ServoMixer Updates

src/main/java/org/myrobotlab/jme3/Jme3App.java

@@ -31,7 +31,8 @@ public Jme3App(JMonkeyEngine jme) {
         // menu = new MainMenuState(jme),
         new ScreenshotAppState("", System.currentTimeMillis()));
     menu = new MainMenuState(jme);
-    stateManager.attach(menu);
+    // REMOVED THE MENU ! GroG 20210424
+//    stateManager.attach(menu);
     this.jme = jme;
     // setShowSettings(true);
   }

src/main/java/org/myrobotlab/kinematics/Pose.java

@@ -15,14 +15,12 @@
 /** represent a set of servo positions at a given point in time */
 public class Pose {
 
-  public final String name;
-  public final Date createdDate;
+  public String name;
   public HashMap<String, Double> positions = new HashMap<String, Double>();
   public HashMap<String, Double> speeds = new HashMap<String, Double>();
 
   public Pose(String name, List<ServoControl> servos) {
     this.name = name;
-    this.createdDate = new Date();
     List<String> servoNames = new ArrayList<String>();
     for (ServoControl sc : servos) {
       positions.put(sc.getName(), sc.getCurrentInputPos());
@@ -40,7 +38,7 @@ public HashMap<String, Double> getPositions() {
   }
 
   public void savePose(String filename) throws IOException {
-    String s = CodecUtils.toJson(this);
+    String s = CodecUtils.toPrettyJson(this);
     FileOutputStream out = new FileOutputStream(new File(filename));
     out.write(s.getBytes());
     out.close();
@@ -56,7 +54,6 @@ public static Pose loadPose(String filename) throws IOException {
   public int hashCode() {
     final int prime = 31;
     int result = 1;
-    result = prime * result + ((createdDate == null) ? 0 : createdDate.hashCode());
     result = prime * result + ((name == null) ? 0 : name.hashCode());
     result = prime * result + ((positions == null) ? 0 : positions.hashCode());
     return result;
@@ -71,11 +68,7 @@ public boolean equals(Object obj) {
     if (getClass() != obj.getClass())
       return false;
     Pose other = (Pose) obj;
-    if (createdDate == null) {
-      if (other.createdDate != null)
-        return false;
-    } else if (!createdDate.equals(other.createdDate))
-      return false;
+
     if (name == null) {
       if (other.name != null)
         return false;
@@ -91,7 +84,7 @@ public boolean equals(Object obj) {
 
   @Override
   public String toString() {
-    return "Pose [positions=" + positions + ", speeds=\" + speeds + \", name=" + name + ", createdDate=" + createdDate + "]";
+    return "Pose [positions=" + positions + ", speeds=\" + speeds + \", name=" + name + "]";
   }
 
 }

src/main/java/org/myrobotlab/kinematics/PoseSequence.java

@@ -0,0 +1,27 @@
+package org.myrobotlab.kinematics;
+
+public class PoseSequence {
+
+    public int id;
+
+    /**
+     * name of pose
+     */
+    public String name;
+
+    /**
+     * number of ms to wait before starting this pose
+     */
+    public Long waitTimeMs;
+
+    public PoseSequence() {      
+    }
+
+    public String toString() {
+      if (waitTimeMs == null) {
+        return name;
+      } else {
+        return String.format("%s %d ms");
+      }
+    }
+}

src/main/java/org/myrobotlab/kinematics/Sequence.java

@@ -0,0 +1,45 @@
+package org.myrobotlab.kinematics;
+
+import java.io.IOException;
+import java.util.ArrayList;
+import java.util.List;
+
+import org.myrobotlab.codec.CodecUtils;
+import org.myrobotlab.io.FileIO;
+import org.myrobotlab.logging.LoggerFactory;
+import org.myrobotlab.service.InMoov2;
+import org.slf4j.Logger;
+
+/** represent a set of servo positions at a given point in time */
+public class Sequence {
+
+  public final static Logger log = LoggerFactory.getLogger(InMoov2.class);
+
+  public String name;
+
+  /**
+   * sequence of poses and offset times
+   */
+  public List<PoseSequence> poses = new ArrayList<>();
+
+  public boolean cycle = false;
+
+  public Sequence() {
+  }
+
+  public Sequence(String name) {
+    this.name = name;
+  }
+
+  @Override
+  public String toString() {
+    return "Sequence: " + name;
+  }
+
+  public static Sequence loadSequence(String filename) throws IOException {
+    String json = FileIO.toString(filename);
+    Sequence pose = (Sequence) CodecUtils.fromJson(json, Sequence.class);
+    return pose;
+  }
+
+}

src/main/java/org/myrobotlab/service/InMoov2.java

@@ -1170,6 +1170,14 @@ public void startAll(String leftPort, String rightPort) throws Exception {
 
     speakBlocking(get("STARTINGSEQUENCE"));
   }
+
+  /**
+   * start servos - no controllers
+   * @throws Exception 
+   */
+  public void startServos() throws Exception {
+    startServos(null, null);
+  }
 
   public ProgramAB startChatBot() {
 
@@ -1299,10 +1307,6 @@ public InMoov2Head startHead(String port) throws Exception {
   // legacy inmoov head exposed pins
   public InMoov2Head startHead(String port, String type, Integer headYPin, Integer headXPin, Integer eyeXPin, Integer eyeYPin, Integer jawPin, Integer rollNeckPin) {
 
-    // log.warn(InMoov.buildDNA(myKey, serviceClass))
-    // speakBlocking(get("STARTINGHEAD") + " " + port);
-    // ??? SHOULD THERE BE REFERENCES AT ALL ??? ... probably not
-
     speakBlocking(get("STARTINGHEAD"));
 
     head = (InMoov2Head) startPeer("head");

src/main/java/org/myrobotlab/service/JMonkeyEngine.java

@@ -2093,7 +2093,9 @@ public void simpleInitApp() {
     // rootNode.setLocalTranslation(0, -200, 0);
     rootNode.setLocalTranslation(0, 0, 0);
 
+
     menu = app.getMainMenu();// new MainMenuState(this);
+    // menu.setEnabled(false);
     // menu.loadGui();
 
     if (usePhysics) {
@@ -2175,9 +2177,12 @@ synchronized public SimpleApplication start(String appName, String appType) {
       // settings.setUseJoysticks(false);
       settings.setUseInput(true);
       settings.setAudioRenderer(null);
+      settings.setResizable(true);
       app.setSettings(settings);
+
       app.setShowSettings(false); // resolution bps etc dialog
       app.setPauseOnLostFocus(false);
+
 
       // the all important "start" - anyone goofing around with the engine
       // before this is done will
@@ -2299,7 +2304,7 @@ public static void main(String[] args) {
       LoggingFactory.init("WARN");
 
       Platform.setVirtual(true);
-      Runtime.main(new String[] { "--interactive", "--id", "admin" });
+      // Runtime.main(new String[] { "--interactive", "--id", "admin" });
       JMonkeyEngine jme = (JMonkeyEngine) Runtime.start("simulator", "JMonkeyEngine");
 
       jme.addBox("box", 1.0, 1.0, 1.0, "fc8803", true);

src/main/java/org/myrobotlab/service/Servo.java

@@ -191,7 +191,7 @@ protected boolean processMove(Double newPos, boolean blocking, Long timeoutMs) {
       broadcast("publishServoMoveTo", this);
     }
     // invoke("publishServoMoveTo", this);
-    broadcastState();
+//    broadcastState();
     if (isBlocking) {
       // our thread did a blocking call - we will wait until encoder notifies us
       // to continue or timeout (if supplied) has been reached