GroG

pom.xml

@@ -1603,6 +1603,34 @@
   </dependency>
 <!-- Twitter end -->
 
+<!-- Vertx begin -->
+  <dependency>
+    <groupId>io.vertx</groupId>
+    <artifactId>vertx-core</artifactId>
+    <version>4.3.3</version>
+    <scope>provided</scope>
+      <exclusions>
+        <exclusion>
+          <groupId>io.netty</groupId>
+          <artifactId>*</artifactId>
+        </exclusion>
+      </exclusions>
+  </dependency>
+  <dependency>
+    <groupId>io.vertx</groupId>
+    <artifactId>vertx-web</artifactId>
+    <version>4.3.3</version>
+    <scope>provided</scope>
+      <exclusions>
+        <exclusion>
+          <groupId>io.netty</groupId>
+          <artifactId>*</artifactId>
+        </exclusion>
+      </exclusions>
+  </dependency>
+<!-- Duplicate entry for io.netty-netty-all-4.1.82.Final skipping -->
+<!-- Vertx end -->
+
 <!-- VoiceRss begin -->
 <!-- Duplicate entry for org.myrobotlab.audio-voice-effects-1.0 skipping -->
   <dependency>

src/main/java/org/myrobotlab/service/Ads1115.java

@@ -8,12 +8,14 @@
 import java.util.Map;
 import java.util.Set;
 
+import org.myrobotlab.codec.CodecUtils;
 import org.myrobotlab.framework.Registration;
 import org.myrobotlab.framework.Service;
 import org.myrobotlab.framework.interfaces.Attachable;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.abstracts.AbstractMicrocontroller.PinListenerFilter;
 import org.myrobotlab.service.config.Ads1115Config;
 import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.data.PinData;
@@ -446,46 +448,12 @@ public void attachPinArrayListener(PinArrayListener listener) {
 
   }
 
-  @Override
-  public void attachPinListener(PinListener listener, int pinAddress) {
-    attach(listener, String.format("%d", pinAddress));
-  }
-
-  @Override
-  public void attach(PinListener listener, String pin) {
-    String name = listener.getName();
-
-    if (listener.isLocal()) {
-      List<PinListener> list = null;
-      if (pinListeners.containsKey(pin)) {
-        list = pinListeners.get(pin);
-      } else {
-        list = new ArrayList<PinListener>();
-      }
-      list.add(listener);
-      pinListeners.put(pin, list);
-
-    } else {
-      // setup for pub sub
-      // FIXME - there is an architectual problem here
-      // locally it works - but remotely - outbox would need to know
-      // specifics of
-      // the data its sending
-      addListener("publishPin", name, "onPin");
-    }
-
-  }
-
   // This section contains all the new attach logic
   @Override
   public void attach(String service) throws Exception {
     attach(Runtime.getService(service));
   }
 
-  public void attach(String listener, int pinAddress) {
-    attachPinListener((PinListener) Runtime.getService(listener), pinAddress);
-  }
-
   public void attach(String controllerName, String deviceBus, String deviceAddress) {
     attach((I2CController) Runtime.getService(controllerName), deviceBus, deviceAddress);
   }
@@ -589,7 +557,7 @@ public void disablePins() {
     }
   }
 
-  @Override
+  @Deprecated /* use enablePin(String pin) */
   public void enablePin(int address) {
     if (controller == null) {
       error("must be connected to enable pins");
@@ -608,8 +576,7 @@ public void enablePin(int address) {
     }
   }
 
-  @Override
-  // TODO Implement individula sample rates per pin
+  @Deprecated /* sue enablePin(String, int) */
   public void enablePin(int address, int rate) {
     setSampleRate(rate);
     enablePin(address);
@@ -697,7 +664,7 @@ public int getLastConversionResults() {
     }
   }
 
-  @Override
+  @Deprecated /* use getPin(String) */
   public PinDefinition getPin(int address) {
     if (pinIndex.containsKey(address)) {
       return pinIndex.get(address);
@@ -769,7 +736,7 @@ public void onRegistered(Registration s) {
 
   }
 
-  @Override
+  @Deprecated /* use pinMode(String, String */
   public void pinMode(int address, String mode) {
     if (mode != null && mode.equalsIgnoreCase("INPUT")) {
     } else {
@@ -780,7 +747,10 @@ public void pinMode(int address, String mode) {
 
   @Override
   public void pinMode(String pin, String mode) {
-    pinMode(getPin(pin).getAddress(), mode);
+    if (mode != null && mode.equalsIgnoreCase("INPUT")) {
+    } else {
+      log.error("Ads1115 only supports INPUT mode");
+    }
   }
 
   public Integer pinNameToAddress(String pinName) {
@@ -817,7 +787,7 @@ public PinDefinition publishPinDefinition(PinDefinition pinDef) {
     return pinDef;
   }
 
-  @Override
+  @Deprecated /* use read(String) */
   public int read(int address) {
     pinIndex.get(address).setValue(readADC_SingleEnded(address));
     return pinIndex.get(address).getValue();
@@ -1110,7 +1080,7 @@ public void startComparator_SingleEnded(int channel, int threshold) {
     writeRegister(ADS1015_REG_POINTER_CONFIG, config);
   }
 
-  @Override
+  @Deprecated /* use write(String, int value) */
   public void write(int address, int value) {
     log.error("Ads1115 only supports read, not write");
 
@@ -1185,5 +1155,19 @@ public Ads1115Config apply(Ads1115Config c) {
     return c;
   }
 
+  @Override
+  public void attachPinListener(PinListener listener) {
+    String name = listener.getName();
+    addListener("publishPin", name);
+    PinListenerFilter filter = new PinListenerFilter(listener);
+    outbox.addFilter(name, CodecUtils.getCallbackTopicName("publishPin"), filter);
+  }
+
+  @Override
+  public void detachPinListener(PinListener listener) {
+    String name = listener.getName();
+    removeListener("publishPin", name);
+    outbox.removeFilter(name, CodecUtils.getCallbackTopicName("publishPin"));
+  }
 
 }

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

@@ -9,7 +9,6 @@
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.Enumeration;
-import java.util.HashMap;
 import java.util.HashSet;
 import java.util.List;
 import java.util.Map;
@@ -233,13 +232,20 @@ DeviceSummary[] arrayToDeviceSummary(int[] deviceSummary) {
   /**
    * Routing Attach - routes ServiceInterface.attach(service) to appropriate
    * methods for this class
+   * 
+   * FIXME - each one of these typed functions could simply provide the name of the
+   * interface that desires to attach.  Then routing would be done easily by
+   * invoke("attach" + InterfaceName, name)
+   * 
+   * If further refactored, the interface might be able to provide the implementation of
+   * setting up pub/sub/listeners
+   * 
    */
   @Override
   public void attach(String name) throws Exception {
     ServiceInterface service = Runtime.getService(name);
     if (ServoControl.class.isAssignableFrom(service.getClass())) {
       attachServoControl((ServoControl) service);
-      ((ServoControl) service).attach(this);
       return;
     } else if (MotorControl.class.isAssignableFrom(service.getClass())) {
       attachMotorControl((MotorControl) service);
@@ -266,20 +272,6 @@ public void attach(ServoControl servo, int pin) throws Exception {
     attachServoControl(servo);
   }
 
-  /**
-   * String interface - this allows you to easily use url api requests like
-   * /attach/nameOfListener/3
-   * 
-   * @param listener
-   *          the listener
-   * @param address
-   *          the address
-   */
-  @Deprecated /* using single attach parameter attach(String) */
-  public void attach(String listener, int address) {
-    attachPinListener((PinListener) Runtime.getService(listener), address);
-  }
-
   @Override
   public void attach(UltrasonicSensorControl sensor, Integer triggerPin, Integer echoPin) throws Exception {
     // refer to
@@ -448,7 +440,9 @@ public void attachServoControl(ServoControl servo) {
       msg.servoAttach(dm.getId(), pin, uS, (int) speed, servo.getName());
       msg.servoAttachPin(dm.getId(), pin);
     }
-    servo.attach(this);
+    if (!servo.isAttached(getName())) {
+      send(servo.getName(), "attach", getName());
+    }
   }
 
   /**
@@ -677,6 +671,7 @@ public void detach() {
   // > deviceDetach/deviceId
   @Override
   public void detach(Attachable device) {
+    super.detach(device);
     if (device == null) {
       return;
     }
@@ -688,13 +683,6 @@ public void detach(Attachable device) {
       return;
     }
 
-    // when a Servo detaches it wants to send a "disable()"
-    // so the Servo needs to detach first - and send that disable,
-    // before we detach it from this arduino
-    if (device instanceof ServoControl && device.isAttached(this)) {
-      device.detach(this);
-    }
-
     log.info("detaching device {}", device.getName());
     Integer id = getDeviceId(device);
     if (id != null && msg != null) {
@@ -786,7 +774,7 @@ public void disablePin(String pinName) {
       warn("pin definition %s does not exist", pinName);
       return;
     }
-    
+
     pinDef.setEnabled(false);
     msg.disablePin(pinDef.getAddress());
   }
@@ -866,19 +854,24 @@ public void enableBoardInfo(Boolean enabled) {
     boardInfoEnabled = enabled;
   }
 
+  public void enablePin(String pin) {
+    PinDefinition pinDef = getPin(pin);
+    enablePin(pinDef.getPin(), 10);
+  }
+
   @Override
+  @Deprecated /* use enablePin(String) */
   public void enablePin(int address) {
-    enablePin(address, 0);
+    PinDefinition pinDef = getPin(address);
+    enablePin(pinDef.getPin(), 1);
   }
 
   // > enablePin/address/type/b16 rate
   @Override
+  @Deprecated /* use enablePin(String, int) */
   public void enablePin(int address, int rate) {
     PinDefinition pinDef = getPin(address);
-    msg.enablePin(address, getMrlPinType(pinDef), rate);
-    pinDef.setEnabled(true);
-    pinDef.setPollRate(rate);
-    invoke("publishPinDefinition", pinDef); // broadcast pin change
+    enablePin(pinDef.getPin(), rate);
   }
 
   /**
@@ -888,7 +881,10 @@ public void enablePin(int address, int rate) {
   public void enablePin(String pin, int rate) {
     if (isConnected()) {
       PinDefinition pinDef = getPin(pin);
-      enablePin(pinDef.getAddress(), rate);
+      msg.enablePin(pinDef.getAddress(), getMrlPinType(pinDef), rate);
+      pinDef.setEnabled(true);
+      pinDef.setPollRate(rate);
+      invoke("publishPinDefinition", pinDef); // broadcast pin change
     }
   }
 
@@ -1535,10 +1531,10 @@ public byte[] getZippedMrlComm() {
     return null;
   }
 
-  @Override
   /**
    * // > pinMode/pin/mode
    */
+  @Deprecated /* use pinMode(String, String */
   public void pinMode(int address, String modeStr) {
     if (modeStr.equalsIgnoreCase("OUTPUT")) {
       pinMode(address, Arduino.OUTPUT);
@@ -1752,42 +1748,7 @@ public PinData[] publishPinArray(int[] data) {
       // update def with last value
       pinDef.setValue(value);
       pinArray[i] = pinData;
-
-      // handle individual pins
-      broadcast("publishPin", pinData);
-
-    }
-
-    // TODO: improve this logic so it doesn't something more effecient.
-    HashMap<String, PinData> pinDataMap = new HashMap<String, PinData>();
-    for (int i = 0; i < pinArray.length; i++) {
-      if (pinArray[i] != null && pinArray[i].pin != null) {
-        pinDataMap.put(pinArray[i].pin, pinArray[i]);
-      }
-    }
-
-    // FIXME !!! - simple pub/sub with broadcast like PinListener
-
-    for (String name : pinArrayListeners.keySet()) {
-      // put the pin data into a map for quick lookup
-      PinArrayListener pal = pinArrayListeners.get(name);
-      if (pal.getActivePins() != null && pal.getActivePins().length > 0) {
-        int numActive = pal.getActivePins().length;
-        PinData[] subArray = new PinData[numActive];
-        for (int i = 0; i < numActive; i++) {
-          String key = pal.getActivePins()[i];
-          if (pinDataMap.containsKey(key)) {
-            subArray[i] = pinDataMap.get(key);
-          } else {
-            subArray[i] = null;
-          }
-        }
-        // only the values that the listener is asking for.
-        pal.onPinArray(subArray);
-      } else {
-        // the full array
-        pal.onPinArray(pinArray);
-      }
+      invoke("publishPin", pinData);
     }
     return pinArray;
   }
@@ -2338,7 +2299,7 @@ public ArduinoConfig apply(ArduinoConfig c) {
       serial = (Serial) startPeer("serial");
       if (serial == null) {
         log.error("serial is null");
-      }      
+      }
       msg.setSerial(serial);
       serial.addByteListener(this);
     } else {
@@ -2370,11 +2331,11 @@ public static void main(String[] args) {
 
       LoggingFactory.init(Level.INFO);
 
-      Runtime runtime = Runtime.getInstance();
-      runtime.saveAllDefaults();
-
       Runtime.start("arduino", "Arduino");
-      Runtime.start("webgui", "WebGui");
+      Runtime.start("python", "Python");
+      WebGui webgui = (WebGui) Runtime.create("webgui", "WebGui");
+      webgui.autoStartBrowser(false);
+      webgui.startService();
 
       boolean isDone = true;