task.id)) { + log.info("descheduling prexisting task {} hash {}", task.id, task.hash); + scheduler.deschedule(task.id); + } + log.info("scheduling task {}", task.id); task.hash = scheduler.schedule(task.cronPattern, task); - c.tasks.put(task.id, task); + task.cron = this; + tasks.put(task.id, task); broadcastState(); return task.id; } - /** - * Add a task with out parameters, the name will be generated guid - * - * @param cron - * @param serviceName - * @param method - * @return - */ - public String addTask(String cron, String serviceName, String method) { - String id = UUID.randomUUID().toString(); - return addNamedTask(id, cron, serviceName, method, (Object[]) null); + @Override + public ServiceConfig apply(ServiceConfig c) { + // deschedule current tasks + removeAllTasks(); + + // add new tasks + CronConfig config = (CronConfig)c; + for (Task task : config.tasks) { + addTask(task); + } + return c; + } + + @Override + public ServiceConfig getConfig() { + CronConfig c = (CronConfig)config; + c.tasks = new ArrayList<>(); + for (Task task: tasks.values()) { + c.tasks.add(task); + } + return c; + } + + public Map getCronTasks() { + return tasks; } /** - * Add a task with parameters, the name will be generated guid - * - * @param cron - * @param serviceName - * @param method - * @param data + * get a task from id + * @param id * @return */ - public String addTask(String cron, String serviceName, String method, Object... data) { - String id = UUID.randomUUID().toString(); - return addNamedTask(id, cron, serviceName, method, data); + public Task getTask(String id) { + return tasks.get(id); } - public Map getCronTasks() { - CronConfig c = (CronConfig) config; - return c.tasks; + /** + * removes all the tasks without stopping the scheduler + */ + public void removeAllTasks() { + for (Task t : tasks.values()) { + scheduler.deschedule(t.hash); + } + tasks.clear(); } /** @@ -192,8 +238,7 @@ public Map getCronTasks() { * @return the removed task if it exists */ public Task removeTask(String id) { - CronConfig c = (CronConfig) config; - Task t = c.tasks.remove(id); + Task t = tasks.remove(id); if (t != null) { scheduler.deschedule(t.hash); } else { @@ -202,39 +247,22 @@ public Task removeTask(String id) { broadcastState(); return t; } - + /** - * removes all the tasks without stopping the scheduler + * start the schedular and all associated tasks */ - public void removeAllTasks() { - CronConfig c = (CronConfig) config; - for (Task t : c.tasks.values()) { - scheduler.deschedule(t.hash); + public void start() { + if (!scheduler.isStarted()) { + scheduler.start(); } - c.tasks.clear(); } - + @Override public void startService() { super.startService(); start(); } - - @Override - public void stopService() { - super.stopService(); - stop(); - } - - /** - * start the schedular and all associated tasks - */ - public void start() { - if (!scheduler.isStarted()) { - scheduler.start(); - } - } - + /** * stop the schedular ad all associated tasks */ @@ -244,7 +272,14 @@ public void stop() { scheduler.stop(); } } + + @Override + public void stopService() { + super.stopService(); + stop(); + } + public static void main(String[] args) { LoggingFactory.init(Level.INFO); @@ -262,9 +297,9 @@ public static void main(String[] args) { * cron.addScheduledEvent("59 * * * *","arduino","digitalWrite", 11, 0); */ // every odd minute - String id = cron.addNamedTask("led on", "1-59/2 * * * *", "mega", "digitalWrite", 13, 1); + String id = cron.addTask("led on", "1-59/2 * * * *", "mega", "digitalWrite", 13, 1); // every event minute - String id2 = cron.addNamedTask("led off", "*/2 * * * *", "mega", "digitalWrite", 13, 0); + String id2 = cron.addTask("led off", "*/2 * * * *", "mega", "digitalWrite", 13, 0); // Runtime.createAndStart("webgui", "WebGui"); @@ -272,4 +307,5 @@ public static void main(String[] args) { Logging.logError(e); } } + } diff --git a/src/main/java/org/myrobotlab/service/Hd44780.java b/src/main/java/org/myrobotlab/service/Hd44780.java index da1750d5c2..d20adf6986 100644 --- a/src/main/java/org/myrobotlab/service/Hd44780.java +++ b/src/main/java/org/myrobotlab/service/Hd44780.java @@ -13,6 +13,7 @@ import org.myrobotlab.service.config.Hd44780Config; import org.myrobotlab.service.config.ServiceConfig; import org.myrobotlab.service.interfaces.I2CControl; +import org.myrobotlab.service.interfaces.TextListener; import org.slf4j.Logger; /** @@ -24,7 +25,7 @@ * @author Moz4r modified by Ray Edgley. * */ -public class Hd44780 extends Service { +public class Hd44780 extends Service implements TextListener { public final static Logger log = LoggerFactory.getLogger(Hd44780.class); @@ -205,6 +206,16 @@ public void display(String string, int line) { } lcdWriteDataString(string); } + + /** + * display the text + * FIXME - should by default scroll if text is larger than the width of the hd + * @param text + */ + public void display(String text) { + // FIXME - lame, but going to default this way + display(text, 0); + } /** * Clear lcd and set to home. @@ -710,4 +721,11 @@ public ServiceConfig apply(ServiceConfig c) { } return c; } + + + @Override + public void onText(String text) throws Exception { + display(text); + } + } \ No newline at end of file diff --git a/src/main/java/org/myrobotlab/service/ProgramAB.java b/src/main/java/org/myrobotlab/service/ProgramAB.java index ff123320fc..6812d8d096 100644 --- a/src/main/java/org/myrobotlab/service/ProgramAB.java +++ b/src/main/java/org/myrobotlab/service/ProgramAB.java @@ -794,7 +794,7 @@ public String addBotPath(String path) { broadcastState(); } else { - error("invalid bot path - a bot must be a directory with a subdirectory named \"aiml\""); + error("invalid bot path %s - a bot must be a directory with a subdirectory named \"aiml\"", path); return null; } return path; diff --git a/src/main/java/org/myrobotlab/service/Vertx.java b/src/main/java/org/myrobotlab/service/Vertx.java index 26258ddb5c..f87e9b9e4c 100644 --- a/src/main/java/org/myrobotlab/service/Vertx.java +++ b/src/main/java/org/myrobotlab/service/Vertx.java @@ -36,6 +36,9 @@ public Vertx(String n, String id) { super(n, id); } + /** + * deploys a http and websocket verticle on a secure TLS channel with self signed certificate + */ public void start() { log.info("starting driver"); @@ -62,7 +65,23 @@ public void start() { vertx.deployVerticle(new ApiVerticle(this)); } + + @Override + public void startService() { + super.startService(); + start(); + } + + @Override + public void stopService() { + super.stopService(); + stop(); + } + + /** + * + */ public void stop() { log.info("stopping driver"); Set ids = vertx.deploymentIDs(); diff --git a/src/main/java/org/myrobotlab/service/WebXR.java b/src/main/java/org/myrobotlab/service/WebXR.java new file mode 100644 index 0000000000..22328d1b39 --- /dev/null +++ b/src/main/java/org/myrobotlab/service/WebXR.java @@ -0,0 +1,87 @@ +package org.myrobotlab.service; + +import java.util.HashMap; +import java.util.Map; + +import org.myrobotlab.framework.Service; +import org.myrobotlab.logging.Level; +import org.myrobotlab.logging.LoggerFactory; +import org.myrobotlab.logging.LoggingFactory; +import org.myrobotlab.math.MapperSimple; +import org.myrobotlab.service.config.WebXRConfig; +import org.myrobotlab.service.data.Pose; +import org.slf4j.Logger; + +public class WebXR extends Service { + + private static final long serialVersionUID = 1L; + + public final static Logger log = LoggerFactory.getLogger(WebXR.class); + + public WebXR(String n, String id) { + super(n, id); + } + + public Pose publishPose(Pose pose) { + log.warn("publishPose {}", pose); + System.out.println(pose.toString()); + + // process mappings config into joint angles + Map map = new HashMap<>(); + + WebXRConfig c = (WebXRConfig)config; + String path = String.format("%s.orientation.roll", pose.name); + if (c.mappings.containsKey(path)) { + Map mapper = c.mappings.get(path); + for (String name: mapper.keySet()) { + map.put(name, mapper.get(name).calcOutput(pose.orientation.roll)); + } + } + + path = String.format("%s.orientation.pitch", pose.name); + if (c.mappings.containsKey(path)) { + Map mapper = c.mappings.get(path); + for (String name: mapper.keySet()) { + map.put(name, mapper.get(name).calcOutput(pose.orientation.pitch)); + } + } + + path = String.format("%s.orientation.yaw", pose.name); + if (c.mappings.containsKey(path)) { + Map mapper = c.mappings.get(path); + for (String name: mapper.keySet()) { + map.put(name, mapper.get(name).calcOutput(pose.orientation.yaw)); + } + } + + invoke("publishJointAngles", map); + + return pose; + } + + // TODO publishQuaternion + + public Map publishJointAngles(Map map){ + return map; + } + + public static void main(String[] args) { + try { + + LoggingFactory.init(Level.INFO); + + Runtime.start("webxr", "WebXr"); + WebGui webgui = (WebGui) Runtime.create("webgui", "WebGui"); + // webgui.setSsl(true); + webgui.autoStartBrowser(false); + webgui.startService(); + Runtime.start("vertx", "Vertx"); + InMoov2 i01 = (InMoov2)Runtime.start("i01", "InMoov2"); + i01.startPeer("simulator"); + + + } catch (Exception e) { + log.error("main threw", e); + } + } +} diff --git a/src/main/java/org/myrobotlab/service/config/CronConfig.java b/src/main/java/org/myrobotlab/service/config/CronConfig.java index 5bb0c50ff5..974526c1f2 100644 --- a/src/main/java/org/myrobotlab/service/config/CronConfig.java +++ b/src/main/java/org/myrobotlab/service/config/CronConfig.java @@ -1,11 +1,12 @@ package org.myrobotlab.service.config; -import java.util.LinkedHashMap; +import java.util.ArrayList; +import java.util.List; import org.myrobotlab.service.Cron.Task; public class CronConfig extends ServiceConfig { - public LinkedHashMap tasks = new LinkedHashMap<>(); + public List tasks = new ArrayList<>(); } diff --git a/src/main/java/org/myrobotlab/service/meta/WebXRMeta.java b/src/main/java/org/myrobotlab/service/meta/WebXRMeta.java new file mode 100644 index 0000000000..171959fbf5 --- /dev/null +++ b/src/main/java/org/myrobotlab/service/meta/WebXRMeta.java @@ -0,0 +1,33 @@ +package org.myrobotlab.service.meta; + +import org.myrobotlab.logging.LoggerFactory; +import org.myrobotlab.service.meta.abstracts.MetaData; +import org.slf4j.Logger; + +public class WebXRMeta extends MetaData { + private static final long serialVersionUID = 1L; + public final static Logger log = LoggerFactory.getLogger(WebXRMeta.class); + + /** + * This class is contains all the meta data details of a service. It's peers, + * dependencies, and all other meta data related to the service. + * + */ + public WebXRMeta() { + + // add a cool description + addDescription("WebXr allows hmi devices to add input and get data back from mrl"); + + // false will prevent it being seen in the ui + setAvailable(true); + + // add it to one or many categories + addCategory("remote","control"); + + // add a sponsor to this service + // the person who will do maintenance + // setSponsor("GroG"); + + } + +} diff --git a/src/main/resources/resource/WebGui/app/service/js/CronGui.js b/src/main/resources/resource/WebGui/app/service/js/CronGui.js index 80ce7a109b..7fcf13e0ff 100644 --- a/src/main/resources/resource/WebGui/app/service/js/CronGui.js +++ b/src/main/resources/resource/WebGui/app/service/js/CronGui.js @@ -12,7 +12,7 @@ angular.module('mrlapp.service.CronGui', []).controller('CronGuiCtrl', ['$scope' cronPattern: null, name: null, method: null, - data: null + data: null } // GOOD TEMPLATE TO FOLLOW @@ -34,20 +34,24 @@ angular.module('mrlapp.service.CronGui', []).controller('CronGuiCtrl', ['$scope' } $scope.addNamedTask = function() { - if ($scope.parameters && $scope.parameters.length > 0){ + if ($scope.parameters && $scope.parameters.length > 0) { $scope.newTask.data = JSON.parse($scope.parameters) } else { $scope.newTask.data = null } - - msg.send('addNamedTask', $scope.newTask) + + msg.send('addTask', $scope.newTask) } - + $scope.removeTask = function(id) { msg.send('removeTask', id) } - msg.subscribe(this) } -]) +]).filter('epochToLocalDate', function() { + return function(epochTime) { + return new Date(epochTime).toLocaleString(); + } + ; +}); diff --git a/src/main/resources/resource/WebGui/app/service/views/CronGui.html b/src/main/resources/resource/WebGui/app/service/views/CronGui.html index 78f17783cb..c1f31bd3cd 100644 --- a/src/main/resources/resource/WebGui/app/service/views/CronGui.html +++ b/src/main/resources/resource/WebGui/app/service/views/CronGui.html @@ -8,13 +8,13 @@

Cron Tab

- + - + @@ -52,6 +52,19 @@

Cron Tab

+ + + + + + + + + + + + +
nameid cron service method parameters
History
{{history.id}}{{ history.processedTime | epochToLocalDate }}

From 754b978718bcf8a336d5a27e1323f2b653660922 Mon Sep 17 00:00:00 2001 From: grog Date: Sat, 22 Jul 2023 15:42:51 -0700 Subject: [PATCH 15/18] Improved Cron and Cron history --- .../java/org/myrobotlab/service/Cron.java | 188 +++++++++++------- .../myrobotlab/service/config/CronConfig.java | 5 +- .../resource/WebGui/app/service/js/CronGui.js | 18 +- .../WebGui/app/service/views/CronGui.html | 17 +- 4 files changed, 141 insertions(+), 87 deletions(-) diff --git a/src/main/java/org/myrobotlab/service/Cron.java b/src/main/java/org/myrobotlab/service/Cron.java index a6826c9b25..e52e9fe2b5 100644 --- a/src/main/java/org/myrobotlab/service/Cron.java +++ b/src/main/java/org/myrobotlab/service/Cron.java @@ -1,8 +1,11 @@ package org.myrobotlab.service; import java.io.Serializable; +import java.util.ArrayList; +import java.util.Date; +import java.util.LinkedHashMap; +import java.util.List; import java.util.Map; -import java.util.UUID; import org.myrobotlab.framework.Service; import org.myrobotlab.logging.Level; @@ -10,6 +13,7 @@ import org.myrobotlab.logging.Logging; import org.myrobotlab.logging.LoggingFactory; import org.myrobotlab.service.config.CronConfig; +import org.myrobotlab.service.config.ServiceConfig; import org.slf4j.Logger; import it.sauronsoftware.cron4j.Scheduler; @@ -24,10 +28,15 @@ * */ public class Cron extends Service { - + public static class Task implements Serializable, Runnable { private static final long serialVersionUID = 1L; + /** + * reference to service + */ + transient Cron cron; + /** * cron pattern for this task */ @@ -44,7 +53,7 @@ public static class Task implements Serializable, Runnable { transient public String hash; /** - * unique id for the user to use + * id for the user to use */ public String id; @@ -53,11 +62,6 @@ public static class Task implements Serializable, Runnable { */ public String method; - /** - * reference to service - */ - transient Cron cron; - /** * name of the target service */ @@ -81,12 +85,13 @@ public Task(Cron cron, String id, String cronPattern, String name, String method @Override public void run() { - if (cron != null) { log.info("{} Cron firing message {}->{}.{}", cron.getName(), name, method, data); cron.send(name, method, data); - } else { - log.error("cron service is null"); - } + cron.history.add(new TaskHistory(id, new Date())); + if (cron.history.size() > cron.HISTORY_SIZE) { + cron.history.remove(0); + } + cron.broadcastState(); } @Override @@ -94,16 +99,41 @@ public String toString() { return String.format("%s, %s, %s, %s", id, cronPattern, name, method); } } + + public static class TaskHistory { + public String id; + public Date processedTime; + + public TaskHistory(String id, Date now) { + this.id = id; + this.processedTime = now; + } + } public final static Logger log = LoggerFactory.getLogger(Cron.class); private static final long serialVersionUID = 1L; + /** + * history buffer of tasks that have been executed + */ + final protected List history = new ArrayList<>(); + + /** + * max size of history buffer + */ + final int HISTORY_SIZE = 30; + /** * the thing that translates all the cron pattern values and implements actual tasks */ transient private Scheduler scheduler = new Scheduler(); + /** + * map of tasks organized by id + */ + public Map tasks = new LinkedHashMap<>(); + public Cron(String n, String id) { super(n, id); } @@ -117,73 +147,89 @@ public Cron(String n, String id) { * @param method * @return */ - public String addNamedTask(String id, String cron, String serviceName, String method) { - return addNamedTask(id, cron, serviceName, method, (Object[]) null); + public String addTask(String id, String cron, String serviceName, String method) { + return addTask(id, cron, serviceName, method, (Object[]) null); } /** * Add a named task with parameters * * @param id - * @param cron + * @param cronPattern * @param serviceName * @param method * @param data * @return */ - public String addNamedTask(String id, String cron, String serviceName, String method, Object... data) { - CronConfig c = (CronConfig) config; - Task task = new Task(this, id, cron, serviceName, method, data); - task.id = id; - task.hash = scheduler.schedule(cron, task); - c.tasks.put(id, task); - broadcastState(); + public String addTask(String id, String cronPattern, String serviceName, String method, Object... data) { + Task task = new Task(this, id, cronPattern, serviceName, method, data); + addTask(task); return id; } + /** * * @param task * @return */ - public String addNamedTask(Task task) { - CronConfig c = (CronConfig) config; + public String addTask(Task task) { + if (tasks.containsKey(task.id)) { + log.info("descheduling prexisting task {} hash {}", task.id, task.hash); + scheduler.deschedule(task.id); + } + log.info("scheduling task {}", task.id); task.hash = scheduler.schedule(task.cronPattern, task); - c.tasks.put(task.id, task); + task.cron = this; + tasks.put(task.id, task); broadcastState(); return task.id; } - /** - * Add a task with out parameters, the name will be generated guid - * - * @param cron - * @param serviceName - * @param method - * @return - */ - public String addTask(String cron, String serviceName, String method) { - String id = UUID.randomUUID().toString(); - return addNamedTask(id, cron, serviceName, method, (Object[]) null); + @Override + public ServiceConfig apply(ServiceConfig c) { + // deschedule current tasks + removeAllTasks(); + + // add new tasks + CronConfig config = (CronConfig)c; + for (Task task : config.tasks) { + addTask(task); + } + return c; + } + + @Override + public ServiceConfig getConfig() { + CronConfig c = (CronConfig)config; + c.tasks = new ArrayList<>(); + for (Task task: tasks.values()) { + c.tasks.add(task); + } + return c; + } + + public Map getCronTasks() { + return tasks; } /** - * Add a task with parameters, the name will be generated guid - * - * @param cron - * @param serviceName - * @param method - * @param data + * get a task from id + * @param id * @return */ - public String addTask(String cron, String serviceName, String method, Object... data) { - String id = UUID.randomUUID().toString(); - return addNamedTask(id, cron, serviceName, method, data); + public Task getTask(String id) { + return tasks.get(id); } - public Map getCronTasks() { - CronConfig c = (CronConfig) config; - return c.tasks; + /** + * removes all the tasks without stopping the scheduler + */ + public void removeAllTasks() { + for (Task t : tasks.values()) { + scheduler.deschedule(t.hash); + } + tasks.clear(); } /** @@ -192,8 +238,7 @@ public Map getCronTasks() { * @return the removed task if it exists */ public Task removeTask(String id) { - CronConfig c = (CronConfig) config; - Task t = c.tasks.remove(id); + Task t = tasks.remove(id); if (t != null) { scheduler.deschedule(t.hash); } else { @@ -202,39 +247,22 @@ public Task removeTask(String id) { broadcastState(); return t; } - + /** - * removes all the tasks without stopping the scheduler + * start the schedular and all associated tasks */ - public void removeAllTasks() { - CronConfig c = (CronConfig) config; - for (Task t : c.tasks.values()) { - scheduler.deschedule(t.hash); + public void start() { + if (!scheduler.isStarted()) { + scheduler.start(); } - c.tasks.clear(); } - + @Override public void startService() { super.startService(); start(); } - - @Override - public void stopService() { - super.stopService(); - stop(); - } - - /** - * start the schedular and all associated tasks - */ - public void start() { - if (!scheduler.isStarted()) { - scheduler.start(); - } - } - + /** * stop the schedular ad all associated tasks */ @@ -244,7 +272,14 @@ public void stop() { scheduler.stop(); } } + + @Override + public void stopService() { + super.stopService(); + stop(); + } + public static void main(String[] args) { LoggingFactory.init(Level.INFO); @@ -262,9 +297,9 @@ public static void main(String[] args) { * cron.addScheduledEvent("59 * * * *","arduino","digitalWrite", 11, 0); */ // every odd minute - String id = cron.addNamedTask("led on", "1-59/2 * * * *", "mega", "digitalWrite", 13, 1); + String id = cron.addTask("led on", "1-59/2 * * * *", "mega", "digitalWrite", 13, 1); // every event minute - String id2 = cron.addNamedTask("led off", "*/2 * * * *", "mega", "digitalWrite", 13, 0); + String id2 = cron.addTask("led off", "*/2 * * * *", "mega", "digitalWrite", 13, 0); // Runtime.createAndStart("webgui", "WebGui"); @@ -272,4 +307,5 @@ public static void main(String[] args) { Logging.logError(e); } } + } diff --git a/src/main/java/org/myrobotlab/service/config/CronConfig.java b/src/main/java/org/myrobotlab/service/config/CronConfig.java index 5bb0c50ff5..974526c1f2 100644 --- a/src/main/java/org/myrobotlab/service/config/CronConfig.java +++ b/src/main/java/org/myrobotlab/service/config/CronConfig.java @@ -1,11 +1,12 @@ package org.myrobotlab.service.config; -import java.util.LinkedHashMap; +import java.util.ArrayList; +import java.util.List; import org.myrobotlab.service.Cron.Task; public class CronConfig extends ServiceConfig { - public LinkedHashMap tasks = new LinkedHashMap<>(); + public List tasks = new ArrayList<>(); } diff --git a/src/main/resources/resource/WebGui/app/service/js/CronGui.js b/src/main/resources/resource/WebGui/app/service/js/CronGui.js index 80ce7a109b..7fcf13e0ff 100644 --- a/src/main/resources/resource/WebGui/app/service/js/CronGui.js +++ b/src/main/resources/resource/WebGui/app/service/js/CronGui.js @@ -12,7 +12,7 @@ angular.module('mrlapp.service.CronGui', []).controller('CronGuiCtrl', ['$scope' cronPattern: null, name: null, method: null, - data: null + data: null } // GOOD TEMPLATE TO FOLLOW @@ -34,20 +34,24 @@ angular.module('mrlapp.service.CronGui', []).controller('CronGuiCtrl', ['$scope' } $scope.addNamedTask = function() { - if ($scope.parameters && $scope.parameters.length > 0){ + if ($scope.parameters && $scope.parameters.length > 0) { $scope.newTask.data = JSON.parse($scope.parameters) } else { $scope.newTask.data = null } - - msg.send('addNamedTask', $scope.newTask) + + msg.send('addTask', $scope.newTask) } - + $scope.removeTask = function(id) { msg.send('removeTask', id) } - msg.subscribe(this) } -]) +]).filter('epochToLocalDate', function() { + return function(epochTime) { + return new Date(epochTime).toLocaleString(); + } + ; +}); diff --git a/src/main/resources/resource/WebGui/app/service/views/CronGui.html b/src/main/resources/resource/WebGui/app/service/views/CronGui.html index 78f17783cb..c1f31bd3cd 100644 --- a/src/main/resources/resource/WebGui/app/service/views/CronGui.html +++ b/src/main/resources/resource/WebGui/app/service/views/CronGui.html @@ -8,13 +8,13 @@

Cron Tab

- + - + @@ -52,6 +52,19 @@

Cron Tab

+ + + + + + + + + + + + +
nameid cron service method parameters
History
{{history.id}}{{ history.processedTime | epochToLocalDate }}
From a8dc9636c9d6bbd8a55fe856b0e31e0f8329bee6 Mon Sep 17 00:00:00 2001 From: grog Date: Sat, 22 Jul 2023 15:48:35 -0700 Subject: [PATCH 16/18] forgot one --- .../java/org/myrobotlab/service/Hd44780.java | 20 ++++++++++++++++++- 1 file changed, 19 insertions(+), 1 deletion(-) diff --git a/src/main/java/org/myrobotlab/service/Hd44780.java b/src/main/java/org/myrobotlab/service/Hd44780.java index da1750d5c2..d20adf6986 100644 --- a/src/main/java/org/myrobotlab/service/Hd44780.java +++ b/src/main/java/org/myrobotlab/service/Hd44780.java @@ -13,6 +13,7 @@ import org.myrobotlab.service.config.Hd44780Config; import org.myrobotlab.service.config.ServiceConfig; import org.myrobotlab.service.interfaces.I2CControl; +import org.myrobotlab.service.interfaces.TextListener; import org.slf4j.Logger; /** @@ -24,7 +25,7 @@ * @author Moz4r modified by Ray Edgley. * */ -public class Hd44780 extends Service { +public class Hd44780 extends Service implements TextListener { public final static Logger log = LoggerFactory.getLogger(Hd44780.class); @@ -205,6 +206,16 @@ public void display(String string, int line) { } lcdWriteDataString(string); } + + /** + * display the text + * FIXME - should by default scroll if text is larger than the width of the hd + * @param text + */ + public void display(String text) { + // FIXME - lame, but going to default this way + display(text, 0); + } /** * Clear lcd and set to home. @@ -710,4 +721,11 @@ public ServiceConfig apply(ServiceConfig c) { } return c; } + + + @Override + public void onText(String text) throws Exception { + display(text); + } + } \ No newline at end of file From 879164715a5490cfe5d505809331c1422905f57b Mon Sep 17 00:00:00 2001 From: grog Date: Sat, 22 Jul 2023 18:40:08 -0700 Subject: [PATCH 17/18] Teamwork fix of Hd44780 --- .../java/org/myrobotlab/service/Hd44780.java | 78 ++++++++++++------- 1 file changed, 52 insertions(+), 26 deletions(-) diff --git a/src/main/java/org/myrobotlab/service/Hd44780.java b/src/main/java/org/myrobotlab/service/Hd44780.java index d20adf6986..0cf65f4eb1 100644 --- a/src/main/java/org/myrobotlab/service/Hd44780.java +++ b/src/main/java/org/myrobotlab/service/Hd44780.java @@ -183,10 +183,12 @@ public void attachPcf8574(Pcf8574 pcf8574) { * */ public void display(String string, int line) { + log.info("display({},{})", string, line); if (!initialized) { init(); } screenContent.put(line, string); + // FIXME a bit sloppy .. should publishText broadcastState(); switch (line) { case 0: @@ -199,17 +201,32 @@ public void display(String string, int line) { setDdramAddress((byte) 0x14); break; case 3: - setDdramAddress((byte) 0x3C); + setDdramAddress((byte) 0x54); break; default: error("line %d is invalid, valid line values are 0 - 3"); } lcdWriteDataString(string); } - + /** - * display the text - * FIXME - should by default scroll if text is larger than the width of the hd + * Write text to the address at preferred location. Remember the line wrap is + * strange for this device. + * + * @param address + * - ddram address position + * @param text + * - the text to write there + */ + public void displayAt(int address, String text) { + setDdramAddress(address); + lcdWriteDataString(text); + } + + /** + * display the text FIXME - should by default scroll if text is larger than + * the width of the hd + * * @param text */ public void display(String text) { @@ -270,7 +287,8 @@ public void init() { } else { log.info("Init I2C Display"); - setInterface(); // this commands ensures we are in 4 bit mode and our commands are in sync. + setInterface(); // this commands ensures we are in 4 bit mode and our + // commands are in sync. setFunction(true, false); // Set the function Control. clearDisplay(); // Clear the Display and set DDRAM address 0. returnHome(); // Set DDRAM address 0 and return display home. @@ -479,13 +497,14 @@ public void clearDisplay() { * @param address */ public void setDdramAddress(int address) { - if (address < 80) { // Make sure the address is in a valid range - lcdWriteCmd((byte) (address | 0b10000000)); - } else { - error("%d Outside allowed DDRAM Address range 0 - 79", address); + if (address < 0 || (address > 40 && address < 63) || address > 108) { + error("%d Outside allowed DDRAM Address range 0 - 108", address); + return; } + lcdWriteCmd((byte) (address | 0b10000000)); } - + + /** * Set the address to read or write data to the Caracter Generator RAM. The * HD44780 has a built in 205 charater generator rom as well as a 8 charater @@ -564,29 +583,37 @@ public boolean getVerifyBusyFlag() { } /** - * This method will first make sure the HD44780 is in a known state - * and that we are syncrnised to the state. - * It does this by setting the module into 8 bit mode - * then setting it back to 4 bit mode. + * This method will first make sure the HD44780 is in a known state and that + * we are syncrnised to the state. It does this by setting the module into 8 + * bit mode then setting it back to 4 bit mode. */ private void setInterface() { - byte Blight = 0b00001000; // The backlight bit is not used by the HD44780 chip. + byte Blight = 0b00001000; // The backlight bit is not used by the HD44780 + // chip. if (!backLight) { Blight = 0; } pcf.writeRegister((byte) (0b00110000 | En | Blight)); // Set to 8 bit mode - pcf.writeRegister((byte) (0b00110000 | Blight)); // Strobe in command + pcf.writeRegister((byte) (0b00110000 | Blight)); // Strobe in command sleep(10); - pcf.writeRegister((byte) (0b00110000 | En | Blight)); // Repeat the set to 8 bit command - pcf.writeRegister((byte) (0b00110000 | Blight)); // Strobe in command + pcf.writeRegister((byte) (0b00110000 | En | Blight)); // Repeat the set to 8 + // bit command + pcf.writeRegister((byte) (0b00110000 | Blight)); // Strobe in command sleep(10); - pcf.writeRegister((byte) (0b00110000 | En | Blight)); // Repeat the set to 8 bit command - pcf.writeRegister((byte) (0b00110000 | Blight)); // Strobe in command . We should now be in 8 bit mode and in sync + pcf.writeRegister((byte) (0b00110000 | En | Blight)); // Repeat the set to 8 + // bit command + pcf.writeRegister((byte) (0b00110000 | Blight)); // Strobe in command . We + // should now be in 8 bit + // mode and in sync sleep(10); - pcf.writeRegister((byte) (0b00100000 | En | Blight)); // Now set for 4 bit mode. - pcf.writeRegister((byte) (0b00100000 | Blight)); // Strobe in command. In theory, we should now be in 4 bit mode. + pcf.writeRegister((byte) (0b00100000 | En | Blight)); // Now set for 4 bit + // mode. + pcf.writeRegister((byte) (0b00100000 | Blight)); // Strobe in command. In + // theory, we should now be + // in 4 bit mode. sleep(10); } + /** * This method will write the cmd value to the instruction register then wait * until it is ready for the next instruction. Most commands are pretty quick @@ -693,7 +720,7 @@ public static void main(String[] args) { */ @Override public ServiceConfig getConfig() { - Hd44780Config config = (Hd44780Config)super.getConfig(); + Hd44780Config config = (Hd44780Config) super.getConfig(); if (pcfName != null) { config.controller = pcfName; } @@ -721,11 +748,10 @@ public ServiceConfig apply(ServiceConfig c) { } return c; } - - + @Override public void onText(String text) throws Exception { display(text); } - + } \ No newline at end of file From ccceb78781855d24726797f6c931375440c21694 Mon Sep 17 00:00:00 2001 From: grog Date: Sat, 22 Jul 2023 19:28:10 -0700 Subject: [PATCH 18/18] intermediate --- src/main/java/org/myrobotlab/service/WebXR.java | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/main/java/org/myrobotlab/service/WebXR.java b/src/main/java/org/myrobotlab/service/WebXR.java index 22328d1b39..d194df1e4e 100644 --- a/src/main/java/org/myrobotlab/service/WebXR.java +++ b/src/main/java/org/myrobotlab/service/WebXR.java @@ -56,10 +56,12 @@ public Pose publishPose(Pose pose) { invoke("publishJointAngles", map); + // TODO - publishQuaternion + // invoke("publishQuaternion", map); + return pose; } - // TODO publishQuaternion public Map publishJointAngles(Map map){ return map;